version: 66.03
glider: 120
mission: 9
dive: 410
start: 1 29 109 23 15 48
data:
$ID,120
$MISSION,9
$DIVE,410
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26385.605
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,230629,5009.692,-14427.874,38,2.8,57,18.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-71.2
$GPS2,231452,5009.602,-14427.855,17,2.7,36,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.178
$KALMAN_X,-8022.8,86.5,131.4,63245.7,32.8
$KALMAN_Y,19176.2,-189.7,-1097.2,-6529.3,3840.2
$MHEAD_RNG_PITCHd_Wd,163.8,28969,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.00,0.000,2,0.000,0.000,134,2408,2027
$GC,40,-0.67,-117.3,4.0,-0.0,1,114,13.90,0.00,-54.10,0.000,6,0.281,0.000,3093,2409,3356
$GC,435,-0.45,-117.3,44.8,-12.6,38,441,0.25,0.00,0.00,0.000,6,0.163,0.000,3164,2408,3357
$GC,763,-0.51,-117.3,66.3,-7.3,69,767,0.00,2.45,0.00,0.000,4,0.000,0.067,3165,994,3357
$GC,784,-0.57,-117.3,68.2,-7.5,70,791,0.00,2.38,0.00,0.000,6,0.000,0.061,3165,2404,3358
$GC,1106,-0.64,-117.3,89.2,-6.2,94,1111,0.15,2.45,0.00,0.000,4,0.081,0.077,3099,3812,3358
$GC,1134,-0.55,-117.3,91.6,-9.0,95,1139,0.15,2.33,0.00,0.000,6,0.137,0.051,3139,2391,3358
$GC,1450,-0.55,-117.3,116.7,-7.0,110,1454,0.00,2.40,0.00,0.000,4,0.000,0.067,3139,991,3358
$GC,1490,-0.55,-117.3,119.3,-6.2,112,1494,0.00,2.33,0.00,0.000,6,0.000,0.060,3140,2414,3358
$GC,1823,-0.60,-117.3,138.9,-5.8,128,1827,0.00,2.45,0.00,0.000,4,0.000,0.067,3140,992,3358
$GC,1862,-0.67,-117.3,141.6,-6.6,129,1869,0.12,2.33,0.00,0.000,6,0.085,0.060,3094,2404,3358
$GC,2177,-0.67,-117.3,164.8,-7.3,142,2181,0.00,2.38,0.00,0.000,4,0.000,0.077,3094,3806,3358
$GC,2206,-0.63,-117.3,167.2,-8.2,143,2210,0.00,2.30,0.00,0.000,6,0.000,0.052,3093,2397,3358
$GC,2542,-0.63,-117.3,189.8,-6.3,154,2546,0.00,2.38,0.00,0.000,4,0.000,0.067,3094,990,3358
$GC,2592,-0.63,-117.3,193.3,-6.6,155,2596,0.00,2.30,0.00,0.000,6,0.000,0.059,3093,2410,3358
$GC,2905,-0.63,-117.3,214.8,-7.3,165,2909,0.00,2.35,0.00,0.000,4,0.000,0.067,3094,994,3358
$GC,2938,-0.63,-117.3,217.2,-7.1,166,2942,0.00,2.28,0.00,0.000,6,0.000,0.060,3094,2401,3358
$GC,3269,-0.63,-117.3,238.5,-6.2,177,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,3574,-0.63,-117.3,257.9,-6.4,187,3578,0.00,2.33,0.00,0.000,4,0.000,0.078,3088,3808,3358
$GC,3625,-0.58,-117.3,261.4,-7.2,188,3630,0.15,2.25,0.00,0.000,6,0.124,0.054,3129,2386,3358
$GC,3938,-0.65,-117.3,279.2,-5.5,198,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2386,3358
$GC,4244,-0.73,-117.3,294.1,-4.7,208,4246,0.15,0.00,0.00,0.000,6,0.080,0.000,3072,2386,3358
$GC,4548,-0.73,-117.3,312.4,-6.1,215,4552,0.00,2.33,0.00,0.000,4,0.000,0.069,3072,995,3358
$GC,4587,-0.67,-117.3,315.2,-7.3,215,4591,0.00,2.28,0.00,0.000,6,0.000,0.061,3072,2400,3358
$GC,4908,-0.59,-117.3,337.9,-7.2,221,4913,0.15,2.35,0.00,0.000,4,0.150,0.068,3121,987,3358
$GC,4952,-0.65,-117.3,340.6,-5.8,221,4956,0.00,2.30,0.00,0.000,6,0.000,0.061,3121,2400,3357
$GC,5268,-0.72,-117.3,357.9,-5.5,227,5270,0.12,0.00,0.00,0.000,6,0.088,0.000,3074,2400,3357
$GC,5570,-0.72,-117.3,379.4,-7.2,232,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2400,3357
$GC,5873,-0.72,-117.3,401.0,-7.1,237,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2400,3357
$GC,6176,-0.72,-117.3,423.3,-7.4,242,6180,0.00,2.38,0.00,0.000,4,0.000,0.070,3074,998,3357
$GC,6203,-0.72,-117.3,425.6,-8.1,242,6207,0.00,2.30,0.00,0.000,6,0.000,0.061,3073,2411,3357
$GC,6537,-0.67,-117.3,452.1,-8.0,248,6541,0.00,2.35,0.00,0.000,4,0.000,0.081,3073,3818,3357
$GC,6571,-0.61,-117.3,455.1,-8.7,248,6576,0.17,2.28,0.00,0.000,6,0.134,0.055,3121,2388,3356
$GC,6898,-0.69,-117.3,475.9,-6.3,254,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2389,3356
$GC,7201,-0.76,-117.3,493.5,-5.8,259,7206,0.15,2.38,0.00,0.000,4,0.083,0.070,3058,997,3356
$GC,7229,-0.72,-117.3,495.5,-8.2,259,7233,0.00,2.30,0.00,0.000,6,0.000,0.062,3058,2409,3356
$GC,7561,-0.61,-117.3,520.4,-7.6,265,7566,0.17,2.38,0.00,0.000,4,0.155,0.081,3111,3811,3356
$GC,7595,-0.69,-117.3,522.5,-5.6,265,7599,0.00,2.25,0.00,0.000,6,0.000,0.055,3111,2401,3356
$GC,7921,-0.76,-117.3,539.4,-5.1,271,7926,0.12,2.38,0.00,0.000,4,0.088,0.069,3065,985,3355
$GC,7948,-0.76,-117.3,541.0,-6.7,271,7952,0.00,2.30,0.00,0.000,6,0.000,0.061,3065,2399,3355
$GC,8281,-0.71,-117.3,562.2,-6.4,277,8285,0.00,2.38,0.00,0.000,4,0.000,0.081,3065,3805,3355
$GC,8310,-0.64,-117.3,564.2,-7.1,277,8315,0.15,2.28,0.00,0.000,6,0.139,0.055,3107,2390,3355
$GC,8642,-0.70,-117.3,582.7,-5.5,283,8646,0.00,2.33,0.00,0.000,4,0.000,0.070,3107,992,3355
$GC,8670,-0.75,-117.3,584.4,-6.3,283,8674,0.00,2.30,0.00,0.000,6,0.000,0.062,3107,2405,3355
$GC,9002,-0.81,-117.3,602.3,-5.3,289,9004,0.15,0.00,0.00,0.000,6,0.085,0.000,3050,2404,3355
$GC,9305,-0.75,-117.3,622.4,-6.7,294,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2405,3354
$GC,9608,-0.70,-117.3,643.5,-7.1,299,9610,0.15,0.00,0.00,0.000,6,0.114,0.000,3093,2405,3354
$GC,9912,-0.87,-117.3,664.7,-7.2,304,9917,0.15,2.42,0.00,0.000,4,0.086,0.069,3038,991,3354
$GC,10012,-0.87,-117.3,672.7,-7.7,305,10016,0.00,2.30,0.00,0.000,6,0.000,0.063,3038,2401,3354
$GC,10338,-0.91,-117.3,697.9,-7.8,311,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2401,3354
$GC,10643,-0.95,-117.3,719.7,-7.1,316,10647,0.00,2.40,0.00,0.000,4,0.000,0.071,3038,988,3354
$GC,10681,-0.95,-117.3,722.8,-7.1,316,10685,0.00,2.33,0.00,0.000,6,0.000,0.062,3038,2400,3354
$GC,11003,-0.95,-117.3,744.1,-6.7,322,11007,0.00,2.38,0.00,0.000,4,0.000,0.071,3038,991,3354
$GC,11013,-0.95,-117.3,745.1,-6.7,322,11017,0.00,2.33,0.00,0.000,6,0.000,0.063,3038,2412,3354
$GC,11364,-1.02,-117.3,769.0,-7.0,328,11368,0.15,2.35,0.00,0.000,4,0.086,0.081,2976,3807,3353
$GC,11593,-0.69,-117.3,793.3,-10.9,331,11599,0.43,2.28,0.00,0.000,6,0.173,0.058,3090,2396,3353
$GC,11926,-0.69,-117.3,812.7,-5.6,337,11930,0.00,2.33,0.00,0.000,4,0.000,0.074,3090,990,3353
$GC,11965,-0.69,-117.3,815.2,-5.6,337,11970,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2398,3353
$GC,12287,-0.69,-117.3,834.1,-5.9,343,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3353
$GC,12590,-0.69,-117.3,851.4,-5.7,348,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,12892,-0.69,-117.3,868.3,-5.5,353,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,13196,-0.69,-117.3,884.6,-5.4,358,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,13499,-0.69,-117.3,901.6,-5.6,363,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,13802,-0.69,-117.3,918.4,-5.6,368,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3353
$GC,14106,-0.69,-117.3,936.4,-6.0,373,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,14408,-0.69,-117.3,955.1,-6.2,378,14412,0.00,2.42,0.00,0.000,4,0.000,0.073,3086,988,3352
$GC,14452,-0.74,-117.3,958.1,-7.4,378,14456,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2405,3352
$GC,14767,-0.74,-117.3,977.8,-6.3,384,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3353
$STATE,15006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15006,begin apogee
$GC,15014,-0.22,0.0,992.7,6.2,388,15129,0.52,0.00,108.12,1.489,6,0.140,0.000,3245,2196,2876
$STATE,15130,end apogee,CONTROL_FINISHED_OK
$STATE,15130,begin climb
$GC,15133,0.67,117.3,998.1,0.0,390,15250,0.88,0.00,113.22,1.438,6,0.095,0.000,3529,2196,2397
$GC,15558,0.35,117.3,980.0,7.0,396,15563,0.32,2.45,0.00,0.000,4,0.163,0.076,3442,783,2394
$GC,15647,0.31,124.9,975.2,4.8,397,15662,0.00,2.33,8.20,1.228,6,0.000,0.063,3442,2198,2365
$GC,15990,0.26,124.9,957.3,5.3,403,15995,0.15,2.38,0.00,0.000,4,0.163,0.078,3396,3617,2365
$GC,16024,0.27,138.1,955.7,4.6,403,16043,0.00,2.35,12.98,1.344,6,0.000,0.064,3396,2190,2312
$GC,16354,0.40,160.6,941.2,4.4,409,16378,0.15,0.00,21.62,1.400,6,0.085,0.000,3452,2190,2221
$GC,16657,0.40,160.6,924.1,5.7,414,16661,0.00,2.40,0.00,0.000,4,0.000,0.078,3452,788,2219
$GC,16696,0.40,160.6,921.6,6.5,414,16700,0.00,2.33,0.00,0.000,6,0.000,0.064,3453,2211,2219
$GC,17017,0.35,160.6,900.7,6.5,420,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2211,2219
$GC,17320,0.31,160.6,880.9,6.5,425,17325,0.12,2.35,0.00,0.000,4,0.147,0.081,3415,3612,2218
$GC,17359,0.31,160.6,878.4,6.5,425,17363,0.00,2.30,0.00,0.000,6,0.000,0.062,3422,2195,2218
$GC,17680,0.35,160.6,861.6,5.1,431,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2195,2218
$GC,17983,0.40,166.1,846.9,4.8,436,17991,0.00,0.00,6.28,1.144,6,0.000,0.000,3422,2195,2198
$GC,18286,0.46,173.2,832.5,4.8,441,18297,0.12,0.00,8.20,1.221,6,0.094,0.000,3476,2195,2169
$GC,18590,0.36,173.2,811.1,7.2,446,18592,0.15,0.00,0.00,0.000,6,0.143,0.000,3435,2195,2168
$GC,18892,0.36,173.2,791.5,6.4,451,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2195,2168
$GC,19195,0.36,173.2,772.3,6.3,456,19199,0.00,2.42,0.00,0.000,4,0.000,0.078,3435,793,2168
$GC,19259,0.41,173.2,768.5,6.5,457,19263,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2205,2168
$GC,19624,0.41,173.2,745.3,6.3,463,19629,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3619,2168
$GC,19669,0.41,173.2,742.1,7.6,463,19673,0.00,2.35,0.00,0.000,6,0.000,0.064,3435,2193,2168
$GC,19984,0.41,173.2,722.2,6.3,469,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2193,2168
$GC,20287,0.41,173.2,703.1,6.3,474,20291,0.00,2.38,0.00,0.000,4,0.000,0.080,3435,787,2168
$GC,20315,0.45,173.2,701.3,5.8,474,20319,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2209,2168
$GC,20647,0.45,173.2,682.1,5.7,480,20651,0.00,2.33,0.00,0.000,4,0.000,0.081,3435,3605,2168
$GC,20686,0.45,173.2,679.5,6.5,480,20690,0.00,2.28,0.00,0.000,6,0.000,0.063,3435,2198,2167
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