version: 66.03
glider: 120
mission: 9
dive: 452
start: 2 14 109 20 43 59
data:
$ID,120
$MISSION,9
$DIVE,452
$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,-27429.48
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,203707,5007.732,-14427.530,40,1.1,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-75.3
$GPS2,204302,5007.755,-14427.584,12,1.4,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.169
$KALMAN_X,-10847.2,-177.2,-274.6,67066.3,1566.0
$KALMAN_Y,43029.1,284.9,-47.2,-35358.0,532.2
$MHEAD_RNG_PITCHd_Wd,179.7,25595,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.98,0.000,2,0.000,0.000,135,2415,1912
$GC,41,-0.67,-117.3,4.2,-0.0,1,127,13.75,2.53,-62.62,0.000,4,0.275,0.094,3097,3810,3355
$GC,162,-0.50,-117.3,9.3,-9.3,12,167,0.20,2.30,0.00,0.000,6,0.155,0.054,3152,2393,3357
$GC,488,-0.50,-117.3,32.2,-6.6,42,491,0.00,2.33,0.00,0.000,4,0.000,0.070,3152,991,3357
$GC,516,-0.50,-117.3,34.3,-7.1,44,522,0.00,2.30,0.00,0.000,6,0.000,0.062,3152,2407,3357
$GC,841,-0.50,-117.3,58.7,-6.8,75,842,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2406,3357
$GC,1170,-0.50,-117.3,83.1,-7.2,104,1174,0.00,2.38,0.00,0.000,4,0.000,0.068,3153,988,3357
$GC,1197,-0.50,-117.3,85.6,-8.8,105,1201,0.00,2.33,0.00,0.000,6,0.000,0.061,3152,2401,3357
$GC,1513,-0.50,-117.3,109.0,-7.6,120,1517,0.00,2.35,0.00,0.000,4,0.000,0.067,3152,993,3357
$GC,1569,-0.54,-117.3,113.6,-7.9,122,1576,0.00,2.28,0.00,0.000,6,0.000,0.061,3152,2399,3357
$GC,1886,-0.61,-117.3,135.8,-7.1,138,1890,0.00,2.33,0.00,0.000,4,0.000,0.068,3152,993,3357
$GC,1937,-0.71,-117.3,139.5,-6.8,140,1942,0.20,2.30,0.00,0.000,6,0.075,0.061,3079,2405,3357
$GC,2273,-0.65,-117.3,165.7,-7.7,153,2277,0.00,2.38,0.00,0.000,4,0.000,0.078,3074,3805,3357
$GC,2340,-0.53,-117.3,171.3,-8.2,155,2345,0.22,2.25,0.00,0.000,6,0.125,0.053,3138,2397,3357
$GC,2670,-0.61,-117.3,190.4,-5.9,166,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2397,3358
$GC,2977,-0.72,-117.3,207.0,-5.4,176,2981,0.15,2.33,0.00,0.000,4,0.081,0.068,3081,994,3358
$GC,2998,-0.86,-117.3,208.7,-7.3,176,3005,0.12,2.28,0.00,0.000,6,0.084,0.060,3032,2402,3358
$GC,3312,-0.62,-117.3,239.3,-10.4,187,3317,0.25,2.35,0.00,0.000,4,0.161,0.077,3099,3811,3358
$GC,3424,-0.62,-117.3,248.1,-7.7,190,3428,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2399,3358
$GC,3742,-0.62,-117.3,271.6,-7.5,201,3746,0.00,2.33,0.00,0.000,4,0.000,0.069,3099,987,3358
$GC,3771,-0.62,-117.3,273.7,-7.7,202,3775,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2399,3358
$GC,4107,-0.62,-117.3,297.9,-7.1,213,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,4440,-0.62,-117.3,321.4,-7.1,219,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,4743,-0.62,-117.3,343.2,-7.2,224,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,5046,-0.62,-117.3,363.6,-6.7,229,5050,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,990,3358
$GC,5090,-0.62,-117.3,366.6,-6.9,229,5094,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2400,3358
$GC,5406,-0.62,-117.3,384.5,-5.6,235,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,5709,-0.62,-117.3,401.0,-5.5,240,5713,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,991,3357
$GC,5753,-0.62,-117.3,403.8,-5.9,240,5757,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2402,3357
$GC,6069,-0.62,-117.3,422.3,-5.9,246,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,6371,-0.62,-117.3,441.1,-6.3,251,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,6675,-0.62,-117.3,460.1,-6.3,256,6679,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,990,3356
$GC,6731,-0.66,-117.3,463.8,-6.4,256,6737,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2403,3357
$GC,7042,-0.66,-117.3,483.1,-6.2,262,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,7344,-0.66,-117.3,501.9,-6.2,267,7348,0.00,2.35,0.00,0.000,4,0.000,0.081,3099,3807,3356
$GC,7371,-0.66,-117.3,503.7,-6.1,267,7375,0.00,2.25,0.00,0.000,6,0.000,0.055,3099,2394,3356
$GC,7704,-0.66,-117.3,523.3,-5.8,273,7708,0.00,2.30,0.00,0.000,4,0.000,0.071,3099,992,3356
$GC,7726,-0.66,-117.3,524.7,-5.8,273,7730,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2405,3356
$GC,8069,-0.66,-117.3,545.0,-6.0,279,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3356
$GC,8372,-0.66,-117.3,562.9,-5.8,284,8376,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,989,3355
$GC,8400,-0.70,-117.3,564.5,-5.4,284,8404,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2399,3355
$GC,8732,-0.70,-117.3,581.6,-5.0,290,8736,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,994,3355
$GC,8771,-0.75,-117.3,583.7,-5.5,290,8775,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2407,3355
$GC,9092,-0.75,-117.3,598.2,-4.5,296,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3355
$GC,9395,-0.75,-117.3,612.9,-4.9,301,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3355
$GC,9698,-0.75,-117.3,628.5,-5.1,306,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3355
$GC,10001,-0.75,-117.3,644.5,-5.3,311,10005,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,993,3355
$GC,10029,-0.80,-117.3,646.1,-5.9,311,10034,0.12,2.30,0.00,0.000,6,0.090,0.062,3054,2403,3355
$GC,10362,-0.76,-117.3,666.3,-6.1,317,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2403,3354
$GC,10664,-0.76,-117.3,684.8,-6.1,322,10668,0.00,2.35,0.00,0.000,4,0.000,0.071,3054,989,3355
$GC,10697,-0.71,-117.3,687.2,-6.9,322,10702,0.12,2.33,0.00,0.000,6,0.143,0.062,3086,2413,3355
$GC,11024,-0.71,-117.3,705.7,-5.7,328,11028,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,986,3355
$GC,11057,-0.71,-117.3,707.6,-6.3,328,11061,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2403,3354
$GC,11383,-0.71,-117.3,725.8,-5.5,334,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,11686,-0.71,-117.3,743.0,-5.7,339,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,11990,-0.71,-117.3,759.2,-5.3,344,11994,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,991,3354
$GC,12046,-0.71,-117.3,762.4,-5.4,344,12052,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2400,3354
$GC,12356,-0.71,-117.3,779.1,-5.4,350,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,12659,-0.71,-117.3,795.2,-5.3,355,12663,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,995,3354
$GC,12709,-0.71,-117.3,798.0,-5.5,355,12713,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2400,3354
$GC,13019,-0.71,-117.3,814.1,-5.2,360,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3354
$GC,13321,-0.71,-117.3,830.8,-5.6,365,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,13625,-0.71,-117.3,848.1,-5.8,370,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,13929,-0.71,-117.3,865.7,-5.8,375,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3353
$GC,14231,-0.71,-117.3,882.6,-5.5,380,14235,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,984,3353
$GC,14254,-0.71,-117.3,883.8,-5.3,380,14258,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2400,3353
$GC,14591,-0.71,-117.3,902.7,-5.6,386,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3353
$GC,14895,-0.71,-117.3,918.7,-5.3,391,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3353
$GC,15198,-0.71,-117.3,934.1,-5.0,396,15202,0.00,2.35,0.00,0.000,4,0.000,0.074,3085,995,3352
$GC,15232,-0.71,-117.3,935.9,-4.7,396,15236,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2411,3352
$GC,15565,-0.71,-117.3,951.9,-4.8,402,15569,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3813,3353
$GC,15600,-0.75,-117.3,953.6,-5.8,402,15604,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2398,3352
$GC,15928,-0.93,-117.3,972.4,-5.9,408,15932,0.17,2.42,0.00,0.000,4,0.088,0.083,3015,3816,3352
$GC,16141,-0.77,-117.3,987.8,-7.5,411,16145,0.20,2.28,0.00,0.000,6,0.160,0.058,3067,2401,3352
$STATE,16176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16176,begin apogee
$GC,16184,-0.22,0.0,990.1,5.0,411,16295,0.55,0.00,108.45,1.486,6,0.144,0.000,3240,2188,2876
$STATE,16296,end apogee,CONTROL_FINISHED_OK
$STATE,16296,begin climb
$GC,16299,0.67,117.3,992.1,0.0,413,16420,0.90,2.65,113.47,1.432,4,0.087,0.078,3533,787,2397
$GC,16444,0.33,117.3,992.2,5.3,416,16449,0.43,2.53,0.00,0.000,6,0.173,0.060,3426,2209,2395
$GC,16799,0.33,117.3,972.7,5.5,422,16803,0.00,2.35,0.00,0.000,4,0.000,0.080,3426,3614,2394
$GC,16862,0.23,117.3,968.9,5.5,423,16866,0.17,2.30,0.00,0.000,6,0.172,0.063,3392,2202,2394
$GC,17228,0.34,143.7,952.9,4.2,429,17255,0.10,0.00,24.25,1.405,6,0.094,0.000,3435,2202,2290
$GC,17531,0.34,143.7,936.7,5.4,434,17532,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2288
$GC,17834,0.34,143.8,921.4,5.0,439,17835,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2287
$GC,18137,0.35,151.0,906.9,4.8,444,18147,0.00,0.00,8.02,1.241,6,0.000,0.000,3435,2203,2260
$GC,18440,0.35,152.6,892.0,5.0,449,18441,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2259
$GC,18743,0.35,156.8,877.2,4.9,454,18752,0.00,0.00,6.97,1.191,6,0.000,0.000,3435,2202,2236
$GC,19046,0.40,156.8,861.2,5.3,459,19051,0.00,2.42,0.00,0.000,4,0.000,0.083,3435,3609,2236
$GC,19082,0.34,156.8,859.1,6.8,459,19086,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2196,2235
$GC,19409,0.34,156.8,840.7,5.6,465,19410,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2235
$GC,19712,0.34,156.8,823.0,5.8,470,19713,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2197,2235
$GC,20015,0.34,156.8,805.9,5.6,475,20016,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2235
$GC,20319,0.34,156.8,790.1,5.2,480,20323,0.00,2.40,0.00,0.000,4,0.000,0.080,3435,783,2235
$GC,20354,0.37,174.5,788.4,4.5,480,20380,0.00,2.30,16.98,1.316,6,0.000,0.062,3435,2200,2164
$GC,20683,0.37,174.5,770.5,5.5,486,20684,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2162
$GC,20986,0.37,174.5,753.0,5.8,491,20990,0.00,2.40,0.00,0.000,4,0.000,0.081,3435,3608,2162
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