version: 66.03
glider: 120
mission: 9
dive: 524
start: 3 14 109 5 8 23
data:
$ID,120
$MISSION,9
$DIVE,524
$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,-28990.578
$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,22
$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
$GPS1,050121,5008.826,-14445.346,44,2.1,63,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-62.7
$GPS2,050726,5008.792,-14445.344,16,1.3,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,0.096
$KALMAN_X,-39579.1,137.9,265.3,73820.3,-2460.5
$KALMAN_Y,119953.4,112.7,-183.7,-110038.8,449.5
$MHEAD_RNG_PITCHd_Wd,38.7,29117,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.73,0.000,2,0.000,0.000,135,2402,1828
$GC,52,-0.67,-117.3,3.1,-1.7,2,149,13.90,2.38,-74.97,0.000,4,0.279,0.085,3094,994,3354
$GC,357,-0.52,-117.3,29.2,-12.7,29,364,0.17,2.30,0.00,0.000,6,0.155,0.064,3143,2398,3356
$GC,686,-0.52,-117.3,55.7,-11.5,60,692,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2398,3356
$GC,1009,-0.52,-117.3,87.9,-9.4,87,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2398,3356
$GC,1319,-0.52,-117.3,110.3,-6.5,102,1323,0.00,2.40,0.00,0.000,4,0.000,0.083,3138,3818,3356
$GC,1341,-0.52,-117.3,112.1,-7.5,103,1345,0.00,2.28,0.00,0.000,6,0.000,0.054,3138,2392,3356
$GC,1663,-0.79,-117.3,135.6,-7.7,119,1667,0.20,2.33,0.00,0.000,4,0.086,0.069,3065,984,3356
$GC,1800,-0.68,-117.3,148.1,-9.6,125,1805,0.10,2.33,0.00,0.000,6,0.130,0.061,3091,2405,3356
$GC,2140,-0.61,-117.3,179.3,-8.3,137,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2405,3356
$GC,2446,-0.54,-117.3,204.7,-8.3,147,2450,0.15,2.35,0.00,0.000,4,0.166,0.079,3129,3808,3356
$GC,2497,-0.62,-117.3,208.2,-6.0,148,2501,0.00,2.25,0.00,0.000,6,0.000,0.054,3129,2396,3356
$GC,2811,-0.87,-117.3,227.8,-6.1,158,2816,0.22,2.40,0.00,0.000,4,0.089,0.077,3041,3809,3356
$GC,3009,-0.70,-117.3,244.2,-8.5,164,3013,0.17,2.28,0.00,0.000,6,0.151,0.055,3087,2390,3356
$GC,3344,-0.64,-117.3,270.1,-7.9,175,3348,0.00,2.33,0.00,0.000,4,0.000,0.070,3089,984,3356
$GC,3374,-0.58,-117.3,272.5,-8.7,176,3379,0.15,2.33,0.00,0.000,6,0.151,0.061,3125,2401,3356
$GC,3710,-0.64,-117.3,293.2,-5.7,187,3714,0.00,2.38,0.00,0.000,4,0.000,0.081,3125,3807,3356
$GC,3756,-0.74,-117.3,295.8,-5.3,188,3760,0.15,2.25,0.00,0.000,6,0.081,0.054,3071,2392,3356
$GC,4072,-0.74,-117.3,314.9,-6.1,195,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,4375,-0.74,-117.3,333.8,-6.2,200,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,4677,-0.74,-117.3,352.9,-6.3,205,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,4981,-0.74,-117.3,372.6,-6.5,210,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,5284,-0.74,-117.3,393.1,-6.8,215,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,5587,-0.74,-117.3,415.0,-7.3,220,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2393,3356
$GC,5891,-0.74,-117.3,436.6,-7.1,225,5895,0.00,2.45,0.00,0.000,4,0.000,0.081,3071,3808,3355
$GC,5924,-0.69,-117.3,439.3,-7.8,225,5929,0.00,2.28,0.00,0.000,6,0.000,0.055,3071,2390,3355
$GC,6252,-0.69,-117.3,462.9,-7.2,231,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2390,3355
$GC,6555,-0.69,-117.3,484.9,-7.2,236,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2390,3355
$GC,6858,-0.69,-117.3,505.1,-6.6,241,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2390,3355
$GC,7161,-0.69,-117.3,524.8,-6.5,246,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2390,3355
$GC,7464,-0.69,-117.3,545.2,-6.8,251,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2390,3355
$GC,7767,-0.69,-117.3,565.7,-6.7,256,7771,0.00,2.47,0.00,0.000,4,0.000,0.082,3071,3816,3355
$GC,7794,-0.69,-117.3,567.7,-7.0,256,7798,0.00,2.28,0.00,0.000,6,0.000,0.056,3071,2401,3355
$GC,8127,-0.69,-117.3,588.8,-6.3,262,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2401,3354
$GC,8429,-0.69,-117.3,607.6,-6.2,267,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2401,3355
$GC,8733,-0.69,-117.3,625.2,-5.7,272,8737,0.00,2.45,0.00,0.000,4,0.000,0.082,3071,3811,3354
$GC,8772,-0.69,-117.3,627.8,-6.4,272,8776,0.00,2.28,0.00,0.000,6,0.000,0.057,3071,2401,3354
$GC,9094,-0.69,-117.3,646.0,-5.7,278,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2401,3354
$GC,9396,-0.69,-117.3,663.3,-5.7,283,9400,0.00,2.45,0.00,0.000,4,0.000,0.082,3071,3814,3354
$GC,9440,-0.69,-117.3,666.0,-6.2,283,9444,0.00,2.28,0.00,0.000,6,0.000,0.056,3070,2401,3354
$GC,9756,-0.73,-117.3,685.6,-6.3,289,9760,0.00,2.42,0.00,0.000,4,0.000,0.081,3071,3811,3354
$GC,9807,-0.82,-117.3,689.5,-7.6,289,9811,0.00,2.28,0.00,0.000,6,0.000,0.057,3071,2400,3354
$GC,10118,-0.99,-117.3,713.4,-7.8,294,10123,0.17,2.42,0.00,0.000,4,0.098,0.081,3001,3810,3353
$GC,10267,-0.88,-117.3,727.3,-9.3,296,10272,0.12,2.28,0.00,0.000,6,0.108,0.058,3034,2403,3353
$GC,10616,-0.88,-117.3,758.0,-8.7,302,10620,0.00,2.42,0.00,0.000,4,0.000,0.083,3031,3811,3353
$GC,10695,-0.70,-117.3,765.0,-8.5,303,10700,0.22,2.30,0.00,0.000,6,0.158,0.057,3091,2388,3354
$GC,11045,-0.70,-117.3,787.0,-6.2,309,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,11348,-0.70,-117.3,804.3,-5.6,314,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,11651,-0.70,-117.3,819.4,-4.9,319,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,11954,-0.70,-117.3,834.1,-4.9,324,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,12258,-0.70,-117.3,849.9,-5.3,329,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,12560,-0.70,-117.3,867.2,-5.7,334,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3353
$GC,12863,-0.70,-117.3,885.0,-5.9,339,12867,0.00,2.35,0.00,0.000,4,0.000,0.074,3091,992,3352
$GC,12890,-0.70,-117.3,886.8,-6.9,339,12894,0.00,2.35,0.00,0.000,6,0.000,0.064,3091,2406,3352
$GC,13223,-0.75,-117.3,906.9,-6.1,345,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2406,3352
$GC,13526,-0.80,-117.3,925.3,-6.1,350,13530,0.00,2.42,0.00,0.000,4,0.000,0.084,3090,3816,3352
$GC,13560,-0.87,-117.3,927.7,-7.6,350,13565,0.15,2.30,0.00,0.000,6,0.082,0.058,3035,2398,3352
$GC,13887,-0.80,-117.3,952.5,-7.7,356,13891,0.00,2.38,0.00,0.000,4,0.000,0.074,3035,988,3352
$GC,13938,-0.73,-117.3,956.8,-8.1,356,13943,0.17,2.35,0.00,0.000,6,0.144,0.064,3081,2402,3352
$GC,14249,-0.73,-117.3,976.7,-6.4,361,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3352
$STATE,14489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14489,begin apogee
$GC,14497,-0.22,0.0,991.9,6.2,365,14611,0.55,0.00,108.30,1.485,6,0.144,0.000,3247,2187,2876
$STATE,14611,end apogee,CONTROL_FINISHED_OK
$STATE,14611,begin climb
$GC,14615,0.67,117.3,996.9,0.0,367,14739,0.88,2.67,114.32,1.430,4,0.094,0.079,3533,791,2396
$GC,14813,0.34,117.3,994.0,6.8,370,14818,0.40,2.45,0.00,0.000,6,0.174,0.061,3430,2205,2394
$GC,15175,0.30,117.3,975.7,5.1,376,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2205,2393
$GC,15477,0.30,118.8,960.7,5.0,381,15481,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,782,2393
$GC,15516,0.27,130.7,958.8,4.7,381,15539,0.12,2.33,12.85,1.342,6,0.166,0.061,3406,2207,2342
$GC,15843,0.36,163.5,945.5,4.1,387,15876,0.00,0.00,30.67,1.417,6,0.000,0.000,3406,2207,2209
$GC,16146,0.47,190.4,932.5,4.2,392,16174,0.20,0.00,25.67,1.397,6,0.077,0.000,3485,2206,2099
$GC,16449,0.37,190.4,911.9,7.0,397,16451,0.17,0.00,0.00,0.000,6,0.149,0.000,3436,2206,2095
$GC,16752,0.37,190.4,895.0,5.5,402,16756,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3608,2094
$GC,16797,0.33,190.4,892.1,6.8,402,16801,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2194,2094
$GC,17112,0.33,190.4,875.1,5.4,408,17116,0.00,2.35,0.00,0.000,4,0.000,0.081,3437,792,2094
$GC,17146,0.38,190.4,873.0,5.4,408,17151,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2205,2094
$GC,17474,0.38,190.4,854.3,5.7,414,17478,0.00,2.35,0.00,0.000,4,0.000,0.080,3437,3617,2094
$GC,17518,0.38,190.4,851.4,6.5,414,17522,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2200,2094
$GC,17833,0.38,190.4,832.4,6.0,420,17834,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2093
$GC,18136,0.38,190.4,814.6,5.8,425,18140,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,3612,2093
$GC,18170,0.38,190.4,812.3,5.7,425,18174,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2195,2093
$GC,18497,0.42,190.4,794.6,5.4,431,18498,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2196,2093
$GC,18800,0.42,190.4,778.7,5.2,436,18801,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2093
$GC,19104,0.46,190.4,762.2,5.4,441,19108,0.00,2.38,0.00,0.000,4,0.000,0.081,3437,783,2093
$GC,19150,0.52,190.4,759.7,5.3,441,19154,0.15,2.33,0.00,0.000,6,0.088,0.061,3495,2205,2093
$GC,19466,0.40,190.4,736.5,7.5,447,19470,0.15,2.38,0.00,0.000,4,0.150,0.079,3442,3613,2093
$GC,19494,0.36,190.4,734.2,7.7,447,19498,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2197,2093
$GC,19832,0.36,190.4,712.0,6.6,453,19836,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,783,2093
$GC,19867,0.36,190.4,709.6,6.3,453,19871,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2206,2093
$GC,20194,0.36,190.4,687.6,6.7,459,20195,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2093
$GC,20497,0.36,190.4,667.2,6.8,464,20499,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2093
$GC,20800,0.36,190.4,646.6,6.8,469,20801,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2093
$GC,21103,0.36,190.4,625.8,6.9,474,21104,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2093
$GC,21406,0.36,190.4,605.7,6.6,479,21410,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,781,2093
$GC,21433,0.36,190.4,603.7,6.9,479,21437,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2199,2093
$GC,21766,0.36,190.4,582.8,6.3,485,21768,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2093
$GC,22069,0.36,190.4,564.9,5.9,490,22070,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2093
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