version: 66.03
glider: 120
mission: 9
dive: 556
start: 3 26 109 7 1 51
data:
$ID,120
$MISSION,9
$DIVE,556
$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,-29664.428
$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,19
$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
$GPS1,065136,5002.688,-14514.783,89,1.6,89,18.4
$_CALLS,1
$_XMS_NAKs,36
$_XMS_TOUTs,1
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-71.1
$GPS2,070053,5002.699,-14514.768,15,1.9,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,-0.175
$KALMAN_X,-50137.3,-171.5,-147.7,50127.8,-487.6
$KALMAN_Y,132266.2,-126.8,-88.6,-133490.4,3223.7
$MHEAD_RNG_PITCHd_Wd,151.3,16439,-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,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.05,0.000,2,0.000,0.000,134,2402,1998
$GC,41,-0.67,-117.3,3.0,-0.0,1,117,14.02,2.40,-54.12,0.000,4,0.284,0.100,3095,3807,3355
$GC,172,-0.49,-117.3,11.4,-10.5,12,178,0.22,2.25,0.00,0.000,6,0.153,0.058,3159,2399,3356
$GC,500,-0.49,-117.3,33.5,-5.4,43,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2399,3357
$GC,826,-0.49,-117.3,56.3,-6.6,74,827,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2399,3357
$GC,1144,-0.49,-117.3,73.4,-5.3,104,1148,0.00,2.38,0.00,0.000,4,0.000,0.070,3159,982,3357
$GC,1167,-0.53,-117.3,74.7,-5.5,105,1173,0.00,2.35,0.00,0.000,6,0.000,0.062,3155,2406,3357
$GC,1486,-0.53,-117.3,96.1,-7.0,125,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3357
$GC,1795,-0.53,-117.3,116.3,-6.3,140,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3357
$GC,2105,-0.53,-117.3,136.5,-6.8,155,2110,0.00,2.40,0.00,0.000,4,0.000,0.070,3155,990,3357
$GC,2134,-0.58,-117.3,138.6,-7.2,156,2138,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2409,3357
$GC,2450,-0.87,-117.3,159.9,-7.6,169,2455,0.30,2.40,0.00,0.000,4,0.085,0.068,3041,992,3357
$GC,2518,-0.65,-117.3,166.2,-9.9,171,2523,0.22,2.35,0.00,0.000,6,0.160,0.063,3101,2405,3357
$GC,2848,-0.60,-117.3,191.4,-7.3,182,2852,0.00,2.40,0.00,0.000,4,0.000,0.070,3102,981,3357
$GC,2892,-0.60,-117.3,195.0,-8.3,183,2896,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2410,3357
$GC,3218,-0.56,-117.3,217.5,-6.7,194,3220,0.12,0.00,0.00,0.000,6,0.156,0.000,3133,2409,3357
$GC,3523,-0.63,-117.3,233.3,-5.2,204,3527,0.00,2.40,0.00,0.000,4,0.000,0.071,3133,992,3358
$GC,3559,-0.71,-117.3,235.5,-6.5,205,3564,0.15,2.35,0.00,0.000,6,0.076,0.063,3079,2410,3357
$GC,3895,-0.87,-117.3,258.6,-6.9,216,3900,0.12,2.38,0.00,0.000,4,0.107,0.080,3032,3817,3357
$GC,4097,-0.66,-117.3,277.0,-9.4,222,4102,0.25,2.25,0.00,0.000,6,0.152,0.056,3100,2396,3357
$GC,4428,-0.66,-117.3,298.4,-6.4,233,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3357
$GC,4761,-0.66,-117.3,319.7,-6.4,239,4765,0.00,2.42,0.00,0.000,4,0.000,0.081,3099,3809,3357
$GC,4805,-0.66,-117.3,322.7,-7.1,239,4809,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2402,3357
$GC,5122,-0.66,-117.3,342.5,-6.2,245,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,5424,-0.66,-117.3,361.0,-6.1,250,5428,0.00,2.38,0.00,0.000,4,0.000,0.072,3099,991,3357
$GC,5469,-0.66,-117.3,364.0,-6.4,250,5473,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2402,3357
$GC,5784,-0.66,-117.3,382.5,-5.9,256,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,6087,-0.66,-117.3,400.9,-6.1,261,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,6392,-0.66,-117.3,419.1,-6.0,266,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,6694,-0.66,-117.3,436.4,-5.7,271,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,6997,-0.66,-117.3,454.3,-5.9,276,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,7300,-0.66,-117.3,472.8,-6.2,281,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,7603,-0.66,-117.3,489.8,-5.5,286,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,7907,-0.66,-117.3,504.6,-4.9,291,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,8210,-0.66,-117.3,518.6,-4.6,296,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,8512,-0.66,-117.3,533.8,-5.1,301,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,8815,-0.66,-117.3,550.6,-5.7,306,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,9119,-0.66,-117.3,568.0,-5.7,311,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,9422,-0.66,-117.3,585.2,-5.6,316,9426,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,993,3355
$GC,9450,-0.66,-117.3,586.9,-6.0,316,9454,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2400,3355
$GC,9782,-0.66,-117.3,604.7,-5.4,322,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,10085,-0.66,-117.3,620.9,-5.4,327,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,10389,-0.66,-117.3,637.8,-5.6,332,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,10692,-0.66,-117.3,655.7,-6.0,337,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,10995,-0.66,-117.3,674.1,-6.1,342,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,11298,-0.66,-117.3,692.6,-6.1,347,11302,0.00,2.42,0.00,0.000,4,0.000,0.073,3099,988,3355
$GC,11327,-0.70,-117.3,694.4,-6.1,347,11331,0.00,2.38,0.00,0.000,6,0.000,0.064,3099,2404,3355
$GC,11666,-0.75,-117.3,714.6,-5.9,353,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,11968,-0.79,-117.3,730.4,-5.2,358,11970,0.12,0.00,0.00,0.000,6,0.091,0.000,3048,2404,3355
$GC,12271,-0.79,-117.3,748.7,-6.1,363,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2404,3355
$GC,12576,-0.74,-117.3,767.5,-6.3,368,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2404,3354
$GC,12878,-0.70,-117.3,788.1,-6.8,373,12883,0.15,2.42,0.00,0.000,4,0.107,0.084,3098,3806,3355
$GC,12929,-0.78,-117.3,791.4,-6.3,373,12933,0.00,2.28,0.00,0.000,6,0.000,0.058,3098,2399,3354
$GC,13240,-1.00,-117.3,814.2,-7.6,378,13245,0.28,2.45,0.00,0.000,4,0.084,0.082,2991,3810,3354
$GC,13482,-0.73,-117.3,839.8,-10.0,381,13487,0.32,2.28,0.00,0.000,6,0.163,0.058,3077,2402,3354
$GC,13804,-0.73,-117.3,862.5,-6.9,387,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3354
$GC,14106,-0.73,-117.3,882.9,-6.7,392,14110,0.00,2.45,0.00,0.000,4,0.000,0.085,3073,3815,3354
$GC,14139,-0.73,-117.3,885.3,-6.8,392,14143,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2391,3354
$GC,14465,-0.73,-117.3,904.9,-5.9,398,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,14769,-0.73,-117.3,921.4,-5.4,403,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3353
$GC,15072,-0.73,-117.3,936.9,-5.1,408,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3354
$GC,15375,-0.73,-117.3,952.2,-5.1,413,15379,0.00,2.47,0.00,0.000,4,0.000,0.085,3073,3812,3354
$GC,15402,-0.73,-117.3,953.6,-5.4,413,15406,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2392,3352
$GC,15735,-0.73,-117.3,971.2,-5.3,419,15739,0.00,2.47,0.00,0.000,4,0.000,0.085,3073,3811,3354
$GC,15763,-0.73,-117.3,972.8,-5.6,419,15767,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2391,3353
$STATE,16093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16093,begin apogee
$GC,16101,-0.22,0.0,991.9,5.8,425,16216,0.57,0.00,108.55,1.488,6,0.137,0.000,3245,2194,2875
$STATE,16216,end apogee,CONTROL_FINISHED_OK
$STATE,16216,begin climb
$GC,16220,0.67,117.3,996.3,0.0,427,16344,0.85,2.70,114.45,1.433,4,0.089,0.077,3534,791,2397
$GC,16362,0.41,183.6,997.1,3.1,429,16436,0.32,2.58,67.35,1.399,6,0.164,0.061,3454,2202,2127
$GC,16775,0.36,183.6,971.8,6.2,436,16779,0.00,2.40,0.00,0.000,4,0.000,0.078,3464,786,2121
$GC,16808,0.30,183.6,969.7,6.9,436,16813,0.17,2.33,0.00,0.000,6,0.142,0.062,3416,2203,2120
$GC,17136,0.39,186.7,953.7,4.9,442,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2202,2120
$GC,17440,0.46,186.7,937.9,5.3,447,17441,0.15,0.00,0.00,0.000,6,0.077,0.000,3478,2202,2120
$GC,17742,0.36,186.7,914.9,7.7,452,17746,0.15,2.42,0.00,0.000,4,0.143,0.078,3436,784,2120
$GC,17805,0.36,186.7,910.6,6.5,453,17809,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2213,2120
$GC,18171,0.36,186.7,887.2,6.4,459,18175,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,793,2120
$GC,18222,0.40,186.7,883.7,6.4,459,18226,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2209,2119
$GC,18544,0.40,186.7,862.9,6.5,465,18548,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,785,2119
$GC,18577,0.44,186.7,860.7,6.3,465,18582,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2119
$GC,18905,0.44,186.7,840.7,6.2,471,18909,0.00,2.38,0.00,0.000,4,0.000,0.082,3436,3620,2119
$GC,18945,0.44,186.7,837.9,7.1,471,18949,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2202,2119
$GC,19266,0.44,186.7,818.6,6.0,477,19270,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,783,2118
$GC,19306,0.49,186.7,816.3,6.2,477,19311,0.12,2.35,0.00,0.000,6,0.088,0.061,3491,2215,2118
$GC,19628,0.36,186.7,793.1,7.3,483,19630,0.20,0.00,0.00,0.000,6,0.149,0.000,3434,2214,2118
$GC,19930,0.36,186.7,777.0,5.3,488,19934,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,778,2118
$GC,19971,0.42,196.3,774.7,4.7,488,19987,0.00,2.35,11.40,1.261,6,0.000,0.061,3436,2209,2075
$GC,20292,0.47,196.3,755.6,6.0,493,20294,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2073
$GC,20594,0.52,196.3,736.2,6.5,498,20596,0.15,0.00,0.00,0.000,6,0.082,0.000,3502,2209,2073
$GC,20898,0.37,196.3,709.3,9.0,503,20902,0.20,2.45,0.00,0.000,4,0.149,0.077,3449,779,2073
$GC,20932,0.37,196.3,706.5,7.2,503,20936,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2211,2073
$GC,21259,0.37,196.3,684.1,6.8,509,21263,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,791,2073
$GC,21303,0.37,196.3,681.1,5.9,509,21307,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2203,2073
$GC,21619,0.37,196.3,660.9,6.5,515,21623,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,784,2073
$GC,21682,0.41,196.3,656.6,6.1,516,21687,0.00,2.35,0.00,0.000,6,0.000,0.062,3449,2204,2073
$GC,22049,0.41,196.3,631.2,7.0,522,22050,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2073
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