version: 66.03
glider: 120
mission: 9
dive: 677
start: 5 10 109 22 31 13
data:
$ID,120
$MISSION,9
$DIVE,677
$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,-32116.279
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,221801,5021.746,-14510.926,94,1.3,94,18.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-74.8
$GPS2,223019,5021.694,-14510.824,35,1.3,37,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.176
$KALMAN_X,-125830.8,307.6,-43.0,129909.0,658.1
$KALMAN_Y,137633.3,373.1,161.8,-104446.1,-2250.2
$MHEAD_RNG_PITCHd_Wd,168.8,51286,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.92,0.000,2,0.000,0.000,134,2404,2783
$GC,74,-0.67,-117.3,4.0,-7.1,4,107,14.70,2.50,-10.88,0.000,4,0.272,0.093,3095,3799,3357
$GC,346,-0.54,-117.3,38.0,-9.8,28,351,0.17,2.38,0.00,0.000,6,0.152,0.053,3141,2392,3359
$GC,673,-0.54,-117.3,63.1,-7.7,58,674,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3359
$GC,989,-0.54,-117.3,86.8,-7.8,84,993,0.00,2.53,0.00,0.000,4,0.000,0.066,3141,990,3360
$GC,1039,-0.54,-117.3,91.3,-8.6,86,1043,0.00,2.40,0.00,0.000,6,0.000,0.059,3141,2400,3359
$GC,1356,-0.54,-117.3,115.4,-7.8,101,1360,0.00,2.45,0.00,0.000,4,0.000,0.079,3141,3811,3360
$GC,1385,-0.54,-117.3,117.7,-7.7,102,1389,0.00,2.30,0.00,0.000,6,0.000,0.051,3141,2391,3360
$GC,1703,-0.59,-117.3,139.9,-6.6,117,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2391,3360
$GC,2021,-0.80,-117.3,161.9,-6.9,130,2023,0.25,0.00,0.00,0.000,6,0.084,0.000,3054,2392,3360
$GC,2328,-0.90,-117.3,185.0,-7.4,140,2332,0.00,2.67,0.00,0.000,4,0.000,0.074,3054,3811,3360
$GC,2435,-0.78,-117.3,193.8,-7.9,143,2439,0.00,2.42,0.00,0.000,6,0.000,0.051,3054,2398,3360
$GC,2760,-0.64,-117.3,220.0,-8.2,154,2762,0.20,0.00,0.00,0.000,6,0.126,0.000,3109,2396,3360
$GC,3065,-0.64,-117.3,240.2,-6.5,164,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3360
$GC,3372,-0.64,-117.3,261.8,-7.3,174,3376,0.00,2.60,0.00,0.000,4,0.000,0.079,3110,3805,3360
$GC,3394,-0.64,-117.3,263.5,-7.3,174,3400,0.00,2.38,0.00,0.000,6,0.000,0.051,3110,2400,3360
$GC,3708,-0.64,-117.3,285.5,-6.9,185,3713,0.00,2.55,0.00,0.000,4,0.000,0.067,3109,986,3360
$GC,3754,-0.64,-117.3,288.9,-7.4,186,3758,0.00,2.42,0.00,0.000,6,0.000,0.059,3110,2399,3360
$GC,4071,-0.64,-117.3,309.3,-6.4,195,4076,0.00,2.47,0.00,0.000,4,0.000,0.079,3110,3809,3360
$GC,4107,-0.69,-117.3,311.6,-6.9,195,4111,0.00,2.33,0.00,0.000,6,0.000,0.051,3109,2388,3360
$GC,4434,-0.69,-117.3,332.4,-6.4,201,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2389,3360
$GC,4737,-0.69,-117.3,351.7,-6.4,206,4741,0.00,2.58,0.00,0.000,4,0.000,0.067,3110,990,3360
$GC,4776,-0.69,-117.3,354.4,-7.5,206,4780,0.00,2.45,0.00,0.000,6,0.000,0.059,3110,2409,3359
$GC,5098,-0.69,-117.3,374.0,-6.1,212,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3359
$GC,5402,-0.69,-117.3,393.1,-6.3,217,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3359
$GC,5704,-0.74,-117.3,412.9,-6.6,222,5708,0.00,2.60,0.00,0.000,4,0.000,0.068,3110,989,3359
$GC,5744,-0.79,-117.3,415.9,-7.3,222,5749,0.15,2.47,0.00,0.000,6,0.075,0.060,3059,2405,3359
$GC,6066,-0.74,-117.3,440.6,-7.8,228,6071,0.00,2.45,0.00,0.000,4,0.000,0.078,3059,3806,3359
$GC,6095,-0.66,-117.3,443.3,-8.9,228,6100,0.15,2.33,0.00,0.000,6,0.109,0.053,3098,2394,3358
$GC,6428,-0.66,-117.3,467.0,-7.1,234,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,6731,-0.66,-117.3,488.1,-6.9,239,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3358
$GC,7036,-0.66,-117.3,507.1,-6.2,244,7040,0.00,2.62,0.00,0.000,4,0.000,0.080,3098,3806,3358
$GC,7065,-0.66,-117.3,509.0,-6.1,244,7069,0.00,2.40,0.00,0.000,6,0.000,0.052,3098,2394,3358
$GC,7398,-0.66,-117.3,527.5,-5.5,250,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,7701,-0.66,-117.3,544.2,-5.5,255,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,8005,-0.66,-117.3,560.7,-5.5,260,8009,0.00,2.55,0.00,0.000,4,0.000,0.069,3098,991,3358
$GC,8044,-0.66,-117.3,563.1,-6.2,260,8049,0.00,2.45,0.00,0.000,6,0.000,0.061,3098,2402,3358
$GC,8366,-0.66,-117.3,579.6,-5.0,266,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3358
$GC,8669,-0.66,-117.3,594.7,-5.0,271,8674,0.00,2.58,0.00,0.000,4,0.000,0.069,3098,991,3358
$GC,8716,-0.71,-117.3,597.3,-6.0,271,8720,0.00,2.45,0.00,0.000,6,0.000,0.061,3098,2403,3357
$GC,9032,-0.71,-117.3,615.0,-5.6,277,9036,0.00,2.47,0.00,0.000,4,0.000,0.081,3098,3809,3357
$GC,9055,-0.75,-117.3,616.4,-5.8,277,9059,0.00,2.33,0.00,0.000,6,0.000,0.053,3098,2393,3357
$GC,9394,-0.97,-117.3,639.9,-7.2,283,9399,0.25,2.53,0.00,0.000,4,0.081,0.077,3005,3808,3357
$GC,9550,-0.74,-117.3,655.3,-10.5,285,9555,0.28,2.35,0.00,0.000,6,0.153,0.054,3072,2398,3357
$GC,9894,-0.69,-117.3,682.0,-7.5,291,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,10198,-0.69,-117.3,705.2,-7.7,296,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3357
$GC,10500,-0.69,-117.3,728.5,-7.7,301,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3357
$GC,10803,-0.69,-117.3,749.7,-6.9,306,10807,0.00,2.60,0.00,0.000,4,0.000,0.081,3072,3818,3356
$GC,10837,-0.69,-117.3,752.1,-6.7,306,10841,0.00,2.38,0.00,0.000,6,0.000,0.054,3072,2394,3356
$GC,11165,-0.69,-117.3,773.1,-6.4,312,11169,0.00,2.53,0.00,0.000,4,0.000,0.070,3072,986,3356
$GC,11199,-0.69,-117.3,775.6,-7.4,312,11204,0.00,2.47,0.00,0.000,6,0.000,0.061,3072,2409,3356
$GC,11528,-0.69,-117.3,796.5,-6.4,318,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3356
$GC,11830,-0.69,-117.3,815.2,-6.2,323,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3356
$GC,12134,-0.69,-117.3,834.2,-6.2,328,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3355
$GC,12436,-0.69,-117.3,854.1,-6.6,333,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3356
$GC,12740,-0.69,-117.3,873.1,-6.2,338,12744,0.00,2.62,0.00,0.000,4,0.000,0.071,3072,986,3355
$GC,12775,-0.69,-117.3,875.2,-7.0,338,12779,0.00,2.47,0.00,0.000,6,0.000,0.063,3071,2402,3355
$GC,13103,-0.69,-117.3,893.4,-5.5,344,13107,0.00,2.50,0.00,0.000,4,0.000,0.081,3071,3818,3355
$GC,13133,-0.69,-117.3,895.1,-5.7,344,13137,0.00,2.35,0.00,0.000,6,0.000,0.056,3072,2401,3355
$GC,13466,-0.69,-117.3,913.5,-5.5,350,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,13769,-0.69,-117.3,930.3,-5.6,355,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,14073,-0.69,-117.3,947.7,-5.8,360,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,14375,-0.69,-117.3,965.2,-5.7,365,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3355
$GC,14678,-0.69,-117.3,981.4,-5.3,370,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$STATE,14857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14857,begin apogee
$GC,14866,-0.22,0.0,991.3,5.4,373,14979,0.60,0.00,108.05,1.492,6,0.133,0.000,3244,2201,2876
$STATE,14980,end apogee,CONTROL_FINISHED_OK
$STATE,14980,begin climb
$GC,14984,0.67,117.3,995.4,0.0,375,15109,0.90,3.03,116.57,1.438,4,0.084,0.072,3534,784,2396
$GC,15183,0.32,117.3,992.1,7.0,378,15189,0.47,2.67,0.00,0.000,6,0.164,0.058,3429,2198,2394
$GC,15547,0.28,119.7,973.9,4.9,384,15551,0.00,2.38,0.00,0.000,4,0.000,0.078,3429,3614,2393
$GC,15592,0.16,119.7,971.3,5.3,384,15597,0.25,2.30,0.00,0.000,6,0.166,0.061,3374,2198,2392
$GC,15909,0.35,168.4,959.6,3.6,390,15957,0.17,0.00,45.70,1.447,6,0.078,0.000,3441,2198,2189
$GC,16212,0.35,168.4,942.1,5.9,395,16216,0.00,2.42,0.00,0.000,4,0.000,0.077,3450,778,2185
$GC,16263,0.35,168.4,938.6,6.2,395,16268,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2207,2185
$GC,16574,0.35,168.4,917.9,6.7,400,16575,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2184
$GC,16878,0.31,168.4,897.9,6.6,405,16880,0.12,0.00,0.00,0.000,6,0.140,0.000,3418,2205,2183
$GC,17182,0.37,168.4,880.2,5.8,410,17186,0.00,2.47,0.00,0.000,4,0.000,0.077,3421,787,2183
$GC,17216,0.43,168.4,877.9,6.0,410,17221,0.10,2.38,0.00,0.000,6,0.091,0.058,3462,2203,2183
$GC,17544,0.35,168.4,856.1,6.6,416,17545,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2202,2183
$GC,17848,0.28,168.4,836.4,6.6,421,17852,0.17,2.50,0.00,0.000,4,0.140,0.074,3420,786,2183
$GC,17911,0.36,168.4,832.8,5.0,422,17916,0.00,2.40,0.00,0.000,6,0.000,0.061,3420,2201,2183
$GC,18279,0.42,168.4,813.6,5.2,428,18283,0.10,2.42,0.00,0.000,4,0.102,0.079,3462,3607,2182
$GC,18314,0.28,168.4,811.2,7.2,428,18319,0.22,2.33,0.00,0.000,6,0.163,0.061,3407,2196,2182
$GC,18642,0.37,172.0,795.0,4.9,434,18646,0.00,2.47,0.00,0.000,4,0.000,0.077,3408,787,2182
$GC,18693,0.52,194.0,792.5,4.4,434,18724,0.22,2.40,22.92,1.347,6,0.074,0.058,3491,2204,2084
$GC,19079,0.40,194.0,762.1,8.2,441,19084,0.15,2.47,0.00,0.000,4,0.145,0.077,3450,776,2081
$GC,19135,0.40,194.0,757.6,7.3,441,19142,0.00,2.38,0.00,0.000,6,0.000,0.059,3450,2200,2081
$GC,19447,0.40,194.0,736.2,6.9,447,19448,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2199,2081
$GC,19749,0.40,194.0,715.3,6.9,452,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2199,2081
$GC,20052,0.40,194.0,693.9,7.1,457,20056,0.00,2.50,0.00,0.000,4,0.000,0.076,3450,777,2081
$GC,20092,0.40,194.0,691.0,6.9,457,20097,0.00,2.40,0.00,0.000,6,0.000,0.059,3450,2201,2081
$GC,20415,0.40,194.0,669.8,6.5,463,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2080
$GC,20717,0.40,194.0,651.4,6.1,468,20722,0.00,2.50,0.00,0.000,4,0.000,0.077,3450,789,2081
$GC,20757,0.40,194.0,648.9,6.4,468,20761,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2203,2081
$GC,21078,0.40,194.0,630.0,5.9,474,21080,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2080
$GC,21382,0.40,194.0,611.3,6.2,479,21386,0.00,2.53,0.00,0.000,4,0.000,0.077,3450,788,2080
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