version: 66.03
glider: 120
mission: 9
dive: 702
start: 5 20 109 8 6 28
data:
$ID,120
$MISSION,9
$DIVE,702
$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,-32595.363
$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
$GPS1,075527,5018.658,-14428.185,42,2.8,61,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.9
$GPS2,080534,5018.620,-14428.214,14,3.1,33,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.058,-0.168
$KALMAN_X,-148948.8,212.8,189.4,203553.8,-2625.2
$KALMAN_Y,143750.6,364.4,303.4,-116399.3,-1171.4
$MHEAD_RNG_PITCHd_Wd,142.2,45615,-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,-117.1,0.0,0.0,0,69,0.00,0.00,-39.95,0.000,2,0.000,0.000,137,2400,2737
$GC,74,-0.67,-117.1,3.7,-6.5,4,107,14.15,2.45,-12.40,0.000,4,0.274,0.094,3095,3808,3356
$GC,361,-0.53,-117.1,39.6,-10.8,29,368,0.17,2.30,0.00,0.000,6,0.153,0.053,3143,2396,3358
$GC,691,-0.53,-117.1,68.0,-9.0,60,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2396,3359
$GC,1023,-0.53,-117.1,96.1,-8.2,83,1026,0.00,2.45,0.00,0.000,4,0.000,0.067,3143,989,3359
$GC,1070,-0.53,-117.1,100.1,-8.7,85,1075,0.00,2.42,0.00,0.000,6,0.000,0.059,3142,2401,3359
$GC,1399,-0.53,-117.1,124.9,-7.0,101,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3359
$GC,1709,-0.58,-117.3,142.3,-4.9,116,1713,0.00,2.50,0.00,0.000,4,0.000,0.067,3141,994,3359
$GC,1734,-0.65,-117.3,143.5,-4.8,117,1738,0.00,2.42,0.00,0.000,6,0.000,0.058,3141,2405,3359
$GC,2075,-0.72,-117.3,160.1,-5.1,131,2080,0.15,2.47,0.00,0.000,4,0.078,0.075,3074,3814,3359
$GC,2098,-0.72,-117.3,161.7,-6.3,131,2104,0.00,2.33,0.00,0.000,6,0.000,0.051,3074,2399,3359
$GC,2413,-0.65,-117.3,186.7,-8.1,142,2418,0.12,2.53,0.00,0.000,4,0.110,0.065,3108,994,3358
$GC,2443,-0.65,-117.3,189.2,-8.0,143,2447,0.00,2.42,0.00,0.000,6,0.000,0.059,3108,2400,3359
$GC,2785,-0.65,-117.3,214.2,-7.3,154,2789,0.00,2.47,0.00,0.000,4,0.000,0.079,3100,3819,3359
$GC,2837,-0.65,-117.3,218.0,-7.3,155,2841,0.00,2.35,0.00,0.000,6,0.000,0.052,3100,2396,3359
$GC,3150,-0.65,-117.3,238.3,-6.1,165,3155,0.00,2.47,0.00,0.000,4,0.000,0.068,3100,985,3359
$GC,3185,-0.65,-117.3,240.6,-6.5,166,3189,0.00,2.45,0.00,0.000,6,0.000,0.059,3100,2405,3359
$GC,3515,-0.65,-117.3,261.6,-6.4,177,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3359
$GC,3822,-0.65,-117.3,280.1,-5.7,187,3826,0.00,2.53,0.00,0.000,4,0.000,0.067,3100,982,3359
$GC,3852,-0.65,-117.3,282.1,-6.6,188,3856,0.00,2.47,0.00,0.000,6,0.000,0.060,3100,2408,3359
$GC,4218,-0.65,-117.3,305.4,-6.6,199,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3358
$GC,4521,-0.65,-117.3,327.4,-7.3,204,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,4826,-0.65,-117.3,350.3,-7.6,209,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3359
$GC,5127,-0.65,-117.3,372.8,-7.4,214,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3358
$GC,5430,-0.65,-117.3,394.2,-7.1,219,5435,0.00,2.50,0.00,0.000,4,0.000,0.080,3100,3810,3357
$GC,5459,-0.65,-117.3,396.3,-7.1,219,5463,0.00,2.35,0.00,0.000,6,0.000,0.053,3100,2400,3357
$GC,5792,-0.65,-117.3,417.2,-6.2,225,5797,0.00,2.53,0.00,0.000,4,0.000,0.069,3100,994,3358
$GC,5827,-0.65,-117.3,419.5,-7.0,225,5831,0.00,2.45,0.00,0.000,6,0.000,0.060,3100,2402,3357
$GC,6154,-0.65,-117.3,439.3,-6.1,231,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3358
$GC,6457,-0.65,-117.3,456.2,-5.5,236,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,6761,-0.65,-117.3,473.2,-5.6,241,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3358
$GC,7063,-0.65,-117.3,490.6,-5.8,246,7067,0.00,2.53,0.00,0.000,4,0.000,0.069,3100,987,3357
$GC,7097,-0.65,-117.3,492.8,-6.7,246,7101,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2406,3357
$GC,7424,-0.65,-117.3,511.9,-6.0,252,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,7727,-0.65,-117.3,530.4,-6.1,257,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,8031,-0.65,-117.3,549.8,-6.4,262,8036,0.00,2.58,0.00,0.000,4,0.000,0.068,3100,988,3356
$GC,8066,-0.65,-117.3,552.4,-7.1,262,8070,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2405,3356
$GC,8393,-0.65,-117.3,572.3,-6.0,268,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,8696,-0.65,-117.3,589.8,-5.7,273,8700,0.00,2.55,0.00,0.000,4,0.000,0.069,3100,989,3356
$GC,8737,-0.65,-117.3,592.4,-6.2,273,8741,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2399,3356
$GC,9059,-0.65,-117.3,612.0,-6.2,279,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3356
$GC,9362,-0.65,-117.3,630.5,-6.1,284,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3356
$GC,9665,-0.69,-117.3,649.3,-6.2,289,9670,0.00,2.55,0.00,0.000,4,0.000,0.071,3100,984,3355
$GC,9695,-0.73,-117.3,651.3,-7.1,289,9700,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2403,3355
$GC,10029,-0.77,-117.3,670.1,-5.5,295,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,10332,-0.82,-117.3,685.6,-5.1,300,10334,0.15,0.00,0.00,0.000,6,0.084,0.000,3042,2403,3355
$GC,10636,-0.75,-117.3,704.9,-6.4,305,10641,0.10,2.58,0.00,0.000,4,0.092,0.081,3070,3809,3355
$GC,10664,-0.75,-117.3,707.0,-6.9,305,10669,0.00,2.38,0.00,0.000,6,0.000,0.054,3070,2397,3355
$GC,10998,-0.75,-117.3,727.7,-6.4,311,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2397,3355
$GC,11302,-0.75,-117.3,747.9,-6.8,316,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2397,3354
$GC,11605,-0.75,-117.3,768.6,-6.9,321,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2397,3355
$GC,11907,-0.75,-117.3,789.0,-6.7,326,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2397,3354
$GC,12212,-0.75,-117.3,807.9,-6.2,331,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2397,3354
$GC,12513,-0.75,-117.3,827.7,-6.6,336,12518,0.00,2.67,0.00,0.000,4,0.000,0.081,3070,3817,3354
$GC,12542,-0.75,-117.3,829.8,-6.8,336,12546,0.00,2.45,0.00,0.000,6,0.000,0.054,3070,2394,3354
$GC,12876,-0.75,-117.3,851.8,-6.7,342,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2395,3354
$GC,13178,-0.75,-117.3,871.9,-6.5,347,13182,0.00,2.58,0.00,0.000,4,0.000,0.071,3070,990,3354
$GC,13206,-0.75,-117.3,874.0,-7.1,347,13210,0.00,2.47,0.00,0.000,6,0.000,0.063,3070,2400,3354
$GC,13539,-0.75,-117.3,896.7,-6.8,353,13543,0.00,2.55,0.00,0.000,4,0.000,0.082,3070,3809,3354
$GC,13579,-0.75,-117.3,899.6,-7.2,353,13584,0.00,2.40,0.00,0.000,6,0.000,0.054,3071,2393,3354
$GC,13901,-0.75,-117.3,920.8,-6.5,359,13906,0.00,2.58,0.00,0.000,4,0.000,0.082,3070,3817,3353
$GC,13930,-0.75,-117.3,922.9,-6.6,359,13934,0.00,2.40,0.00,0.000,6,0.000,0.055,3070,2389,3354
$GC,14264,-0.75,-117.3,944.0,-6.3,365,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2390,3353
$GC,14568,-0.75,-117.3,962.6,-6.1,370,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2390,3353
$GC,14869,-0.75,-117.3,981.3,-6.2,375,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2390,3353
$STATE,15047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15047,begin apogee
$GC,15056,-0.22,0.0,991.7,5.8,378,15170,0.60,0.00,109.32,1.507,6,0.132,0.000,3247,2194,2876
$STATE,15171,end apogee,CONTROL_FINISHED_OK
$STATE,15171,begin climb
$GC,15176,0.67,117.3,995.9,0.0,380,15299,0.90,0.00,118.57,1.453,6,0.083,0.000,3529,2193,2397
$GC,15607,0.34,117.3,973.9,8.1,387,15613,0.38,2.67,0.00,0.000,4,0.158,0.074,3436,793,2394
$GC,15688,0.29,117.3,968.1,6.4,388,15692,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2201,2394
$GC,16038,0.24,117.3,946.7,6.1,394,16040,0.15,0.00,0.00,0.000,6,0.165,0.000,3400,2202,2393
$GC,16341,0.28,117.3,931.0,5.1,399,16342,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2202,2392
$GC,16644,0.35,128.8,916.8,4.7,404,16657,0.00,0.00,10.95,1.338,6,0.000,0.000,3400,2202,2351
$GC,16949,0.43,153.2,903.7,4.3,409,16974,0.17,0.00,23.15,1.417,6,0.076,0.000,3472,2202,2250
$GC,17250,0.32,153.2,884.9,6.3,414,17255,0.15,2.42,0.00,0.000,4,0.147,0.077,3427,3611,2248
$GC,17296,0.26,153.2,882.1,5.5,414,17301,0.15,2.35,0.00,0.000,6,0.171,0.060,3401,2196,2248
$GC,17614,0.38,178.3,868.6,4.3,420,17639,0.12,0.00,23.10,1.397,6,0.081,0.000,3450,2196,2149
$GC,17979,0.38,178.3,848.7,5.3,426,17982,0.00,2.47,0.00,0.000,4,0.000,0.077,3450,785,2146
$GC,18042,0.38,178.3,845.2,6.1,426,18048,0.00,2.38,0.00,0.000,6,0.000,0.061,3450,2208,2146
$GC,18353,0.38,178.3,829.3,5.1,432,18354,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2207,2145
$GC,18656,0.40,189.9,815.0,4.7,437,18669,0.00,0.00,11.65,1.302,6,0.000,0.000,3450,2207,2101
$GC,18959,0.41,200.9,800.9,4.7,442,18973,0.00,0.00,11.50,1.292,6,0.000,0.000,3450,2207,2056
$GC,19263,0.41,200.9,785.6,5.1,447,19267,0.00,2.50,0.00,0.000,4,0.000,0.077,3450,780,2054
$GC,19302,0.41,200.9,783.2,5.5,447,19307,0.00,2.38,0.00,0.000,6,0.000,0.059,3450,2201,2054
$GC,19625,0.41,200.9,765.4,5.6,453,19629,0.00,2.50,0.00,0.000,4,0.000,0.077,3450,780,2053
$GC,19659,0.41,200.9,763.3,5.6,453,19663,0.00,2.40,0.00,0.000,6,0.000,0.059,3450,2202,2054
$GC,19987,0.41,200.9,743.0,6.3,459,19988,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2053
$GC,20289,0.41,200.9,723.6,6.4,464,20293,0.00,2.53,0.00,0.000,4,0.000,0.077,3450,785,2053
$GC,20317,0.41,200.9,721.8,5.5,464,20321,0.00,2.42,0.00,0.000,6,0.000,0.058,3450,2211,2053
$GC,20650,0.41,200.9,700.8,6.3,470,20651,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2210,2053
$GC,20954,0.41,200.9,681.2,6.4,475,20958,0.00,2.55,0.00,0.000,4,0.000,0.076,3450,781,2053
$GC,20987,0.41,200.9,679.0,6.3,475,20992,0.00,2.45,0.00,0.000,6,0.000,0.059,3450,2210,2053
$GC,21315,0.41,200.9,657.3,6.7,481,21319,0.00,2.55,0.00,0.000,4,0.000,0.077,3451,785,2053
$GC,21349,0.41,200.9,654.8,6.3,481,21354,0.00,2.42,0.00,0.000,6,0.000,0.058,3450,2201,2053
$GC,21678,0.41,200.9,631.6,7.1,487,21682,0.00,2.55,0.00,0.000,4,0.000,0.077,3450,777,2052
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