version: 66.03
glider: 120
mission: 9
dive: 703
start: 5 20 109 17 5 47
data:
$ID,120
$MISSION,9
$DIVE,703
$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,-32619.469
$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,23
$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
$GPS1,165730,5015.271,-14427.685,73,1.3,73,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-76.0
$GPS2,170450,5015.273,-14427.680,23,1.8,23,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.043,-0.172
$KALMAN_X,-150287.5,-57.8,217.1,205771.4,-2198.2
$KALMAN_Y,144492.4,109.8,403.8,-123180.0,-598.9
$MHEAD_RNG_PITCHd_Wd,147.3,39460,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.72,0.000,2,0.000,0.000,142,2414,2776
$GC,74,-0.67,-117.3,3.9,-7.1,4,107,14.05,2.45,-11.15,0.000,4,0.282,0.092,3083,3804,3358
$GC,294,-0.47,-117.3,34.9,-10.8,23,301,0.28,2.30,0.00,0.000,6,0.146,0.054,3159,2393,3359
$GC,624,-0.52,-117.3,57.4,-6.6,54,628,0.00,2.42,0.00,0.000,4,0.000,0.068,3160,990,3360
$GC,665,-0.59,-117.3,60.5,-7.4,57,669,0.00,2.42,0.00,0.000,6,0.000,0.058,3154,2406,3359
$GC,1001,-0.59,-117.3,83.2,-6.8,86,1005,0.00,2.45,0.00,0.000,4,0.000,0.077,3155,3818,3360
$GC,1045,-0.68,-117.3,86.0,-6.5,88,1050,0.17,2.33,0.00,0.000,6,0.072,0.051,3091,2399,3360
$GC,1374,-0.60,-117.3,114.7,-9.0,104,1376,0.10,0.00,0.00,0.000,6,0.089,0.000,3120,2400,3360
$GC,1684,-0.60,-117.3,139.8,-7.6,119,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3361
$GC,2001,-0.60,-117.3,160.5,-6.0,132,2005,0.00,2.47,0.00,0.000,4,0.000,0.067,3120,982,3360
$GC,2051,-0.60,-117.3,163.6,-6.5,133,2056,0.00,2.45,0.00,0.000,6,0.000,0.058,3120,2401,3360
$GC,2366,-0.60,-117.3,182.8,-6.6,143,2370,0.00,2.47,0.00,0.000,4,0.000,0.078,3116,3814,3360
$GC,2412,-0.65,-117.3,186.2,-7.4,144,2417,0.00,2.33,0.00,0.000,6,0.000,0.051,3119,2399,3360
$GC,2733,-0.69,-117.3,207.6,-6.6,155,2737,0.00,2.47,0.00,0.000,4,0.000,0.067,3119,987,3361
$GC,2784,-0.73,-117.3,211.5,-7.7,156,2789,0.12,2.45,0.00,0.000,6,0.074,0.058,3075,2404,3360
$GC,3099,-0.73,-117.3,236.9,-7.9,166,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2404,3361
$GC,3404,-0.73,-117.3,258.2,-6.5,176,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2404,3360
$GC,3710,-0.73,-117.3,278.5,-6.7,186,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3360
$GC,4017,-0.73,-117.3,299.4,-6.6,196,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2404,3360
$GC,4350,-0.73,-117.3,320.2,-6.1,202,4354,0.00,2.53,0.00,0.000,4,0.000,0.068,3075,988,3360
$GC,4378,-0.73,-117.3,322.1,-6.8,202,4382,0.00,2.45,0.00,0.000,6,0.000,0.059,3074,2401,3360
$GC,4711,-0.68,-117.3,345.6,-7.2,208,4715,0.00,2.50,0.00,0.000,4,0.000,0.079,3072,3818,3360
$GC,4740,-0.61,-117.3,347.8,-7.6,208,4745,0.17,2.35,0.00,0.000,6,0.119,0.053,3118,2398,3360
$GC,5074,-0.67,-117.3,366.8,-5.5,214,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3360
$GC,5377,-0.73,-117.3,382.8,-5.3,219,5382,0.12,2.50,0.00,0.000,4,0.081,0.068,3070,995,3359
$GC,5418,-0.68,-117.3,385.3,-6.5,219,5422,0.00,2.45,0.00,0.000,6,0.000,0.060,3070,2402,3359
$GC,5740,-0.62,-117.3,407.1,-6.8,225,5742,0.15,0.00,0.00,0.000,6,0.134,0.000,3110,2401,3359
$GC,6043,-0.66,-117.3,424.1,-5.6,230,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3359
$GC,6347,-0.71,-117.3,441.5,-5.8,235,6351,0.00,2.55,0.00,0.000,4,0.000,0.069,3111,991,3359
$GC,6384,-0.76,-117.3,443.7,-6.6,235,6389,0.12,2.47,0.00,0.000,6,0.081,0.060,3067,2411,3358
$GC,6711,-0.76,-117.3,465.4,-6.6,241,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3359
$GC,7014,-0.76,-117.3,485.1,-6.4,246,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3358
$GC,7318,-0.76,-117.3,503.2,-6.0,251,7322,0.00,2.50,0.00,0.000,4,0.000,0.078,3067,3810,3358
$GC,7347,-0.72,-117.3,505.0,-6.7,251,7351,0.00,2.35,0.00,0.000,6,0.000,0.054,3067,2401,3358
$GC,7686,-0.72,-117.3,526.3,-6.3,257,7690,0.00,2.53,0.00,0.000,4,0.000,0.071,3067,981,3358
$GC,7721,-0.72,-117.3,528.7,-6.6,257,7725,0.00,2.47,0.00,0.000,6,0.000,0.060,3067,2403,3358
$GC,8050,-0.68,-117.3,550.8,-6.7,263,8052,0.12,0.00,0.00,0.000,6,0.127,0.000,3101,2403,3358
$GC,8352,-0.72,-117.3,568.5,-5.8,268,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3358
$GC,8654,-0.72,-117.3,585.8,-5.7,273,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3358
$GC,8958,-0.72,-117.3,602.0,-5.3,278,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3358
$GC,9261,-0.76,-117.3,617.8,-5.3,283,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3358
$GC,9565,-0.76,-117.3,632.8,-4.9,288,9569,0.00,2.60,0.00,0.000,4,0.000,0.069,3101,985,3357
$GC,9610,-0.82,-117.3,635.3,-5.3,288,9615,0.15,2.50,0.00,0.000,6,0.074,0.061,3050,2404,3357
$GC,9927,-0.77,-117.3,653.3,-5.7,294,9931,0.00,2.53,0.00,0.000,4,0.000,0.079,3049,3820,3357
$GC,9967,-0.69,-117.3,655.8,-6.1,294,9972,0.15,2.38,0.00,0.000,6,0.101,0.054,3089,2397,3357
$GC,10290,-0.69,-117.3,671.2,-4.7,300,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2398,3357
$GC,10593,-0.69,-117.3,685.7,-4.7,305,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2398,3357
$GC,10896,-0.69,-117.3,700.6,-4.9,310,10900,0.00,2.55,0.00,0.000,4,0.000,0.070,3089,993,3357
$GC,10925,-0.69,-117.3,702.2,-5.8,310,10929,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2402,3357
$GC,11259,-0.69,-117.3,719.9,-5.3,316,11263,0.00,2.53,0.00,0.000,4,0.000,0.081,3085,3810,3357
$GC,11298,-0.69,-117.3,722.3,-6.7,316,11302,0.00,2.35,0.00,0.000,6,0.000,0.054,3085,2402,3356
$GC,11620,-0.69,-117.3,740.4,-5.7,322,11625,0.00,2.50,0.00,0.000,4,0.000,0.070,3085,991,3356
$GC,11654,-0.69,-117.3,742.7,-6.7,322,11659,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2402,3357
$GC,11982,-0.69,-117.3,762.6,-6.0,328,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,12285,-0.69,-117.3,780.7,-6.0,333,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,12590,-0.69,-117.3,797.9,-5.7,338,12594,0.00,2.55,0.00,0.000,4,0.000,0.070,3085,981,3356
$GC,12618,-0.69,-117.3,799.7,-5.6,338,12622,0.00,2.50,0.00,0.000,6,0.000,0.061,3085,2408,3356
$GC,12951,-0.69,-117.3,818.8,-5.8,344,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3356
$GC,13254,-0.69,-117.3,835.9,-5.6,349,13258,0.00,2.58,0.00,0.000,4,0.000,0.071,3085,982,3356
$GC,13283,-0.69,-117.3,837.6,-6.5,349,13287,0.00,2.50,0.00,0.000,6,0.000,0.062,3085,2401,3356
$GC,13616,-0.69,-117.3,855.5,-5.3,355,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,13919,-0.69,-117.3,871.5,-5.3,360,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,14223,-0.69,-117.3,886.5,-5.0,365,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,14525,-0.69,-117.3,901.7,-5.1,370,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,14829,-0.69,-117.3,917.3,-5.2,375,14833,0.00,2.58,0.00,0.000,4,0.000,0.071,3085,992,3355
$GC,14863,-0.69,-117.3,919.3,-5.9,375,14867,0.00,2.50,0.00,0.000,6,0.000,0.063,3085,2404,3355
$GC,15190,-0.69,-117.3,937.1,-5.5,381,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,15493,-0.69,-117.3,955.4,-6.1,386,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3356
$GC,15797,-0.69,-117.3,972.9,-5.7,391,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$STATE,16095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16095,begin apogee
$GC,16104,-0.22,0.0,990.2,5.7,396,16218,0.55,0.00,109.68,1.501,6,0.130,0.000,3247,2194,2876
$STATE,16219,end apogee,CONTROL_FINISHED_OK
$STATE,16219,begin climb
$GC,16223,0.67,117.3,994.9,0.0,398,16350,0.90,2.95,118.50,1.452,4,0.081,0.074,3533,801,2397
$GC,16473,0.33,117.3,989.3,7.9,401,16479,0.47,2.67,0.00,0.000,6,0.170,0.058,3427,2207,2395
$GC,16785,0.31,138.6,975.2,4.4,406,16811,0.00,2.50,20.65,1.401,4,0.000,0.077,3426,3620,2309
$GC,16848,0.22,138.6,972.0,6.0,407,16853,0.17,2.45,0.00,0.000,6,0.164,0.058,3396,2202,2309
$GC,17216,0.36,182.1,957.8,3.8,413,17261,0.12,2.53,39.58,1.454,4,0.081,0.078,3448,783,2133
$GC,17297,0.36,182.1,953.6,5.9,414,17301,0.00,2.45,0.00,0.000,6,0.000,0.058,3449,2212,2131
$GC,17641,0.36,182.1,933.5,5.8,420,17642,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2128
$GC,17944,0.36,182.1,915.8,5.9,425,17949,0.00,2.53,0.00,0.000,4,0.000,0.077,3449,786,2128
$GC,17991,0.36,182.1,913.0,5.8,425,17995,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2200,2128
$GC,18307,0.36,182.1,892.4,6.7,431,18308,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2127
$GC,18610,0.36,182.1,869.9,7.5,436,18614,0.00,2.53,0.00,0.000,4,0.000,0.077,3449,780,2127
$GC,18667,0.36,182.1,865.4,8.4,436,18673,0.00,2.40,0.00,0.000,6,0.000,0.059,3448,2200,2127
$GC,18979,0.36,182.1,841.5,7.7,442,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2199,2127
$GC,19281,0.36,182.1,819.0,7.4,447,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2127
$GC,19584,0.36,182.1,798.3,6.7,452,19588,0.00,2.53,0.00,0.000,4,0.000,0.077,3448,789,2127
$GC,19618,0.36,182.1,795.9,6.4,452,19622,0.00,2.42,0.00,0.000,6,0.000,0.059,3448,2205,2127
$GC,19945,0.36,182.1,775.4,6.2,458,19949,0.00,2.55,0.00,0.000,4,0.000,0.077,3449,783,2126
$GC,19986,0.36,182.1,772.9,6.2,458,19990,0.00,2.42,0.00,0.000,6,0.000,0.058,3448,2199,2126
$GC,20307,0.36,182.1,752.9,6.2,464,20309,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2198,2126
$GC,20611,0.36,182.1,734.1,6.2,469,20612,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2198,2126
$GC,20914,0.36,182.1,715.2,6.2,474,20918,0.00,2.55,0.00,0.000,4,0.000,0.077,3449,790,2126
$GC,20943,0.36,182.1,713.2,6.4,474,20947,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2206,2126
$GC,21276,0.36,182.1,691.7,6.5,480,21277,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2126
$GC,21579,0.36,182.1,672.7,6.2,485,21583,0.00,2.58,0.00,0.000,4,0.000,0.077,3448,780,2126
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$STATE,32935,end surface coast,CONTROL_FINISHED_OK
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