version: 66.03
glider: 120
mission: 9
dive: 332
start: 12 31 108 11 45 22
data:
$ID,120
$MISSION,9
$DIVE,332
$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,300
$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,-24685.711
$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,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
$GPS1,113838,4955.563,-14435.479,34,1.2,34,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-74.6
$GPS2,114427,4955.575,-14435.474,14,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.131
$KALMAN_X,21416.5,365.0,99.5,-4954.1,-1282.7
$KALMAN_Y,249977.0,-410.5,-294.6,-267727.8,2112.6
$MHEAD_RNG_PITCHd_Wd,298.9,28697,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.82,0.000,2,0.000,0.000,137,2404,1830
$GC,39,-0.67,-117.3,3.8,-0.0,1,128,14.00,2.40,-68.40,0.000,4,0.283,0.082,3095,985,3354
$GC,169,-0.48,-117.3,9.8,-11.0,12,175,0.22,2.33,0.00,0.000,6,0.159,0.065,3158,2407,3355
$GC,497,-0.48,-117.3,34.5,-7.8,43,501,0.00,2.35,0.00,0.000,4,0.000,0.069,3158,988,3356
$GC,519,-0.48,-117.3,36.8,-8.7,44,526,0.00,2.28,0.00,0.000,6,0.000,0.061,3155,2401,3356
$GC,844,-0.48,-117.3,61.1,-7.2,75,845,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3356
$GC,1173,-0.48,-117.3,82.7,-6.2,104,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2401,3356
$GC,1482,-0.53,-117.3,104.2,-6.6,119,1486,0.00,2.35,0.00,0.000,4,0.000,0.081,3155,3818,3356
$GC,1514,-0.61,-117.3,106.4,-6.5,120,1521,0.10,2.22,0.00,0.000,6,0.088,0.054,3115,2398,3356
$GC,1831,-0.61,-117.3,129.1,-7.4,136,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,2140,-0.65,-117.3,148.5,-5.7,151,2144,0.00,2.28,0.00,0.000,4,0.000,0.070,3115,995,3357
$GC,2212,-0.70,-117.3,153.3,-7.1,154,2216,0.00,2.28,0.00,0.000,6,0.000,0.061,3114,2406,3357
$GC,2536,-0.70,-117.3,174.1,-6.2,165,2540,0.00,2.33,0.00,0.000,4,0.000,0.080,3113,3818,3357
$GC,2574,-0.70,-117.3,176.7,-6.4,166,2578,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2395,3357
$GC,2904,-0.70,-117.3,197.3,-6.3,177,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,3210,-0.70,-117.3,217.7,-6.7,187,3214,0.00,2.28,0.00,0.000,4,0.000,0.071,3113,995,3357
$GC,3233,-0.70,-117.3,219.4,-7.3,187,3240,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2410,3357
$GC,3546,-0.70,-117.3,240.0,-6.4,198,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,3852,-0.70,-117.3,258.1,-5.7,208,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,4159,-0.70,-117.3,276.3,-6.0,218,4163,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,989,3357
$GC,4181,-0.74,-117.3,277.7,-6.2,218,4185,0.00,2.28,0.00,0.000,6,0.000,0.061,3112,2401,3357
$GC,4493,-0.74,-117.3,296.8,-6.1,228,4495,0.10,0.00,0.00,0.000,6,0.096,0.000,3073,2401,3357
$GC,4798,-0.69,-117.3,318.4,-7.2,234,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3357
$GC,5100,-0.64,-117.3,340.2,-7.2,239,5102,0.12,0.00,0.00,0.000,6,0.109,0.000,3107,2401,3356
$GC,5403,-0.64,-117.3,358.3,-5.9,244,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2401,3356
$GC,5706,-0.64,-117.3,376.1,-5.9,249,5710,0.00,2.35,0.00,0.000,4,0.000,0.071,3107,987,3356
$GC,5733,-0.64,-117.3,378.0,-6.3,249,5737,0.00,2.33,0.00,0.000,6,0.000,0.063,3107,2407,3355
$GC,6066,-0.64,-117.3,398.8,-6.4,255,6070,0.00,2.35,0.00,0.000,4,0.000,0.071,3107,987,3355
$GC,6098,-0.64,-117.3,401.1,-6.7,255,6102,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2408,3355
$GC,6431,-0.64,-117.3,421.7,-6.1,261,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3355
$GC,6734,-0.64,-117.3,439.1,-5.7,266,6738,0.00,2.35,0.00,0.000,4,0.000,0.072,3107,995,3355
$GC,6761,-0.64,-117.3,440.7,-5.6,266,6765,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2408,3354
$GC,7092,-0.64,-117.3,458.2,-5.2,272,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3355
$GC,7395,-0.64,-117.3,474.3,-5.4,277,7400,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,990,3355
$GC,7428,-0.64,-117.3,476.4,-6.1,277,7432,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2410,3355
$GC,7761,-0.64,-117.3,496.1,-6.1,283,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2410,3354
$GC,8064,-0.64,-117.3,515.3,-6.4,288,8068,0.00,2.35,0.00,0.000,4,0.000,0.072,3107,995,3354
$GC,8109,-0.69,-117.3,518.4,-6.9,288,8113,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2406,3354
$GC,8426,-0.73,-117.3,536.8,-5.7,294,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3354
$GC,8727,-0.78,-117.3,552.2,-5.0,299,8729,0.12,0.00,0.00,0.000,6,0.089,0.000,3059,2406,3353
$GC,9030,-0.73,-117.3,569.2,-5.6,304,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3353
$GC,9333,-0.73,-117.3,587.9,-6.3,309,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3353
$GC,9636,-0.73,-117.3,609.1,-7.1,314,9640,0.00,2.35,0.00,0.000,4,0.000,0.072,3059,986,3353
$GC,9669,-0.67,-117.3,611.8,-8.2,314,9674,0.15,2.30,0.00,0.000,6,0.150,0.065,3098,2400,3353
$GC,9995,-0.67,-117.3,633.7,-6.7,320,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,10298,-0.67,-117.3,654.3,-6.8,325,10302,0.00,2.35,0.00,0.000,4,0.000,0.083,3099,3810,3353
$GC,10331,-0.71,-117.3,656.7,-7.7,325,10335,0.00,2.25,0.00,0.000,6,0.000,0.056,3099,2390,3353
$GC,10657,-0.71,-117.3,678.0,-6.4,331,10661,0.00,2.30,0.00,0.000,4,0.000,0.073,3099,996,3353
$GC,10690,-0.71,-117.3,680.3,-6.7,331,10694,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2408,3353
$GC,11022,-0.71,-117.3,700.5,-6.0,337,11026,0.00,2.35,0.00,0.000,4,0.000,0.073,3099,987,3353
$GC,11050,-0.71,-117.3,702.2,-6.1,337,11054,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2404,3352
$GC,11381,-0.71,-117.3,721.1,-5.7,343,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3352
$GC,11684,-0.71,-117.3,738.8,-5.8,348,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3352
$GC,11988,-0.75,-117.3,757.1,-6.1,353,11992,0.00,2.35,0.00,0.000,4,0.000,0.072,3099,986,3352
$GC,12021,-0.79,-117.3,759.4,-7.2,353,12026,0.12,2.30,0.00,0.000,6,0.091,0.064,3052,2400,3351
$GC,12353,-0.79,-117.3,781.8,-6.7,359,12358,0.00,2.35,0.00,0.000,4,0.000,0.082,3052,3812,3352
$GC,12398,-0.71,-117.3,785.0,-7.1,359,12403,0.12,2.25,0.00,0.000,6,0.118,0.057,3086,2395,3352
$GC,12713,-0.71,-117.3,802.1,-5.3,365,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3352
$GC,13015,-0.71,-117.3,818.3,-5.4,370,13019,0.00,2.33,0.00,0.000,4,0.000,0.074,3086,996,3351
$GC,13054,-0.71,-117.3,820.8,-6.6,370,13058,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2404,3351
$GC,13380,-0.71,-117.3,840.2,-6.0,376,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3351
$GC,13684,-0.71,-117.3,859.6,-6.5,381,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3351
$GC,13987,-0.71,-117.3,880.1,-6.8,386,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3351
$GC,14290,-0.71,-117.3,901.2,-7.0,391,14294,0.00,2.35,0.00,0.000,4,0.000,0.084,3086,3807,3351
$GC,14322,-0.71,-117.3,903.5,-6.8,391,14326,0.00,2.28,0.00,0.000,6,0.000,0.059,3086,2398,3351
$GC,14655,-0.71,-117.3,923.5,-5.9,397,14659,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,985,3351
$GC,14687,-0.71,-117.3,925.5,-6.2,397,14691,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2404,3351
$GC,15019,-0.71,-117.3,942.7,-5.1,403,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3351
$GC,15323,-0.71,-117.3,956.8,-4.6,408,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3351
$GC,15627,-0.71,-117.3,971.6,-4.9,413,15631,0.00,2.40,0.00,0.000,4,0.000,0.075,3086,986,3351
$GC,15665,-0.71,-117.3,973.8,-5.3,413,15669,0.00,2.35,0.00,0.000,6,0.000,0.067,3086,2411,3351
$STATE,15984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15984,begin apogee
$GC,15990,-0.22,0.0,990.7,5.3,419,16100,0.52,0.00,107.35,1.491,6,0.143,0.000,3244,2200,2876
$STATE,16101,end apogee,CONTROL_FINISHED_OK
$STATE,16101,begin climb
$GC,16104,0.67,117.3,992.6,0.0,420,16228,0.88,2.67,112.40,1.435,4,0.099,0.077,3534,794,2396
$GC,16245,0.31,127.4,994.1,4.7,422,16264,0.45,2.50,11.25,1.253,6,0.179,0.061,3423,2199,2356
$GC,16597,0.31,127.4,975.9,5.1,428,16598,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2199,2354
$GC,16899,0.31,127.4,960.6,5.1,433,16903,0.00,2.38,0.00,0.000,4,0.000,0.079,3422,784,2354
$GC,16937,0.35,161.3,958.8,4.0,433,16973,0.00,2.33,30.83,1.420,6,0.000,0.063,3422,2205,2218
$GC,17322,0.35,161.3,936.7,5.9,440,17324,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2216
$GC,17626,0.35,161.3,918.4,6.0,445,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2205,2215
$GC,17928,0.35,161.3,900.4,6.0,450,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2215
$GC,18232,0.35,161.3,883.3,5.7,455,18233,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2214
$GC,18534,0.35,161.3,866.7,5.5,460,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2205,2214
$GC,18837,0.35,161.3,850.1,5.5,465,18839,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2214
$GC,19141,0.35,161.3,833.7,5.4,470,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2214
$GC,19444,0.39,161.3,816.8,5.6,475,19448,0.00,2.38,0.00,0.000,4,0.000,0.081,3423,3608,2214
$GC,19482,0.39,161.3,814.2,6.4,475,19486,0.00,2.35,0.00,0.000,6,0.000,0.064,3422,2198,2214
$GC,19809,0.44,161.3,796.0,5.6,481,19811,0.10,0.00,0.00,0.000,6,0.096,0.000,3460,2198,2214
$GC,20112,0.44,161.3,776.2,6.6,486,20116,0.00,2.38,0.00,0.000,4,0.000,0.079,3462,787,2213
$GC,20150,0.38,161.3,773.4,8.2,486,20154,0.00,2.30,0.00,0.000,6,0.000,0.064,3462,2207,2214
$GC,20471,0.32,161.3,751.1,7.0,492,20473,0.15,0.00,0.00,0.000,6,0.148,0.000,3421,2208,2214
$GC,20775,0.37,161.3,733.2,5.9,497,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2208,2213
$GC,21078,0.43,161.3,716.0,5.6,502,21080,0.10,0.00,0.00,0.000,6,0.098,0.000,3462,2208,2213
$GC,21380,0.43,161.3,698.3,5.9,507,21384,0.00,2.40,0.00,0.000,4,0.000,0.080,3462,788,2213
$GC,21435,0.43,161.3,694.8,6.5,507,21441,0.00,2.30,0.00,0.000,6,0.000,0.066,3462,2207,2214
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