version: 66.03
glider: 120
mission: 9
dive: 372
start: 1 15 109 16 18 5
data:
$ID,120
$MISSION,9
$DIVE,372
$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,-25562.037
$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
$GPS1,161107,4957.722,-14430.049,35,1.3,35,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-69.8
$GPS2,161708,4957.795,-14430.054,15,1.5,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.177
$KALMAN_X,17793.1,147.1,-37.2,5465.5,-369.6
$KALMAN_Y,273668.4,390.2,-300.2,-288120.3,2067.6
$MHEAD_RNG_PITCHd_Wd,157.0,7013,-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,-11.50,0.000,2,0.000,0.000,135,2413,1713
$GC,40,-0.67,-117.3,3.9,-0.0,1,146,13.98,2.53,-82.10,0.000,4,0.282,0.080,3097,988,3356
$GC,152,-0.39,-117.3,5.7,-8.1,11,159,0.32,2.33,0.00,0.000,6,0.155,0.066,3190,2402,3356
$GC,479,-0.51,-117.3,29.4,-8.2,42,484,0.12,2.40,0.00,0.000,4,0.086,0.067,3146,990,3357
$GC,509,-0.58,-117.3,31.5,-7.4,44,513,0.00,2.30,0.00,0.000,6,0.000,0.062,3146,2401,3357
$GC,836,-0.58,-117.3,59.7,-4.8,74,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2401,3357
$GC,1151,-0.58,-117.3,83.7,-7.8,102,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2402,3357
$GC,1460,-0.63,-117.3,105.4,-6.6,117,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2402,3357
$GC,1770,-0.71,-117.3,127.0,-6.9,132,1775,0.15,2.40,0.00,0.000,4,0.083,0.067,3081,984,3358
$GC,1803,-0.60,-117.3,130.1,-9.2,133,1810,0.15,2.33,0.00,0.000,6,0.153,0.061,3121,2405,3358
$GC,2118,-0.60,-117.3,155.2,-7.5,148,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3358
$GC,2424,-0.60,-117.3,176.4,-6.7,158,2428,0.00,2.40,0.00,0.000,4,0.000,0.079,3122,3815,3358
$GC,2460,-0.64,-117.3,178.8,-6.9,159,2464,0.00,2.30,0.00,0.000,6,0.000,0.052,3122,2398,3358
$GC,2801,-0.64,-117.3,200.3,-6.2,170,2805,0.00,2.38,0.00,0.000,4,0.000,0.068,3122,984,3358
$GC,2845,-0.64,-117.3,203.3,-6.5,171,2849,0.00,2.30,0.00,0.000,6,0.000,0.061,3122,2401,3358
$GC,3169,-0.64,-117.3,223.9,-6.4,182,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3358
$GC,3475,-0.64,-117.3,242.5,-6.0,192,3479,0.00,2.38,0.00,0.000,4,0.000,0.068,3122,985,3358
$GC,3519,-0.70,-117.3,245.4,-6.6,193,3523,0.00,2.33,0.00,0.000,6,0.000,0.060,3122,2406,3358
$GC,3843,-0.75,-117.3,264.9,-6.1,204,3848,0.15,2.35,0.00,0.000,4,0.080,0.067,3057,991,3358
$GC,3887,-0.61,-117.3,268.5,-8.4,205,3892,0.22,2.30,0.00,0.000,6,0.153,0.061,3119,2405,3358
$GC,4205,-0.61,-117.3,286.6,-5.4,216,4209,0.00,2.35,0.00,0.000,4,0.000,0.070,3120,984,3358
$GC,4250,-0.65,-117.3,289.1,-5.7,217,4254,0.00,2.30,0.00,0.000,6,0.000,0.061,3120,2399,3357
$GC,4603,-0.71,-117.3,306.9,-5.0,227,4607,0.00,2.35,0.00,0.000,4,0.000,0.070,3120,991,3357
$GC,4642,-0.76,-117.3,309.0,-5.6,227,4647,0.15,2.28,0.00,0.000,6,0.081,0.061,3063,2399,3357
$GC,4963,-0.70,-117.3,330.1,-6.7,233,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2399,3356
$GC,5266,-0.64,-117.3,351.0,-7.0,238,5268,0.15,0.00,0.00,0.000,6,0.111,0.000,3108,2400,3357
$GC,5569,-0.64,-117.3,370.3,-6.4,243,5573,0.00,2.38,0.00,0.000,4,0.000,0.070,3108,989,3357
$GC,5601,-0.64,-117.3,372.7,-6.6,243,5605,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2407,3357
$GC,5934,-0.64,-117.3,394.5,-6.6,249,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2408,3356
$GC,6237,-0.64,-117.3,415.1,-6.8,254,6241,0.00,2.40,0.00,0.000,4,0.000,0.071,3108,987,3356
$GC,6269,-0.64,-117.3,417.6,-7.8,254,6274,0.00,2.33,0.00,0.000,6,0.000,0.062,3108,2404,3356
$GC,6597,-0.64,-117.3,439.0,-6.5,260,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3356
$GC,6899,-0.64,-117.3,457.2,-5.9,265,6903,0.00,2.38,0.00,0.000,4,0.000,0.071,3108,993,3355
$GC,6927,-0.64,-117.3,458.9,-6.4,265,6931,0.00,2.28,0.00,0.000,6,0.000,0.062,3108,2400,3356
$GC,7260,-0.69,-117.3,476.9,-5.3,271,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3356
$GC,7563,-0.73,-117.3,492.1,-5.0,276,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3355
$GC,7867,-0.78,-117.3,506.8,-4.8,281,7872,0.12,2.35,0.00,0.000,4,0.088,0.071,3060,990,3355
$GC,7902,-0.72,-117.3,508.9,-7.2,281,7906,0.00,2.30,0.00,0.000,6,0.000,0.062,3060,2412,3355
$GC,8229,-0.63,-117.3,531.0,-6.8,287,8231,0.17,0.00,0.00,0.000,6,0.150,0.000,3108,2412,3355
$GC,8531,-0.68,-117.3,548.8,-5.9,292,8536,0.00,2.38,0.00,0.000,4,0.000,0.071,3109,992,3354
$GC,8565,-0.72,-117.3,551.1,-6.6,292,8569,0.00,2.30,0.00,0.000,6,0.000,0.063,3109,2410,3355
$GC,8892,-0.78,-117.3,570.4,-5.9,298,8894,0.15,0.00,0.00,0.000,6,0.086,0.000,3051,2411,3354
$GC,9195,-0.72,-117.3,591.4,-6.9,303,9200,0.12,2.38,0.00,0.000,4,0.105,0.071,3092,993,3355
$GC,9228,-0.72,-117.3,593.6,-6.3,303,9232,0.00,2.30,0.00,0.000,6,0.000,0.064,3093,2408,3354
$GC,9555,-0.72,-117.3,612.9,-5.8,309,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,9858,-0.72,-117.3,629.9,-5.5,314,9862,0.00,2.35,0.00,0.000,4,0.000,0.072,3092,984,3354
$GC,9879,-0.72,-117.3,631.2,-6.3,314,9883,0.00,2.33,0.00,0.000,6,0.000,0.064,3092,2409,3354
$GC,10218,-0.72,-117.3,651.4,-6.1,320,10222,0.00,2.35,0.00,0.000,4,0.000,0.072,3092,989,3354
$GC,10245,-0.72,-117.3,653.3,-6.9,320,10249,0.00,2.30,0.00,0.000,6,0.000,0.064,3092,2403,3354
$GC,10577,-0.72,-117.3,673.2,-5.9,326,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2403,3354
$GC,10880,-0.72,-117.3,691.5,-6.0,331,10884,0.00,2.33,0.00,0.000,4,0.000,0.072,3092,993,3354
$GC,10908,-0.72,-117.3,693.3,-6.4,331,10912,0.00,2.30,0.00,0.000,6,0.000,0.064,3092,2408,3354
$GC,11240,-0.72,-117.3,712.8,-5.9,337,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3353
$GC,11543,-0.72,-117.3,730.5,-5.8,342,11547,0.00,2.35,0.00,0.000,4,0.000,0.073,3092,988,3353
$GC,11587,-0.72,-117.3,733.2,-6.5,342,11591,0.00,2.30,0.00,0.000,6,0.000,0.064,3092,2399,3353
$GC,11903,-0.72,-117.3,751.1,-5.6,348,11907,0.00,2.33,0.00,0.000,4,0.000,0.073,3092,993,3353
$GC,11936,-0.72,-117.3,753.3,-5.7,348,11940,0.00,2.30,0.00,0.000,6,0.000,0.064,3092,2402,3353
$GC,12262,-0.72,-117.3,772.1,-5.8,354,12266,0.00,2.33,0.00,0.000,4,0.000,0.072,3092,994,3353
$GC,12296,-0.72,-117.3,774.4,-6.7,354,12300,0.00,2.30,0.00,0.000,6,0.000,0.064,3092,2404,3353
$GC,12622,-0.72,-117.3,792.7,-5.6,360,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3353
$GC,12925,-0.72,-117.3,809.4,-5.5,365,12929,0.00,2.35,0.00,0.000,4,0.000,0.074,3092,988,3352
$GC,12952,-0.72,-117.3,811.0,-5.8,365,12956,0.00,2.33,0.00,0.000,6,0.000,0.064,3092,2412,3352
$GC,13285,-0.72,-117.3,828.6,-5.2,371,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2413,3352
$GC,13587,-0.72,-117.3,843.6,-4.9,376,13592,0.00,2.38,0.00,0.000,4,0.000,0.074,3092,983,3352
$GC,13621,-0.72,-117.3,845.3,-4.9,376,13625,0.00,2.33,0.00,0.000,6,0.000,0.064,3092,2407,3352
$GC,13947,-0.72,-117.3,859.7,-4.3,382,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2407,3352
$GC,14251,-0.72,-117.3,872.3,-4.1,387,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2407,3352
$GC,14553,-0.72,-117.3,885.2,-4.2,392,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2407,3352
$GC,14857,-0.77,-117.3,898.4,-4.3,397,14861,0.00,2.35,0.00,0.000,4,0.000,0.074,3092,994,3351
$GC,14896,-0.77,-117.3,900.4,-4.8,397,14900,0.00,2.30,0.00,0.000,6,0.000,0.065,3092,2400,3351
$GC,15217,-0.94,-117.3,919.3,-6.2,403,15222,0.20,2.35,0.00,0.000,4,0.087,0.073,3015,992,3351
$GC,15441,-0.75,-117.3,938.3,-9.1,406,15446,0.22,2.30,0.00,0.000,6,0.168,0.065,3074,2400,3351
$GC,15779,-0.75,-117.3,960.6,-6.6,412,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2400,3351
$GC,16082,-0.75,-117.3,980.9,-6.7,417,16086,0.00,2.35,0.00,0.000,4,0.000,0.074,3074,988,3351
$GC,16109,-0.75,-117.3,982.9,-7.3,417,16113,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2408,3351
$STATE,16262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16262,begin apogee
$GC,16269,-0.22,0.0,993.7,7.0,420,16384,0.57,0.00,108.28,1.488,6,0.146,0.000,3245,2193,2876
$STATE,16385,end apogee,CONTROL_FINISHED_OK
$STATE,16385,begin climb
$GC,16388,0.67,117.3,999.1,0.0,422,16512,0.88,2.65,112.97,1.440,4,0.093,0.077,3532,796,2397
$GC,16563,0.33,117.3,998.3,5.6,424,16568,0.43,2.45,0.00,0.000,6,0.183,0.060,3427,2198,2395
$GC,16878,0.38,156.9,985.8,3.9,430,16917,0.00,0.00,36.47,1.421,6,0.000,0.000,3427,2198,2236
$GC,17182,0.38,157.1,971.2,5.0,435,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2198,2233
$GC,17484,0.38,157.1,956.0,5.0,440,17486,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2198,2233
$GC,17788,0.38,157.1,939.5,5.5,445,17792,0.00,2.35,0.00,0.000,4,0.000,0.078,3436,794,2233
$GC,17820,0.38,157.1,937.5,5.1,445,17824,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2206,2233
$GC,18147,0.38,157.1,917.2,6.3,451,18148,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2232
$GC,18450,0.38,157.1,897.3,6.6,456,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2232
$GC,18754,0.38,157.1,877.2,6.6,461,18758,0.00,2.33,0.00,0.000,4,0.000,0.081,3435,3610,2232
$GC,18793,0.32,157.1,874.4,7.3,461,18797,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2196,2232
$GC,19113,0.32,157.1,855.3,5.9,467,19115,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2232
$GC,19416,0.32,157.1,838.5,5.5,472,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2231
$GC,19720,0.32,157.1,823.1,5.0,477,19721,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2232
$GC,20023,0.32,157.1,806.8,5.4,482,20024,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2231
$GC,20325,0.32,157.1,790.0,5.6,487,20330,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,788,2231
$GC,20358,0.32,157.1,788.1,5.1,487,20363,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2206,2231
$GC,20685,0.32,157.1,770.8,5.2,493,20686,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2232
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