version: 66.03
glider: 120
mission: 9
dive: 576
start: 4 2 109 20 6 53
data:
$ID,120
$MISSION,9
$DIVE,576
$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,-30062.201
$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,19
$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
$GPS1,195937,5011.697,-14428.955,44,1.4,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-75.0
$GPS2,200555,5011.689,-14428.991,12,1.9,17,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.017,-0.176
$KALMAN_X,-74674.2,-28.0,-36.0,128833.2,-906.7
$KALMAN_Y,128902.9,218.0,190.8,-114120.0,-245.5
$MHEAD_RNG_PITCHd_Wd,155.8,32754,-12.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-116.6,0.0,0.0,0,48,0.00,0.00,-20.77,0.000,2,0.000,0.000,135,2413,2249
$GC,52,-0.67,-117.3,3.2,-4.3,2,108,13.70,2.42,-35.83,0.000,4,0.277,0.094,3084,3810,3356
$GC,271,-0.48,-117.3,24.2,-10.8,21,278,0.28,2.25,0.00,0.000,6,0.146,0.055,3162,2400,3359
$GC,600,-0.53,-117.3,46.7,-6.7,52,604,0.00,2.38,0.00,0.000,4,0.000,0.071,3162,982,3358
$GC,640,-0.60,-117.3,50.0,-7.5,55,647,0.12,2.38,0.00,0.000,6,0.077,0.061,3115,2411,3358
$GC,970,-0.60,-117.3,75.5,-7.5,86,974,0.00,2.35,0.00,0.000,4,0.000,0.081,3113,3808,3358
$GC,1001,-0.54,-117.3,78.2,-8.3,88,1005,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2388,3358
$GC,1319,-0.50,-117.3,104.9,-8.8,104,1320,0.15,0.00,0.00,0.000,6,0.123,0.000,3155,2386,3358
$GC,1629,-0.77,-117.3,127.9,-8.3,119,1634,0.22,2.38,0.00,0.000,4,0.083,0.068,3070,985,3359
$GC,1685,-0.70,-117.3,133.2,-9.1,121,1691,0.00,2.38,0.00,0.000,6,0.000,0.061,3070,2412,3359
$GC,2001,-0.79,-117.3,162.0,-9.2,135,2005,0.00,2.42,0.00,0.000,4,0.000,0.070,3070,993,3359
$GC,2069,-0.75,-117.3,168.0,-8.7,137,2073,0.00,2.35,0.00,0.000,6,0.000,0.060,3070,2402,3359
$GC,2399,-0.84,-117.3,191.6,-6.7,148,2403,0.00,2.42,0.00,0.000,4,0.000,0.069,3070,984,3359
$GC,2489,-0.84,-117.3,197.7,-6.9,150,2496,0.00,2.38,0.00,0.000,6,0.000,0.061,3070,2411,3359
$GC,2804,-0.74,-117.3,218.7,-6.8,161,2808,0.00,2.35,0.00,0.000,4,0.000,0.081,3070,3807,3359
$GC,2844,-0.64,-117.3,221.8,-7.9,162,2849,0.15,2.25,0.00,0.000,6,0.129,0.054,3110,2397,3359
$GC,3174,-0.64,-117.3,244.2,-7.1,173,3178,0.00,2.38,0.00,0.000,4,0.000,0.070,3110,989,3359
$GC,3203,-0.64,-117.3,246.6,-8.0,173,3209,0.00,2.35,0.00,0.000,6,0.000,0.061,3110,2402,3359
$GC,3516,-0.64,-117.3,269.6,-7.1,184,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3359
$GC,3822,-0.64,-117.3,288.6,-6.1,194,3827,0.00,2.40,0.00,0.000,4,0.000,0.070,3110,996,3359
$GC,3852,-0.64,-117.3,290.6,-6.7,195,3856,0.00,2.38,0.00,0.000,6,0.000,0.061,3110,2406,3359
$GC,4186,-0.64,-117.3,312.6,-6.7,203,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3359
$GC,4489,-0.64,-117.3,332.3,-6.4,208,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3359
$GC,4791,-0.64,-117.3,349.9,-5.8,213,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3359
$GC,5095,-0.64,-117.3,367.3,-5.7,218,5099,0.00,2.42,0.00,0.000,4,0.000,0.071,3110,992,3359
$GC,5118,-0.64,-117.3,368.7,-5.9,218,5122,0.00,2.38,0.00,0.000,6,0.000,0.062,3110,2405,3359
$GC,5456,-0.68,-117.3,389.7,-6.3,224,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3359
$GC,5760,-0.73,-117.3,409.3,-6.4,229,5764,0.00,2.42,0.00,0.000,4,0.000,0.071,3110,990,3358
$GC,5800,-0.78,-117.3,412.2,-7.2,229,5805,0.15,2.38,0.00,0.000,6,0.078,0.063,3057,2399,3358
$GC,6122,-0.72,-117.3,436.4,-7.6,235,6126,0.00,2.40,0.00,0.000,4,0.000,0.081,3057,3815,3358
$GC,6157,-0.62,-117.3,439.3,-8.1,235,6162,0.20,2.28,0.00,0.000,6,0.125,0.054,3113,2395,3358
$GC,6484,-0.67,-117.3,458.4,-5.7,241,6488,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,986,3358
$GC,6525,-0.74,-117.3,460.8,-5.9,241,6529,0.00,2.38,0.00,0.000,6,0.000,0.062,3113,2399,3358
$GC,6847,-0.80,-117.3,479.6,-5.9,247,6852,0.15,2.40,0.00,0.000,4,0.080,0.079,3045,3808,3358
$GC,6881,-0.67,-117.3,482.3,-8.1,247,6886,0.20,2.28,0.00,0.000,6,0.121,0.054,3101,2389,3357
$GC,7209,-0.67,-117.3,505.8,-7.2,253,7213,0.00,2.38,0.00,0.000,4,0.000,0.071,3103,994,3358
$GC,7231,-0.67,-117.3,507.6,-7.5,253,7235,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2407,3358
$GC,7575,-0.67,-117.3,531.6,-6.9,259,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,7878,-0.67,-117.3,550.4,-6.1,264,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,8182,-0.67,-117.3,567.0,-5.5,269,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3357
$GC,8485,-0.67,-117.3,583.7,-5.6,274,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,8787,-0.67,-117.3,601.7,-6.0,279,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3357
$GC,9090,-0.67,-117.3,619.9,-6.0,284,9095,0.00,2.42,0.00,0.000,4,0.000,0.070,3100,996,3357
$GC,9125,-0.71,-117.3,622.0,-6.1,284,9129,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2401,3357
$GC,9453,-0.71,-117.3,642.2,-6.2,290,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,9755,-0.71,-117.3,662.6,-6.8,295,9759,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,997,3358
$GC,9788,-0.76,-117.3,665.2,-7.5,295,9793,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,2404,3357
$GC,10116,-0.76,-117.3,688.4,-7.1,301,10121,0.00,2.42,0.00,0.000,4,0.000,0.083,3100,3818,3357
$GC,10145,-0.82,-117.3,690.5,-7.5,301,10150,0.15,2.30,0.00,0.000,6,0.080,0.056,3044,2396,3357
$GC,10478,-0.76,-117.3,717.0,-8.0,307,10482,0.00,2.40,0.00,0.000,4,0.000,0.072,3044,992,3357
$GC,10535,-0.68,-117.3,722.0,-8.8,307,10542,0.20,2.38,0.00,0.000,6,0.142,0.063,3098,2405,3357
$GC,10846,-0.73,-117.3,743.6,-6.9,313,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3357
$GC,11149,-0.78,-117.3,765.8,-7.3,318,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3357
$GC,11452,-0.83,-117.3,786.2,-6.6,323,11454,0.15,0.00,0.00,0.000,6,0.082,0.000,3039,2405,3356
$GC,11756,-0.76,-117.3,809.0,-7.6,328,11757,0.10,0.00,0.00,0.000,6,0.097,0.000,3068,2405,3356
$GC,12058,-0.76,-117.3,829.5,-6.7,333,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2405,3356
$GC,12361,-0.76,-117.3,848.9,-6.3,338,12365,0.00,2.45,0.00,0.000,4,0.000,0.073,3069,993,3356
$GC,12406,-0.76,-117.3,851.8,-6.7,338,12410,0.00,2.40,0.00,0.000,6,0.000,0.064,3069,2408,3356
$GC,12722,-0.76,-117.3,870.8,-6.0,344,12726,0.00,2.42,0.00,0.000,4,0.000,0.084,3068,3814,3356
$GC,12750,-0.76,-117.3,872.5,-6.3,344,12754,0.00,2.30,0.00,0.000,6,0.000,0.057,3068,2399,3356
$GC,13082,-0.76,-117.3,891.3,-5.7,350,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3356
$GC,13386,-0.76,-117.3,909.8,-6.2,355,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3356
$GC,13690,-0.76,-117.3,929.5,-6.5,360,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2400,3356
$GC,13992,-0.76,-117.3,950.4,-7.0,365,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3355
$GC,14295,-0.76,-117.3,972.4,-7.3,370,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3355
$STATE,14595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14595,begin apogee
$GC,14603,-0.22,0.0,994.1,7.1,375,14717,0.57,0.00,108.72,1.492,6,0.138,0.000,3242,2200,2876
$STATE,14718,end apogee,CONTROL_FINISHED_OK
$STATE,14718,begin climb
$GC,14722,0.67,117.3,999.7,0.0,377,14846,0.90,2.75,115.20,1.437,4,0.087,0.078,3534,3603,2396
$GC,14887,0.22,117.3,999.7,6.1,379,14892,0.62,2.50,0.00,0.000,6,0.180,0.061,3390,2202,2395
$GC,15204,0.37,173.1,988.8,3.4,385,15261,0.15,2.53,50.80,1.433,4,0.078,0.079,3462,779,2169
$GC,15304,0.31,173.1,983.2,6.9,385,15309,0.15,2.40,0.00,0.000,6,0.136,0.061,3423,2210,2166
$GC,15631,0.36,173.1,964.4,5.7,391,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2209,2164
$GC,15935,0.41,173.1,946.8,5.9,396,15937,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2209,2164
$GC,16237,0.45,173.1,928.8,6.0,401,16242,0.12,2.45,0.00,0.000,4,0.082,0.077,3476,783,2164
$GC,16277,0.35,173.1,925.9,7.6,401,16282,0.15,2.35,0.00,0.000,6,0.142,0.062,3436,2210,2163
$GC,16598,0.35,173.1,906.1,6.1,407,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2163
$GC,16902,0.35,173.1,887.1,6.3,412,16906,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,785,2162
$GC,16941,0.40,173.1,884.3,6.1,412,16945,0.00,2.33,0.00,0.000,6,0.000,0.060,3436,2203,2163
$GC,17262,0.40,173.1,863.0,6.7,418,17266,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,3613,2162
$GC,17289,0.40,173.1,860.7,7.1,418,17294,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2188,2162
$GC,17623,0.40,173.1,837.8,7.0,424,17627,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,788,2163
$GC,17679,0.40,173.1,833.9,7.2,424,17686,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2212,2162
$GC,17990,0.40,173.1,813.2,6.7,430,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2162
$GC,18294,0.40,173.1,793.2,6.6,435,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2162
$GC,18596,0.40,173.1,773.5,6.5,440,18600,0.00,2.47,0.00,0.000,4,0.000,0.078,3436,780,2162
$GC,18632,0.44,173.1,771.0,6.5,440,18636,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2201,2162
$GC,18959,0.44,173.1,750.4,6.2,446,18963,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3608,2162
$GC,18994,0.44,173.1,748.0,6.2,446,18999,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2199,2161
$GC,19322,0.44,173.1,728.2,6.0,452,19326,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,783,2162
$GC,19367,0.50,173.1,725.4,6.0,452,19372,0.12,2.35,0.00,0.000,6,0.090,0.061,3488,2207,2162
$GC,19684,0.38,173.1,702.5,7.4,458,19686,0.17,0.00,0.00,0.000,6,0.143,0.000,3439,2207,2161
$GC,19985,0.38,173.1,684.8,5.8,463,19986,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2162
$GC,20288,0.38,173.1,667.3,5.8,468,20290,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2161
$GC,20592,0.38,173.1,649.9,5.7,473,20593,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2161
$GC,20895,0.38,173.1,633.8,5.2,478,20896,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2161
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