version: 66.03
glider: 120
mission: 9
dive: 701
start: 5 19 109 22 54 54
data:
$ID,120
$MISSION,9
$DIVE,701
$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,-32560.447
$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,19
$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
$GPS1,224730,5021.547,-14429.490,83,2.0,88,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.5
$GPS2,225356,5021.539,-14429.480,16,2.0,16,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.066,-0.162
$KALMAN_X,-147805.9,209.2,40.4,201063.0,-2683.9
$KALMAN_Y,143016.2,72.3,102.5,-109754.4,-2021.3
$MHEAD_RNG_PITCHd_Wd,139.1,50983,-12.3,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-112.7,0.0,0.0,0,70,0.00,0.00,-40.22,0.000,2,0.000,0.000,137,2403,2790
$GC,75,-0.67,-112.7,3.8,-6.6,4,108,14.30,2.58,-10.65,0.000,4,0.274,0.090,3085,3806,3338
$GC,261,-0.51,-112.7,30.9,-11.8,20,268,0.25,2.35,0.00,0.000,6,0.147,0.053,3154,2393,3339
$GC,591,-0.51,-112.7,55.5,-7.3,51,597,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2394,3339
$GC,917,-0.51,-112.7,79.6,-6.9,82,921,0.00,2.47,0.00,0.000,4,0.000,0.067,3154,984,3340
$GC,974,-0.57,-112.7,84.2,-8.2,84,981,0.00,2.40,0.00,0.000,6,0.000,0.058,3154,2400,3340
$GC,1293,-0.62,-112.7,106.6,-6.9,100,1295,0.12,0.00,0.00,0.000,6,0.077,0.000,3102,2399,3340
$GC,1601,-0.62,-112.7,130.4,-7.6,115,1605,0.00,2.50,0.00,0.000,4,0.000,0.077,3100,3806,3341
$GC,1657,-0.62,-112.7,134.9,-8.0,117,1663,0.00,2.33,0.00,0.000,6,0.000,0.051,3100,2400,3340
$GC,1994,-0.62,-112.7,159.4,-7.0,132,1998,0.00,2.50,0.00,0.000,4,0.000,0.067,3099,986,3341
$GC,2033,-0.62,-112.7,162.1,-6.6,133,2038,0.00,2.42,0.00,0.000,6,0.000,0.058,3099,2399,3340
$GC,2358,-0.62,-112.7,185.5,-7.3,144,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3341
$GC,2665,-0.62,-112.7,207.4,-6.9,154,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3340
$GC,2971,-0.62,-112.7,228.9,-7.3,164,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3340
$GC,3277,-0.62,-112.7,250.6,-7.0,174,3281,0.00,2.50,0.00,0.000,4,0.000,0.078,3099,3817,3340
$GC,3322,-0.62,-112.7,253.9,-7.4,175,3326,0.00,2.38,0.00,0.000,6,0.000,0.052,3099,2401,3340
$GC,3642,-0.62,-112.7,275.0,-6.6,186,3646,0.00,2.47,0.00,0.000,4,0.000,0.067,3099,992,3340
$GC,3672,-0.66,-112.7,277.3,-7.8,187,3676,0.00,2.45,0.00,0.000,6,0.000,0.059,3100,2409,3340
$GC,4044,-0.66,-112.7,304.6,-7.4,198,4048,0.00,2.50,0.00,0.000,4,0.000,0.078,3099,3812,3340
$GC,4078,-0.66,-112.7,307.2,-7.6,198,4082,0.00,2.35,0.00,0.000,6,0.000,0.052,3099,2397,3340
$GC,4406,-0.66,-112.7,330.1,-6.9,204,4410,0.00,2.50,0.00,0.000,4,0.000,0.068,3099,992,3340
$GC,4440,-0.71,-112.7,332.4,-6.8,204,4444,0.00,2.45,0.00,0.000,6,0.000,0.058,3100,2410,3340
$GC,4768,-0.71,-112.7,352.4,-6.1,210,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3340
$GC,5071,-0.71,-112.7,371.7,-6.4,215,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3340
$GC,5373,-0.71,-112.7,391.3,-6.4,220,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3340
$GC,5676,-0.71,-112.7,410.7,-6.4,225,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3339
$GC,5980,-0.75,-112.7,429.5,-6.3,230,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3339
$GC,6283,-0.79,-112.7,448.9,-6.4,235,6285,0.12,0.00,0.00,0.000,6,0.087,0.000,3050,2409,3339
$GC,6587,-0.73,-112.7,472.3,-7.7,240,6592,0.10,2.58,0.00,0.000,4,0.095,0.068,3081,982,3339
$GC,6621,-0.73,-112.7,475.1,-7.9,240,6625,0.00,2.50,0.00,0.000,6,0.000,0.061,3081,2407,3339
$GC,6948,-0.73,-112.7,498.8,-7.3,246,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3339
$GC,7251,-0.73,-112.7,521.8,-7.6,251,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3339
$GC,7555,-0.73,-112.7,545.1,-7.7,256,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3338
$GC,7857,-0.73,-112.7,568.5,-7.7,261,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3339
$GC,8161,-0.73,-112.7,589.4,-6.8,266,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3338
$GC,8463,-0.73,-112.7,608.1,-6.1,271,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3338
$GC,8766,-0.73,-112.7,626.1,-6.0,276,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2406,3338
$GC,9071,-0.73,-112.7,643.2,-5.6,281,9075,0.00,2.55,0.00,0.000,4,0.000,0.070,3081,993,3338
$GC,9099,-0.73,-112.7,645.0,-6.2,281,9103,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2410,3338
$GC,9432,-0.73,-112.7,661.9,-5.1,287,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3338
$GC,9734,-0.73,-112.7,680.2,-6.1,292,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2408,3338
$GC,10038,-0.73,-112.7,700.8,-6.9,297,10043,0.00,2.58,0.00,0.000,4,0.000,0.070,3081,982,3338
$GC,10073,-0.73,-112.7,703.6,-8.0,297,10077,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2399,3338
$GC,10400,-0.73,-112.7,728.3,-7.6,303,10404,0.00,2.58,0.00,0.000,4,0.000,0.081,3081,3809,3338
$GC,10433,-0.73,-112.7,730.9,-7.9,303,10438,0.00,2.38,0.00,0.000,6,0.000,0.054,3081,2401,3338
$GC,10762,-0.73,-112.7,755.3,-7.3,309,10766,0.00,2.50,0.00,0.000,4,0.000,0.071,3081,992,3338
$GC,10807,-0.73,-112.7,758.7,-7.1,309,10811,0.00,2.45,0.00,0.000,6,0.000,0.061,3081,2400,3338
$GC,11123,-0.73,-112.7,779.9,-6.6,315,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3338
$GC,11426,-0.73,-112.7,799.0,-6.3,320,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3338
$GC,11730,-0.73,-112.7,816.3,-5.7,325,11734,0.00,2.53,0.00,0.000,4,0.000,0.071,3081,993,3337
$GC,11758,-0.73,-112.7,818.3,-6.5,325,11762,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2411,3337
$GC,12091,-0.73,-112.7,836.1,-5.4,331,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2410,3337
$GC,12394,-0.73,-112.7,851.9,-5.2,336,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2410,3337
$GC,12698,-0.73,-112.7,868.6,-5.6,341,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2410,3337
$GC,13000,-0.73,-112.7,886.7,-6.0,346,13005,0.00,2.55,0.00,0.000,4,0.000,0.083,3081,3814,3337
$GC,13029,-0.73,-112.7,888.5,-6.6,346,13033,0.00,2.38,0.00,0.000,6,0.000,0.055,3081,2399,3337
$GC,13368,-0.73,-112.7,910.8,-6.7,352,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3337
$GC,13671,-0.73,-112.7,931.2,-6.7,357,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3337
$GC,13973,-0.73,-112.7,949.9,-6.1,362,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3336
$GC,14277,-0.73,-112.7,967.3,-5.7,367,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3336
$GC,14580,-0.73,-112.7,982.6,-5.0,372,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3336
$STATE,14758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14758,begin apogee
$GC,14767,-0.22,0.0,991.3,4.8,375,14875,0.55,0.00,105.03,1.499,6,0.129,0.000,3244,2188,2876
$STATE,14875,end apogee,CONTROL_FINISHED_OK
$STATE,14875,begin climb
$GC,14880,0.67,112.7,992.8,0.0,376,15002,0.90,0.00,113.70,1.450,6,0.078,0.000,3530,2188,2416
$GC,15307,0.35,112.7,973.0,7.8,383,15312,0.38,2.62,0.00,0.000,4,0.166,0.075,3438,792,2413
$GC,15365,0.35,112.7,969.5,6.0,383,15371,0.00,2.47,0.00,0.000,6,0.000,0.060,3438,2202,2413
$GC,15676,0.28,112.7,953.8,5.0,389,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2201,2413
$GC,15979,0.23,116.8,938.9,4.9,394,15987,0.17,0.00,4.80,1.035,6,0.163,0.000,3393,2202,2399
$GC,16283,0.36,158.6,927.4,3.8,399,16324,0.12,0.00,38.22,1.448,6,0.081,0.000,3444,2202,2229
$GC,16586,0.36,158.6,909.9,6.0,404,16587,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2202,2226
$GC,16888,0.36,158.6,891.3,6.2,409,16892,0.00,2.47,0.00,0.000,4,0.000,0.079,3444,3611,2225
$GC,16939,0.26,158.6,887.6,7.1,409,16944,0.17,2.38,0.00,0.000,6,0.169,0.061,3406,2193,2225
$GC,17251,0.36,158.6,871.0,5.3,414,17256,0.00,2.45,0.00,0.000,4,0.000,0.077,3408,790,2225
$GC,17303,0.47,158.6,868.1,5.3,414,17308,0.17,2.38,0.00,0.000,6,0.077,0.059,3477,2202,2225
$GC,17616,0.37,158.6,846.0,7.3,419,17618,0.15,0.00,0.00,0.000,6,0.146,0.000,3438,2202,2225
$GC,17917,0.37,158.6,826.7,6.3,424,17921,0.00,2.50,0.00,0.000,4,0.000,0.077,3439,793,2225
$GC,17996,0.37,158.6,821.7,6.7,425,18001,0.00,2.40,0.00,0.000,6,0.000,0.060,3439,2211,2225
$GC,18347,0.37,158.6,800.7,6.0,431,18348,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2210,2225
$GC,18650,0.37,158.6,783.4,5.6,436,18651,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2210,2225
$GC,18954,0.37,158.6,766.2,5.7,441,18958,0.00,2.55,0.00,0.000,4,0.000,0.076,3446,780,2225
$GC,18999,0.37,158.6,763.4,5.8,441,19003,0.00,2.42,0.00,0.000,6,0.000,0.058,3447,2204,2225
$GC,19315,0.37,158.6,744.4,6.1,447,19319,0.00,2.47,0.00,0.000,4,0.000,0.079,3447,3611,2225
$GC,19360,0.29,158.6,741.6,6.1,447,19365,0.15,2.38,0.00,0.000,6,0.165,0.060,3415,2201,2224
$GC,19678,0.38,158.6,725.4,5.0,453,19682,0.00,2.50,0.00,0.000,4,0.000,0.076,3423,784,2225
$GC,19729,0.46,158.6,722.7,5.4,453,19734,0.12,2.42,0.00,0.000,6,0.083,0.058,3476,2207,2224
$GC,20040,0.36,158.6,702.1,6.8,458,20042,0.15,0.00,0.00,0.000,6,0.141,0.000,3436,2207,2224
$GC,20343,0.36,158.6,684.1,5.9,463,20345,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2224
$GC,20647,0.36,158.6,666.3,5.9,468,20648,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2224
$GC,20949,0.36,158.6,649.1,5.7,473,20953,0.00,2.55,0.00,0.000,4,0.000,0.076,3436,790,2225
$GC,21000,0.41,158.6,646.2,5.7,473,21004,0.00,2.42,0.00,0.000,6,0.000,0.059,3436,2202,2225
$GC,21312,0.41,158.6,628.4,5.8,478,21316,0.00,2.50,0.00,0.000,4,0.000,0.078,3436,3615,2224
$GC,21346,0.41,158.6,626.2,6.1,478,21350,0.00,2.40,0.00,0.000,6,0.000,0.061,3436,2200,2224
$GC,21673,0.41,158.6,607.7,5.6,484,21678,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,790,2225
$GC,21709,0.47,158.6,605.7,5.7,484,21714,0.00,2.42,0.00,0.000,6,0.000,0.058,3436,2208,2225
$GC,22037,0.47,158.6,587.4,5.6,490,22038,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2225
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$STATE,32146,begin surface coast
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