version: 66.03
glider: 120
mission: 9
dive: 730
start: 5 30 109 23 51 40
data:
$ID,120
$MISSION,9
$DIVE,730
$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,-33322.438
$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,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
$GPS1,234326,4955.771,-14510.907,33,2.1,52,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-78.1
$GPS2,235046,4955.753,-14510.926,14,2.1,33,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.137
$KALMAN_X,-152818.2,52.3,181.3,156811.5,-128.9
$KALMAN_Y,148617.2,-268.8,27.0,-162684.6,2181.2
$MHEAD_RNG_PITCHd_Wd,172.9,3446,-16.5,-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,-0.80,-67.0,0.0,0.0,0,69,0.00,0.00,-39.53,0.000,2,0.000,0.000,140,2415,2783
$GC,74,-0.80,-67.0,3.9,-6.8,4,100,13.43,2.50,-7.20,0.000,4,0.277,0.081,3051,988,3152
$GC,266,-0.62,-67.0,34.7,-13.2,21,271,0.28,2.45,0.00,0.000,6,0.156,0.061,3115,2406,3154
$GC,593,-0.66,-67.0,63.4,-8.8,51,597,0.00,2.50,0.00,0.000,4,0.000,0.067,3115,976,3156
$GC,626,-0.66,-67.0,66.7,-9.4,53,633,0.00,2.45,0.00,0.000,6,0.000,0.060,3112,2407,3155
$GC,948,-0.66,-67.0,95.0,-8.8,76,952,0.00,2.45,0.00,0.000,4,0.000,0.077,3112,3813,3156
$GC,1005,-0.72,-67.0,100.2,-8.9,78,1012,0.00,2.33,0.00,0.000,6,0.000,0.051,3112,2387,3156
$GC,1323,-0.77,-67.0,127.5,-8.8,94,1328,0.12,2.45,0.00,0.000,4,0.079,0.065,3052,992,3156
$GC,1415,-0.66,-67.0,137.8,-12.0,98,1420,0.22,2.45,0.00,0.000,6,0.151,0.059,3105,2410,3157
$GC,1736,-0.73,-67.0,165.5,-8.1,111,1740,0.00,2.60,0.00,0.000,4,0.000,0.065,3105,992,3157
$GC,1781,-0.82,-67.0,169.1,-7.7,112,1786,0.15,2.45,0.00,0.000,6,0.074,0.059,3035,2402,3156
$GC,2102,-0.72,-67.0,198.4,-9.0,123,2107,0.15,2.53,0.00,0.000,4,0.157,0.076,3072,3815,3156
$GC,2125,-0.68,-67.0,200.6,-8.2,123,2131,0.00,2.33,0.00,0.000,6,0.000,0.052,3073,2402,3156
$GC,2439,-0.68,-67.0,222.5,-6.9,134,2443,0.00,2.47,0.00,0.000,4,0.000,0.067,3072,980,3156
$GC,2485,-0.68,-67.0,225.7,-6.8,135,2489,0.00,2.47,0.00,0.000,6,0.000,0.059,3072,2409,3156
$GC,2804,-0.68,-67.0,247.6,-7.0,146,2808,0.00,2.45,0.00,0.000,4,0.000,0.079,3073,3809,3155
$GC,2855,-0.68,-67.0,251.4,-7.6,147,2860,0.00,2.33,0.00,0.000,6,0.000,0.052,3073,2396,3155
$GC,3175,-0.68,-67.0,272.1,-6.3,158,3179,0.00,2.47,0.00,0.000,4,0.000,0.067,3072,989,3155
$GC,3221,-0.73,-67.0,275.3,-7.0,159,3226,0.00,2.45,0.00,0.000,6,0.000,0.059,3072,2399,3155
$GC,3547,-0.73,-67.0,296.1,-6.5,170,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3155
$GC,3850,-0.73,-67.0,316.0,-6.6,176,3855,0.00,2.58,0.00,0.000,4,0.000,0.067,3072,985,3156
$GC,3903,-0.79,-67.0,319.7,-6.9,176,3907,0.00,2.53,0.00,0.000,6,0.000,0.060,3072,2410,3155
$GC,4214,-0.83,-67.0,341.5,-7.1,181,4219,0.00,2.55,0.00,0.000,4,0.000,0.068,3072,981,3155
$GC,4249,-0.88,-67.0,344.1,-7.3,181,4254,0.12,2.47,0.00,0.000,6,0.082,0.060,3018,2404,3154
$GC,4578,-0.78,-67.0,373.4,-9.2,187,4583,0.15,2.55,0.00,0.000,4,0.152,0.067,3067,981,3154
$GC,4606,-0.78,-67.0,376.0,-8.5,187,4611,0.00,2.47,0.00,0.000,6,0.000,0.061,3067,2399,3155
$GC,4940,-0.78,-67.0,399.5,-7.1,193,4944,0.00,2.53,0.00,0.000,4,0.000,0.068,3067,989,3154
$GC,4974,-0.78,-67.0,402.2,-7.6,193,4978,0.00,2.47,0.00,0.000,6,0.000,0.061,3067,2402,3154
$GC,5303,-0.82,-67.0,424.7,-6.9,199,5307,0.00,2.53,0.00,0.000,4,0.000,0.069,3067,990,3154
$GC,5348,-0.82,-67.0,428.3,-7.8,199,5352,0.00,2.47,0.00,0.000,6,0.000,0.061,3067,2402,3154
$GC,5664,-0.87,-67.0,450.3,-6.9,205,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2401,3154
$GC,5969,-0.92,-67.0,471.7,-7.1,210,5974,0.15,2.55,0.00,0.000,4,0.074,0.068,2997,987,3153
$GC,6027,-0.76,-67.0,477.4,-10.1,210,6034,0.30,2.47,0.00,0.000,6,0.166,0.061,3066,2401,3153
$GC,6339,-0.81,-67.0,499.5,-6.9,216,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3153
$GC,6641,-0.87,-67.0,519.0,-6.4,221,6646,0.00,2.50,0.00,0.000,4,0.000,0.080,3066,3809,3153
$GC,6722,-0.93,-67.0,524.2,-6.5,222,6727,0.15,2.33,0.00,0.000,6,0.069,0.054,3004,2401,3153
$GC,7072,-0.80,-67.0,553.0,-8.3,228,7077,0.17,2.55,0.00,0.000,4,0.170,0.068,3054,989,3153
$GC,7106,-0.80,-67.0,555.8,-7.6,228,7111,0.00,2.47,0.00,0.000,6,0.000,0.061,3054,2400,3153
$GC,7435,-0.80,-67.0,576.7,-6.4,234,7439,0.00,2.62,0.00,0.000,4,0.000,0.068,3054,986,3153
$GC,7469,-0.80,-67.0,579.2,-6.8,234,7473,0.00,2.53,0.00,0.000,6,0.000,0.061,3054,2406,3153
$GC,7796,-0.80,-67.0,601.9,-7.0,240,7800,0.00,2.55,0.00,0.000,4,0.000,0.070,3053,990,3152
$GC,7854,-0.80,-67.0,606.4,-7.9,240,7860,0.00,2.47,0.00,0.000,6,0.000,0.062,3054,2400,3153
$GC,8165,-0.80,-67.0,629.1,-7.3,246,8169,0.00,2.58,0.00,0.000,4,0.000,0.069,3054,986,3152
$GC,8193,-0.80,-67.0,631.3,-8.0,246,8197,0.00,2.50,0.00,0.000,6,0.000,0.062,3054,2406,3152
$GC,8526,-0.80,-67.0,654.6,-7.0,252,8530,0.00,2.55,0.00,0.000,4,0.000,0.070,3054,990,3152
$GC,8577,-0.80,-67.0,658.4,-7.0,252,8582,0.00,2.50,0.00,0.000,6,0.000,0.062,3054,2409,3152
$GC,8889,-0.80,-67.0,678.3,-6.3,257,8893,0.00,2.55,0.00,0.000,4,0.000,0.070,3054,992,3152
$GC,8924,-0.80,-67.0,680.8,-6.8,257,8928,0.00,2.50,0.00,0.000,6,0.000,0.062,3054,2409,3151
$GC,9252,-0.84,-67.0,701.6,-6.3,263,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2408,3152
$GC,9556,-0.89,-67.0,720.8,-6.3,268,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2408,3152
$GC,9858,-0.94,-67.0,741.4,-6.8,273,9863,0.12,2.55,0.00,0.000,4,0.081,0.069,3000,993,3150
$GC,9932,-0.83,-67.0,748.0,-9.2,274,9937,0.20,2.50,0.00,0.000,6,0.166,0.063,3048,2410,3151
$GC,10289,-0.83,-67.0,773.9,-7.2,280,10293,0.00,2.58,0.00,0.000,4,0.000,0.071,3048,981,3151
$GC,10323,-0.83,-67.0,776.5,-7.1,280,10327,0.00,2.50,0.00,0.000,6,0.000,0.062,3045,2400,3151
$GC,10650,-0.83,-67.0,800.8,-7.5,286,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2399,3151
$GC,10953,-0.83,-67.0,823.7,-7.5,291,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2398,3151
$GC,11257,-0.83,-67.0,845.2,-7.0,296,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2399,3151
$GC,11559,-0.83,-67.0,866.6,-7.1,301,11564,0.00,2.58,0.00,0.000,4,0.000,0.071,3045,988,3151
$GC,11616,-0.83,-67.0,870.9,-7.5,301,11622,0.00,2.50,0.00,0.000,6,0.000,0.063,3045,2406,3151
$GC,11927,-0.83,-67.0,891.5,-6.6,307,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2405,3150
$GC,12232,-0.83,-67.0,910.8,-6.3,312,12236,0.00,2.65,0.00,0.000,4,0.000,0.071,3045,993,3150
$GC,12261,-0.83,-67.0,912.7,-6.3,312,12266,0.00,2.50,0.00,0.000,6,0.000,0.063,3045,2403,3151
$GC,12595,-0.83,-67.0,931.5,-5.6,318,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2402,3150
$GC,12898,-0.87,-67.0,948.0,-5.4,323,12903,0.00,2.60,0.00,0.000,4,0.000,0.070,3045,994,3150
$GC,12945,-0.87,-67.0,950.7,-5.8,323,12949,0.00,2.50,0.00,0.000,6,0.000,0.063,3045,2403,3150
$GC,13261,-0.87,-67.0,967.5,-5.3,329,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2402,3150
$GC,13564,-0.91,-67.0,984.0,-5.4,334,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2402,3150
$STATE,13681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13681,begin apogee
$GC,13691,-0.22,0.0,990.2,5.3,336,13757,0.68,0.00,63.42,1.492,6,0.140,0.000,3241,2194,2876
$STATE,13758,end apogee,CONTROL_FINISHED_OK
$STATE,13758,begin climb
$GC,13763,0.80,67.0,990.9,0.0,337,13833,1.05,0.00,67.25,1.449,6,0.084,0.000,3579,2193,2602
$GC,14110,0.50,101.9,984.4,3.3,343,14153,0.40,2.88,35.78,1.421,4,0.193,0.076,3482,3617,2459
$GC,14213,0.38,101.9,979.1,5.8,344,14218,0.22,2.70,0.00,0.000,6,0.180,0.057,3443,2207,2458
$GC,14541,0.47,115.2,964.3,4.3,350,14557,0.00,0.00,14.23,1.349,6,0.000,0.000,3443,2208,2406
$GC,14845,0.58,129.7,951.3,4.3,355,14863,0.20,0.00,15.75,1.362,6,0.064,0.000,3521,2208,2346
$GC,15148,0.48,129.7,932.3,6.4,360,15154,0.15,2.83,0.00,0.000,4,0.154,0.071,3488,785,2345
$GC,15212,0.48,129.7,928.5,5.6,361,15217,0.00,2.58,0.00,0.000,6,0.000,0.058,3489,2210,2345
$GC,15579,0.48,129.7,907.6,5.7,367,15581,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2209,2344
$GC,15883,0.48,129.7,889.8,5.9,372,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2209,2344
$GC,16186,0.48,129.7,870.7,6.4,377,16190,0.00,2.70,0.00,0.000,4,0.000,0.075,3490,786,2344
$GC,16249,0.48,129.7,866.4,6.9,378,16254,0.00,2.47,0.00,0.000,6,0.000,0.059,3490,2203,2344
$GC,16616,0.48,129.7,842.0,6.7,384,16621,0.00,2.50,0.00,0.000,4,0.000,0.079,3490,3614,2344
$GC,16646,0.40,129.7,839.7,7.4,384,16652,0.17,2.42,0.00,0.000,6,0.180,0.061,3449,2197,2344
$GC,16980,0.50,129.7,820.2,5.8,390,16985,0.00,2.67,0.00,0.000,4,0.000,0.076,3450,784,2344
$GC,17014,0.62,129.7,818.1,6.0,390,17020,0.20,2.47,0.00,0.000,6,0.067,0.059,3532,2208,2344
$GC,17343,0.49,129.7,792.9,7.8,396,17349,0.17,2.67,0.00,0.000,4,0.160,0.073,3490,780,2344
$GC,17417,0.49,129.7,787.7,8.6,397,17421,0.00,2.47,0.00,0.000,6,0.000,0.058,3490,2211,2344
$GC,17773,0.49,129.7,765.4,6.2,403,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2209,2344
$GC,18076,0.49,129.7,747.7,5.8,408,18080,0.00,2.62,0.00,0.000,4,0.000,0.077,3490,789,2344
$GC,18126,0.49,129.7,744.7,6.4,408,18131,0.00,2.45,0.00,0.000,6,0.000,0.060,3490,2198,2344
$GC,18439,0.49,129.7,728.2,5.3,413,18443,0.00,2.47,0.00,0.000,4,0.000,0.079,3490,3607,2344
$GC,18469,0.43,129.7,726.4,6.2,413,18473,0.15,2.38,0.00,0.000,6,0.184,0.061,3456,2197,2343
$GC,18804,0.54,145.0,712.0,4.2,419,18824,0.10,2.53,14.85,1.266,4,0.091,0.076,3505,776,2284
$GC,18859,0.54,145.0,708.8,6.1,419,18865,0.00,2.45,0.00,0.000,6,0.000,0.058,3504,2200,2283
$GC,19171,0.54,145.0,688.6,6.6,425,19172,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2199,2283
$GC,19473,0.54,145.0,668.0,6.8,430,19474,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2199,2283
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