version: 66.03
glider: 120
mission: 9
dive: 735
start: 6 1 109 21 30 51
data:
$ID,120
$MISSION,9
$DIVE,735
$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,-33447.801
$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,21
$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
$GPS1,212231,5001.197,-14458.094,84,1.1,84,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.9
$GPS2,212956,5001.205,-14458.107,12,1.8,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.132
$KALMAN_X,-157135.9,5.0,118.5,176489.6,-1632.4
$KALMAN_Y,144589.0,-266.7,107.9,-148637.0,-1021.6
$MHEAD_RNG_PITCHd_Wd,23.6,14485,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-40.03,0.000,2,0.000,0.000,144,2408,2814
$GC,75,-0.67,-117.3,3.9,-6.8,4,108,13.85,2.47,-10.10,0.000,4,0.274,0.088,3085,3805,3358
$GC,302,-0.49,-117.3,36.2,-10.1,24,307,0.28,2.35,0.00,0.000,6,0.141,0.051,3160,2389,3360
$GC,632,-0.53,-117.3,56.2,-6.0,54,637,0.00,2.45,0.00,0.000,4,0.000,0.067,3160,985,3361
$GC,663,-0.60,-117.3,58.4,-6.4,56,667,0.00,2.45,0.00,0.000,6,0.000,0.057,3155,2405,3361
$GC,992,-0.60,-117.3,79.4,-6.5,86,996,0.00,2.47,0.00,0.000,4,0.000,0.065,3155,991,3361
$GC,1026,-0.60,-117.3,82.0,-7.0,87,1032,0.00,2.42,0.00,0.000,6,0.000,0.058,3155,2408,3361
$GC,1344,-0.65,-117.3,103.5,-6.6,103,1345,0.15,0.00,0.00,0.000,6,0.077,0.000,3093,2407,3362
$GC,1653,-0.58,-117.3,129.6,-8.3,118,1658,0.12,2.47,0.00,0.000,4,0.096,0.075,3125,3812,3363
$GC,1689,-0.58,-117.3,132.6,-7.8,119,1695,0.00,2.33,0.00,0.000,6,0.000,0.051,3125,2397,3362
$GC,2006,-0.58,-117.3,155.4,-7.0,134,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3362
$GC,2313,-0.62,-117.3,175.9,-6.6,144,2317,0.00,2.47,0.00,0.000,4,0.000,0.067,3125,981,3362
$GC,2347,-0.67,-117.3,178.3,-6.6,145,2352,0.00,2.45,0.00,0.000,6,0.000,0.058,3125,2402,3362
$GC,2679,-0.72,-117.3,196.8,-5.3,156,2681,0.12,0.00,0.00,0.000,6,0.083,0.000,3075,2400,3362
$GC,2985,-0.72,-117.3,215.9,-6.2,166,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2401,3362
$GC,3291,-0.72,-117.3,237.0,-7.1,176,3295,0.00,2.50,0.00,0.000,4,0.000,0.067,3078,989,3362
$GC,3320,-0.72,-117.3,239.1,-7.4,177,3324,0.00,2.45,0.00,0.000,6,0.000,0.058,3078,2405,3362
$GC,3657,-0.67,-117.3,263.4,-7.1,188,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3362
$GC,3964,-0.62,-117.3,284.5,-6.9,198,3969,0.12,2.53,0.00,0.000,4,0.127,0.067,3114,985,3362
$GC,4000,-0.62,-117.3,286.9,-6.6,199,4004,0.00,2.45,0.00,0.000,6,0.000,0.059,3114,2401,3362
$GC,4360,-0.62,-117.3,308.5,-6.0,209,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3361
$GC,4664,-0.62,-117.3,326.5,-6.0,214,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3361
$GC,4967,-0.66,-117.3,343.9,-5.7,219,4971,0.00,2.50,0.00,0.000,4,0.000,0.068,3114,994,3361
$GC,4996,-0.71,-117.3,345.8,-6.7,219,5001,0.00,2.45,0.00,0.000,6,0.000,0.059,3113,2408,3360
$GC,5330,-0.75,-117.3,365.0,-5.7,225,5332,0.12,0.00,0.00,0.000,6,0.086,0.000,3065,2407,3360
$GC,5636,-0.75,-117.3,386.4,-7.1,230,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2407,3360
$GC,5936,-0.75,-117.3,408.7,-7.4,235,5940,0.00,2.53,0.00,0.000,4,0.000,0.069,3064,990,3359
$GC,5970,-0.70,-117.3,411.4,-8.2,235,5975,0.00,2.45,0.00,0.000,6,0.000,0.059,3065,2404,3359
$GC,6298,-0.63,-117.3,435.7,-7.3,241,6303,0.15,2.53,0.00,0.000,4,0.133,0.078,3112,3811,3359
$GC,6334,-0.71,-117.3,438.0,-6.1,241,6338,0.00,2.35,0.00,0.000,6,0.000,0.052,3112,2393,3359
$GC,6661,-0.92,-117.3,458.5,-6.5,247,6666,0.25,2.50,0.00,0.000,4,0.083,0.067,3025,990,3359
$GC,6679,-1.02,-117.3,460.0,-6.7,247,6684,0.12,2.42,0.00,0.000,6,0.076,0.059,2975,2400,3359
$GC,7025,-0.66,-117.3,498.8,-11.6,253,7030,0.45,2.55,0.00,0.000,4,0.169,0.067,3105,993,3359
$GC,7223,-0.66,-117.3,510.9,-5.7,256,7228,0.00,2.45,0.00,0.000,6,0.000,0.061,3105,2400,3359
$GC,7592,-0.70,-117.3,529.1,-5.1,262,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,3359
$GC,7894,-0.76,-117.3,544.8,-5.2,267,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,3359
$GC,8198,-0.81,-117.3,560.9,-5.3,272,8202,0.15,2.53,0.00,0.000,4,0.080,0.068,3039,994,3358
$GC,8226,-0.73,-117.3,563.1,-8.2,272,8231,0.15,2.42,0.00,0.000,6,0.143,0.060,3077,2400,3358
$GC,8561,-0.73,-117.3,584.3,-6.4,278,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3358
$GC,8862,-0.73,-117.3,602.6,-6.0,283,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3358
$GC,9165,-0.73,-117.3,621.2,-6.2,288,9170,0.00,2.53,0.00,0.000,4,0.000,0.081,3072,3816,3357
$GC,9200,-0.73,-117.3,623.5,-6.8,288,9204,0.00,2.35,0.00,0.000,6,0.000,0.054,3072,2400,3357
$GC,9528,-0.73,-117.3,643.7,-6.2,294,9532,0.00,2.50,0.00,0.000,4,0.000,0.069,3073,985,3358
$GC,9556,-0.73,-117.3,645.7,-6.8,294,9560,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2399,3358
$GC,9889,-0.73,-117.3,665.4,-6.0,300,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3357
$GC,10192,-0.73,-117.3,683.9,-6.1,305,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3358
$GC,10496,-0.73,-117.3,704.2,-6.8,310,10500,0.00,2.55,0.00,0.000,4,0.000,0.081,3072,3817,3357
$GC,10536,-0.73,-117.3,707.2,-7.3,310,10540,0.00,2.38,0.00,0.000,6,0.000,0.054,3072,2393,3357
$GC,10859,-0.73,-117.3,730.1,-7.1,316,10863,0.00,2.50,0.00,0.000,4,0.000,0.070,3072,980,3358
$GC,10904,-0.73,-117.3,733.5,-7.8,316,10908,0.00,2.47,0.00,0.000,6,0.000,0.061,3072,2403,3357
$GC,11221,-0.73,-117.3,754.9,-6.7,322,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3357
$GC,11525,-0.73,-117.3,774.3,-6.4,327,11529,0.00,2.53,0.00,0.000,4,0.000,0.081,3073,3814,3357
$GC,11553,-0.73,-117.3,776.4,-6.6,327,11557,0.00,2.38,0.00,0.000,6,0.000,0.054,3072,2389,3356
$GC,11894,-0.73,-117.3,798.1,-6.4,333,11898,0.00,2.47,0.00,0.000,4,0.000,0.071,3073,994,3357
$GC,11939,-0.73,-117.3,801.3,-6.6,333,11943,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2400,3357
$GC,12256,-0.73,-117.3,820.2,-5.9,339,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,12558,-0.73,-117.3,837.5,-5.7,344,12563,0.00,2.55,0.00,0.000,4,0.000,0.081,3073,3818,3356
$GC,12594,-0.73,-117.3,839.5,-5.5,344,12598,0.00,2.38,0.00,0.000,6,0.000,0.054,3072,2400,3356
$GC,12921,-0.73,-117.3,858.0,-5.6,350,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2401,3356
$GC,13225,-0.73,-117.3,875.6,-5.8,355,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2401,3356
$GC,13528,-0.73,-117.3,894.1,-6.1,360,13532,0.00,2.50,0.00,0.000,4,0.000,0.070,3072,993,3355
$GC,13556,-0.73,-117.3,896.0,-6.3,360,13560,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2401,3356
$GC,13890,-0.73,-117.3,916.6,-6.2,366,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3356
$GC,14193,-0.73,-117.3,936.3,-6.5,371,14197,0.00,2.53,0.00,0.000,4,0.000,0.071,3072,992,3355
$GC,14233,-0.73,-117.3,939.0,-6.4,371,14237,0.00,2.47,0.00,0.000,6,0.000,0.061,3072,2409,3355
$GC,14556,-0.73,-117.3,959.5,-6.3,377,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,14859,-0.73,-117.3,978.4,-6.3,382,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3355
$STATE,15099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15099,begin apogee
$GC,15108,-0.22,0.0,993.1,6.1,386,15225,0.57,0.00,114.12,1.486,6,0.133,0.000,3242,2192,2876
$STATE,15226,end apogee,CONTROL_FINISHED_OK
$STATE,15226,begin climb
$GC,15230,0.67,117.3,997.9,0.0,388,15356,0.93,0.00,121.78,1.435,6,0.084,0.000,3528,2192,2397
$GC,15722,0.35,117.3,974.2,7.4,396,15724,0.38,0.00,0.00,0.000,6,0.169,0.000,3437,2191,2394
$GC,16021,0.29,117.3,957.9,5.3,401,16026,0.00,2.67,0.00,0.000,4,0.000,0.077,3437,3609,2394
$GC,16086,0.15,117.3,954.3,5.3,402,16091,0.30,2.55,0.00,0.000,6,0.173,0.059,3368,2204,2393
$GC,16454,0.36,155.2,939.9,3.9,408,16495,0.20,0.00,37.70,1.414,6,0.074,0.000,3437,2204,2243
$GC,16756,0.36,155.2,921.6,6.2,413,16761,0.00,2.72,0.00,0.000,4,0.000,0.077,3437,3609,2240
$GC,16843,0.26,155.2,915.3,8.6,414,16848,0.15,2.60,0.00,0.000,6,0.168,0.058,3405,2191,2240
$GC,17188,0.34,155.2,895.2,5.8,420,17192,0.00,2.65,0.00,0.000,4,0.000,0.074,3408,790,2240
$GC,17245,0.43,155.2,891.7,6.1,420,17251,0.15,2.58,0.00,0.000,6,0.074,0.058,3462,2200,2240
$GC,17557,0.35,155.2,868.3,7.7,426,17559,0.12,0.00,0.00,0.000,6,0.137,0.000,3431,2200,2239
$GC,17859,0.35,155.2,848.1,6.6,431,17863,0.00,2.60,0.00,0.000,4,0.000,0.077,3431,3610,2239
$GC,17899,0.28,155.2,845.3,6.6,431,17903,0.00,2.50,0.00,0.000,6,0.000,0.059,3436,2196,2239
$GC,18222,0.28,155.2,825.3,6.1,437,18226,0.00,2.60,0.00,0.000,4,0.000,0.074,3436,783,2239
$GC,18261,0.28,155.2,822.7,6.0,437,18265,0.00,2.53,0.00,0.000,6,0.000,0.057,3436,2204,2239
$GC,18583,0.28,155.2,803.7,5.9,443,18587,0.00,2.55,0.00,0.000,4,0.000,0.077,3436,3608,2238
$GC,18617,0.22,155.2,801.5,6.0,443,18623,0.20,2.47,0.00,0.000,6,0.167,0.059,3389,2191,2238
$GC,18947,0.39,183.2,787.3,4.2,449,18981,0.15,2.60,26.62,1.338,4,0.074,0.076,3452,791,2129
$GC,19016,0.39,183.2,783.5,5.9,450,19020,0.00,2.53,0.00,0.000,6,0.000,0.058,3452,2203,2128
$GC,19378,0.39,183.2,763.3,5.5,456,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2202,2126
$GC,19680,0.39,183.2,746.7,5.5,461,19681,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2202,2125
$GC,19983,0.39,183.2,729.9,5.6,466,19987,0.00,2.60,0.00,0.000,4,0.000,0.074,3452,791,2126
$GC,20050,0.39,183.2,725.9,5.7,467,20055,0.00,2.50,0.00,0.000,6,0.000,0.059,3452,2200,2126
$GC,20413,0.39,183.2,706.1,5.5,473,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2199,2125
$GC,20715,0.39,183.2,689.0,5.6,478,20719,0.00,2.60,0.00,0.000,4,0.000,0.075,3452,782,2125
$GC,20754,0.39,183.2,686.6,5.1,478,20759,0.00,2.50,0.00,0.000,6,0.000,0.058,3452,2204,2125
$GC,21077,0.39,183.2,668.6,5.6,484,21078,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2203,2125
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$STATE,32843,begin surface coast
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