version: 66.03
glider: 120
mission: 9
dive: 479
start: 2 25 109 2 58 52
data:
$ID,120
$MISSION,9
$DIVE,479
$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,-27971.027
$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,20
$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
$GPS1,025137,4958.342,-14502.853,29,1.4,29,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-75.0
$GPS2,025756,4958.341,-14502.880,13,1.4,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,0.074
$KALMAN_X,-17318.2,-301.2,-41.7,31470.2,-1307.6
$KALMAN_Y,82781.9,-305.6,-474.4,-91504.9,3137.1
$MHEAD_RNG_PITCHd_Wd,47.0,22160,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,39,0.00,0.00,-12.80,0.000,2,0.000,0.000,136,2409,2058
$GC,43,-0.67,-117.3,3.8,-0.0,1,114,13.90,2.47,-47.42,0.000,4,0.278,0.082,3090,992,3356
$GC,131,-0.51,-117.3,9.2,-11.2,8,138,0.22,2.33,0.00,0.000,6,0.159,0.064,3146,2407,3356
$GC,459,-0.51,-117.3,32.3,-6.5,39,465,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,787,-0.51,-117.3,55.6,-7.4,70,794,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3357
$GC,1115,-0.51,-117.3,79.6,-7.6,101,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2406,3358
$GC,1433,-0.51,-117.3,104.8,-7.4,117,1437,0.00,2.40,0.00,0.000,4,0.000,0.070,3147,989,3358
$GC,1460,-0.51,-117.3,107.0,-7.4,118,1464,0.00,2.33,0.00,0.000,6,0.000,0.062,3141,2405,3358
$GC,1784,-0.51,-117.3,131.5,-8.1,134,1788,0.00,2.35,0.00,0.000,4,0.000,0.081,3141,3805,3357
$GC,1804,-0.51,-117.3,133.0,-7.8,135,1808,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2393,3358
$GC,2125,-0.78,-117.3,157.5,-7.4,149,2127,0.22,0.00,0.00,0.000,6,0.085,0.000,3061,2393,3358
$GC,2427,-0.87,-117.3,181.3,-7.8,159,2431,0.00,2.42,0.00,0.000,4,0.000,0.078,3060,3816,3358
$GC,2495,-0.77,-117.3,187.1,-8.4,161,2499,0.00,2.28,0.00,0.000,6,0.000,0.054,3061,2395,3358
$GC,2831,-0.63,-117.3,216.4,-8.5,172,2836,0.15,2.35,0.00,0.000,4,0.150,0.070,3108,988,3358
$GC,2853,-0.57,-117.3,218.1,-7.4,172,2859,0.00,2.30,0.00,0.000,6,0.000,0.061,3108,2400,3358
$GC,3166,-0.57,-117.3,236.7,-5.8,183,3170,0.00,2.38,0.00,0.000,4,0.000,0.081,3108,3809,3358
$GC,3206,-0.57,-117.3,239.4,-6.5,184,3210,0.00,2.25,0.00,0.000,6,0.000,0.054,3108,2397,3358
$GC,3536,-0.57,-117.3,261.6,-6.9,195,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2397,3358
$GC,3842,-0.57,-117.3,283.0,-7.0,205,3846,0.00,2.35,0.00,0.000,4,0.000,0.071,3108,982,3358
$GC,3877,-0.57,-117.3,285.5,-7.3,206,3881,0.00,2.33,0.00,0.000,6,0.000,0.062,3108,2407,3358
$GC,4248,-0.57,-117.3,307.4,-5.5,216,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2406,3358
$GC,4551,-0.57,-117.3,323.4,-5.2,221,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2406,3358
$GC,4854,-0.57,-117.3,340.9,-5.9,226,4858,0.00,2.38,0.00,0.000,4,0.000,0.083,3108,3810,3358
$GC,4883,-0.61,-117.3,343.0,-7.3,226,4887,0.00,2.25,0.00,0.000,6,0.000,0.055,3108,2398,3357
$GC,5221,-0.61,-117.3,364.5,-6.3,232,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3357
$GC,5524,-0.61,-117.3,382.1,-5.8,237,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3357
$GC,5827,-0.65,-117.3,399.2,-5.7,242,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3357
$GC,6130,-0.65,-117.3,417.7,-6.2,247,6134,0.00,2.40,0.00,0.000,4,0.000,0.083,3108,3805,3357
$GC,6158,-0.70,-117.3,419.5,-6.7,247,6162,0.00,2.25,0.00,0.000,6,0.000,0.056,3108,2400,3357
$GC,6497,-0.91,-117.3,442.8,-7.1,253,6502,0.22,2.40,0.00,0.000,4,0.084,0.081,3020,3812,3356
$GC,6615,-0.69,-117.3,453.5,-9.9,254,6620,0.25,2.28,0.00,0.000,6,0.156,0.057,3088,2388,3356
$GC,6926,-0.69,-117.3,473.6,-6.3,259,6930,0.00,2.33,0.00,0.000,4,0.000,0.073,3088,986,3356
$GC,6970,-0.69,-117.3,476.6,-6.6,259,6974,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2401,3356
$GC,7286,-0.69,-117.3,496.7,-6.4,265,7290,0.00,2.35,0.00,0.000,4,0.000,0.071,3085,993,3356
$GC,7314,-0.69,-117.3,498.7,-7.0,265,7318,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2403,3356
$GC,7652,-0.69,-117.3,521.6,-6.9,271,7657,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3816,3356
$GC,7692,-0.69,-117.3,524.5,-7.0,271,7696,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2388,3356
$GC,8013,-0.69,-117.3,546.1,-6.7,277,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,8316,-0.69,-117.3,565.9,-6.4,282,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3356
$GC,8618,-0.69,-117.3,584.7,-6.2,287,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3356
$GC,8922,-0.69,-117.3,602.9,-5.9,292,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3356
$GC,9225,-0.69,-117.3,620.5,-5.9,297,9229,0.00,2.42,0.00,0.000,4,0.000,0.084,3085,3810,3356
$GC,9258,-0.69,-117.3,622.7,-6.7,297,9262,0.00,2.25,0.00,0.000,6,0.000,0.057,3085,2402,3355
$GC,9585,-0.69,-117.3,642.9,-6.3,303,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,9887,-0.69,-117.3,662.9,-6.6,308,9891,0.00,2.42,0.00,0.000,4,0.000,0.084,3085,3815,3355
$GC,9921,-0.69,-117.3,665.2,-7.0,308,9925,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2395,3355
$GC,10248,-0.69,-117.3,686.2,-6.4,314,10252,0.00,2.35,0.00,0.000,4,0.000,0.073,3085,986,3355
$GC,10281,-0.69,-117.3,688.5,-7.1,314,10285,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2412,3355
$GC,10608,-0.69,-117.3,708.2,-5.9,320,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3355
$GC,10912,-0.69,-117.3,725.2,-5.6,325,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3355
$GC,11214,-0.69,-117.3,740.6,-5.0,330,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3355
$GC,11518,-0.69,-117.3,755.1,-4.8,335,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3355
$GC,11820,-0.69,-117.3,769.4,-4.8,340,11824,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,991,3355
$GC,11854,-0.69,-117.3,771.2,-5.0,340,11858,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2399,3355
$GC,12181,-0.69,-117.3,787.6,-5.1,346,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,12483,-0.69,-117.3,803.4,-5.3,351,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,12787,-0.69,-117.3,819.5,-5.3,356,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,13090,-0.69,-117.3,835.8,-5.4,361,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,13393,-0.69,-117.3,851.7,-5.3,366,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,13697,-0.69,-117.3,868.3,-5.4,371,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,13999,-0.69,-117.3,884.8,-5.6,376,14003,0.00,2.42,0.00,0.000,4,0.000,0.085,3085,3817,3354
$GC,14032,-0.69,-117.3,886.8,-5.7,376,14036,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2393,3354
$GC,14358,-0.69,-117.3,905.9,-5.9,382,14362,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,982,3354
$GC,14392,-0.69,-117.3,908.1,-6.5,382,14397,0.00,2.35,0.00,0.000,6,0.000,0.065,3085,2403,3354
$GC,14719,-0.69,-117.3,927.9,-6.0,388,14723,0.00,2.40,0.00,0.000,4,0.000,0.085,3085,3819,3353
$GC,14752,-0.74,-117.3,929.9,-6.1,388,14756,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2391,3353
$GC,15079,-0.90,-117.3,950.6,-6.4,394,15084,0.15,2.42,0.00,0.000,4,0.091,0.083,3025,3808,3353
$GC,15170,-0.77,-117.3,957.1,-7.3,395,15174,0.15,2.28,0.00,0.000,6,0.120,0.059,3065,2395,3353
$GC,15507,-0.77,-117.3,977.3,-5.8,401,15511,0.00,2.35,0.00,0.000,4,0.000,0.075,3065,987,3353
$GC,15541,-0.77,-117.3,979.3,-6.1,401,15545,0.00,2.35,0.00,0.000,6,0.000,0.066,3065,2403,3353
$STATE,15743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15743,begin apogee
$GC,15751,-0.22,0.0,990.4,5.4,405,15866,0.60,0.00,108.95,1.482,6,0.143,0.000,3246,2188,2875
$STATE,15867,end apogee,CONTROL_FINISHED_OK
$STATE,15867,begin climb
$GC,15870,0.67,117.3,994.2,0.0,407,15992,0.90,2.62,114.85,1.427,4,0.090,0.077,3546,794,2396
$GC,16034,0.27,117.3,992.2,7.1,409,16040,0.55,2.50,0.00,0.000,6,0.176,0.061,3407,2206,2394
$GC,16350,0.28,124.2,976.4,4.8,415,16359,0.00,0.00,6.95,1.167,6,0.000,0.000,3407,2205,2369
$GC,16654,0.29,131.7,961.9,4.8,420,16664,0.00,0.00,8.50,1.246,6,0.000,0.000,3407,2205,2339
$GC,16958,0.36,156.7,948.7,4.3,425,16984,0.00,0.00,24.10,1.405,6,0.000,0.000,3407,2205,2237
$GC,17260,0.44,165.6,934.4,4.7,430,17273,0.15,0.00,9.70,1.281,6,0.082,0.000,3466,2205,2200
$GC,17563,0.36,165.6,915.0,6.5,435,17568,0.12,2.40,0.00,0.000,4,0.146,0.079,3436,790,2198
$GC,17614,0.36,165.6,912.1,5.6,435,17618,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2214,2198
$GC,17924,0.36,165.6,895.9,5.3,440,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2198
$GC,18227,0.36,165.6,878.5,5.8,445,18228,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2197
$GC,18530,0.36,165.6,859.4,6.3,450,18531,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2197
$GC,18833,0.36,165.6,838.5,7.0,455,18837,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,784,2197
$GC,18866,0.36,165.6,836.0,6.8,455,18870,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2209,2197
$GC,19193,0.36,165.6,812.4,7.3,461,19194,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2197
$GC,19496,0.36,165.6,791.4,6.8,466,19500,0.00,2.38,0.00,0.000,4,0.000,0.083,3436,3616,2197
$GC,19541,0.32,165.6,788.2,6.7,466,19545,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2190,2197
$GC,19857,0.32,165.6,769.0,6.0,472,19861,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,790,2196
$GC,19890,0.32,165.6,766.8,5.2,472,19894,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2200,2197
$GC,20216,0.32,165.6,748.6,5.5,478,20220,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3611,2197
$GC,20245,0.32,165.6,747.0,5.3,478,20249,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2193,2197
$GC,20577,0.32,165.6,728.5,5.5,484,20578,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2197
$GC,20880,0.32,165.6,711.3,5.7,489,20881,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2197
$GC,21184,0.32,165.6,694.8,5.4,494,21188,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,783,2197
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