version: 66.03
glider: 120
mission: 9
dive: 728
start: 5 30 109 5 48 18
data:
$ID,120
$MISSION,9
$DIVE,728
$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,-33255.176
$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
$GPS1,053637,5001.805,-14511.267,80,1.3,80,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.0
$GPS2,054720,5001.817,-14511.286,16,1.4,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.177
$KALMAN_X,-153374.6,193.5,-14.2,156997.5,-894.7
$KALMAN_Y,145801.3,-112.1,-98.7,-148662.0,1407.3
$MHEAD_RNG_PITCHd_Wd,156.8,14477,-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,29,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-39.80,0.000,2,0.000,0.000,138,2403,2804
$GC,75,-0.67,-117.3,3.8,-6.4,4,108,13.73,2.67,-10.48,0.000,4,0.281,0.087,3083,3807,3358
$GC,161,-0.47,-117.3,20.5,-12.4,11,168,0.30,2.42,0.00,0.000,6,0.151,0.051,3165,2389,3359
$GC,491,-0.52,-117.3,42.7,-5.8,42,496,0.00,2.60,0.00,0.000,4,0.000,0.065,3165,984,3360
$GC,550,-0.61,-117.3,46.7,-6.1,46,557,0.15,2.40,0.00,0.000,6,0.076,0.058,3112,2399,3360
$GC,879,-0.61,-117.3,71.3,-8.0,77,884,0.00,2.55,0.00,0.000,4,0.000,0.076,3112,3817,3361
$GC,926,-0.55,-117.3,75.8,-9.0,80,933,0.00,2.42,0.00,0.000,6,0.000,0.051,3112,2400,3361
$GC,1246,-0.49,-117.3,103.1,-8.3,98,1251,0.15,2.62,0.00,0.000,4,0.130,0.076,3144,3812,3361
$GC,1274,-0.49,-117.3,105.6,-8.1,99,1278,0.00,2.42,0.00,0.000,6,0.000,0.049,3143,2398,3361
$GC,1593,-0.54,-117.3,128.7,-7.5,114,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2399,3361
$GC,1901,-0.62,-117.3,147.3,-5.5,129,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2399,3361
$GC,2208,-0.81,-117.3,162.7,-4.9,140,2213,0.22,2.67,0.00,0.000,4,0.081,0.064,3064,992,3361
$GC,2266,-0.81,-117.3,166.9,-7.5,141,2272,0.00,2.42,0.00,0.000,6,0.000,0.058,3065,2403,3362
$GC,2580,-0.90,-117.3,192.9,-8.6,152,2585,0.12,2.58,0.00,0.000,4,0.087,0.074,3018,3809,3361
$GC,2843,-0.63,-117.3,223.2,-11.8,159,2849,0.35,2.45,0.00,0.000,6,0.151,0.052,3110,2401,3361
$GC,3157,-0.63,-117.3,245.1,-6.7,170,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3361
$GC,3463,-0.63,-117.3,266.9,-7.2,180,3467,0.00,2.67,0.00,0.000,4,0.000,0.065,3110,990,3361
$GC,3509,-0.63,-117.3,270.4,-7.7,181,3513,0.00,2.53,0.00,0.000,6,0.000,0.059,3110,2400,3361
$GC,3828,-0.63,-117.3,292.0,-6.6,192,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3361
$GC,4132,-0.63,-117.3,312.0,-6.5,199,4137,0.00,2.67,0.00,0.000,4,0.000,0.067,3110,989,3361
$GC,4172,-0.63,-117.3,314.9,-7.2,199,4176,0.00,2.53,0.00,0.000,6,0.000,0.059,3110,2410,3361
$GC,4495,-0.63,-117.3,335.7,-6.4,205,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2409,3361
$GC,4797,-0.63,-117.3,356.7,-7.0,210,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2409,3360
$GC,5100,-0.67,-117.3,376.3,-6.4,215,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2409,3360
$GC,5403,-0.67,-117.3,393.5,-5.7,220,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2409,3360
$GC,5707,-0.71,-117.3,411.1,-5.8,225,5711,0.00,2.67,0.00,0.000,4,0.000,0.067,3110,993,3359
$GC,5736,-0.76,-117.3,413.0,-6.4,225,5741,0.12,2.53,0.00,0.000,6,0.081,0.059,3067,2410,3359
$GC,6070,-0.76,-117.3,434.8,-6.5,231,6074,0.00,2.55,0.00,0.000,4,0.000,0.078,3067,3817,3359
$GC,6098,-0.70,-117.3,436.9,-7.5,231,6102,0.00,2.40,0.00,0.000,6,0.000,0.053,3067,2400,3359
$GC,6439,-0.70,-117.3,460.5,-7.0,237,6443,0.00,2.55,0.00,0.000,4,0.000,0.068,3066,991,3359
$GC,6478,-0.70,-117.3,463.4,-6.9,237,6482,0.00,2.47,0.00,0.000,6,0.000,0.060,3066,2403,3359
$GC,6801,-0.65,-117.3,484.3,-6.5,243,6805,0.15,2.58,0.00,0.000,4,0.131,0.067,3118,982,3359
$GC,6832,-0.70,-117.3,486.0,-5.9,243,6836,0.00,2.47,0.00,0.000,6,0.000,0.060,3116,2403,3359
$GC,7165,-0.78,-117.3,502.8,-5.1,249,7167,0.15,0.00,0.00,0.000,6,0.080,0.000,3057,2402,3358
$GC,7468,-0.74,-117.3,523.8,-7.1,254,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2402,3358
$GC,7771,-0.74,-117.3,546.0,-7.3,259,7776,0.00,2.55,0.00,0.000,4,0.000,0.070,3057,982,3358
$GC,7818,-0.69,-117.3,549.5,-8.2,259,7823,0.15,2.47,0.00,0.000,6,0.122,0.061,3095,2402,3358
$GC,8135,-0.69,-117.3,570.2,-6.4,265,8139,0.00,2.50,0.00,0.000,4,0.000,0.080,3095,3809,3358
$GC,8169,-0.73,-117.3,572.4,-6.7,265,8174,0.00,2.35,0.00,0.000,6,0.000,0.053,3095,2390,3358
$GC,8499,-0.91,-117.3,594.1,-6.8,271,8504,0.20,2.50,0.00,0.000,4,0.083,0.069,3025,992,3358
$GC,8529,-0.91,-117.3,596.3,-8.0,271,8533,0.00,2.47,0.00,0.000,6,0.000,0.060,3025,2412,3358
$GC,8862,-0.73,-117.3,623.6,-8.3,277,8867,0.15,2.58,0.00,0.000,4,0.159,0.069,3078,982,3358
$GC,9043,-0.73,-117.3,636.6,-7.1,279,9047,0.00,2.47,0.00,0.000,6,0.000,0.061,3073,2401,3358
$GC,9360,-0.69,-117.3,658.6,-7.1,285,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3358
$GC,9663,-0.65,-117.3,679.6,-6.9,290,9667,0.12,2.55,0.00,0.000,4,0.158,0.069,3107,990,3358
$GC,9692,-0.70,-117.3,681.5,-6.4,290,9697,0.00,2.47,0.00,0.000,6,0.000,0.061,3107,2407,3357
$GC,10026,-0.91,-117.3,703.1,-6.8,296,10031,0.22,2.58,0.00,0.000,4,0.085,0.069,3025,983,3357
$GC,10128,-0.77,-117.3,711.0,-7.6,297,10133,0.15,2.50,0.00,0.000,6,0.150,0.061,3062,2413,3357
$GC,10457,-0.71,-117.3,732.9,-6.7,303,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2412,3357
$GC,10760,-0.66,-117.3,755.1,-7.5,308,10765,0.15,2.60,0.00,0.000,4,0.171,0.070,3109,986,3357
$GC,10790,-0.72,-117.3,757.2,-6.9,308,10794,0.00,2.47,0.00,0.000,6,0.000,0.061,3109,2401,3356
$GC,11125,-0.98,-117.3,781.9,-7.6,314,11130,0.30,2.58,0.00,0.000,4,0.086,0.070,3001,985,3356
$GC,11155,-0.91,-117.3,784.6,-9.3,314,11160,0.00,2.50,0.00,0.000,6,0.000,0.061,3001,2410,3356
$GC,11489,-0.66,-117.3,818.1,-10.3,320,11494,0.32,2.62,0.00,0.000,4,0.165,0.070,3106,980,3356
$GC,11646,-0.77,-117.3,829.3,-7.3,322,11651,0.12,2.50,0.00,0.000,6,0.078,0.061,3065,2413,3356
$GC,11991,-0.97,-117.3,855.5,-7.5,328,11996,0.15,2.58,0.00,0.000,4,0.107,0.070,3006,991,3356
$GC,12062,-0.75,-117.3,861.6,-9.1,329,12067,0.25,2.47,0.00,0.000,6,0.156,0.062,3070,2398,3356
$GC,12423,-0.75,-117.3,886.0,-6.5,335,12427,0.00,2.50,0.00,0.000,4,0.000,0.081,3069,3809,3356
$GC,12458,-0.75,-117.3,888.3,-6.2,335,12462,0.00,2.35,0.00,0.000,6,0.000,0.054,3070,2392,3356
$GC,12792,-0.75,-117.3,909.5,-6.3,341,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2393,3356
$GC,13095,-0.75,-117.3,928.5,-6.3,346,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2393,3356
$GC,13397,-0.75,-117.3,947.8,-6.4,351,13402,0.00,2.53,0.00,0.000,4,0.000,0.071,3069,985,3356
$GC,13426,-0.75,-117.3,949.9,-7.1,351,13430,0.00,2.50,0.00,0.000,6,0.000,0.062,3069,2404,3356
$GC,13760,-0.75,-117.3,970.9,-6.4,357,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$GC,14062,-0.75,-117.3,989.2,-6.1,362,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$STATE,14119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14119,begin apogee
$GC,14128,-0.22,0.0,993.1,6.1,363,14242,0.57,0.00,111.30,1.490,6,0.134,0.000,3241,2193,2876
$STATE,14243,end apogee,CONTROL_FINISHED_OK
$STATE,14243,begin climb
$GC,14247,0.67,117.3,998.3,0.0,365,14375,0.93,2.95,119.22,1.438,4,0.080,0.075,3533,3606,2397
$GC,14414,0.20,117.3,998.0,6.0,367,14420,0.65,2.72,0.00,0.000,6,0.185,0.058,3389,2200,2395
$GC,14743,0.33,167.1,985.8,3.6,373,14800,0.12,0.00,50.33,1.420,6,0.074,0.000,3436,2201,2193
$GC,15106,0.33,167.1,965.2,5.9,379,15110,0.00,2.90,0.00,0.000,4,0.000,0.073,3436,782,2189
$GC,15151,0.33,167.1,962.4,5.7,379,15155,0.00,2.65,0.00,0.000,6,0.000,0.057,3436,2207,2189
$GC,15467,0.33,167.1,943.7,6.0,385,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2189
$GC,15770,0.33,167.1,926.0,5.9,390,15771,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2188
$GC,16074,0.33,167.1,908.1,5.9,395,16078,0.00,2.60,0.00,0.000,4,0.000,0.077,3436,786,2188
$GC,16113,0.33,167.1,905.7,5.2,395,16117,0.00,2.50,0.00,0.000,6,0.000,0.059,3436,2210,2188
$GC,16435,0.33,167.1,887.9,5.5,401,16439,0.00,2.47,0.00,0.000,4,0.000,0.079,3436,3614,2187
$GC,16482,0.27,167.1,885.1,5.6,401,16486,0.00,2.40,0.00,0.000,6,0.000,0.061,3436,2197,2187
$GC,16798,0.27,167.1,868.0,5.4,407,16802,0.00,2.55,0.00,0.000,4,0.000,0.076,3436,789,2187
$GC,16838,0.27,167.1,865.8,5.3,407,16842,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2209,2187
$GC,17160,0.27,167.1,849.0,5.2,413,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2187
$GC,17464,0.27,167.1,832.2,5.6,418,17468,0.00,2.67,0.00,0.000,4,0.000,0.075,3436,784,2187
$GC,17503,0.27,167.1,829.8,5.1,418,17508,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2207,2187
$GC,17825,0.27,167.1,810.9,5.9,424,17827,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2187
$GC,18129,0.27,167.1,792.4,6.1,429,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2187
$GC,18433,0.27,167.1,773.6,6.2,434,18435,0.12,0.00,0.00,0.000,6,0.163,0.000,3405,2205,2186
$GC,18735,0.38,167.1,757.8,5.2,439,18737,0.10,0.00,0.00,0.000,6,0.091,0.000,3445,2205,2186
$GC,19040,0.42,167.1,741.2,5.5,444,19041,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,2187
$GC,19341,0.46,167.1,725.4,5.2,449,19343,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,2187
$GC,19645,0.50,167.1,708.9,5.4,454,19650,0.10,2.60,0.00,0.000,4,0.109,0.076,3493,790,2186
$GC,19674,0.39,167.1,706.8,7.7,454,19679,0.17,2.45,0.00,0.000,6,0.143,0.059,3447,2209,2187
$GC,20008,0.39,167.1,686.9,5.9,460,20012,0.00,2.47,0.00,0.000,4,0.000,0.079,3447,3609,2186
$GC,20049,0.31,167.1,684.3,6.9,460,20054,0.12,2.40,0.00,0.000,6,0.175,0.061,3421,2188,2186
$GC,20371,0.37,167.1,667.9,5.0,466,20375,0.00,2.53,0.00,0.000,4,0.000,0.076,3422,785,2186
$GC,20406,0.45,167.1,666.1,5.7,466,20411,0.12,2.45,0.00,0.000,6,0.081,0.058,3466,2205,2186
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$STATE,31728,end climb,SURFACE_DEPTH_REACHED
$STATE,31728,begin surface coast
$FINISH,0.4,1.022567
$STATE,31857,end surface coast,CONTROL_FINISHED_OK
$STATE,31857,begin surface
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$10V_AH,10.3,98.777
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