version: 66.03
glider: 120
mission: 9
dive: 36
start: 9 10 108 1 31 45
data:
$ID,120
$MISSION,9
$DIVE,36
$D_SURF,2
$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,300
$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,-18351.338
$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,19
$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
$GPS1,012602,5012.355,-14428.202,40,1.3,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.3
$GPS2,013050,5012.367,-14428.235,11,1.3,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.024,-0.176
$KALMAN_X,18982.9,40.5,-53.0,6556.0,721.4
$KALMAN_Y,24016.2,-82.8,-140.4,-11175.8,2593.6
$MHEAD_RNG_PITCHd_Wd,169.3,34048,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,53,0.00,0.00,-32.78,0.000,2,0.000,0.000,145,2409,2318
$GC,55,-0.67,-117.3,3.2,-5.8,3,109,13.38,2.42,-30.30,0.000,4,0.290,0.102,3095,3812,3356
$GC,142,-0.28,-117.3,13.2,-16.4,11,148,0.45,2.30,0.00,0.000,6,0.176,0.060,3222,2393,3358
$GC,466,-0.37,-117.3,36.4,-7.0,41,468,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2393,3359
$GC,787,-0.85,-117.3,55.7,-5.4,71,792,0.50,2.35,0.00,0.000,4,0.097,0.077,3047,3814,3361
$GC,818,-0.72,-117.3,57.9,-7.0,73,826,0.10,2.28,0.00,0.000,6,0.159,0.055,3078,2396,3361
$GC,1151,-0.44,-117.3,97.3,-14.1,99,1156,0.30,2.28,0.00,0.000,4,0.177,0.068,3172,992,3363
$GC,1212,-0.49,-117.3,103.8,-9.9,102,1217,0.00,2.28,0.00,0.000,6,0.000,0.061,3170,2403,3363
$GC,1539,-0.54,-117.3,129.8,-6.7,118,1543,0.00,2.30,0.00,0.000,4,0.000,0.071,3170,990,3363
$GC,1627,-0.62,-117.3,136.0,-6.4,122,1632,0.12,2.30,0.00,0.000,6,0.069,0.061,3111,2402,3363
$GC,1952,-0.54,-117.3,160.2,-7.3,136,1957,0.12,2.30,0.00,0.000,4,0.165,0.081,3141,3807,3363
$GC,1983,-0.54,-117.3,162.2,-6.1,137,1988,0.00,2.25,0.00,0.000,6,0.000,0.058,3141,2404,3363
$GC,2319,-0.54,-117.3,181.5,-5.7,148,2323,0.00,2.33,0.00,0.000,4,0.000,0.082,3141,3809,3363
$GC,2361,-0.59,-117.3,184.2,-5.9,149,2366,0.00,2.28,0.00,0.000,6,0.000,0.059,3141,2395,3363
$GC,2685,-0.59,-117.3,203.4,-6.0,160,2689,0.00,2.28,0.00,0.000,4,0.000,0.075,3141,988,3363
$GC,2713,-0.59,-117.3,205.1,-7.3,161,2717,0.00,2.28,0.00,0.000,6,0.000,0.064,3141,2403,3363
$GC,3046,-0.59,-117.3,225.0,-5.9,172,3050,0.00,2.30,0.00,0.000,4,0.000,0.074,3141,991,3362
$GC,3074,-0.59,-117.3,226.8,-6.2,173,3078,0.00,2.28,0.00,0.000,6,0.000,0.065,3141,2408,3362
$GC,3408,-0.59,-117.3,245.6,-5.6,184,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2408,3362
$GC,3714,-0.59,-117.3,261.2,-5.1,194,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2408,3361
$GC,4020,-0.59,-117.3,278.2,-5.7,204,4024,0.00,2.33,0.00,0.000,4,0.000,0.076,3141,985,3361
$GC,4064,-0.63,-117.3,280.9,-6.2,205,4068,0.00,2.30,0.00,0.000,6,0.000,0.066,3141,2396,3361
$GC,4388,-0.68,-117.3,299.7,-5.8,216,4390,0.12,0.00,0.00,0.000,6,0.092,0.000,3092,2396,3360
$GC,4721,-0.62,-117.3,323.0,-7.1,222,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2396,3360
$GC,5025,-0.57,-117.3,346.0,-7.7,227,5026,0.15,0.00,0.00,0.000,6,0.133,0.000,3134,2396,3359
$GC,5327,-0.57,-117.3,367.6,-7.1,232,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3359
$GC,5630,-0.57,-117.3,388.5,-6.9,237,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3359
$GC,5933,-0.57,-117.3,407.6,-6.2,242,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3359
$GC,6236,-0.57,-117.3,426.6,-6.2,247,6240,0.00,2.30,0.00,0.000,4,0.000,0.077,3134,986,3358
$GC,6263,-0.61,-117.3,428.4,-6.8,247,6267,0.00,2.30,0.00,0.000,6,0.000,0.067,3134,2398,3358
$GC,6606,-0.66,-117.3,449.9,-6.3,253,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2398,3358
$GC,6909,-0.71,-117.3,468.4,-6.1,258,6911,0.15,0.00,0.00,0.000,6,0.091,0.000,3078,2398,3357
$GC,7212,-0.60,-117.3,491.2,-7.5,263,7214,0.15,0.00,0.00,0.000,6,0.164,0.000,3117,2398,3357
$GC,7515,-0.60,-117.3,509.1,-5.9,268,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2398,3357
$GC,7818,-0.60,-117.3,528.8,-6.5,273,7822,0.00,2.30,0.00,0.000,4,0.000,0.080,3117,984,3356
$GC,7843,-0.60,-117.3,530.8,-7.4,273,7848,0.00,2.33,0.00,0.000,6,0.000,0.068,3114,2405,3356
$GC,8187,-0.60,-117.3,553.1,-6.5,279,8191,0.00,2.30,0.00,0.000,4,0.000,0.087,3113,3810,3356
$GC,8224,-0.60,-117.3,555.6,-7.3,279,8228,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2398,3356
$GC,8550,-0.60,-117.3,575.2,-6.0,285,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3356
$GC,8853,-0.60,-117.3,592.3,-5.7,290,8857,0.00,2.28,0.00,0.000,4,0.000,0.080,3113,992,3356
$GC,8907,-0.60,-117.3,595.4,-5.6,290,8914,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2401,3356
$GC,9217,-0.60,-117.3,610.9,-5.0,296,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3355
$GC,9520,-0.60,-117.3,625.6,-4.9,301,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3355
$GC,9822,-0.60,-117.3,641.7,-5.3,306,9826,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3809,3355
$GC,9860,-0.60,-117.3,643.8,-5.8,306,9865,0.00,2.28,0.00,0.000,6,0.000,0.065,3113,2402,3354
$GC,10192,-0.60,-117.3,664.0,-6.2,312,10196,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,986,3355
$GC,10217,-0.60,-117.3,665.9,-6.7,312,10222,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2394,3355
$GC,10555,-0.60,-117.3,687.6,-6.4,318,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3355
$GC,10858,-0.60,-117.3,706.3,-6.2,323,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3354
$GC,11161,-0.60,-117.3,724.8,-6.1,328,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3354
$GC,11464,-0.60,-117.3,741.5,-5.5,333,11468,0.00,2.30,0.00,0.000,4,0.000,0.081,3113,991,3354
$GC,11490,-0.60,-117.3,743.1,-6.3,333,11495,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2398,3354
$GC,11828,-0.60,-117.3,760.5,-5.2,339,11832,0.00,2.33,0.00,0.000,4,0.000,0.088,3113,3816,3354
$GC,11855,-0.60,-117.3,761.9,-5.4,339,11859,0.00,2.28,0.00,0.000,6,0.000,0.065,3113,2403,3354
$GC,12192,-0.60,-117.3,779.7,-5.3,345,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3354
$GC,12495,-0.60,-117.3,796.1,-5.4,350,12499,0.00,2.30,0.00,0.000,4,0.000,0.081,3113,990,3354
$GC,12527,-0.60,-117.3,797.9,-5.5,350,12532,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2398,3353
$GC,12859,-0.60,-117.3,815.4,-5.3,356,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,13162,-0.60,-117.3,830.7,-5.1,361,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3354
$GC,13465,-0.60,-117.3,846.3,-5.2,366,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,13768,-0.60,-117.3,862.4,-5.3,371,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,14071,-0.60,-117.3,878.5,-5.3,376,14075,0.00,2.33,0.00,0.000,4,0.000,0.089,3113,3814,3353
$GC,14104,-0.65,-117.3,880.3,-5.0,376,14108,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2393,3353
$GC,14441,-0.69,-117.3,898.2,-5.4,382,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3353
$GC,14744,-0.74,-117.3,915.4,-5.8,387,14746,0.12,0.00,0.00,0.000,6,0.094,0.000,3066,2393,3352
$GC,15048,-0.66,-117.3,937.3,-7.3,392,15049,0.15,0.00,0.00,0.000,6,0.169,0.000,3106,2393,3353
$GC,15350,-0.66,-117.3,955.4,-5.9,397,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2393,3353
$GC,15653,-0.66,-117.3,972.8,-5.7,402,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2393,3353
$GC,15956,-0.66,-117.3,989.6,-5.5,407,15960,0.00,2.35,0.00,0.000,4,0.000,0.090,3100,3810,3352
$STATE,15964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15964,begin apogee
$GC,15970,-0.22,0.0,990.2,5.5,407,16073,0.45,0.00,99.43,1.502,6,0.162,0.000,3239,2189,2876
$STATE,16074,end apogee,CONTROL_FINISHED_OK
$STATE,16074,begin climb
$GC,16075,0.67,117.3,991.7,0.0,408,16186,0.90,2.60,102.62,1.453,4,0.110,0.084,3532,790,2397
$GC,16258,0.29,117.3,987.0,8.8,410,16266,0.43,2.45,0.00,0.000,6,0.196,0.065,3419,2196,2394
$GC,16568,0.24,117.3,967.3,6.3,416,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2196,2393
$GC,16871,0.18,117.3,947.2,6.7,421,16873,0.17,0.00,0.00,0.000,6,0.181,0.000,3374,2196,2393
$GC,17174,0.27,117.3,930.7,5.4,426,17178,0.00,2.35,0.00,0.000,4,0.000,0.084,3374,3609,2392
$GC,17205,0.27,117.3,928.8,5.3,426,17210,0.00,2.35,0.00,0.000,6,0.000,0.071,3381,2201,2393
$GC,17543,0.34,117.3,911.5,5.1,432,17545,0.15,0.00,0.00,0.000,6,0.100,0.000,3436,2201,2393
$GC,17846,0.25,117.3,892.9,6.2,437,17848,0.15,0.00,0.00,0.000,6,0.170,0.000,3399,2201,2392
$GC,18150,0.25,120.8,877.9,4.9,442,18158,0.00,2.40,3.97,0.923,4,0.000,0.087,3399,3608,2383
$GC,18187,0.20,120.8,875.9,5.8,442,18191,0.00,2.35,0.00,0.000,6,0.000,0.072,3398,2194,2383
$GC,18519,0.23,144.6,861.2,4.3,448,18542,0.00,0.00,21.15,1.391,6,0.000,0.000,3399,2194,2286
$GC,18822,0.28,153.9,846.9,4.7,453,18836,0.00,2.45,9.30,1.260,4,0.000,0.084,3399,3618,2248
$GC,18870,0.28,153.9,844.4,5.6,453,18874,0.00,2.40,0.00,0.000,6,0.000,0.071,3399,2199,2247
$GC,19191,0.35,157.4,828.7,4.9,459,19198,0.00,0.00,4.78,1.010,6,0.000,0.000,3399,2198,2234
$GC,19494,0.42,157.4,812.8,5.3,464,19496,0.17,0.00,0.00,0.000,6,0.095,0.000,3462,2198,2234
$GC,19797,0.30,157.4,791.5,7.1,469,19799,0.17,0.00,0.00,0.000,6,0.170,0.000,3417,2198,2234
$GC,20100,0.30,157.4,774.5,5.5,474,20101,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2198,2234
$GC,20403,0.30,157.4,758.0,5.4,479,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2198,2233
$GC,20706,0.30,159.6,742.9,4.9,484,20710,0.00,2.35,0.00,0.000,4,0.000,0.084,3417,3615,2233
$GC,20750,0.26,159.6,740.3,6.0,484,20759,0.00,2.33,3.58,0.805,6,0.000,0.071,3421,2201,2225
$GC,21075,0.26,159.6,723.9,5.1,490,21079,0.00,2.35,0.00,0.000,4,0.000,0.085,3421,783,2225
$GC,21106,0.28,179.0,722.3,4.4,490,21128,0.00,2.33,17.42,1.298,6,0.000,0.067,3421,2196,2146
$GC,21431,0.28,179.0,704.9,5.5,495,21432,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2144
$GC,21734,0.28,179.0,687.0,6.0,500,21735,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2144
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$STATE,32659,end climb,SURFACE_DEPTH_REACHED
$STATE,32660,begin surface coast
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$STATE,32682,end surface coast,CONTROL_FINISHED_OK
$STATE,32682,begin surface
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