version: 66.03
glider: 120
mission: 9
dive: 40
start: 9 11 108 13 42 21
data:
$ID,120
$MISSION,9
$DIVE,40
$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,-18427.438
$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,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
$GPS1,133638,5001.534,-14431.039,41,1.2,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.7
$GPS2,134126,5001.610,-14431.020,11,1.2,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.177
$KALMAN_X,21215.9,-66.3,-198.1,1279.4,852.6
$KALMAN_Y,31480.5,-104.8,-121.1,-38542.7,3044.0
$MHEAD_RNG_PITCHd_Wd,165.1,14144,-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,-32.58,0.000,2,0.000,0.000,148,2402,2403
$GC,55,-0.67,-117.3,3.8,-6.8,3,99,13.60,2.35,-24.40,0.000,4,0.296,0.095,3085,3806,3355
$GC,257,-0.33,-117.3,35.6,-14.3,21,262,0.43,2.25,0.00,0.000,6,0.170,0.060,3205,2398,3358
$GC,581,-0.65,-117.3,59.8,-7.7,51,586,0.28,2.30,0.00,0.000,4,0.086,0.071,3106,988,3360
$GC,698,-0.50,-117.3,70.5,-9.9,61,703,0.17,2.28,0.00,0.000,6,0.171,0.062,3153,2402,3360
$GC,1027,-0.46,-117.3,97.3,-8.6,82,1031,0.00,2.30,0.00,0.000,4,0.000,0.080,3153,3810,3361
$GC,1069,-0.46,-117.3,101.3,-8.9,84,1075,0.00,2.28,0.00,0.000,6,0.000,0.058,3153,2393,3361
$GC,1397,-0.46,-117.3,129.1,-7.6,100,1401,0.00,2.35,0.00,0.000,4,0.000,0.081,3153,3814,3361
$GC,1417,-0.46,-117.3,130.6,-7.0,101,1422,0.00,2.28,0.00,0.000,6,0.000,0.058,3153,2399,3361
$GC,1745,-0.51,-117.3,147.3,-4.1,117,1749,0.00,2.28,0.00,0.000,4,0.000,0.073,3153,991,3361
$GC,1811,-0.57,-117.3,150.2,-4.3,120,1816,0.00,2.28,0.00,0.000,6,0.000,0.064,3153,2406,3361
$GC,2136,-0.63,-117.3,164.8,-4.8,131,2137,0.12,0.00,0.00,0.000,6,0.087,0.000,3103,2406,3361
$GC,2442,-0.58,-117.3,185.9,-7.1,141,2446,0.00,2.33,0.00,0.000,4,0.000,0.074,3103,983,3361
$GC,2471,-0.50,-117.3,188.1,-8.5,142,2476,0.17,2.30,0.00,0.000,6,0.168,0.066,3149,2407,3361
$GC,2805,-0.55,-117.3,211.3,-6.9,153,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2407,3361
$GC,3111,-0.61,-117.3,231.8,-6.6,163,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2407,3361
$GC,3417,-0.67,-117.3,251.2,-6.2,173,3419,0.15,0.00,0.00,0.000,6,0.087,0.000,3094,2407,3360
$GC,3723,-0.57,-117.3,275.6,-7.8,183,3725,0.15,0.00,0.00,0.000,6,0.165,0.000,3132,2406,3359
$GC,4029,-0.57,-117.3,293.8,-5.6,193,4033,0.00,2.33,0.00,0.000,4,0.000,0.076,3133,984,3359
$GC,4058,-0.57,-117.3,295.5,-6.4,194,4062,0.00,2.30,0.00,0.000,6,0.000,0.067,3133,2410,3359
$GC,4389,-0.57,-117.3,312.9,-5.2,201,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2409,3358
$GC,4693,-0.57,-117.3,330.5,-5.9,206,4697,0.00,2.33,0.00,0.000,4,0.000,0.077,3133,986,3358
$GC,4719,-0.57,-117.3,332.3,-6.8,206,4723,0.00,2.30,0.00,0.000,6,0.000,0.065,3133,2398,3358
$GC,5056,-0.57,-117.3,355.2,-6.9,212,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2397,3358
$GC,5359,-0.57,-117.3,377.8,-7.5,217,5363,0.00,2.30,0.00,0.000,4,0.000,0.077,3133,988,3357
$GC,5402,-0.57,-117.3,381.4,-8.5,217,5407,0.00,2.30,0.00,0.000,6,0.000,0.066,3133,2400,3357
$GC,5724,-0.61,-117.3,405.7,-7.6,223,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2401,3357
$GC,6027,-0.65,-117.3,428.3,-7.5,228,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3357
$GC,6330,-0.70,-117.3,449.9,-7.0,233,6334,0.12,2.30,0.00,0.000,4,0.092,0.077,3085,991,3356
$GC,6373,-0.60,-117.3,453.6,-8.6,233,6378,0.10,2.30,0.00,0.000,6,0.168,0.067,3116,2401,3356
$GC,6693,-0.60,-117.3,477.8,-7.5,239,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3356
$GC,6996,-0.60,-117.3,498.7,-6.8,244,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3356
$GC,7299,-0.60,-117.3,517.3,-6.0,249,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3356
$GC,7602,-0.60,-117.3,533.1,-5.2,254,7606,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3813,3355
$GC,7634,-0.60,-117.3,534.9,-5.2,254,7639,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2399,3355
$GC,7967,-0.60,-117.3,550.9,-4.9,260,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3356
$GC,8269,-0.60,-117.3,566.7,-5.2,265,8273,0.00,2.28,0.00,0.000,4,0.000,0.078,3113,991,3355
$GC,8295,-0.60,-117.3,568.2,-6.0,265,8300,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2405,3355
$GC,8633,-0.60,-117.3,587.4,-5.7,271,8637,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,991,3355
$GC,8670,-0.60,-117.3,589.7,-6.4,271,8675,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2403,3355
$GC,8996,-0.60,-117.3,608.9,-5.9,277,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3355
$GC,9300,-0.60,-117.3,626.9,-5.9,282,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,9602,-0.60,-117.3,644.1,-5.6,287,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3355
$GC,9906,-0.60,-117.3,660.5,-5.4,292,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3354
$GC,10209,-0.60,-117.3,677.1,-5.5,297,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3354
$GC,10512,-0.60,-117.3,693.8,-5.6,302,10516,0.00,2.30,0.00,0.000,4,0.000,0.079,3113,991,3354
$GC,10549,-0.60,-117.3,696.0,-5.7,302,10554,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2398,3354
$GC,10881,-0.60,-117.3,713.2,-5.1,308,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,11184,-0.60,-117.3,729.4,-5.4,313,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,11487,-0.60,-117.3,746.4,-5.7,318,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3353
$GC,11791,-0.60,-117.3,764.4,-6.0,323,11795,0.00,2.30,0.00,0.000,4,0.000,0.080,3114,988,3353
$GC,11822,-0.60,-117.3,766.5,-5.8,323,11827,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2396,3353
$GC,12154,-0.60,-117.3,786.4,-6.1,329,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,12457,-0.60,-117.3,804.0,-5.8,334,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,12760,-0.60,-117.3,821.7,-5.9,339,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,13063,-0.60,-117.3,839.7,-5.9,344,13067,0.00,2.33,0.00,0.000,4,0.000,0.087,3113,3820,3353
$GC,13095,-0.64,-117.3,841.7,-5.8,344,13100,0.00,2.28,0.00,0.000,6,0.000,0.066,3113,2406,3353
$GC,13428,-0.69,-117.3,860.8,-5.8,350,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3353
$GC,13731,-0.73,-117.3,877.8,-5.6,355,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3353
$GC,14034,-0.77,-117.3,894.0,-5.4,360,14036,0.15,0.00,0.00,0.000,6,0.092,0.000,3057,2406,3352
$GC,14337,-0.65,-117.3,916.8,-7.6,365,14339,0.17,0.00,0.00,0.000,6,0.172,0.000,3104,2406,3352
$GC,14640,-0.65,-117.3,934.3,-5.7,370,14643,0.00,2.33,0.00,0.000,4,0.000,0.089,3100,3812,3352
$GC,14666,-0.65,-117.3,935.8,-5.8,370,14670,0.00,2.28,0.00,0.000,6,0.000,0.067,3100,2404,3352
$GC,15009,-0.65,-117.3,954.2,-5.3,376,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3352
$GC,15312,-0.65,-117.3,969.8,-5.2,381,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3352
$GC,15615,-0.65,-117.3,985.1,-5.0,386,15619,0.00,2.30,0.00,0.000,4,0.000,0.081,3100,985,3352
$GC,15646,-0.65,-117.3,986.8,-5.0,386,15651,0.00,2.33,0.00,0.000,6,0.000,0.071,3100,2405,3352
$STATE,15741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15741,begin apogee
$GC,15744,-0.22,0.0,991.5,5.0,388,15847,0.47,0.00,99.90,1.503,6,0.160,0.000,3243,2191,2876
$STATE,15848,end apogee,CONTROL_FINISHED_OK
$STATE,15848,begin climb
$GC,15849,0.67,117.3,992.7,0.0,389,15960,0.88,2.60,102.65,1.450,4,0.107,0.084,3533,791,2397
$GC,15987,0.26,117.3,990.4,7.7,391,15992,0.45,2.47,0.00,0.000,6,0.189,0.064,3405,2197,2394
$GC,16342,0.26,117.3,968.5,6.1,397,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2197,2394
$GC,16645,0.26,117.3,950.0,6.1,402,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2197,2393
$GC,16948,0.26,117.3,932.7,5.7,407,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2197,2393
$GC,17251,0.26,117.3,916.2,5.4,412,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2197,2392
$GC,17554,0.26,117.5,900.9,5.0,417,17555,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2197,2392
$GC,17857,0.29,136.0,887.3,4.5,422,17878,0.00,2.40,16.33,1.383,4,0.000,0.084,3405,3617,2320
$GC,17918,0.23,136.0,884.5,5.3,423,17922,0.00,2.35,0.00,0.000,6,0.000,0.071,3408,2202,2320
$GC,18282,0.26,163.5,868.7,4.2,429,18308,0.00,0.00,24.20,1.393,6,0.000,0.000,3408,2202,2209
$GC,18586,0.28,179.3,855.0,4.5,434,18602,0.00,0.00,14.62,1.333,6,0.000,0.000,3408,2201,2145
$GC,18889,0.34,182.3,840.2,4.9,439,18898,0.00,2.42,4.45,0.962,4,0.000,0.086,3408,3615,2132
$GC,18925,0.34,182.3,838.2,5.3,439,18930,0.00,2.38,0.00,0.000,6,0.000,0.069,3408,2198,2131
$GC,19258,0.41,182.3,820.8,5.2,445,19260,0.12,0.00,0.00,0.000,6,0.104,0.000,3453,2198,2131
$GC,19561,0.36,182.3,800.3,6.9,450,19562,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2198,2131
$GC,19864,0.31,182.3,779.3,6.9,455,19866,0.12,0.00,0.00,0.000,6,0.163,0.000,3422,2198,2131
$GC,20167,0.31,182.3,761.7,5.8,460,20168,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2131
$GC,20470,0.31,182.3,743.6,5.9,465,20474,0.00,2.35,0.00,0.000,4,0.000,0.085,3422,3612,2131
$GC,20501,0.31,182.3,741.4,7.4,465,20506,0.00,2.33,0.00,0.000,6,0.000,0.071,3422,2198,2131
$GC,20840,0.35,182.3,719.8,6.4,471,20841,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2131
$GC,21142,0.35,182.3,700.7,6.2,476,21143,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2131
$GC,21445,0.35,182.3,681.9,6.2,481,21446,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2131
$GC,21748,0.35,182.3,662.5,6.4,486,21752,0.00,2.33,0.00,0.000,4,0.000,0.086,3422,788,2131
$GC,21792,0.42,182.3,659.6,6.1,486,21796,0.00,2.30,0.00,0.000,6,0.000,0.066,3422,2198,2131
$GC,22118,0.47,182.3,639.0,6.3,492,22120,0.12,0.00,0.00,0.000,6,0.098,0.000,3469,2198,2131
$GC,22421,0.38,182.3,616.8,7.3,497,22425,0.00,2.30,0.00,0.000,4,0.000,0.085,3469,3608,2131
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$STATE,32443,end climb,SURFACE_DEPTH_REACHED
$STATE,32443,begin surface coast
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$STATE,32475,end surface coast,CONTROL_FINISHED_OK
$STATE,32475,begin surface
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