version: 66.03
glider: 120
mission: 9
dive: 45
start: 9 13 108 11 42 46
data:
$ID,120
$MISSION,9
$DIVE,45
$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,-18556.443
$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,20
$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
$GPS1,113708,4957.920,-14439.717,107,1.0,107,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-76.6
$GPS2,114151,4957.976,-14439.720,12,1.0,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.124
$KALMAN_X,20524.9,84.3,171.3,-8901.2,-142.1
$KALMAN_Y,37532.0,-158.2,-473.0,-50909.2,1996.0
$MHEAD_RNG_PITCHd_Wd,295.7,22082,-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,-117.3,0.0,0.0,0,43,0.00,0.00,-22.58,0.000,2,0.000,0.000,143,2416,2218
$GC,45,-0.67,-117.3,3.4,-5.6,2,100,13.62,2.38,-34.53,0.000,4,0.296,0.084,3095,979,3355
$GC,351,-0.30,-117.3,44.4,-15.3,29,359,0.38,2.35,0.00,0.000,6,0.165,0.064,3210,2398,3358
$GC,678,-0.67,-117.3,64.9,-7.1,60,683,0.30,2.33,0.00,0.000,4,0.086,0.068,3101,982,3360
$GC,863,-0.50,-117.3,83.3,-11.5,75,868,0.20,2.30,0.00,0.000,6,0.166,0.061,3155,2407,3361
$GC,1178,-0.50,-117.3,107.4,-6.6,90,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2408,3361
$GC,1487,-0.50,-117.3,126.6,-6.6,105,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2407,3361
$GC,1796,-0.50,-117.3,147.9,-6.5,120,1800,0.00,2.33,0.00,0.000,4,0.000,0.071,3156,983,3361
$GC,1860,-0.56,-117.3,152.0,-6.8,123,1864,0.00,2.30,0.00,0.000,6,0.000,0.064,3156,2410,3361
$GC,2194,-0.62,-117.3,171.3,-5.9,134,2196,0.12,0.00,0.00,0.000,6,0.085,0.000,3105,2411,3361
$GC,2500,-0.62,-117.3,193.9,-7.3,144,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2411,3360
$GC,2806,-0.62,-117.3,213.5,-6.3,154,2810,0.00,2.33,0.00,0.000,4,0.000,0.074,3105,985,3360
$GC,2834,-0.56,-117.3,215.5,-7.6,155,2839,0.12,2.28,0.00,0.000,6,0.166,0.064,3135,2402,3360
$GC,3167,-0.56,-117.3,237.2,-6.3,166,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3360
$GC,3473,-0.56,-117.3,257.3,-6.8,176,3477,0.00,2.33,0.00,0.000,4,0.000,0.075,3135,981,3359
$GC,3505,-0.56,-117.3,259.8,-7.5,177,3510,0.00,2.33,0.00,0.000,6,0.000,0.065,3135,2404,3359
$GC,3840,-0.56,-117.3,281.8,-6.3,188,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2404,3358
$GC,4146,-0.56,-117.3,299.9,-6.0,198,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2404,3358
$GC,4480,-0.56,-117.3,320.3,-6.1,204,4484,0.00,2.30,0.00,0.000,4,0.000,0.077,3135,991,3357
$GC,4523,-0.56,-117.3,323.1,-6.7,204,4528,0.00,2.30,0.00,0.000,6,0.000,0.065,3135,2405,3357
$GC,4850,-0.56,-117.3,343.1,-6.0,210,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3357
$GC,5153,-0.56,-117.3,359.4,-5.4,215,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3357
$GC,5456,-0.56,-117.3,373.8,-4.8,220,5460,0.00,2.30,0.00,0.000,4,0.000,0.077,3135,990,3356
$GC,5500,-0.60,-117.3,376.1,-5.3,220,5504,0.00,2.30,0.00,0.000,6,0.000,0.067,3135,2403,3356
$GC,5827,-0.65,-117.3,391.8,-4.9,226,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2403,3356
$GC,6129,-0.69,-117.3,407.6,-5.2,231,6134,0.12,2.33,0.00,0.000,4,0.090,0.077,3087,981,3355
$GC,6166,-0.59,-117.3,410.4,-7.3,231,6171,0.10,2.30,0.00,0.000,6,0.169,0.067,3117,2393,3355
$GC,6492,-0.59,-117.3,431.6,-6.5,237,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2393,3355
$GC,6796,-0.59,-117.3,450.6,-6.2,242,6800,0.00,2.30,0.00,0.000,4,0.000,0.077,3118,986,3355
$GC,6827,-0.59,-117.3,452.8,-7.2,242,6832,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2399,3355
$GC,7159,-0.59,-117.3,473.7,-6.4,248,7163,0.00,2.30,0.00,0.000,4,0.000,0.077,3114,989,3354
$GC,7191,-0.59,-117.3,475.9,-6.9,248,7196,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2400,3354
$GC,7523,-0.59,-117.3,497.2,-6.5,254,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3354
$GC,7826,-0.59,-117.3,518.4,-7.1,259,7830,0.00,2.30,0.00,0.000,4,0.000,0.078,3114,985,3354
$GC,7863,-0.59,-117.3,521.2,-7.4,259,7868,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2400,3354
$GC,8196,-0.59,-117.3,543.1,-6.5,265,8200,0.00,2.30,0.00,0.000,4,0.000,0.077,3114,988,3354
$GC,8233,-0.59,-117.3,545.5,-6.4,265,8238,0.00,2.30,0.00,0.000,6,0.000,0.068,3114,2398,3354
$GC,8560,-0.59,-117.3,563.6,-5.5,271,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3354
$GC,8863,-0.59,-117.3,578.7,-4.9,276,8867,0.00,2.30,0.00,0.000,4,0.000,0.078,3114,990,3354
$GC,8894,-0.59,-117.3,580.5,-5.7,276,8899,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2400,3353
$GC,9226,-0.59,-117.3,597.4,-5.2,282,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2401,3353
$GC,9529,-0.59,-117.3,615.1,-6.0,287,9533,0.00,2.33,0.00,0.000,4,0.000,0.080,3115,980,3353
$GC,9578,-0.59,-117.3,618.4,-6.7,287,9583,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2396,3353
$GC,9893,-0.59,-117.3,638.5,-6.4,293,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3353
$GC,10196,-0.59,-117.3,658.5,-6.6,298,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3353
$GC,10499,-0.59,-117.3,677.8,-6.3,303,10503,0.00,2.30,0.00,0.000,4,0.000,0.080,3114,989,3352
$GC,10536,-0.59,-117.3,680.2,-6.5,303,10541,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2399,3352
$GC,10863,-0.59,-117.3,697.5,-5.2,309,10867,0.00,2.30,0.00,0.000,4,0.000,0.079,3114,990,3352
$GC,10900,-0.59,-117.3,699.6,-5.2,309,10905,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2403,3352
$GC,11226,-0.59,-117.3,716.9,-5.4,315,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3352
$GC,11529,-0.59,-117.3,733.8,-5.6,320,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3352
$GC,11832,-0.59,-117.3,750.9,-5.6,325,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3353
$GC,12136,-0.59,-117.3,767.7,-5.4,330,12139,0.00,2.33,0.00,0.000,4,0.000,0.080,3114,984,3352
$GC,12190,-0.59,-117.3,771.0,-6.2,330,12195,0.00,2.33,0.00,0.000,6,0.000,0.069,3114,2407,3352
$GC,12505,-0.59,-117.3,788.0,-5.4,336,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2407,3352
$GC,12808,-0.59,-117.3,804.2,-5.3,341,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2407,3351
$GC,13111,-0.59,-117.3,820.8,-5.5,346,13115,0.00,2.33,0.00,0.000,4,0.000,0.080,3114,980,3351
$GC,13148,-0.59,-117.3,823.2,-5.8,346,13153,0.00,2.33,0.00,0.000,6,0.000,0.068,3114,2403,3351
$GC,13480,-0.59,-117.3,843.0,-6.1,352,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,13783,-0.59,-117.3,860.3,-5.7,357,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,14086,-0.59,-117.3,876.5,-5.3,362,14090,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,984,3351
$GC,14118,-0.59,-117.3,878.4,-5.6,362,14123,0.00,2.33,0.00,0.000,6,0.000,0.069,3114,2403,3351
$GC,14451,-0.63,-117.3,894.1,-4.7,368,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,14753,-0.63,-117.3,906.7,-4.1,373,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,15057,-0.68,-117.3,918.6,-3.9,378,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,15360,-0.68,-117.3,930.3,-3.9,383,15364,0.00,2.33,0.00,0.000,4,0.000,0.080,3114,989,3350
$GC,15387,-0.72,-117.3,931.6,-4.7,383,15391,0.00,2.30,0.00,0.000,6,0.000,0.070,3114,2412,3350
$GC,15724,-0.77,-117.3,947.0,-4.7,389,15726,0.15,0.00,0.00,0.000,6,0.091,0.000,3058,2412,3350
$GC,16027,-0.66,-117.3,969.0,-7.5,394,16029,0.17,0.00,0.00,0.000,6,0.171,0.000,3105,2412,3350
$GC,16330,-0.66,-117.3,988.3,-6.4,399,16334,0.00,2.35,0.00,0.000,4,0.000,0.081,3105,985,3350
$STATE,16355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16355,begin apogee
$GC,16360,-0.22,0.0,990.1,6.3,399,16462,0.43,0.00,99.20,1.506,6,0.162,0.000,3240,2211,2876
$STATE,16463,end apogee,CONTROL_FINISHED_OK
$STATE,16463,begin climb
$GC,16465,0.67,117.3,994.0,0.0,401,16576,0.88,2.65,102.53,1.451,4,0.107,0.082,3533,788,2397
$GC,16614,0.27,117.3,992.3,7.8,403,16619,0.40,2.47,0.00,0.000,6,0.190,0.065,3412,2194,2394
$GC,16957,0.29,134.1,976.6,4.5,409,16975,0.00,0.00,15.38,1.364,6,0.000,0.000,3412,2194,2328
$GC,17325,0.30,137.4,958.5,4.9,415,17334,0.00,2.42,4.40,0.976,4,0.000,0.085,3412,3614,2315
$GC,17368,0.22,137.4,955.9,7.3,415,17373,0.00,2.38,0.00,0.000,6,0.000,0.070,3412,2205,2315
$GC,17694,0.22,137.4,938.7,5.4,421,17698,0.00,2.38,0.00,0.000,4,0.000,0.084,3414,788,2315
$GC,17743,0.22,137.4,935.8,5.6,421,17748,0.00,2.35,0.00,0.000,6,0.000,0.066,3413,2199,2315
$GC,18058,0.22,137.4,917.4,5.8,427,18062,0.00,2.35,0.00,0.000,4,0.000,0.085,3414,3618,2314
$GC,18107,0.14,137.4,913.9,7.5,427,18112,0.17,2.35,0.00,0.000,6,0.166,0.071,3369,2200,2314
$GC,18423,0.28,147.6,898.8,4.7,433,18436,0.12,0.00,10.32,1.320,6,0.098,0.000,3411,2200,2274
$GC,18726,0.34,147.6,882.1,5.6,438,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2200,2273
$GC,19029,0.41,147.6,865.9,5.3,443,19030,0.12,0.00,0.00,0.000,6,0.110,0.000,3459,2200,2272
$GC,19332,0.28,147.6,845.7,6.7,448,19334,0.17,0.00,0.00,0.000,6,0.168,0.000,3413,2201,2273
$GC,19635,0.29,150.3,830.4,4.9,453,19640,0.00,0.00,3.75,0.868,6,0.000,0.000,3413,2201,2263
$GC,19937,0.29,150.3,815.3,5.0,458,19939,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2200,2263
$GC,20241,0.29,150.3,799.7,5.2,463,20242,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2201,2263
$GC,20544,0.29,150.3,783.2,5.5,468,20545,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2201,2263
$GC,20847,0.29,150.3,765.8,5.8,473,20848,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2200,2263
$GC,21150,0.29,150.3,747.3,6.2,478,21154,0.00,2.35,0.00,0.000,4,0.000,0.085,3413,780,2263
$GC,21205,0.33,150.3,743.7,6.6,478,21209,0.00,2.33,0.00,0.000,6,0.000,0.067,3413,2216,2263
$GC,21519,0.33,150.3,723.1,6.6,484,21520,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2217,2263
$GC,21823,0.33,150.3,703.4,6.4,489,21824,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2217,2263
$GC,22126,0.33,150.3,685.1,6.0,494,22129,0.00,2.38,0.00,0.000,4,0.000,0.085,3413,780,2263
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$STATE,33174,end climb,SURFACE_DEPTH_REACHED
$STATE,33174,begin surface coast
$FINISH,1.8,1.023646
$STATE,33219,end surface coast,CONTROL_FINISHED_OK
$STATE,33219,begin surface
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