version: 66.03
glider: 120
mission: 9
dive: 47
start: 9 14 108 6 40 40
data:
$ID,120
$MISSION,9
$DIVE,47
$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,-18585.092
$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
$GPS1,063432,5003.031,-14447.324,36,1.7,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-75.0
$GPS2,063945,5003.045,-14447.204,11,1.5,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,0.149
$KALMAN_X,21283.7,189.6,-88.8,-18397.9,260.5
$KALMAN_Y,36280.0,-386.1,-225.8,-40289.0,863.4
$MHEAD_RNG_PITCHd_Wd,308.4,9355,-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,-22.55,0.000,2,0.000,0.000,148,2403,2126
$GC,45,-0.67,-117.3,3.3,-4.6,2,104,13.38,2.38,-39.80,0.000,4,0.290,0.091,3098,984,3354
$GC,288,-0.35,-117.3,33.5,-14.3,23,296,0.32,2.35,0.00,0.000,6,0.171,0.064,3196,2398,3357
$GC,614,-0.66,-117.3,55.4,-6.5,54,619,0.25,2.33,0.00,0.000,4,0.086,0.068,3104,982,3359
$GC,844,-0.48,-117.3,77.5,-11.1,74,848,0.20,2.30,0.00,0.000,6,0.168,0.061,3155,2403,3360
$GC,1169,-0.48,-117.3,103.9,-8.3,91,1173,0.00,2.30,0.00,0.000,4,0.000,0.069,3156,988,3360
$GC,1223,-0.48,-117.3,109.0,-9.0,93,1231,0.00,2.30,0.00,0.000,6,0.000,0.061,3156,2399,3360
$GC,1540,-0.48,-117.3,133.5,-6.7,109,1544,0.00,2.30,0.00,0.000,4,0.000,0.080,3155,3812,3360
$GC,1579,-0.55,-117.3,136.1,-6.3,111,1583,0.00,2.25,0.00,0.000,6,0.000,0.056,3156,2383,3360
$GC,1893,-0.60,-117.3,157.7,-6.9,125,1897,0.00,2.25,0.00,0.000,4,0.000,0.072,3155,991,3360
$GC,1941,-0.67,-117.3,161.0,-6.5,126,1946,0.12,2.30,0.00,0.000,6,0.070,0.061,3098,2405,3360
$GC,2260,-0.56,-117.3,181.4,-5.9,137,2264,0.12,2.30,0.00,0.000,4,0.166,0.080,3127,3814,3360
$GC,2287,-0.56,-117.3,182.9,-5.3,138,2291,0.00,2.25,0.00,0.000,6,0.000,0.059,3127,2395,3360
$GC,2621,-0.56,-117.3,205.5,-7.8,149,2625,0.00,2.28,0.00,0.000,4,0.000,0.074,3127,988,3360
$GC,2652,-0.56,-117.3,208.4,-8.7,150,2657,0.00,2.30,0.00,0.000,6,0.000,0.064,3127,2400,3359
$GC,2988,-0.56,-117.3,232.6,-6.6,161,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3359
$GC,3294,-0.56,-117.3,253.0,-6.6,171,3298,0.00,2.30,0.00,0.000,4,0.000,0.075,3127,992,3359
$GC,3376,-0.56,-117.3,259.0,-7.4,173,3381,0.00,2.30,0.00,0.000,6,0.000,0.065,3127,2400,3359
$GC,3694,-0.56,-117.3,279.1,-6.6,184,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3358
$GC,4000,-0.56,-117.3,300.3,-7.1,194,4004,0.00,2.30,0.00,0.000,4,0.000,0.077,3127,988,3357
$GC,4038,-0.56,-117.3,303.2,-7.2,194,4043,0.00,2.30,0.00,0.000,6,0.000,0.066,3127,2399,3357
$GC,4365,-0.56,-117.3,326.8,-7.2,200,4369,0.00,2.30,0.00,0.000,4,0.000,0.076,3127,988,3357
$GC,4391,-0.56,-117.3,328.9,-7.4,200,4396,0.00,2.30,0.00,0.000,6,0.000,0.065,3127,2403,3357
$GC,4728,-0.56,-117.3,350.9,-6.4,206,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3357
$GC,5032,-0.56,-117.3,367.1,-5.2,211,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3356
$GC,5335,-0.56,-117.3,381.4,-4.7,216,5339,0.00,2.30,0.00,0.000,4,0.000,0.077,3127,994,3355
$GC,5372,-0.56,-117.3,383.5,-5.6,216,5377,0.00,2.30,0.00,0.000,6,0.000,0.066,3127,2406,3356
$GC,5698,-0.56,-117.3,401.4,-5.7,222,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2406,3355
$GC,6001,-0.56,-117.3,420.0,-6.2,227,6005,0.00,2.33,0.00,0.000,4,0.000,0.078,3127,985,3355
$GC,6044,-0.56,-117.3,422.9,-6.4,227,6049,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2394,3354
$GC,6365,-0.56,-117.3,442.5,-6.1,233,6369,0.00,2.30,0.00,0.000,4,0.000,0.078,3127,988,3354
$GC,6392,-0.56,-117.3,444.1,-6.0,233,6396,0.00,2.28,0.00,0.000,6,0.000,0.067,3127,2405,3354
$GC,6722,-0.56,-117.3,462.9,-5.7,239,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3354
$GC,7025,-0.56,-117.3,480.5,-5.8,244,7029,0.00,2.30,0.00,0.000,4,0.000,0.079,3127,991,3353
$GC,7057,-0.56,-117.3,482.4,-5.7,244,7062,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2402,3353
$GC,7395,-0.56,-117.3,501.0,-5.5,250,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3353
$GC,7698,-0.56,-117.3,516.6,-5.1,255,7702,0.00,2.30,0.00,0.000,4,0.000,0.079,3127,994,3353
$GC,7724,-0.56,-117.3,518.0,-5.6,255,7729,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2406,3353
$GC,8062,-0.56,-117.3,535.0,-5.0,261,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2406,3353
$GC,8365,-0.56,-117.3,550.0,-5.0,266,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2406,3353
$GC,8669,-0.60,-117.3,564.4,-4.7,271,8673,0.00,2.30,0.00,0.000,4,0.000,0.079,3127,994,3352
$GC,8706,-0.60,-117.3,566.3,-4.9,271,8711,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2403,3352
$GC,9033,-0.65,-117.3,581.1,-4.6,277,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3352
$GC,9336,-0.69,-117.3,595.5,-4.7,282,9340,0.00,2.30,0.00,0.000,4,0.000,0.079,3127,994,3352
$GC,9385,-0.73,-117.3,598.3,-5.8,282,9390,0.10,2.30,0.00,0.000,6,0.083,0.067,3080,2403,3351
$GC,9700,-0.73,-117.3,617.1,-6.1,288,9704,0.00,2.30,0.00,0.000,4,0.000,0.084,3080,3819,3351
$GC,9732,-0.64,-117.3,619.5,-8.0,288,9737,0.08,2.28,0.00,0.000,6,0.131,0.064,3104,2400,3351
$GC,10064,-0.64,-117.3,642.3,-7.0,294,10068,0.00,2.28,0.00,0.000,4,0.000,0.079,3104,995,3351
$GC,10125,-0.64,-117.3,646.8,-7.5,295,10129,0.00,2.28,0.00,0.000,6,0.000,0.068,3104,2406,3351
$GC,10489,-0.64,-117.3,671.9,-6.9,301,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,3351
$GC,10792,-0.64,-117.3,692.0,-6.6,306,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,3351
$GC,11095,-0.64,-117.3,711.3,-6.4,311,11099,0.00,2.30,0.00,0.000,4,0.000,0.080,3104,993,3351
$GC,11132,-0.64,-117.3,713.9,-7.1,311,11137,0.00,2.30,0.00,0.000,6,0.000,0.068,3104,2399,3351
$GC,11464,-0.64,-117.3,735.6,-6.5,317,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2399,3351
$GC,11767,-0.64,-117.3,756.0,-6.8,322,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3351
$GC,12070,-0.64,-117.3,776.7,-6.8,327,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3351
$GC,12373,-0.64,-117.3,796.4,-6.4,332,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3351
$GC,12676,-0.64,-117.3,815.5,-6.3,337,12680,0.00,2.30,0.00,0.000,4,0.000,0.080,3104,994,3350
$GC,12708,-0.64,-117.3,817.8,-6.0,337,12713,0.00,2.30,0.00,0.000,6,0.000,0.068,3104,2400,3350
$GC,13040,-0.64,-117.3,838.9,-6.4,343,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3350
$GC,13343,-0.64,-117.3,859.1,-6.7,348,13347,0.00,2.30,0.00,0.000,4,0.000,0.081,3104,995,3350
$GC,13374,-0.64,-117.3,861.3,-7.3,348,13379,0.00,2.30,0.00,0.000,6,0.000,0.068,3104,2401,3350
$GC,13706,-0.64,-117.3,883.2,-6.6,354,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3350
$GC,14010,-0.64,-117.3,902.3,-6.2,359,14011,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2400,3350
$GC,14313,-0.64,-117.3,920.0,-5.8,364,14314,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2401,3350
$GC,14616,-0.64,-117.3,936.0,-5.2,369,14620,0.00,2.30,0.00,0.000,4,0.000,0.081,3104,995,3349
$GC,14658,-0.64,-117.3,938.5,-6.0,369,14663,0.00,2.30,0.00,0.000,6,0.000,0.071,3104,2397,3349
$GC,14979,-0.64,-117.3,956.2,-5.6,375,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2397,3349
$GC,15283,-0.64,-117.3,973.6,-5.7,380,15287,0.00,2.33,0.00,0.000,4,0.000,0.087,3101,3816,3349
$GC,15320,-0.64,-117.3,975.9,-6.3,380,15325,0.00,2.28,0.00,0.000,6,0.000,0.066,3101,2408,3349
$STATE,15584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15585,begin apogee
$GC,15588,-0.22,0.0,990.9,5.7,385,15691,0.47,0.00,99.50,1.505,6,0.159,0.000,3244,2197,2876
$STATE,15691,end apogee,CONTROL_FINISHED_OK
$STATE,15691,begin climb
$GC,15693,0.67,117.3,992.6,0.0,386,15804,0.88,2.60,102.75,1.449,4,0.114,0.083,3532,793,2397
$GC,15859,0.29,117.3,990.2,8.0,388,15865,0.47,2.45,0.00,0.000,6,0.194,0.065,3412,2206,2394
$GC,16180,0.29,117.3,973.2,5.1,394,16184,0.00,2.38,0.00,0.000,4,0.000,0.083,3412,3611,2393
$GC,16234,0.19,117.3,970.1,5.5,394,16239,0.15,2.35,0.00,0.000,6,0.184,0.070,3384,2201,2393
$GC,16549,0.29,159.9,957.9,3.8,400,16587,0.00,0.00,36.62,1.437,6,0.000,0.000,3384,2201,2224
$GC,16852,0.42,181.5,944.8,4.4,405,16875,0.22,0.00,19.95,1.391,6,0.092,0.000,3461,2201,2136
$GC,17155,0.33,181.5,922.7,7.4,410,17157,0.15,0.00,0.00,0.000,6,0.163,0.000,3423,2201,2133
$GC,17457,0.33,181.5,903.7,6.2,415,17459,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2133
$GC,17761,0.33,181.5,884.5,6.3,420,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2132
$GC,18064,0.33,181.5,864.0,6.8,425,18068,0.00,2.35,0.00,0.000,4,0.000,0.086,3424,789,2133
$GC,18096,0.37,181.5,861.6,6.4,425,18100,0.00,2.33,0.00,0.000,6,0.000,0.067,3423,2197,2132
$GC,18433,0.37,181.5,838.4,7.0,431,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2132
$GC,18736,0.37,181.5,817.3,6.9,436,18740,0.00,2.35,0.00,0.000,4,0.000,0.085,3423,792,2132
$GC,18787,0.42,181.5,813.8,6.8,436,18791,0.00,2.28,0.00,0.000,6,0.000,0.065,3423,2200,2132
$GC,19101,0.42,181.5,793.2,6.5,442,19102,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2132
$GC,19404,0.42,181.5,774.9,6.0,447,19405,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2132
$GC,19707,0.42,181.5,756.1,6.2,452,19708,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2132
$GC,20010,0.42,181.5,736.9,6.4,457,20011,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2132
$GC,20313,0.42,181.5,716.4,6.8,462,20314,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2131
$GC,20616,0.42,181.5,695.2,7.1,467,20620,0.00,2.30,0.00,0.000,4,0.000,0.084,3423,3610,2132
$GC,20648,0.42,181.5,692.5,7.7,467,20653,0.00,2.30,0.00,0.000,6,0.000,0.071,3423,2206,2131
$GC,20985,0.42,181.5,667.6,7.4,473,20989,0.00,2.35,0.00,0.000,4,0.000,0.085,3423,782,2132
$GC,21023,0.48,181.5,664.8,6.9,473,21028,0.12,2.33,0.00,0.000,6,0.088,0.066,3477,2206,2132
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$STATE,32456,end climb,SURFACE_DEPTH_REACHED
$STATE,32456,begin surface coast
$FINISH,2.0,1.022114
$STATE,32479,end surface coast,CONTROL_FINISHED_OK
$STATE,32479,begin surface
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$10V_AH,10.6,6.529
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$DEVICE_SECS,28.175,213.900,356.300,0.000,0.000,28.418,30.655,160.257,253.250,0.000,0.000,11.913,1824.013,27665.654,550.482,2427.469,394.310,33.371,1735.916,0.000,2405.896,0.000,0.465
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