version: 66.03
glider: 120
mission: 9
dive: 76
start: 9 25 108 3 47 10
data:
$ID,120
$MISSION,9
$DIVE,76
$D_SURF,6
$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,-19140.027
$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
$GPS1,033807,5017.938,-14428.658,41,1.7,41,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.63
$_SM_ANGLEo,-75.6
$GPS2,034615,5017.987,-14428.582,14,1.6,14,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.004,-0.178
$KALMAN_X,29541.3,83.3,-67.7,-4446.9,-53.9
$KALMAN_Y,57101.1,161.3,124.0,-34364.6,884.1
$MHEAD_RNG_PITCHd_Wd,162.5,44428,-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,-117.0,0.0,0.0,0,33,0.00,0.00,-12.40,0.000,2,0.000,0.000,145,2413,1647
$GC,35,-0.67,-117.3,4.8,-0.0,1,141,12.98,2.40,-82.40,0.000,4,0.275,0.091,3098,3814,3355
$GC,220,-0.32,-117.3,15.7,-15.7,18,225,0.40,2.28,0.00,0.000,6,0.163,0.066,3213,2393,3357
$GC,544,-0.38,-117.3,38.5,-7.0,48,548,0.00,2.28,0.00,0.000,4,0.000,0.067,3213,989,3358
$GC,583,-0.46,-117.3,41.5,-7.7,51,588,0.12,2.25,0.00,0.000,6,0.081,0.058,3163,2402,3358
$GC,913,-0.46,-117.3,66.0,-8.2,82,916,0.00,2.28,0.00,0.000,4,0.000,0.073,3164,3807,3359
$GC,951,-0.46,-117.3,69.3,-8.4,85,955,0.00,2.22,0.00,0.000,6,0.000,0.051,3163,2386,3360
$GC,1281,-0.46,-117.3,93.4,-6.2,107,1285,0.00,2.22,0.00,0.000,4,0.000,0.065,3163,993,3360
$GC,1324,-0.46,-117.3,95.9,-5.2,109,1328,0.00,2.28,0.00,0.000,6,0.000,0.057,3163,2403,3361
$GC,1651,-0.46,-117.3,116.2,-6.9,125,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2404,3360
$GC,1960,-0.51,-117.3,138.6,-6.9,140,1964,0.00,2.28,0.00,0.000,4,0.000,0.067,3163,992,3360
$GC,1993,-0.60,-117.3,141.1,-6.6,141,2000,0.10,2.28,0.00,0.000,6,0.073,0.059,3115,2399,3360
$GC,2307,-0.54,-117.3,166.9,-8.5,154,2311,0.00,2.28,0.00,0.000,4,0.000,0.077,3114,3805,3360
$GC,2344,-0.47,-117.3,170.1,-8.7,155,2349,0.12,2.22,0.00,0.000,6,0.147,0.054,3155,2406,3360
$GC,2673,-0.54,-117.3,190.4,-5.7,166,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2406,3360
$GC,2980,-0.61,-117.3,208.2,-5.9,176,2985,0.12,2.28,0.00,0.000,4,0.084,0.070,3106,994,3359
$GC,3057,-0.55,-117.3,214.1,-8.2,178,3062,0.12,2.25,0.00,0.000,6,0.162,0.061,3137,2400,3359
$GC,3380,-0.55,-117.3,234.4,-6.2,189,3384,0.00,2.28,0.00,0.000,4,0.000,0.071,3137,995,3358
$GC,3429,-0.55,-117.3,237.9,-6.6,190,3434,0.00,2.28,0.00,0.000,6,0.000,0.061,3137,2398,3358
$GC,3747,-0.55,-117.3,258.9,-6.6,201,3751,0.00,2.28,0.00,0.000,4,0.000,0.071,3137,991,3357
$GC,3785,-0.55,-117.3,261.6,-7.1,202,3789,0.00,2.28,0.00,0.000,6,0.000,0.063,3137,2394,3357
$GC,4116,-0.55,-117.3,281.5,-6.0,213,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2394,3357
$GC,4421,-0.55,-117.3,298.4,-5.2,223,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2394,3356
$GC,4725,-0.55,-117.3,311.9,-4.4,229,4729,0.00,2.28,0.00,0.000,4,0.000,0.074,3136,995,3356
$GC,4768,-0.55,-117.3,314.0,-4.9,229,4772,0.00,2.28,0.00,0.000,6,0.000,0.064,3137,2397,3355
$GC,5089,-0.59,-117.3,329.6,-5.0,235,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2397,3355
$GC,5392,-0.64,-117.3,346.9,-5.8,240,5396,0.00,2.28,0.00,0.000,4,0.000,0.074,3137,992,3354
$GC,5429,-0.68,-117.3,349.4,-6.8,240,5434,0.10,2.28,0.00,0.000,6,0.074,0.064,3088,2398,3354
$GC,5762,-0.59,-117.3,374.3,-7.6,246,5766,0.15,2.30,0.00,0.000,4,0.160,0.072,3134,986,3354
$GC,5804,-0.63,-117.3,377.2,-6.1,246,5809,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2399,3354
$GC,6125,-0.67,-117.3,395.3,-5.7,252,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2399,3353
$GC,6428,-0.72,-117.3,410.8,-5.1,257,6433,0.15,2.28,0.00,0.000,4,0.086,0.072,3072,997,3353
$GC,6483,-0.57,-117.3,414.9,-8.3,257,6490,0.17,2.28,0.00,0.000,6,0.166,0.064,3125,2398,3353
$GC,6792,-0.57,-117.3,432.7,-5.8,263,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3353
$GC,7095,-0.57,-117.3,450.9,-6.0,268,7099,0.00,2.28,0.00,0.000,4,0.000,0.074,3125,991,3352
$GC,7127,-0.57,-117.3,452.8,-6.0,268,7131,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2397,3352
$GC,7465,-0.57,-117.3,471.9,-5.6,274,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3352
$GC,7768,-0.57,-117.3,488.4,-5.4,279,7772,0.00,2.28,0.00,0.000,4,0.000,0.074,3126,994,3352
$GC,7805,-0.57,-117.3,490.7,-5.8,279,7810,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2398,3352
$GC,8132,-0.57,-117.3,508.8,-5.6,285,8136,0.00,2.28,0.00,0.000,4,0.000,0.074,3125,997,3352
$GC,8169,-0.57,-117.3,511.1,-5.6,285,8174,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2400,3352
$GC,8496,-0.57,-117.3,529.4,-5.7,291,8499,0.00,2.28,0.00,0.000,4,0.000,0.075,3125,994,3352
$GC,8522,-0.57,-117.3,531.0,-5.7,291,8526,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2395,3351
$GC,8865,-0.57,-117.3,550.6,-5.7,297,8869,0.00,2.30,0.00,0.000,4,0.000,0.075,3125,987,3351
$GC,8891,-0.57,-117.3,552.4,-6.7,297,8896,0.00,2.30,0.00,0.000,6,0.000,0.065,3125,2398,3351
$GC,9230,-0.62,-117.3,571.4,-5.7,303,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3351
$GC,9533,-0.66,-117.3,588.0,-5.4,308,9537,0.00,2.30,0.00,0.000,4,0.000,0.075,3125,991,3350
$GC,9576,-0.70,-117.3,590.6,-6.2,308,9581,0.12,2.30,0.00,0.000,6,0.089,0.067,3078,2400,3350
$GC,9896,-0.63,-117.3,611.3,-6.5,314,9898,0.12,0.00,0.00,0.000,6,0.138,0.000,3110,2400,3350
$GC,10199,-0.63,-117.3,628.2,-5.6,319,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2400,3350
$GC,10502,-0.63,-117.3,645.2,-5.6,324,10506,0.00,2.30,0.00,0.000,4,0.000,0.075,3111,990,3350
$GC,10545,-0.63,-117.3,648.1,-6.3,324,10550,0.00,2.30,0.00,0.000,6,0.000,0.066,3111,2403,3349
$GC,10866,-0.63,-117.3,666.8,-5.9,330,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3349
$GC,11169,-0.63,-117.3,685.3,-6.1,335,11173,0.00,2.30,0.00,0.000,4,0.000,0.076,3111,991,3349
$GC,11207,-0.63,-117.3,687.8,-6.5,335,11211,0.00,2.30,0.00,0.000,6,0.000,0.066,3111,2403,3349
$GC,11533,-0.63,-117.3,708.2,-6.3,341,11537,0.00,2.30,0.00,0.000,4,0.000,0.076,3111,994,3349
$GC,11571,-0.63,-117.3,710.9,-6.9,341,11575,0.00,2.28,0.00,0.000,6,0.000,0.066,3111,2396,3349
$GC,11897,-0.63,-117.3,731.5,-6.4,347,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2396,3349
$GC,12200,-0.63,-117.3,749.6,-5.8,352,12204,0.00,2.28,0.00,0.000,4,0.000,0.077,3111,997,3349
$GC,12249,-0.63,-117.3,752.4,-5.5,352,12254,0.00,2.28,0.00,0.000,6,0.000,0.066,3111,2394,3349
$GC,12570,-0.63,-117.3,768.6,-4.9,358,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2394,3349
$GC,12873,-0.63,-117.3,783.8,-5.1,363,12877,0.00,2.30,0.00,0.000,4,0.000,0.077,3111,990,3348
$GC,12905,-0.63,-117.3,785.7,-5.7,363,12909,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2398,3348
$GC,13242,-0.63,-117.3,803.8,-5.5,369,13246,0.00,2.30,0.00,0.000,4,0.000,0.076,3111,991,3348
$GC,13268,-0.63,-117.3,805.6,-6.6,369,13273,0.00,2.30,0.00,0.000,6,0.000,0.066,3111,2402,3348
$GC,13606,-0.63,-117.3,825.4,-5.9,375,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3348
$GC,13910,-0.63,-117.3,843.0,-5.9,380,13914,0.00,2.30,0.00,0.000,4,0.000,0.076,3111,997,3348
$GC,13947,-0.63,-117.3,845.4,-5.8,380,13952,0.00,2.30,0.00,0.000,6,0.000,0.066,3111,2405,3348
$GC,14274,-0.63,-117.3,863.2,-5.4,386,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3348
$GC,14577,-0.63,-117.3,878.7,-5.0,391,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3348
$GC,14880,-0.63,-117.3,893.5,-4.9,396,14884,0.00,2.33,0.00,0.000,4,0.000,0.077,3111,990,3347
$GC,14912,-0.63,-117.3,895.3,-5.2,396,14917,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2394,3347
$GC,15245,-0.68,-117.3,911.2,-4.8,402,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2394,3347
$GC,15548,-0.68,-117.3,925.3,-4.6,407,15549,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2394,3347
$GC,15851,-0.72,-117.3,939.6,-4.7,412,15855,0.00,2.30,0.00,0.000,4,0.000,0.078,3111,995,3347
$GC,15877,-0.72,-117.3,941.2,-5.5,412,15882,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2403,3347
$GC,16216,-0.77,-117.3,957.4,-4.8,418,16218,0.12,0.00,0.00,0.000,6,0.091,0.000,3065,2403,3346
$GC,16519,-0.72,-117.3,975.6,-6.0,423,16523,0.00,2.33,0.00,0.000,4,0.000,0.077,3065,990,3346
$GC,16545,-0.65,-117.3,977.4,-7.4,423,16550,0.12,2.30,0.00,0.000,6,0.166,0.067,3101,2400,3346
$STATE,16820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16820,begin apogee
$GC,16824,-0.22,0.0,992.8,5.6,428,16926,0.47,0.00,99.03,1.516,6,0.153,0.000,3247,2201,2876
$STATE,16927,end apogee,CONTROL_FINISHED_OK
$STATE,16927,begin climb
$GC,16928,0.67,117.3,994.5,0.0,429,17039,0.88,2.60,103.22,1.470,4,0.098,0.080,3533,786,2396
$GC,17055,0.27,124.7,995.3,4.8,431,17071,0.50,2.50,7.90,1.190,6,0.195,0.063,3406,2202,2367
$GC,17431,0.29,133.7,977.0,4.7,438,17442,0.00,0.00,9.15,1.279,6,0.000,0.000,3406,2202,2330
$GC,17734,0.29,139.9,962.5,4.8,443,17742,0.00,0.00,7.00,1.208,6,0.000,0.000,3406,2202,2305
$GC,18037,0.31,150.8,948.3,4.7,448,18049,0.00,0.00,11.02,1.340,6,0.000,0.000,3406,2202,2261
$GC,18339,0.31,150.8,932.8,5.2,453,18341,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2202,2260
$GC,18643,0.31,150.8,916.8,5.2,458,18647,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,782,2260
$GC,18669,0.35,150.8,915.3,5.4,458,18674,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2202,2260
$GC,19012,0.35,150.8,897.2,5.3,464,19013,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2260
$GC,19315,0.35,150.8,880.9,5.4,469,19316,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2259
$GC,19619,0.35,150.8,864.0,5.6,474,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2259
$GC,19921,0.35,150.8,847.2,5.4,479,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2259
$GC,20225,0.35,150.8,830.3,5.6,484,20226,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2259
$GC,20528,0.35,150.8,812.9,5.8,489,20532,0.00,2.33,0.00,0.000,4,0.000,0.083,3408,789,2258
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$STATE,34631,end surface coast,CONTROL_FINISHED_OK
$STATE,34632,begin surface
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