version: 66.03
glider: 120
mission: 9
dive: 90
start: 9 30 108 13 24 5
data:
$ID,120
$MISSION,9
$DIVE,90
$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,-19476.379
$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
$GPS1,131737,5009.221,-14455.580,38,0.9,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.89
$_SM_ANGLEo,-78.5
$GPS2,132311,5009.202,-14455.554,11,2.6,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.125
$KALMAN_X,36375.4,-34.9,-84.1,-43179.1,663.1
$KALMAN_Y,69361.0,-15.7,-114.8,-62464.2,-55.5
$MHEAD_RNG_PITCHd_Wd,296.1,29212,-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,-117.3,0.0,0.0,0,33,0.00,0.00,-12.75,0.000,2,0.000,0.000,140,2403,1879
$GC,35,-0.67,-117.3,5.0,-0.0,1,112,13.62,2.40,-56.67,0.000,4,0.291,0.082,3095,988,3357
$GC,303,-0.33,-117.3,35.9,-14.9,25,308,0.40,2.30,0.00,0.000,6,0.173,0.063,3209,2401,3358
$GC,628,-0.73,-117.3,60.3,-7.3,55,633,0.35,2.30,0.00,0.000,4,0.092,0.074,3084,3810,3360
$GC,712,-0.52,-117.3,68.0,-9.7,62,717,0.22,2.22,0.00,0.000,6,0.158,0.052,3147,2392,3361
$GC,1042,-0.45,-117.3,97.5,-9.1,84,1046,0.00,2.25,0.00,0.000,4,0.000,0.066,3147,995,3362
$GC,1082,-0.40,-117.3,101.1,-9.5,86,1087,0.15,2.28,0.00,0.000,6,0.161,0.059,3187,2410,3362
$GC,1409,-0.62,-117.3,121.2,-5.7,102,1411,0.22,0.00,0.00,0.000,6,0.082,0.000,3110,2410,3362
$GC,1717,-0.78,-117.3,144.6,-8.2,117,1722,0.12,2.28,0.00,0.000,4,0.100,0.075,3061,3807,3362
$GC,1749,-0.61,-117.3,147.7,-9.8,118,1757,0.17,2.25,0.00,0.000,6,0.160,0.054,3114,2399,3362
$GC,2073,-0.53,-117.3,173.5,-7.4,130,2077,0.10,2.28,0.00,0.000,4,0.185,0.068,3140,990,3362
$GC,2115,-0.53,-117.3,176.5,-6.2,131,2120,0.00,2.28,0.00,0.000,6,0.000,0.060,3140,2394,3362
$GC,2439,-0.53,-117.3,197.1,-6.6,142,2443,0.00,2.30,0.00,0.000,4,0.000,0.079,3140,3810,3361
$GC,2477,-0.59,-117.3,199.8,-7.1,143,2481,0.00,2.25,0.00,0.000,6,0.000,0.054,3140,2395,3361
$GC,2807,-0.59,-117.3,221.7,-6.5,154,2811,0.00,2.28,0.00,0.000,4,0.000,0.071,3140,985,3361
$GC,2834,-0.59,-117.3,223.6,-7.0,155,2838,0.00,2.28,0.00,0.000,6,0.000,0.061,3140,2404,3361
$GC,3168,-0.59,-117.3,243.5,-6.0,166,3172,0.00,2.30,0.00,0.000,4,0.000,0.081,3140,3817,3361
$GC,3201,-0.66,-117.3,245.6,-6.4,167,3205,0.08,2.28,0.00,0.000,6,0.075,0.056,3103,2393,3361
$GC,3536,-0.66,-117.3,268.5,-6.8,178,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3360
$GC,3842,-0.66,-117.3,290.2,-7.3,188,3846,0.00,2.28,0.00,0.000,4,0.000,0.072,3103,986,3359
$GC,3874,-0.61,-117.3,292.8,-8.1,189,3878,0.00,2.28,0.00,0.000,6,0.000,0.062,3101,2411,3359
$GC,4207,-0.54,-117.3,319.9,-8.2,196,4211,0.15,2.33,0.00,0.000,4,0.164,0.071,3149,987,3359
$GC,4244,-0.62,-117.3,322.8,-7.1,196,4248,0.00,2.30,0.00,0.000,6,0.000,0.062,3149,2401,3359
$GC,4571,-0.71,-117.3,341.8,-5.7,202,4573,0.17,0.00,0.00,0.000,6,0.083,0.000,3084,2402,3358
$GC,4874,-0.60,-117.3,365.3,-7.8,207,4876,0.15,0.00,0.00,0.000,6,0.161,0.000,3123,2401,3358
$GC,5177,-0.60,-117.3,385.2,-6.6,212,5181,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,991,3358
$GC,5209,-0.60,-117.3,387.6,-7.7,212,5214,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2406,3358
$GC,5541,-0.60,-117.3,409.5,-6.7,218,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3357
$GC,5844,-0.60,-117.3,429.7,-6.6,223,5848,0.00,2.33,0.00,0.000,4,0.000,0.074,3123,987,3357
$GC,5892,-0.60,-117.3,433.1,-6.6,223,5897,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2402,3357
$GC,6208,-0.60,-117.3,451.4,-5.7,229,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,6511,-0.60,-117.3,468.1,-5.5,234,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3356
$GC,6814,-0.60,-117.3,485.9,-5.9,239,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,7117,-0.60,-117.3,504.2,-6.0,244,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3356
$GC,7420,-0.60,-117.3,524.3,-6.7,249,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3355
$GC,7723,-0.60,-117.3,544.5,-6.6,254,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3355
$GC,8028,-0.60,-117.3,562.8,-6.0,259,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3355
$GC,8329,-0.60,-117.3,580.5,-5.8,264,8333,0.00,2.30,0.00,0.000,4,0.000,0.075,3124,994,3355
$GC,8384,-0.64,-117.3,584.1,-6.5,264,8391,0.00,2.30,0.00,0.000,6,0.000,0.067,3123,2402,3355
$GC,8694,-0.68,-117.3,603.7,-6.4,270,8698,0.00,2.30,0.00,0.000,4,0.000,0.085,3123,3809,3354
$GC,8726,-0.75,-117.3,605.9,-6.8,270,8732,0.12,2.25,0.00,0.000,6,0.075,0.059,3069,2402,3354
$GC,9059,-0.63,-117.3,633.8,-8.5,276,9061,0.15,0.00,0.00,0.000,6,0.163,0.000,3109,2402,3354
$GC,9361,-0.63,-117.3,654.6,-6.8,281,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3354
$GC,9664,-0.63,-117.3,675.5,-7.0,286,9669,0.00,2.30,0.00,0.000,4,0.000,0.077,3108,985,3353
$GC,9696,-0.63,-117.3,677.9,-6.6,286,9701,0.00,2.30,0.00,0.000,6,0.000,0.065,3109,2398,3354
$GC,10028,-0.63,-117.3,700.5,-6.8,292,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3353
$GC,10332,-0.63,-117.3,720.9,-6.7,297,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3353
$GC,10635,-0.63,-117.3,740.5,-6.5,302,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3353
$GC,10938,-0.63,-117.3,759.6,-6.2,307,10942,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,991,3353
$GC,10969,-0.63,-117.3,761.6,-6.5,307,10974,0.00,2.30,0.00,0.000,6,0.000,0.066,3108,2401,3353
$GC,11302,-0.63,-117.3,780.8,-5.8,313,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3353
$GC,11605,-0.63,-117.3,797.8,-5.6,318,11609,0.00,2.33,0.00,0.000,4,0.000,0.077,3109,985,3353
$GC,11636,-0.63,-117.3,799.6,-5.4,318,11641,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2406,3353
$GC,11968,-0.63,-117.3,817.2,-5.3,324,11972,0.00,2.30,0.00,0.000,4,0.000,0.087,3108,3810,3352
$GC,11994,-0.63,-117.3,818.7,-6.2,324,11999,0.00,2.28,0.00,0.000,6,0.000,0.061,3108,2394,3352
$GC,12332,-0.63,-117.3,836.0,-5.1,330,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3352
$GC,12636,-0.63,-117.3,851.1,-4.9,335,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,12939,-0.63,-117.3,865.8,-4.8,340,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,13242,-0.63,-117.3,880.5,-4.9,345,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,13545,-0.63,-117.3,895.8,-5.1,350,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,13849,-0.63,-117.3,912.3,-5.4,355,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,14151,-0.67,-117.3,928.6,-5.4,360,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3352
$GC,14454,-0.71,-117.3,944.5,-5.2,365,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3352
$GC,14758,-0.71,-117.3,959.4,-4.9,370,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3351
$GC,15061,-0.71,-117.3,974.1,-4.8,375,15065,0.00,2.35,0.00,0.000,4,0.000,0.087,3108,3807,3351
$GC,15093,-0.78,-117.3,975.9,-5.4,375,15098,0.10,2.28,0.00,0.000,6,0.077,0.063,3064,2401,3351
$STATE,15363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15363,begin apogee
$GC,15367,-0.22,0.0,993.2,6.6,380,15470,0.60,0.00,100.05,1.515,6,0.165,0.000,3242,2201,2876
$STATE,15471,end apogee,CONTROL_FINISHED_OK
$STATE,15471,begin climb
$GC,15472,0.67,117.3,995.0,0.0,381,15585,0.90,2.65,103.28,1.465,4,0.103,0.080,3532,795,2396
$GC,15629,0.28,117.3,993.1,7.5,384,15634,0.40,2.47,0.00,0.000,6,0.188,0.062,3414,2196,2394
$GC,15978,0.25,124.9,975.9,4.8,390,15987,0.00,0.00,7.72,1.228,6,0.000,0.000,3414,2196,2366
$GC,16342,0.26,128.3,958.2,4.9,396,16352,0.00,2.40,4.85,1.045,4,0.000,0.081,3414,3607,2352
$GC,16404,0.16,128.3,954.9,6.5,397,16409,0.20,2.33,0.00,0.000,6,0.177,0.065,3371,2201,2352
$GC,16769,0.31,174.3,941.2,3.7,403,16812,0.15,0.00,40.38,1.454,6,0.091,0.000,3423,2201,2165
$GC,17072,0.31,174.3,923.6,6.0,408,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2162
$GC,17374,0.31,174.3,904.8,6.3,413,17376,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2162
$GC,17678,0.31,174.3,884.5,6.8,418,17679,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2161
$GC,17981,0.31,174.3,863.0,7.1,423,17985,0.00,2.35,0.00,0.000,4,0.000,0.082,3424,787,2161
$GC,18012,0.31,174.3,860.7,7.2,423,18017,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2200,2161
$GC,18345,0.31,174.3,838.5,6.6,429,18346,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2161
$GC,18648,0.31,174.3,819.5,6.2,434,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2161
$GC,18950,0.31,174.3,801.8,5.8,439,18955,0.00,2.35,0.00,0.000,4,0.000,0.082,3424,790,2161
$GC,18982,0.31,174.3,799.7,6.1,439,18987,0.00,2.30,0.00,0.000,6,0.000,0.063,3424,2199,2161
$GC,19314,0.31,174.3,779.6,6.2,445,19318,0.00,2.35,0.00,0.000,4,0.000,0.081,3424,787,2160
$GC,19346,0.31,174.3,777.4,5.5,445,19351,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2196,2160
$GC,19678,0.31,174.3,755.5,6.7,451,19680,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2160
$GC,19983,0.31,174.3,734.6,6.9,456,19984,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2160
$GC,20285,0.31,174.3,714.1,6.7,461,20289,0.00,2.33,0.00,0.000,4,0.000,0.081,3423,792,2160
$GC,20351,0.36,174.3,709.9,5.7,462,20355,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2200,2160
$GC,20716,0.36,174.3,688.3,5.8,468,20717,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2160
$GC,21019,0.36,174.3,672.7,5.2,473,21023,0.00,2.35,0.00,0.000,4,0.000,0.082,3424,787,2160
$GC,21067,0.41,174.3,670.1,5.2,473,21072,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2196,2160
$GC,21383,0.41,174.3,654.2,5.0,479,21384,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2160
$GC,21685,0.41,174.3,639.0,5.0,484,21687,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2196,2160
$GC,21989,0.45,174.3,623.1,5.3,489,21991,0.12,0.00,0.00,0.000,6,0.101,0.000,3473,2196,2160
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$STATE,32197,end climb,SURFACE_DEPTH_REACHED
$STATE,32197,begin surface coast
$FINISH,4.0,1.024722
$STATE,32251,end surface coast,CONTROL_FINISHED_OK
$STATE,32251,begin surface
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$10V_AH,10.6,12.032
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$DEVICE_SECS,30.075,204.250,383.350,0.000,0.000,30.746,27.865,156.353,250.750,0.000,0.000,30.934,1790.448,27514.998,557.201,2367.701,424.984,33.377,1722.534,0.000,2323.932,0.000,0.464
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$DATA_FILE_SIZE,50641,833
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