version: 66.03
glider: 120
mission: 9
dive: 91
start: 9 30 108 22 29 58
data:
$ID,120
$MISSION,9
$DIVE,91
$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,-19492.801
$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,22
$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
$GPS1,222408,5011.823,-14458.604,42,1.9,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.86
$_SM_ANGLEo,-71.0
$GPS2,222903,5011.828,-14458.576,15,1.9,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.130,0.122
$KALMAN_X,37466.3,185.6,54.2,-48231.7,657.0
$KALMAN_Y,69186.0,-44.7,9.2,-57522.7,-27.8
$MHEAD_RNG_PITCHd_Wd,294.7,23209,-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,-12.32,0.000,2,0.000,0.000,144,2403,1867
$GC,35,-0.67,-117.3,5.1,-0.0,1,121,13.65,2.42,-65.32,0.000,4,0.290,0.097,3096,3812,3356
$GC,155,-0.29,-117.3,10.7,-12.9,12,160,0.43,2.28,0.00,0.000,6,0.171,0.054,3216,2392,3358
$GC,479,-0.36,-117.3,33.2,-7.4,42,480,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2392,3359
$GC,797,-0.89,-117.3,55.4,-7.1,72,802,0.52,2.28,0.00,0.000,4,0.108,0.065,3041,988,3361
$GC,836,-0.62,-117.3,59.3,-10.7,75,841,0.28,2.28,0.00,0.000,6,0.180,0.060,3116,2399,3361
$GC,1169,-0.46,-117.3,93.4,-10.1,100,1173,0.15,2.30,0.00,0.000,4,0.176,0.074,3155,3810,3362
$GC,1211,-0.46,-117.3,96.9,-7.2,102,1216,0.00,2.25,0.00,0.000,6,0.000,0.051,3155,2394,3362
$GC,1539,-0.46,-117.3,120.3,-7.2,118,1542,0.00,2.25,0.00,0.000,4,0.000,0.067,3155,992,3362
$GC,1593,-0.46,-117.3,124.2,-7.0,120,1600,0.00,2.28,0.00,0.000,6,0.000,0.058,3155,2396,3362
$GC,1909,-0.46,-117.3,142.7,-5.5,136,1913,0.00,2.30,0.00,0.000,4,0.000,0.077,3155,3810,3362
$GC,1931,-0.52,-117.3,143.9,-5.6,137,1935,0.00,2.22,0.00,0.000,6,0.000,0.052,3155,2389,3362
$GC,2260,-0.59,-117.3,163.9,-6.3,150,2263,0.00,2.25,0.00,0.000,4,0.000,0.068,3155,988,3362
$GC,2314,-0.66,-117.3,167.9,-7.6,151,2322,0.12,2.28,0.00,0.000,6,0.070,0.059,3098,2396,3362
$GC,2627,-0.56,-117.3,195.5,-9.0,162,2629,0.12,0.00,0.00,0.000,6,0.161,0.000,3129,2396,3362
$GC,2933,-0.56,-117.3,218.4,-7.3,172,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2395,3362
$GC,3239,-0.56,-117.3,238.9,-6.7,182,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2396,3361
$GC,3545,-0.56,-117.3,260.2,-6.9,192,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2396,3361
$GC,3851,-0.56,-117.3,280.5,-6.5,202,3855,0.00,2.28,0.00,0.000,4,0.000,0.073,3129,995,3360
$GC,3885,-0.56,-117.3,282.8,-7.1,203,3889,0.00,2.25,0.00,0.000,6,0.000,0.064,3129,2402,3360
$GC,4224,-0.56,-117.3,305.2,-6.4,213,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3360
$GC,4527,-0.56,-117.3,322.7,-5.7,218,4531,0.00,2.30,0.00,0.000,4,0.000,0.072,3128,991,3359
$GC,4564,-0.56,-117.3,324.8,-5.6,218,4569,0.00,2.30,0.00,0.000,6,0.000,0.064,3129,2402,3359
$GC,4891,-0.56,-117.3,342.2,-5.3,224,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3359
$GC,5194,-0.56,-117.3,358.6,-5.3,229,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3358
$GC,5497,-0.56,-117.3,375.9,-5.7,234,5501,0.00,2.30,0.00,0.000,4,0.000,0.073,3128,992,3357
$GC,5540,-0.56,-117.3,378.6,-6.4,234,5544,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2399,3358
$GC,5861,-0.56,-117.3,396.3,-5.5,240,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3358
$GC,6164,-0.56,-117.3,413.3,-5.6,245,6168,0.00,2.30,0.00,0.000,4,0.000,0.073,3128,988,3357
$GC,6195,-0.56,-117.3,415.3,-6.5,245,6200,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2399,3356
$GC,6528,-0.56,-117.3,434.7,-5.9,251,6532,0.00,2.30,0.00,0.000,4,0.000,0.083,3128,3816,3356
$GC,6556,-0.61,-117.3,436.4,-6.4,251,6560,0.00,2.22,0.00,0.000,6,0.000,0.058,3128,2400,3356
$GC,6887,-0.65,-117.3,456.4,-6.1,257,6891,0.00,2.28,0.00,0.000,4,0.000,0.074,3129,990,3356
$GC,6913,-0.65,-117.3,458.3,-6.8,257,6918,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2405,3356
$GC,7251,-0.70,-117.3,479.0,-6.2,263,7253,0.10,0.00,0.00,0.000,6,0.097,0.000,3090,2405,3355
$GC,7554,-0.70,-117.3,498.5,-6.4,268,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2405,3355
$GC,7857,-0.70,-117.3,516.9,-6.1,273,7861,0.00,2.28,0.00,0.000,4,0.000,0.082,3087,3810,3355
$GC,7883,-0.65,-117.3,518.7,-6.5,273,7887,0.00,2.22,0.00,0.000,6,0.000,0.059,3087,2400,3355
$GC,8221,-0.61,-117.3,539.4,-6.1,279,8223,0.12,0.00,0.00,0.000,6,0.130,0.000,3120,2398,3355
$GC,8523,-0.61,-117.3,555.7,-5.4,284,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3355
$GC,8828,-0.61,-117.3,572.1,-5.4,289,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3355
$GC,9130,-0.61,-117.3,588.5,-5.4,294,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2397,3355
$GC,9433,-0.61,-117.3,605.6,-5.7,299,9437,0.00,2.28,0.00,0.000,4,0.000,0.074,3120,992,3354
$GC,9459,-0.61,-117.3,607.3,-6.4,299,9464,0.00,2.28,0.00,0.000,6,0.000,0.064,3120,2394,3354
$GC,9797,-0.65,-117.3,626.1,-5.6,305,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3354
$GC,10100,-0.69,-117.3,643.8,-5.8,310,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3353
$GC,10404,-0.74,-117.3,662.2,-6.1,315,10408,0.12,2.30,0.00,0.000,4,0.093,0.075,3075,988,3353
$GC,10435,-0.68,-117.3,664.7,-7.7,315,10440,0.00,2.30,0.00,0.000,6,0.000,0.067,3075,2398,3353
$GC,10768,-0.59,-117.3,692.0,-8.3,321,10770,0.17,0.00,0.00,0.000,6,0.167,0.000,3123,2398,3353
$GC,11071,-0.64,-117.3,711.6,-6.4,326,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2398,3353
$GC,11374,-0.70,-117.3,730.4,-6.2,331,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2398,3353
$GC,11678,-0.75,-117.3,748.5,-5.9,336,11680,0.15,0.00,0.00,0.000,6,0.089,0.000,3069,2398,3353
$GC,11980,-0.71,-117.3,768.7,-6.7,341,11984,0.00,2.33,0.00,0.000,4,0.000,0.084,3068,3822,3352
$GC,12012,-0.63,-117.3,771.2,-7.3,341,12017,0.15,2.25,0.00,0.000,6,0.130,0.060,3110,2398,3352
$GC,12343,-0.63,-117.3,790.2,-5.7,347,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3352
$GC,12647,-0.63,-117.3,808.1,-5.9,352,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3352
$GC,12950,-0.63,-117.3,825.9,-5.9,357,12954,0.00,2.28,0.00,0.000,4,0.000,0.077,3110,994,3352
$GC,12976,-0.63,-117.3,827.6,-7.1,357,12980,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2405,3352
$GC,13314,-0.63,-117.3,846.4,-5.5,363,13318,0.00,2.30,0.00,0.000,4,0.000,0.085,3110,3810,3352
$GC,13346,-0.69,-117.3,848.2,-6.0,363,13350,0.00,2.28,0.00,0.000,6,0.000,0.061,3110,2395,3352
$GC,13679,-0.74,-117.3,864.5,-4.9,369,13683,0.00,2.28,0.00,0.000,4,0.000,0.078,3110,991,3352
$GC,13722,-0.79,-117.3,867.0,-5.1,369,13727,0.12,2.30,0.00,0.000,6,0.076,0.067,3056,2400,3352
$GC,14043,-0.68,-117.3,888.6,-6.9,375,14047,0.15,2.33,0.00,0.000,4,0.169,0.084,3099,3817,3351
$GC,14104,-0.68,-117.3,892.2,-5.7,376,14108,0.00,2.25,0.00,0.000,6,0.000,0.062,3099,2397,3352
$GC,14468,-0.68,-117.3,913.7,-6.1,382,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$GC,14773,-0.68,-117.3,933.6,-6.6,387,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,15074,-0.68,-117.3,953.9,-6.7,392,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,15377,-0.68,-117.3,974.1,-6.7,397,15381,0.00,2.35,0.00,0.000,4,0.000,0.087,3099,3810,3351
$GC,15403,-0.68,-117.3,975.9,-6.9,397,15408,0.00,2.28,0.00,0.000,6,0.000,0.062,3099,2399,3351
$STATE,15619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15619,begin apogee
$GC,15623,-0.22,0.0,990.4,6.8,401,15726,0.47,0.00,100.28,1.511,6,0.153,0.000,3243,2200,2876
$STATE,15727,end apogee,CONTROL_FINISHED_OK
$STATE,15727,begin climb
$GC,15729,0.67,117.3,992.9,0.0,402,15836,0.90,0.00,104.35,1.460,6,0.101,0.000,3532,2200,2397
$GC,16104,0.30,117.3,977.8,7.3,409,16109,0.40,2.42,0.00,0.000,4,0.182,0.078,3429,795,2393
$GC,16153,0.24,125.6,975.2,4.8,409,16167,0.12,2.38,8.10,1.236,6,0.173,0.062,3400,2208,2364
$GC,16468,0.29,165.5,962.9,3.9,415,16506,0.00,0.00,35.90,1.440,6,0.000,0.000,3400,2208,2201
$GC,16771,0.36,180.7,949.4,4.6,420,16790,0.12,0.00,14.38,1.365,6,0.090,0.000,3444,2207,2139
$GC,17140,0.31,180.7,925.8,6.6,426,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2208,2137
$GC,17443,0.26,180.7,904.4,7.2,431,17445,0.15,0.00,0.00,0.000,6,0.158,0.000,3405,2208,2136
$GC,17746,0.32,180.7,885.3,6.3,436,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2208,2136
$GC,18050,0.38,180.7,864.9,6.7,441,18051,0.12,0.00,0.00,0.000,6,0.094,0.000,3449,2207,2136
$GC,18352,0.32,180.7,841.2,7.9,446,18353,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2136
$GC,18656,0.26,180.7,817.7,7.8,451,18660,0.15,2.38,0.00,0.000,4,0.161,0.080,3408,788,2135
$GC,18718,0.34,180.9,813.8,5.0,452,18722,0.00,2.30,0.00,0.000,6,0.000,0.064,3408,2205,2135
$GC,19083,0.40,180.9,791.8,6.0,458,19088,0.12,2.33,0.00,0.000,4,0.100,0.083,3454,3616,2135
$GC,19115,0.26,180.9,789.3,7.4,458,19120,0.15,2.33,0.00,0.000,6,0.173,0.067,3408,2197,2135
$GC,19447,0.33,180.9,770.7,5.5,464,19448,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2197,2135
$GC,19750,0.40,180.9,754.2,5.4,469,19752,0.12,0.00,0.00,0.000,6,0.097,0.000,3452,2197,2135
$GC,20053,0.33,180.9,733.1,7.1,474,20057,0.00,2.33,0.00,0.000,4,0.000,0.082,3452,785,2135
$GC,20096,0.29,180.9,729.8,7.4,474,20101,0.12,2.30,0.00,0.000,6,0.151,0.065,3413,2198,2135
$GC,20416,0.35,180.9,709.4,6.4,480,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2135
$GC,20720,0.40,180.9,689.4,6.6,485,20722,0.10,0.00,0.00,0.000,6,0.102,0.000,3449,2198,2135
$GC,21023,0.36,180.9,666.8,7.4,490,21027,0.00,2.35,0.00,0.000,4,0.000,0.081,3450,778,2134
$GC,21060,0.36,180.9,663.9,7.2,490,21065,0.00,2.33,0.00,0.000,6,0.000,0.063,3450,2203,2135
$GC,21387,0.31,180.9,640.3,7.2,496,21391,0.00,2.35,0.00,0.000,4,0.000,0.082,3450,786,2135
$GC,21419,0.31,180.9,637.9,7.3,496,21424,0.08,2.30,0.00,0.000,6,0.154,0.064,3426,2200,2134
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$STATE,31359,begin surface coast
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$STATE,31485,end surface coast,CONTROL_FINISHED_OK
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$DEVICE_SECS,31.825,198.825,341.175,21.200,0.000,22.611,26.308,144.283,247.250,0.000,0.000,15.790,1818.195,26714.553,571.704,2296.114,414.358,33.375,1690.255,0.000,2281.589,0.000,0.465
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