version: 66.03
glider: 120
mission: 9
dive: 132
start: 10 16 108 12 53 47
data:
$ID,120
$MISSION,9
$DIVE,132
$D_SURF,7
$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,-20393.152
$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
$GPS1,124401,5009.734,-14453.962,63,1.2,63,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.30
$_SM_ANGLEo,-76.9
$GPS2,125251,5009.723,-14453.977,15,1.0,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.125
$KALMAN_X,39454.4,186.7,-13.5,-44687.2,-142.3
$KALMAN_Y,95809.0,8.0,-50.1,-88045.2,57.1
$MHEAD_RNG_PITCHd_Wd,296.4,29795,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.88,0.000,2,0.000,0.000,137,2406,1950
$GC,36,-0.67,-117.3,4.1,-0.0,1,111,13.65,2.42,-51.20,0.000,4,0.283,0.078,3095,985,3356
$GC,224,-0.32,-117.3,23.8,-15.6,18,229,0.40,2.33,0.00,0.000,6,0.165,0.062,3209,2399,3357
$GC,548,-0.39,-117.3,46.6,-5.9,48,549,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2399,3359
$GC,868,-0.79,-117.3,67.3,-6.7,78,873,0.40,2.33,0.00,0.000,4,0.090,0.064,3067,979,3360
$GC,919,-0.59,-117.3,72.2,-10.5,82,924,0.20,2.33,0.00,0.000,6,0.170,0.059,3120,2413,3359
$GC,1247,-0.45,-117.3,104.8,-9.8,101,1248,0.17,0.00,0.00,0.000,6,0.168,0.000,3168,2413,3361
$GC,1556,-0.50,-117.3,123.7,-6.1,116,1560,0.00,2.33,0.00,0.000,4,0.000,0.067,3169,989,3361
$GC,1595,-0.55,-117.3,126.2,-6.2,118,1599,0.00,2.28,0.00,0.000,6,0.000,0.058,3169,2408,3361
$GC,1927,-0.85,-117.3,144.1,-5.6,134,1932,0.32,2.33,0.00,0.000,4,0.081,0.066,3044,984,3361
$GC,2027,-0.56,-117.3,153.1,-10.2,139,2032,0.32,2.30,0.00,0.000,6,0.169,0.061,3135,2406,3361
$GC,2362,-0.56,-117.3,176.6,-7.4,150,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2406,3361
$GC,2668,-0.56,-117.3,198.5,-6.7,160,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2406,3360
$GC,2974,-0.56,-117.3,217.8,-6.1,170,2978,0.00,2.33,0.00,0.000,4,0.000,0.070,3135,985,3360
$GC,3017,-0.56,-117.3,220.7,-6.8,171,3021,0.00,2.30,0.00,0.000,6,0.000,0.062,3134,2392,3360
$GC,3341,-0.56,-117.3,241.1,-6.5,182,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2393,3359
$GC,3647,-0.56,-117.3,261.7,-6.7,192,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2392,3359
$GC,3953,-0.56,-117.3,282.4,-6.6,202,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2392,3358
$GC,4260,-0.56,-117.3,301.4,-6.3,212,4264,0.00,2.30,0.00,0.000,4,0.000,0.073,3135,986,3357
$GC,4315,-0.60,-117.3,305.5,-7.4,212,4322,0.00,2.30,0.00,0.000,6,0.000,0.063,3135,2394,3357
$GC,4625,-0.64,-117.3,325.9,-6.6,218,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2394,3357
$GC,4927,-0.64,-117.3,345.2,-6.3,223,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2394,3357
$GC,5231,-0.68,-117.3,364.4,-6.3,228,5232,0.12,0.00,0.00,0.000,6,0.088,0.000,3087,2395,3356
$GC,5534,-0.63,-117.3,386.6,-7.4,233,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2395,3355
$GC,5837,-0.59,-117.3,408.3,-7.2,238,5838,0.15,0.00,0.00,0.000,6,0.123,0.000,3129,2395,3355
$GC,6139,-0.59,-117.3,425.6,-5.7,243,6143,0.00,2.30,0.00,0.000,4,0.000,0.074,3130,991,3354
$GC,6171,-0.59,-117.3,427.6,-6.0,243,6176,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2397,3355
$GC,6503,-0.59,-117.3,445.7,-5.5,249,6507,0.00,2.33,0.00,0.000,4,0.000,0.084,3128,3809,3355
$GC,6536,-0.64,-117.3,447.6,-6.0,249,6540,0.00,2.28,0.00,0.000,6,0.000,0.058,3128,2374,3355
$GC,6868,-0.69,-117.3,466.5,-5.7,255,6873,0.10,2.25,0.00,0.000,4,0.102,0.073,3088,992,3354
$GC,6930,-0.63,-117.3,470.9,-7.8,256,6934,0.00,2.28,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,7295,-0.54,-117.3,500.0,-8.1,262,7299,0.15,2.33,0.00,0.000,4,0.169,0.081,3128,3813,3354
$GC,7327,-0.60,-117.3,502.2,-6.4,262,7331,0.00,2.25,0.00,0.000,6,0.000,0.058,3128,2394,3354
$GC,7659,-0.65,-117.3,521.3,-5.7,268,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3353
$GC,7962,-0.72,-117.3,538.3,-5.6,273,7964,0.12,0.00,0.00,0.000,6,0.098,0.000,3081,2395,3353
$GC,8265,-0.72,-117.3,558.6,-6.7,278,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2394,3353
$GC,8568,-0.72,-117.3,578.2,-6.4,283,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2394,3352
$GC,8871,-0.72,-117.3,596.9,-6.2,288,8875,0.00,2.38,0.00,0.000,4,0.000,0.082,3080,3812,3352
$GC,8920,-0.66,-117.3,600.3,-6.6,288,8924,0.00,2.28,0.00,0.000,6,0.000,0.060,3081,2405,3352
$GC,9235,-0.60,-117.3,620.6,-6.5,294,9237,0.15,0.00,0.00,0.000,6,0.149,0.000,3121,2402,3352
$GC,9538,-0.60,-117.3,637.6,-5.6,299,9542,0.00,2.33,0.00,0.000,4,0.000,0.074,3121,980,3352
$GC,9564,-0.60,-117.3,639.1,-5.6,299,9568,0.00,2.33,0.00,0.000,6,0.000,0.064,3121,2401,3352
$GC,9902,-0.64,-117.3,656.9,-5.2,305,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3352
$GC,10206,-0.69,-117.3,671.7,-4.8,310,10210,0.00,2.33,0.00,0.000,4,0.000,0.074,3121,990,3351
$GC,10249,-0.74,-117.3,674.1,-5.6,310,10254,0.15,2.30,0.00,0.000,6,0.089,0.065,3068,2406,3351
$GC,10570,-0.64,-117.3,694.8,-6.6,316,10574,0.15,2.33,0.00,0.000,4,0.169,0.084,3113,3810,3351
$GC,10612,-0.64,-117.3,697.2,-5.5,316,10617,0.00,2.28,0.00,0.000,6,0.000,0.059,3113,2398,3351
$GC,10933,-0.64,-117.3,714.1,-5.3,322,10937,0.00,2.30,0.00,0.000,4,0.000,0.075,3112,985,3350
$GC,10960,-0.64,-117.3,715.7,-6.6,322,10964,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2400,3350
$GC,11297,-0.64,-117.3,734.6,-5.6,328,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,11602,-0.64,-117.3,751.9,-5.8,333,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,11904,-0.64,-117.3,769.2,-5.7,338,11908,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3350
$GC,11941,-0.64,-117.3,771.4,-6.2,338,11945,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2402,3349
$GC,12267,-0.64,-117.3,789.6,-5.5,344,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3350
$GC,12571,-0.64,-117.3,805.1,-5.1,349,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3350
$GC,12873,-0.64,-117.3,820.8,-5.2,354,12877,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,992,3349
$GC,12900,-0.64,-117.3,822.4,-5.1,354,12904,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2404,3349
$GC,13238,-0.68,-117.3,841.8,-5.8,360,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2404,3349
$GC,13542,-0.72,-117.3,861.3,-6.5,365,13546,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,993,3349
$GC,13581,-0.72,-117.3,864.2,-7.2,365,13585,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2411,3349
$GC,13901,-0.77,-117.3,886.1,-6.8,371,13903,0.12,0.00,0.00,0.000,6,0.096,0.000,3065,2411,3349
$GC,14203,-0.73,-117.3,909.4,-7.7,376,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3349
$GC,14507,-0.69,-117.3,931.8,-7.4,381,14508,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2411,3348
$GC,14809,-0.69,-117.3,952.0,-6.6,386,14814,0.10,2.35,0.00,0.000,4,0.116,0.075,3094,989,3348
$GC,14835,-0.69,-117.3,953.7,-6.3,386,14840,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2401,3348
$GC,15173,-0.69,-117.3,973.5,-5.8,392,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3348
$STATE,15475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15475,begin apogee
$GC,15480,-0.22,0.0,990.5,5.7,397,15583,0.50,0.00,100.55,1.502,6,0.155,0.000,3245,2202,2876
$STATE,15584,end apogee,CONTROL_FINISHED_OK
$STATE,15584,begin climb
$GC,15586,0.67,117.3,992.1,0.0,398,15698,0.88,2.65,104.53,1.448,4,0.098,0.080,3533,790,2397
$GC,15714,0.26,117.3,992.0,6.4,400,15719,0.52,2.53,0.00,0.000,6,0.195,0.061,3405,2208,2395
$GC,16068,0.26,117.3,972.9,5.4,406,16069,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2208,2393
$GC,16370,0.26,117.3,956.9,5.3,411,16372,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2208,2392
$GC,16674,0.26,120.7,942.0,4.9,416,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2209,2392
$GC,16977,0.28,136.5,928.0,4.5,421,17001,0.00,2.50,16.83,1.394,4,0.000,0.079,3408,786,2319
$GC,17041,0.30,153.4,924.9,4.5,422,17062,0.00,2.35,15.85,1.364,6,0.000,0.063,3408,2200,2250
$GC,17405,0.30,153.4,905.9,5.2,428,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2248
$GC,17708,0.30,153.4,890.6,5.0,433,17709,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2248
$GC,18011,0.31,157.4,875.7,4.9,438,18018,0.00,0.00,5.03,1.056,6,0.000,0.000,3408,2200,2234
$GC,18314,0.31,157.4,860.6,5.0,443,18315,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,18617,0.31,157.4,844.0,5.5,448,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,18920,0.31,157.4,826.3,5.9,453,18921,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,19223,0.31,157.4,807.6,6.2,458,19225,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,19526,0.31,157.4,788.5,6.3,463,19527,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,19829,0.31,157.4,769.7,6.2,468,19831,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2233
$GC,20134,0.35,157.4,751.8,5.9,473,20138,0.00,2.33,0.00,0.000,4,0.000,0.083,3408,3611,2233
$GC,20167,0.35,157.4,749.6,7.3,473,20171,0.00,2.30,0.00,0.000,6,0.000,0.066,3408,2208,2233
$GC,20499,0.40,157.4,731.6,5.4,479,20501,0.12,0.00,0.00,0.000,6,0.101,0.000,3457,2208,2233
$GC,20802,0.30,157.4,712.9,6.2,484,20807,0.15,2.35,0.00,0.000,4,0.160,0.079,3421,789,2233
$GC,20856,0.30,157.4,709.9,5.0,484,20863,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2205,2233
$GC,21166,0.31,161.2,694.9,4.9,490,21173,0.00,0.00,4.97,0.992,6,0.000,0.000,3421,2206,2218
$GC,21469,0.31,161.2,678.6,5.4,495,21470,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2217
$GC,21772,0.31,161.2,660.8,5.9,500,21773,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2217
$GC,22075,0.31,161.2,642.7,5.9,505,22079,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,777,2217
$GC,22124,0.35,161.2,639.8,5.5,505,22129,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2202,2217
$GC,22439,0.35,161.2,622.4,5.5,511,22441,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2217
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$STATE,33122,end climb,SURFACE_DEPTH_REACHED
$STATE,33122,begin surface coast
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$STATE,33183,end surface coast,CONTROL_FINISHED_OK
$STATE,33183,begin surface
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$DATA_FILE_SIZE,50596,862
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