version: 66.03
glider: 120
mission: 9
dive: 179
start: 11 3 108 11 27 58
data:
$ID,120
$MISSION,9
$DIVE,179
$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,-21400.592
$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,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
$GPS1,111756,5012.041,-14511.469,38,1.7,38,18.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.4
$GPS2,112702,5011.973,-14511.340,12,1.7,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.176
$KALMAN_X,44975.8,195.4,-26.9,-70829.8,686.3
$KALMAN_Y,137034.0,-141.9,264.8,-125261.5,2068.4
$MHEAD_RNG_PITCHd_Wd,168.0,33273,-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,-117.1,0.0,0.0,0,54,0.00,0.00,-31.98,0.000,2,0.000,0.000,142,2411,2429
$GC,56,-0.67,-117.1,3.6,-5.3,3,104,13.95,2.42,-26.02,0.000,4,0.290,0.091,3095,3809,3356
$GC,235,-0.38,-117.1,23.8,-14.9,19,240,0.32,2.30,0.00,0.000,6,0.163,0.055,3187,2389,3358
$GC,560,-0.38,-117.1,49.9,-6.9,49,561,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2389,3359
$GC,878,-0.48,-117.1,68.9,-5.5,79,880,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2390,3360
$GC,1204,-0.57,-117.1,87.8,-6.1,104,1206,0.17,0.00,0.00,0.000,6,0.076,0.000,3120,2389,3361
$GC,1514,-0.48,-117.1,114.6,-8.4,119,1516,0.15,0.00,0.00,0.000,6,0.149,0.000,3160,2390,3361
$GC,1822,-0.53,-117.1,133.5,-5.8,134,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2389,3361
$GC,2132,-0.61,-117.1,150.7,-5.1,149,2137,0.12,2.30,0.00,0.000,4,0.082,0.069,3111,993,3361
$GC,2159,-0.61,-117.1,152.4,-6.7,150,2164,0.00,2.30,0.00,0.000,6,0.000,0.061,3111,2398,3361
$GC,2494,-0.54,-117.1,175.1,-7.1,161,2496,0.12,0.00,0.00,0.000,6,0.160,0.000,3143,2398,3361
$GC,2801,-0.58,-117.1,196.3,-7.0,171,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2397,3361
$GC,3107,-0.63,-117.1,215.6,-6.0,181,3111,0.00,2.33,0.00,0.000,4,0.000,0.070,3143,994,3360
$GC,3128,-0.67,-117.1,217.0,-6.1,181,3135,0.10,2.33,0.00,0.000,6,0.073,0.063,3092,2400,3360
$GC,3441,-0.62,-117.1,240.5,-7.9,192,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3359
$GC,3747,-0.56,-117.1,264.8,-7.9,202,3752,0.15,2.35,0.00,0.000,4,0.126,0.081,3140,3819,3359
$GC,3781,-0.64,-117.1,266.9,-6.2,203,3785,0.00,2.28,0.00,0.000,6,0.000,0.057,3140,2388,3359
$GC,4110,-0.71,-117.1,286.5,-5.7,214,4114,0.15,2.28,0.00,0.000,4,0.084,0.071,3075,992,3358
$GC,4159,-0.57,-117.1,290.5,-8.5,215,4163,0.20,2.30,0.00,0.000,6,0.160,0.064,3127,2409,3358
$GC,4511,-0.57,-117.1,312.7,-6.3,224,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2410,3358
$GC,4814,-0.57,-117.1,333.0,-6.8,229,4818,0.00,2.33,0.00,0.000,4,0.000,0.072,3127,994,3357
$GC,4841,-0.57,-117.1,335.1,-7.4,229,4845,0.00,2.33,0.00,0.000,6,0.000,0.064,3127,2424,3357
$GC,5179,-0.57,-117.1,358.0,-6.8,235,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2424,3357
$GC,5482,-0.57,-117.1,378.6,-6.8,240,5486,0.00,2.38,0.00,0.000,4,0.000,0.072,3127,990,3357
$GC,5521,-0.57,-117.1,381.3,-7.4,240,5525,0.00,2.30,0.00,0.000,6,0.000,0.064,3127,2399,3356
$GC,5841,-0.57,-117.1,402.4,-6.6,246,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3356
$GC,6144,-0.57,-117.1,420.5,-5.9,251,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3356
$GC,6447,-0.61,-117.1,437.5,-5.6,256,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3356
$GC,6751,-0.66,-117.1,454.8,-5.8,261,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3356
$GC,7054,-0.71,-117.1,472.3,-5.7,266,7058,0.12,2.35,0.00,0.000,4,0.094,0.072,3079,989,3355
$GC,7086,-0.63,-117.1,474.6,-7.6,266,7090,0.12,2.30,0.00,0.000,6,0.164,0.065,3110,2399,3355
$GC,7417,-0.63,-117.1,495.5,-6.3,272,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3355
$GC,7721,-0.63,-117.1,514.1,-6.2,277,7725,0.00,2.33,0.00,0.000,4,0.000,0.073,3110,994,3355
$GC,7753,-0.63,-117.1,516.4,-6.5,277,7757,0.00,2.30,0.00,0.000,6,0.000,0.065,3110,2404,3355
$GC,8085,-0.63,-117.1,536.6,-6.1,283,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3355
$GC,8388,-0.63,-117.1,555.3,-6.1,288,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3355
$GC,8691,-0.63,-117.1,573.4,-6.0,293,8695,0.00,2.35,0.00,0.000,4,0.000,0.074,3110,987,3354
$GC,8713,-0.63,-117.1,574.8,-6.5,293,8717,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2399,3354
$GC,9049,-0.63,-117.1,594.6,-5.9,299,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3354
$GC,9352,-0.63,-117.1,612.5,-5.9,304,9357,0.00,2.35,0.00,0.000,4,0.000,0.074,3110,985,3354
$GC,9373,-0.63,-117.1,614.1,-6.7,304,9378,0.00,2.35,0.00,0.000,6,0.000,0.066,3110,2402,3354
$GC,9717,-0.63,-117.1,634.4,-5.9,310,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3353
$GC,10020,-0.63,-117.1,652.4,-6.0,315,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3354
$GC,10323,-0.63,-117.1,671.1,-6.1,320,10327,0.00,2.38,0.00,0.000,4,0.000,0.074,3111,984,3353
$GC,10360,-0.63,-117.1,673.4,-6.6,320,10364,0.00,2.38,0.00,0.000,6,0.000,0.067,3110,2405,3353
$GC,10687,-0.63,-117.1,691.5,-5.4,326,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3353
$GC,10990,-0.64,-117.3,705.9,-4.7,331,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3353
$GC,11293,-0.64,-117.3,718.9,-4.3,336,11298,0.00,2.38,0.00,0.000,4,0.000,0.075,3110,987,3353
$GC,11326,-0.64,-117.3,720.5,-4.1,336,11330,0.00,2.38,0.00,0.000,6,0.000,0.067,3110,2406,3353
$GC,11659,-0.64,-117.3,734.5,-4.1,342,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3352
$GC,11961,-0.64,-117.3,747.7,-4.4,347,11965,0.00,2.38,0.00,0.000,4,0.000,0.076,3111,984,3352
$GC,11999,-0.64,-117.3,749.7,-4.9,347,12004,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2401,3352
$GC,12326,-0.64,-117.3,764.0,-4.4,353,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3352
$GC,12629,-0.68,-117.3,779.2,-5.1,358,12633,0.00,2.35,0.00,0.000,4,0.000,0.076,3110,986,3352
$GC,12656,-0.72,-117.3,780.8,-6.0,358,12660,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2405,3352
$GC,12994,-0.76,-117.3,799.1,-5.5,364,12999,0.12,2.38,0.00,0.000,4,0.093,0.074,3064,986,3351
$GC,13027,-0.69,-117.3,801.5,-7.2,364,13032,0.12,2.33,0.00,0.000,6,0.170,0.067,3095,2404,3351
$GC,13352,-0.69,-117.3,821.5,-6.1,370,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3351
$GC,13655,-0.69,-117.3,839.5,-5.9,375,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3351
$GC,13958,-0.69,-117.3,857.0,-5.8,380,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3351
$GC,14261,-0.69,-117.3,874.0,-5.6,385,14266,0.00,2.35,0.00,0.000,4,0.000,0.076,3096,996,3351
$GC,14288,-0.69,-117.3,875.6,-6.3,385,14292,0.00,2.30,0.00,0.000,6,0.000,0.067,3096,2399,3351
$GC,14626,-0.69,-117.3,893.8,-5.4,391,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3351
$GC,14929,-0.69,-117.3,910.2,-5.4,396,14933,0.00,2.35,0.00,0.000,4,0.000,0.076,3095,994,3351
$GC,14961,-0.69,-117.3,912.2,-5.7,396,14965,0.00,2.33,0.00,0.000,6,0.000,0.067,3096,2411,3351
$GC,15293,-0.69,-117.3,931.4,-5.8,402,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3351
$GC,15596,-0.69,-117.3,950.0,-6.2,407,15600,0.00,2.38,0.00,0.000,4,0.000,0.076,3096,988,3351
$GC,15622,-0.69,-117.3,951.7,-6.5,407,15626,0.00,2.35,0.00,0.000,6,0.000,0.067,3096,2404,3351
$GC,15960,-0.69,-117.3,971.2,-5.7,413,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3351
$GC,16263,-0.69,-117.3,987.6,-5.4,418,16267,0.00,2.38,0.00,0.000,4,0.000,0.077,3096,987,3350
$GC,16295,-0.69,-117.3,989.4,-5.6,418,16300,0.00,2.35,0.00,0.000,6,0.000,0.069,3096,2396,3350
$STATE,16304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16304,begin apogee
$GC,16309,-0.22,0.0,990.0,4.9,418,16414,0.45,0.00,102.68,1.503,6,0.148,0.000,3236,2199,2876
$STATE,16415,end apogee,CONTROL_FINISHED_OK
$STATE,16415,begin climb
$GC,16417,0.67,117.3,992.4,0.0,420,16534,0.90,2.67,107.45,1.449,4,0.097,0.081,3532,798,2397
$GC,16550,0.27,117.3,991.8,6.3,422,16555,0.50,2.53,0.00,0.000,6,0.193,0.063,3411,2200,2395
$GC,16904,0.27,117.3,971.7,5.7,428,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2199,2393
$GC,17207,0.27,117.3,954.2,5.8,433,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2200,2392
$GC,17510,0.27,117.3,937.1,5.7,438,17514,0.00,2.42,0.00,0.000,4,0.000,0.081,3411,798,2393
$GC,17547,0.28,124.9,934.9,4.8,438,17561,0.00,2.35,7.62,1.232,6,0.000,0.065,3411,2202,2366
$GC,17872,0.28,124.9,916.6,5.7,444,17876,0.00,2.38,0.00,0.000,4,0.000,0.081,3411,3615,2366
$GC,17915,0.20,124.9,913.7,5.9,444,17919,0.00,2.35,0.00,0.000,6,0.000,0.066,3411,2194,2366
$GC,18236,0.20,124.9,894.8,5.9,450,18240,0.00,2.38,0.00,0.000,4,0.000,0.082,3410,799,2366
$GC,18279,0.20,124.9,892.3,5.9,450,18283,0.00,2.33,0.00,0.000,6,0.000,0.065,3411,2205,2365
$GC,18600,0.20,124.9,873.9,5.7,456,18604,0.00,2.35,0.00,0.000,4,0.000,0.082,3411,3613,2365
$GC,18643,0.12,124.9,871.2,5.6,456,18648,0.20,2.33,0.00,0.000,6,0.179,0.067,3359,2193,2365
$GC,18964,0.31,150.5,857.5,4.3,462,18990,0.17,0.00,23.25,1.386,6,0.092,0.000,3419,2193,2261
$GC,19267,0.45,150.5,840.7,5.6,467,19272,0.12,2.45,0.00,0.000,4,0.110,0.082,3466,3612,2260
$GC,19502,0.23,150.5,821.9,8.6,470,19507,0.30,2.35,0.00,0.000,6,0.183,0.066,3396,2189,2259
$GC,19828,0.31,162.4,806.5,4.7,476,19841,0.00,0.00,11.50,1.283,6,0.000,0.000,3396,2189,2213
$GC,20131,0.42,176.6,792.5,4.6,481,20151,0.15,2.42,13.57,1.296,4,0.086,0.083,3462,797,2156
$GC,20184,0.33,176.6,789.2,6.3,481,20189,0.15,2.35,0.00,0.000,6,0.156,0.066,3424,2203,2155
$GC,20494,0.33,176.6,772.7,5.4,486,20495,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2154
$GC,20796,0.33,176.6,757.2,5.1,491,20798,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2154
$GC,21099,0.33,176.6,741.8,5.1,496,21101,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2153
$GC,21403,0.33,176.6,726.5,5.1,501,21407,0.00,2.40,0.00,0.000,4,0.000,0.082,3424,833,2154
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$STATE,33290,begin surface coast
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$STATE,33408,end surface coast,CONTROL_FINISHED_OK
$STATE,33408,begin surface
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