version: 66.03
glider: 120
mission: 9
dive: 213
start: 11 16 108 7 1 11
data:
$ID,120
$MISSION,9
$DIVE,213
$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,-22105.018
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,065502,5007.976,-14452.392,39,1.1,39,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-73.5
$GPS2,070015,5008.025,-14452.454,14,0.9,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.096,0.150
$KALMAN_X,39976.2,-136.6,-76.0,-42996.6,-792.5
$KALMAN_Y,158871.2,41.9,314.9,-154648.2,-1146.1
$MHEAD_RNG_PITCHd_Wd,308.8,33297,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-32.15,0.000,2,0.000,0.000,137,2408,2467
$GC,58,-0.67,-117.3,3.7,-7.6,3,102,13.80,2.45,-22.35,0.000,4,0.284,0.096,3094,3810,3357
$GC,209,-0.40,-117.3,24.7,-14.0,16,216,0.32,2.33,0.00,0.000,6,0.161,0.055,3186,2388,3359
$GC,535,-0.40,-117.3,49.0,-6.3,47,539,0.00,2.35,0.00,0.000,4,0.000,0.068,3186,991,3360
$GC,567,-0.45,-117.3,51.8,-8.4,49,574,0.00,2.35,0.00,0.000,6,0.000,0.061,3182,2405,3360
$GC,894,-0.54,-117.3,75.0,-8.1,80,898,0.12,2.38,0.00,0.000,4,0.082,0.076,3130,3811,3360
$GC,944,-0.54,-117.3,79.4,-8.9,84,948,0.00,2.28,0.00,0.000,6,0.000,0.053,3130,2398,3360
$GC,1270,-0.54,-117.3,105.9,-8.2,100,1274,0.00,2.35,0.00,0.000,4,0.000,0.067,3130,988,3361
$GC,1319,-0.54,-117.3,110.2,-8.7,102,1323,0.00,2.30,0.00,0.000,6,0.000,0.060,3129,2405,3361
$GC,1641,-0.50,-117.3,134.3,-6.9,118,1645,0.00,2.35,0.00,0.000,4,0.000,0.079,3128,3818,3362
$GC,1668,-0.50,-117.3,136.5,-7.4,119,1672,0.00,2.33,0.00,0.000,6,0.000,0.053,3129,2399,3362
$GC,1988,-0.50,-117.3,159.8,-7.1,133,1992,0.00,2.35,0.00,0.000,4,0.000,0.068,3129,991,3362
$GC,2072,-0.54,-117.3,165.8,-7.0,135,2076,0.00,2.33,0.00,0.000,6,0.000,0.061,3129,2414,3362
$GC,2384,-0.54,-117.3,185.8,-6.5,145,2388,0.00,2.33,0.00,0.000,4,0.000,0.081,3128,3811,3362
$GC,2421,-0.54,-117.3,188.5,-7.2,146,2426,0.00,2.33,0.00,0.000,6,0.000,0.054,3128,2392,3362
$GC,2752,-0.54,-117.3,210.4,-6.5,157,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2392,3362
$GC,3057,-0.54,-117.3,229.6,-6.1,167,3061,0.00,2.35,0.00,0.000,4,0.000,0.070,3128,988,3361
$GC,3096,-0.60,-117.3,231.9,-6.1,168,3099,0.00,2.30,0.00,0.000,6,0.000,0.062,3128,2403,3361
$GC,3425,-0.60,-117.3,250.8,-5.6,179,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3361
$GC,3732,-0.65,-117.3,267.1,-5.3,189,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2403,3361
$GC,4037,-0.65,-117.3,284.7,-5.9,199,4041,0.00,2.35,0.00,0.000,4,0.000,0.081,3129,3808,3360
$GC,4086,-0.72,-117.3,287.7,-5.6,200,4091,0.12,2.30,0.00,0.000,6,0.091,0.056,3081,2393,3360
$GC,4404,-0.61,-117.3,311.4,-7.6,209,4406,0.12,0.00,0.00,0.000,6,0.158,0.000,3113,2394,3360
$GC,4706,-0.61,-117.3,330.6,-6.3,214,4710,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,3819,3359
$GC,4738,-0.61,-117.3,332.7,-6.1,214,4742,0.00,2.35,0.00,0.000,6,0.000,0.057,3112,2396,3359
$GC,5070,-0.61,-117.3,353.6,-6.3,220,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3359
$GC,5373,-0.61,-117.3,374.6,-7.0,225,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3359
$GC,5676,-0.61,-117.3,395.9,-7.1,230,5680,0.00,2.42,0.00,0.000,4,0.000,0.082,3113,3809,3359
$GC,5725,-0.61,-117.3,399.6,-7.2,230,5730,0.00,2.33,0.00,0.000,6,0.000,0.057,3113,2397,3359
$GC,6041,-0.61,-117.3,421.0,-6.8,236,6045,0.00,2.35,0.00,0.000,4,0.000,0.073,3112,990,3358
$GC,6090,-0.61,-117.3,424.4,-7.0,236,6094,0.00,2.30,0.00,0.000,6,0.000,0.064,3112,2403,3358
$GC,6405,-0.61,-117.3,444.6,-6.4,242,6409,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,991,3358
$GC,6432,-0.61,-117.3,446.5,-6.7,242,6436,0.00,2.35,0.00,0.000,6,0.000,0.064,3112,2407,3358
$GC,6770,-0.61,-117.3,465.4,-5.5,248,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2407,3358
$GC,7073,-0.61,-117.3,482.3,-5.6,253,7078,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,989,3358
$GC,7123,-0.61,-117.3,485.4,-6.3,253,7127,0.00,2.33,0.00,0.000,6,0.000,0.064,3112,2395,3358
$GC,7438,-0.61,-117.3,504.7,-6.2,259,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2395,3357
$GC,7741,-0.61,-117.3,524.1,-6.3,264,7745,0.00,2.38,0.00,0.000,4,0.000,0.073,3112,990,3357
$GC,7768,-0.61,-117.3,525.8,-6.7,264,7771,0.00,2.30,0.00,0.000,6,0.000,0.065,3112,2401,3357
$GC,8105,-0.61,-117.3,545.6,-5.8,270,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3357
$GC,8408,-0.61,-117.3,562.2,-5.5,275,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3357
$GC,8711,-0.61,-117.3,578.4,-5.4,280,8715,0.00,2.38,0.00,0.000,4,0.000,0.073,3112,992,3357
$GC,8744,-0.61,-117.3,580.4,-5.7,280,8748,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2397,3356
$GC,9077,-0.61,-117.3,597.0,-5.0,286,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3357
$GC,9379,-0.61,-117.3,612.3,-5.0,291,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3357
$GC,9682,-0.61,-117.3,627.8,-5.2,296,9686,0.00,2.40,0.00,0.000,4,0.000,0.072,3112,984,3356
$GC,9720,-0.66,-117.3,630.1,-6.7,296,9724,0.00,2.33,0.00,0.000,6,0.000,0.064,3112,2407,3356
$GC,10040,-0.66,-117.3,646.4,-5.1,302,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2407,3356
$GC,10343,-0.70,-117.3,661.5,-5.0,307,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2407,3356
$GC,10647,-0.74,-117.3,677.2,-5.2,312,10651,0.10,2.40,0.00,0.000,4,0.096,0.073,3078,993,3355
$GC,10679,-0.74,-117.3,679.4,-6.9,312,10683,0.00,2.35,0.00,0.000,6,0.000,0.066,3078,2402,3356
$GC,11011,-0.70,-117.3,702.0,-6.9,318,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,11314,-0.70,-117.3,722.6,-6.7,323,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3355
$GC,11617,-0.66,-117.3,743.6,-6.9,328,11621,0.00,2.40,0.00,0.000,4,0.000,0.073,3078,990,3355
$GC,11656,-0.66,-117.3,746.5,-7.2,328,11660,0.00,2.33,0.00,0.000,6,0.000,0.066,3078,2402,3355
$GC,11982,-0.62,-117.3,769.3,-7.0,334,11984,0.12,0.00,0.00,0.000,6,0.154,0.000,3111,2402,3355
$GC,12286,-0.67,-117.3,785.0,-5.1,339,12290,0.00,2.40,0.00,0.000,4,0.000,0.074,3112,990,3355
$GC,12313,-0.73,-117.3,786.5,-5.8,339,12317,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2407,3355
$GC,12651,-0.83,-117.3,802.1,-4.5,345,12656,0.15,2.42,0.00,0.000,4,0.093,0.074,3054,987,3355
$GC,12689,-0.83,-117.3,804.6,-6.1,345,12693,0.00,2.35,0.00,0.000,6,0.000,0.067,3054,2402,3355
$GC,13016,-0.90,-117.3,825.6,-6.5,351,13020,0.00,2.38,0.00,0.000,4,0.000,0.084,3054,3808,3355
$GC,13155,-0.80,-117.3,835.4,-6.6,353,13159,0.00,2.30,0.00,0.000,6,0.000,0.060,3054,2400,3354
$GC,13509,-0.69,-117.3,860.6,-7.2,359,13514,0.15,2.40,0.00,0.000,4,0.169,0.074,3100,985,3354
$GC,13547,-0.69,-117.3,863.2,-6.3,359,13552,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2407,3354
$GC,13868,-0.69,-117.3,882.3,-6.0,365,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,14171,-0.69,-117.3,900.3,-5.9,370,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,14474,-0.69,-117.3,917.7,-5.7,375,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,14778,-0.69,-117.3,934.3,-5.4,380,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,15080,-0.69,-117.3,950.1,-5.2,385,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,15383,-0.69,-117.3,965.0,-4.8,390,15388,0.00,2.42,0.00,0.000,4,0.000,0.075,3100,990,3354
$GC,15416,-0.69,-117.3,966.7,-5.1,390,15420,0.00,2.35,0.00,0.000,6,0.000,0.068,3100,2398,3354
$GC,15748,-0.69,-117.3,983.6,-5.2,396,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3354
$STATE,15867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15867,begin apogee
$GC,15873,-0.22,0.0,990.3,5.4,398,15980,0.47,0.00,104.32,1.505,6,0.146,0.000,3243,2202,2876
$STATE,15980,end apogee,CONTROL_FINISHED_OK
$STATE,15981,begin climb
$GC,15983,0.67,117.3,992.2,0.0,399,16099,0.88,2.70,108.80,1.453,4,0.097,0.078,3533,788,2397
$GC,16132,0.28,117.3,992.9,6.1,401,16137,0.47,2.53,0.00,0.000,6,0.186,0.062,3415,2209,2394
$GC,16469,0.32,144.1,978.2,4.2,407,16499,0.00,2.47,24.42,1.413,4,0.000,0.082,3415,3616,2288
$GC,16538,0.25,144.1,975.1,5.1,408,16542,0.00,2.42,0.00,0.000,6,0.000,0.064,3421,2192,2287
$GC,16904,0.28,167.4,959.0,4.3,414,16933,0.00,2.55,21.85,1.414,4,0.000,0.082,3421,3615,2191
$GC,16969,0.23,167.4,955.8,6.1,415,16973,0.00,2.42,0.00,0.000,6,0.000,0.064,3422,2198,2190
$GC,17334,0.25,185.7,939.3,4.5,421,17358,0.00,2.55,17.08,1.396,4,0.000,0.081,3422,3621,2118
$GC,17414,0.25,185.7,934.9,5.6,422,17418,0.00,2.42,0.00,0.000,6,0.000,0.064,3421,2197,2117
$GC,17769,0.25,185.7,917.0,5.2,428,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2197,2116
$GC,18072,0.25,185.7,900.4,5.5,433,18076,0.00,2.45,0.00,0.000,4,0.000,0.082,3421,3612,2115
$GC,18121,0.25,185.7,897.1,6.6,433,18126,0.00,2.40,0.00,0.000,6,0.000,0.065,3422,2183,2116
$GC,18437,0.25,185.7,878.8,5.9,439,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2183,2115
$GC,18740,0.30,185.7,859.6,6.3,444,18741,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2183,2115
$GC,19043,0.30,185.7,839.9,6.5,449,19047,0.00,2.45,0.00,0.000,4,0.000,0.082,3421,3612,2115
$GC,19081,0.30,185.7,837.1,7.7,449,19085,0.00,2.38,0.00,0.000,6,0.000,0.065,3421,2203,2115
$GC,19408,0.30,185.7,816.5,6.3,455,19409,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2115
$GC,19712,0.34,185.7,798.5,5.8,460,19713,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2115
$GC,20015,0.38,185.7,781.4,5.6,465,20019,0.00,2.42,0.00,0.000,4,0.000,0.083,3421,3613,2115
$GC,20069,0.38,185.7,777.8,6.8,465,20076,0.00,2.38,0.00,0.000,6,0.000,0.066,3421,2205,2115
$GC,20379,0.43,185.7,760.3,5.7,471,20381,0.10,0.00,0.00,0.000,6,0.097,0.000,3459,2205,2115
$GC,20682,0.37,185.7,739.5,7.0,476,20686,0.00,2.40,0.00,0.000,4,0.000,0.084,3460,3613,2115
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$STATE,33274,end surface coast,CONTROL_FINISHED_OK
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