version: 66.03
glider: 120
mission: 9
dive: 216
start: 11 17 108 10 39 2
data:
$ID,120
$MISSION,9
$DIVE,216
$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,-22165.34
$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,18
$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
$GPS1,103208,5017.067,-14502.931,66,0.9,66,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-76.9
$GPS2,103808,5017.056,-14502.989,14,1.0,19,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.146,0.101
$KALMAN_X,39709.4,87.1,494.4,-56065.6,-516.2
$KALMAN_Y,159383.9,-55.9,99.2,-138118.2,342.6
$MHEAD_RNG_PITCHd_Wd,286.1,12868,-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,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.73,0.000,2,0.000,0.000,148,2405,2435
$GC,57,-0.67,-117.3,3.6,-7.0,3,101,14.05,2.45,-23.90,0.000,4,0.289,0.094,3097,3809,3356
$GC,169,-0.41,-117.3,17.4,-12.8,13,174,0.30,2.35,0.00,0.000,6,0.169,0.055,3179,2389,3358
$GC,497,-0.41,-117.3,43.5,-7.6,43,501,0.00,2.38,0.00,0.000,4,0.000,0.068,3179,990,3359
$GC,528,-0.41,-117.3,46.4,-7.9,45,536,0.00,2.35,0.00,0.000,6,0.000,0.061,3179,2402,3359
$GC,857,-0.50,-117.3,69.6,-6.5,76,861,0.00,2.38,0.00,0.000,4,0.000,0.080,3179,3812,3359
$GC,912,-0.64,-117.3,73.2,-6.5,80,919,0.20,2.30,0.00,0.000,6,0.080,0.052,3107,2390,3359
$GC,1240,-0.79,-117.3,98.2,-7.9,101,1245,0.12,2.45,0.00,0.000,4,0.104,0.077,3059,3811,3360
$GC,1398,-0.52,-117.3,116.5,-13.2,108,1403,0.30,2.30,0.00,0.000,6,0.159,0.053,3143,2397,3361
$GC,1719,-0.52,-117.3,141.5,-7.6,124,1723,0.00,2.38,0.00,0.000,4,0.000,0.068,3145,987,3361
$GC,1773,-0.59,-117.3,145.8,-7.9,126,1780,0.00,2.33,0.00,0.000,6,0.000,0.062,3142,2397,3361
$GC,2087,-0.59,-117.3,164.9,-5.8,138,2091,0.00,2.38,0.00,0.000,4,0.000,0.068,3142,990,3361
$GC,2136,-0.65,-117.3,168.2,-6.4,139,2141,0.12,2.33,0.00,0.000,6,0.086,0.062,3094,2402,3361
$GC,2455,-0.60,-117.3,191.6,-7.5,150,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3361
$GC,2761,-0.56,-117.3,214.3,-7.4,160,2766,0.15,2.40,0.00,0.000,4,0.127,0.068,3137,989,3360
$GC,2793,-0.60,-117.3,216.6,-7.0,161,2797,0.00,2.30,0.00,0.000,6,0.000,0.063,3137,2407,3360
$GC,3129,-0.65,-117.3,236.0,-5.5,172,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2407,3360
$GC,3435,-0.70,-117.3,252.9,-5.6,182,3440,0.15,2.40,0.00,0.000,4,0.084,0.069,3072,994,3359
$GC,3473,-0.56,-117.3,255.9,-8.2,183,3478,0.22,2.33,0.00,0.000,6,0.160,0.064,3134,2407,3360
$GC,3797,-0.61,-117.3,274.8,-5.8,194,3801,0.00,2.35,0.00,0.000,4,0.000,0.081,3128,3810,3359
$GC,3826,-0.66,-117.3,276.4,-6.6,195,3830,0.00,2.30,0.00,0.000,6,0.000,0.056,3128,2395,3360
$GC,4160,-0.66,-117.3,295.8,-5.7,206,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3359
$GC,4495,-0.70,-117.3,314.6,-5.5,213,4500,0.12,2.47,0.00,0.000,4,0.091,0.080,3077,3818,3359
$GC,4522,-0.64,-117.3,316.5,-7.4,213,4527,0.12,2.33,0.00,0.000,6,0.128,0.057,3110,2396,3359
$GC,4853,-0.64,-117.3,338.5,-6.6,219,4857,0.00,2.38,0.00,0.000,4,0.000,0.072,3110,990,3358
$GC,4902,-0.64,-117.3,342.0,-6.9,219,4906,0.00,2.33,0.00,0.000,6,0.000,0.064,3109,2400,3358
$GC,5218,-0.64,-117.3,361.7,-6.2,225,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3358
$GC,5520,-0.64,-117.3,378.5,-5.5,230,5524,0.00,2.35,0.00,0.000,4,0.000,0.072,3110,993,3358
$GC,5564,-0.64,-117.3,381.2,-5.8,230,5568,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2405,3358
$GC,5885,-0.64,-117.3,399.4,-5.8,236,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3357
$GC,6188,-0.64,-117.3,417.6,-6.1,241,6192,0.00,2.40,0.00,0.000,4,0.000,0.072,3110,990,3358
$GC,6220,-0.64,-117.3,419.9,-7.1,241,6224,0.00,2.33,0.00,0.000,6,0.000,0.065,3110,2400,3358
$GC,6552,-0.64,-117.3,440.2,-6.1,247,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3357
$GC,6855,-0.64,-117.3,457.9,-5.8,252,6859,0.00,2.40,0.00,0.000,4,0.000,0.072,3110,991,3357
$GC,6904,-0.64,-117.3,460.9,-6.5,252,6908,0.00,2.35,0.00,0.000,6,0.000,0.065,3110,2416,3357
$GC,7219,-0.64,-117.3,479.2,-5.9,258,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2415,3357
$GC,7522,-0.64,-117.3,498.5,-6.4,263,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2416,3357
$GC,7825,-0.64,-117.3,518.2,-6.5,268,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2415,3357
$GC,8128,-0.64,-117.3,539.0,-6.9,273,8133,0.00,2.42,0.00,0.000,4,0.000,0.073,3110,994,3356
$GC,8173,-0.64,-117.3,542.3,-7.5,273,8177,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2404,3356
$GC,8489,-0.64,-117.3,563.3,-6.6,279,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3356
$GC,8790,-0.64,-117.3,582.5,-6.2,284,8795,0.00,2.42,0.00,0.000,4,0.000,0.073,3110,987,3356
$GC,8817,-0.64,-117.3,584.3,-6.4,284,8821,0.00,2.35,0.00,0.000,6,0.000,0.066,3110,2404,3355
$GC,9155,-0.64,-117.3,604.0,-5.8,290,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2403,3356
$GC,9458,-0.64,-117.3,620.6,-5.5,295,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3355
$GC,9761,-0.64,-117.3,637.6,-5.6,300,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3355
$GC,10064,-0.64,-117.3,654.8,-5.6,305,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3355
$GC,10367,-0.64,-117.3,671.8,-5.6,310,10371,0.00,2.40,0.00,0.000,4,0.000,0.074,3110,994,3355
$GC,10394,-0.64,-117.3,673.5,-6.4,310,10398,0.00,2.30,0.00,0.000,6,0.000,0.067,3110,2399,3355
$GC,10732,-0.69,-117.3,692.9,-5.7,316,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3355
$GC,11036,-0.73,-117.3,709.4,-5.5,321,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3355
$GC,11338,-0.77,-117.3,726.5,-5.7,326,11340,0.12,0.00,0.00,0.000,6,0.093,0.000,3062,2401,3354
$GC,11642,-0.72,-117.3,747.9,-7.1,331,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2400,3354
$GC,11945,-0.68,-117.3,769.1,-6.9,336,11950,0.12,2.42,0.00,0.000,4,0.113,0.074,3097,991,3354
$GC,11977,-0.68,-117.3,771.3,-6.5,336,11981,0.00,2.38,0.00,0.000,6,0.000,0.067,3097,2404,3354
$GC,12310,-0.68,-117.3,790.5,-5.8,342,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,12612,-0.68,-117.3,807.4,-5.6,347,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,12915,-0.68,-117.3,824.2,-5.5,352,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,13218,-0.68,-117.3,840.7,-5.4,357,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3354
$GC,13521,-0.68,-117.3,857.7,-5.6,362,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,13825,-0.68,-117.3,874.2,-5.4,367,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,14128,-0.68,-117.3,890.4,-5.3,372,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3354
$GC,14430,-0.68,-117.3,906.4,-5.3,377,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3353
$GC,14734,-0.68,-117.3,922.2,-5.3,382,14738,0.00,2.42,0.00,0.000,4,0.000,0.075,3097,995,3353
$GC,14760,-0.68,-117.3,923.7,-5.7,382,14765,0.00,2.35,0.00,0.000,6,0.000,0.068,3097,2400,3353
$GC,15099,-0.68,-117.3,940.9,-5.0,388,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3353
$GC,15401,-0.68,-117.3,957.0,-5.3,393,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3353
$GC,15704,-0.68,-117.3,973.7,-5.5,398,15708,0.00,2.42,0.00,0.000,4,0.000,0.076,3097,988,3353
$GC,15737,-0.68,-117.3,975.8,-6.1,398,15741,0.00,2.38,0.00,0.000,6,0.000,0.069,3097,2413,3353
$STATE,16006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16006,begin apogee
$GC,16012,-0.22,0.0,990.6,5.5,403,16119,0.47,0.00,104.47,1.497,6,0.146,0.000,3241,2193,2876
$STATE,16120,end apogee,CONTROL_FINISHED_OK
$STATE,16120,begin climb
$GC,16122,0.67,117.3,992.5,0.0,404,16235,0.88,0.00,109.53,1.453,6,0.093,0.000,3527,2193,2397
$GC,16488,0.32,117.3,975.6,7.9,410,16493,0.35,2.55,0.00,0.000,4,0.170,0.080,3427,3610,2394
$GC,16537,0.19,117.3,972.1,6.1,410,16542,0.22,2.45,0.00,0.000,6,0.173,0.063,3380,2195,2393
$GC,16847,0.32,157.6,960.0,3.8,415,16889,0.12,2.53,36.00,1.437,4,0.091,0.080,3425,790,2232
$GC,16922,0.32,157.6,956.0,5.3,416,16926,0.00,2.40,0.00,0.000,6,0.000,0.066,3425,2200,2230
$GC,17277,0.32,157.6,935.5,5.8,422,17278,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2200,2229
$GC,17579,0.32,157.6,918.5,5.6,427,17584,0.00,2.45,0.00,0.000,4,0.000,0.081,3425,790,2229
$GC,17606,0.32,157.6,916.9,5.1,427,17610,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2200,2229
$GC,17944,0.32,157.6,898.7,5.4,433,17945,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2200,2229
$GC,18247,0.32,157.6,882.0,5.5,438,18251,0.00,2.38,0.00,0.000,4,0.000,0.084,3425,3618,2229
$GC,18279,0.26,157.6,879.9,6.6,438,18283,0.00,2.38,0.00,0.000,6,0.000,0.065,3425,2188,2228
$GC,18611,0.26,157.6,860.2,6.0,444,18615,0.00,2.38,0.00,0.000,4,0.000,0.081,3425,783,2228
$GC,18649,0.26,157.6,857.8,6.2,444,18654,0.00,2.35,0.00,0.000,6,0.000,0.065,3425,2199,2228
$GC,18976,0.26,157.6,836.7,6.4,450,18977,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2199,2228
$GC,19279,0.26,157.6,817.6,6.3,455,19283,0.00,2.42,0.00,0.000,4,0.000,0.080,3425,786,2228
$GC,19312,0.26,157.6,815.4,6.1,455,19316,0.00,2.35,0.00,0.000,6,0.000,0.064,3425,2197,2228
$GC,19644,0.26,157.6,795.4,6.1,461,19645,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2198,2228
$GC,19947,0.26,157.6,777.5,5.9,466,19951,0.00,2.38,0.00,0.000,4,0.000,0.082,3425,3617,2227
$GC,19974,0.21,157.6,775.6,6.8,466,19978,0.15,2.35,0.00,0.000,6,0.176,0.065,3388,2193,2227
$GC,20305,0.33,157.6,758.8,5.1,472,20310,0.12,2.40,0.00,0.000,4,0.089,0.081,3434,787,2227
$GC,20360,0.33,157.6,755.3,6.4,472,20366,0.00,2.35,0.00,0.000,6,0.000,0.066,3434,2205,2228
$GC,20670,0.33,157.6,736.1,6.2,478,20671,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2227
$GC,20973,0.33,157.6,718.6,5.7,483,20974,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2227
$GC,21276,0.33,160.1,703.3,4.9,488,21277,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2227
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$STATE,32384,end climb,SURFACE_DEPTH_REACHED
$STATE,32384,begin surface coast
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$STATE,32504,end surface coast,CONTROL_FINISHED_OK
$STATE,32504,begin surface
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