version: 66.03
glider: 120
mission: 9
dive: 220
start: 11 18 108 22 20 34
data:
$ID,120
$MISSION,9
$DIVE,220
$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,-22226.25
$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,20
$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
$GPS1,221402,5016.300,-14511.727,62,1.4,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.5
$GPS2,221938,5016.396,-14511.701,12,1.1,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.174
$KALMAN_X,41576.5,-84.0,181.0,-67787.6,791.7
$KALMAN_Y,165839.4,409.3,-14.4,-146157.1,2101.3
$MHEAD_RNG_PITCHd_Wd,168.3,41458,-12.3,-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,-113.4,0.0,0.0,0,55,0.00,0.00,-32.25,0.000,2,0.000,0.000,139,2413,2436
$GC,58,-0.67,-113.4,3.4,-6.1,3,102,14.02,2.55,-24.95,0.000,4,0.288,0.085,3091,986,3340
$GC,354,-0.43,-113.4,40.3,-12.9,29,361,0.32,2.38,0.00,0.000,6,0.159,0.065,3177,2424,3342
$GC,682,-0.48,-113.4,64.5,-6.6,60,686,0.00,2.45,0.00,0.000,4,0.000,0.068,3177,984,3343
$GC,714,-0.56,-113.4,67.0,-7.3,62,722,0.12,2.35,0.00,0.000,6,0.082,0.062,3129,2405,3343
$GC,1035,-0.56,-113.4,91.6,-7.7,86,1039,0.00,2.40,0.00,0.000,4,0.000,0.079,3128,3811,3344
$GC,1084,-0.51,-113.4,96.1,-9.0,88,1088,0.00,2.33,0.00,0.000,6,0.000,0.054,3128,2390,3343
$GC,1405,-0.51,-113.4,124.4,-8.5,104,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2390,3344
$GC,1715,-0.51,-113.4,147.1,-7.3,119,1719,0.00,2.47,0.00,0.000,4,0.000,0.079,3128,3815,3344
$GC,1780,-0.51,-113.4,151.6,-6.6,122,1785,0.00,2.35,0.00,0.000,6,0.000,0.055,3128,2398,3344
$GC,2116,-0.51,-113.4,171.4,-6.0,133,2120,0.00,2.38,0.00,0.000,4,0.000,0.071,3128,990,3344
$GC,2160,-0.57,-113.4,174.3,-6.2,134,2164,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2404,3344
$GC,2478,-0.57,-113.4,194.6,-6.4,145,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3344
$GC,2784,-0.57,-113.4,212.8,-5.7,155,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3344
$GC,3090,-0.57,-113.4,230.1,-5.7,165,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3345
$GC,3397,-0.61,-113.4,248.0,-5.9,175,3401,0.00,2.42,0.00,0.000,4,0.000,0.071,3128,986,3344
$GC,3430,-0.69,-113.4,250.2,-5.8,176,3434,0.00,2.35,0.00,0.000,6,0.000,0.064,3128,2397,3344
$GC,3766,-0.74,-113.4,271.3,-6.7,187,3767,0.15,0.00,0.00,0.000,6,0.087,0.000,3070,2398,3343
$GC,4072,-0.65,-113.4,298.1,-8.9,197,4074,0.12,0.00,0.00,0.000,6,0.115,0.000,3104,2398,3343
$GC,4405,-0.65,-113.4,323.8,-7.6,203,4409,0.00,2.40,0.00,0.000,4,0.000,0.072,3104,988,3343
$GC,4453,-0.65,-113.4,327.5,-7.5,203,4458,0.00,2.35,0.00,0.000,6,0.000,0.065,3100,2401,3343
$GC,4769,-0.60,-113.4,350.4,-7.2,209,4773,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,986,3343
$GC,4795,-0.60,-113.4,352.5,-7.5,209,4800,0.00,2.35,0.00,0.000,6,0.000,0.065,3100,2408,3343
$GC,5133,-0.60,-113.4,374.8,-6.5,215,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3342
$GC,5436,-0.60,-113.4,393.4,-6.1,220,5441,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,991,3342
$GC,5480,-0.60,-113.4,396.1,-6.3,220,5484,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2404,3342
$GC,5802,-0.60,-113.4,415.4,-6.1,226,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3341
$GC,6104,-0.60,-113.4,433.6,-6.0,231,6108,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,994,3341
$GC,6153,-0.60,-113.4,436.7,-6.0,231,6157,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2400,3341
$GC,6468,-0.60,-113.4,455.1,-5.9,237,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3341
$GC,6771,-0.60,-113.4,473.5,-6.0,242,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3341
$GC,7074,-0.60,-113.4,492.1,-6.1,247,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3341
$GC,7377,-0.60,-113.4,511.1,-6.3,252,7381,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,994,3341
$GC,7414,-0.60,-113.4,513.7,-6.9,252,7419,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2397,3341
$GC,7741,-0.60,-113.4,534.4,-6.4,258,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3341
$GC,8044,-0.60,-113.4,554.8,-6.8,263,8048,0.00,2.38,0.00,0.000,4,0.000,0.073,3100,994,3340
$GC,8077,-0.60,-113.4,557.2,-6.8,263,8081,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2398,3340
$GC,8409,-0.60,-113.4,579.9,-6.9,269,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3340
$GC,8713,-0.60,-113.4,599.6,-6.5,274,8717,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,993,3340
$GC,8756,-0.60,-113.4,602.7,-6.9,274,8760,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2398,3340
$GC,9078,-0.60,-113.4,623.3,-6.5,280,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3340
$GC,9380,-0.60,-113.4,642.1,-6.2,285,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3340
$GC,9683,-0.60,-113.4,659.8,-5.8,290,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3340
$GC,9987,-0.60,-113.4,676.5,-5.5,295,9991,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,986,3340
$GC,10019,-0.60,-113.4,678.6,-6.1,295,10024,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2400,3340
$GC,10352,-0.60,-113.4,698.7,-6.1,301,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3340
$GC,10655,-0.60,-113.4,717.7,-6.3,306,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3340
$GC,10958,-0.60,-113.4,736.4,-6.2,311,10962,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,993,3340
$GC,10985,-0.60,-113.4,738.1,-6.9,311,10989,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2404,3340
$GC,11323,-0.60,-113.4,758.0,-5.9,317,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3339
$GC,11626,-0.60,-113.4,776.4,-6.1,322,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3339
$GC,11929,-0.60,-113.4,795.5,-6.3,327,11933,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,991,3340
$GC,11967,-0.60,-113.4,798.0,-6.0,327,11972,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2422,3340
$GC,12294,-0.60,-113.4,817.8,-6.1,333,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2423,3340
$GC,12597,-0.60,-113.4,836.6,-6.3,338,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2423,3340
$GC,12901,-0.60,-113.4,855.7,-6.3,343,12905,0.00,2.45,0.00,0.000,4,0.000,0.075,3100,991,3340
$GC,12939,-0.65,-113.4,858.2,-6.5,343,12943,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2401,3339
$GC,13259,-0.65,-113.4,876.6,-5.7,349,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3339
$GC,13562,-0.65,-113.4,893.0,-5.4,354,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3340
$GC,13865,-0.65,-114.5,908.2,-5.0,359,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3340
$GC,14169,-0.69,-117.3,922.9,-4.8,364,14173,0.00,2.42,0.00,0.000,4,0.000,0.075,3100,991,3339
$GC,14201,-0.74,-117.3,924.7,-4.8,364,14205,0.00,2.33,0.00,0.000,6,0.000,0.068,3100,2403,3339
$GC,14534,-0.78,-117.3,941.7,-5.2,370,14536,0.10,0.00,0.00,0.000,6,0.097,0.000,3061,2404,3338
$GC,14836,-0.78,-117.3,961.1,-6.5,375,14840,0.00,2.42,0.00,0.000,4,0.000,0.075,3061,986,3339
$GC,14880,-0.78,-117.3,964.3,-7.8,375,14884,0.00,2.35,0.00,0.000,6,0.000,0.068,3061,2414,3339
$GC,15201,-0.73,-117.3,988.2,-7.6,381,15202,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2414,3339
$STATE,15259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15260,begin apogee
$GC,15265,-0.22,0.0,992.9,7.6,382,15370,0.60,0.00,101.43,1.505,6,0.146,0.000,3241,2194,2876
$STATE,15370,end apogee,CONTROL_FINISHED_OK
$STATE,15370,begin climb
$GC,15372,0.68,117.3,995.1,0.0,383,15491,0.93,2.78,109.65,1.456,4,0.094,0.079,3537,3611,2396
$GC,15519,0.18,117.3,996.9,6.5,386,15525,0.68,2.55,0.00,0.000,6,0.192,0.062,3381,2204,2394
$GC,15869,0.33,168.6,984.5,3.5,392,15918,0.15,0.00,46.67,1.442,6,0.086,0.000,3437,2204,2187
$GC,16171,0.33,168.6,966.5,6.2,397,16175,0.00,2.50,0.00,0.000,4,0.000,0.081,3437,788,2184
$GC,16214,0.33,168.6,963.6,6.9,397,16218,0.00,2.38,0.00,0.000,6,0.000,0.064,3437,2203,2184
$GC,16536,0.33,168.6,942.0,6.8,403,16540,0.00,2.47,0.00,0.000,4,0.000,0.081,3437,778,2184
$GC,16574,0.33,168.6,939.2,7.3,403,16578,0.00,2.38,0.00,0.000,6,0.000,0.065,3437,2209,2184
$GC,16900,0.33,168.6,916.8,6.9,409,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2183
$GC,17203,0.33,168.6,896.2,6.8,414,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2182
$GC,17507,0.33,168.6,876.1,6.5,419,17508,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2182
$GC,17810,0.33,168.6,855.9,6.7,424,17811,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2182
$GC,18112,0.33,168.6,835.0,6.9,429,18117,0.00,2.45,0.00,0.000,4,0.000,0.081,3437,787,2181
$GC,18150,0.33,168.6,832.3,6.8,429,18155,0.00,2.38,0.00,0.000,6,0.000,0.065,3437,2212,2181
$GC,18477,0.33,168.6,810.3,6.8,435,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2212,2182
$GC,18780,0.33,168.6,789.6,6.8,440,18782,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2212,2182
$GC,19083,0.33,168.6,769.6,6.5,445,19085,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2212,2182
$GC,19386,0.33,168.6,750.6,6.3,450,19387,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2212,2182
$GC,19689,0.33,168.6,731.1,6.4,455,19693,0.00,2.47,0.00,0.000,4,0.000,0.082,3437,781,2182
$GC,19728,0.33,168.6,728.7,6.9,455,19732,0.00,2.35,0.00,0.000,6,0.000,0.066,3437,2213,2182
$GC,20054,0.33,168.6,708.0,6.4,461,20055,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2213,2182
$GC,20357,0.33,168.6,689.0,6.3,466,20358,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2213,2182
$GC,20660,0.33,168.6,671.1,5.8,471,20664,0.00,2.45,0.00,0.000,4,0.000,0.082,3437,787,2182
$GC,20687,0.35,186.2,669.5,4.5,471,20707,0.00,2.33,15.43,1.256,6,0.000,0.065,3437,2207,2116
$GC,21017,0.35,186.2,650.9,5.6,477,21018,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2207,2115
$GC,21319,0.35,186.2,633.6,5.8,482,21320,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2115
$GC,21623,0.35,186.2,615.0,6.2,487,21624,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2207,2114
$GC,21925,0.35,186.2,595.4,6.5,492,21927,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2114
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$STATE,31592,end surface coast,CONTROL_FINISHED_OK
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