version: 66.03
glider: 120
mission: 9
dive: 279
start: 12 11 108 11 33 59
data:
$ID,120
$MISSION,9
$DIVE,279
$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,-23537.066
$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,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
$GPS1,112707,5016.151,-14433.246,46,1.4,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-74.9
$GPS2,113305,5016.162,-14433.219,10,3.5,29,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.094,0.151
$KALMAN_X,29067.9,302.5,-70.0,-9704.0,-1282.5
$KALMAN_Y,214102.4,48.3,-121.8,-194372.6,-528.8
$MHEAD_RNG_PITCHd_Wd,13.4,9828,-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,-117.3,0.0,0.0,0,35,0.00,0.00,-12.07,0.000,2,0.000,0.000,138,2410,1952
$GC,38,-0.67,-117.3,3.5,-0.0,1,116,14.35,2.50,-56.78,0.000,4,0.295,0.085,3096,994,3355
$GC,128,-0.37,-117.3,7.0,-10.2,9,135,0.35,2.33,0.00,0.000,6,0.160,0.064,3195,2405,3356
$GC,456,-0.47,-117.3,26.4,-5.2,40,460,0.00,2.42,0.00,0.000,4,0.000,0.068,3202,982,3357
$GC,578,-0.70,-117.3,35.3,-7.7,50,586,0.25,2.35,0.00,0.000,6,0.075,0.061,3085,2404,3357
$GC,905,-0.70,-117.3,62.8,-8.1,81,906,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3357
$GC,1218,-0.70,-117.3,88.1,-7.8,106,1222,0.00,2.33,0.00,0.000,4,0.000,0.067,3084,987,3358
$GC,1439,-0.52,-117.3,108.9,-10.2,116,1443,0.22,2.33,0.00,0.000,6,0.157,0.063,3147,2404,3358
$GC,1765,-0.52,-117.3,133.2,-7.3,132,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2404,3359
$GC,2084,-0.58,-117.3,156.2,-6.7,146,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2404,3359
$GC,2391,-0.66,-117.3,172.3,-4.9,156,2393,0.12,0.00,0.00,0.000,6,0.084,0.000,3098,2405,3359
$GC,2696,-0.66,-117.3,190.2,-5.8,166,2700,0.00,2.38,0.00,0.000,4,0.000,0.080,3098,3815,3359
$GC,2724,-0.66,-117.3,191.9,-6.6,167,2728,0.00,2.33,0.00,0.000,6,0.000,0.054,3097,2388,3359
$GC,3059,-0.66,-117.3,213.4,-6.5,178,3063,0.00,2.45,0.00,0.000,4,0.000,0.079,3098,3808,3359
$GC,3091,-0.66,-117.3,215.9,-7.8,179,3095,0.00,2.30,0.00,0.000,6,0.000,0.054,3098,2389,3359
$GC,3426,-0.66,-117.3,240.4,-7.4,190,3430,0.00,2.35,0.00,0.000,4,0.000,0.069,3098,988,3359
$GC,3465,-0.66,-117.3,243.3,-7.7,191,3469,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2405,3359
$GC,3795,-0.66,-117.3,265.5,-6.4,202,3799,0.00,2.38,0.00,0.000,4,0.000,0.081,3098,3809,3359
$GC,3823,-0.66,-117.3,267.4,-7.0,203,3827,0.00,2.30,0.00,0.000,6,0.000,0.055,3097,2395,3359
$GC,4157,-0.66,-117.3,288.3,-6.4,214,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3359
$GC,4462,-0.66,-117.3,310.2,-7.4,222,4466,0.00,2.42,0.00,0.000,4,0.000,0.081,3098,3818,3358
$GC,4494,-0.66,-117.3,312.9,-8.0,222,4499,0.00,2.33,0.00,0.000,6,0.000,0.055,3098,2396,3358
$GC,4821,-0.66,-117.3,337.5,-7.5,228,4825,0.00,2.38,0.00,0.000,4,0.000,0.071,3097,990,3358
$GC,4859,-0.66,-117.3,340.5,-7.1,228,4863,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2403,3358
$GC,5186,-0.66,-117.3,362.1,-6.5,234,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3358
$GC,5489,-0.66,-117.3,380.8,-6.2,239,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3357
$GC,5791,-0.66,-117.3,399.2,-6.0,244,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3357
$GC,6095,-0.66,-117.3,418.7,-6.5,249,6099,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,992,3357
$GC,6121,-0.66,-117.3,420.6,-7.0,249,6126,0.00,2.35,0.00,0.000,6,0.000,0.063,3098,2411,3357
$GC,6460,-0.66,-117.3,442.6,-6.6,255,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2411,3357
$GC,6763,-0.66,-117.3,461.5,-6.3,260,6767,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,989,3357
$GC,6795,-0.66,-117.3,463.6,-6.5,260,6799,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2397,3357
$GC,7128,-0.66,-117.3,482.8,-5.6,266,7132,0.00,2.40,0.00,0.000,4,0.000,0.082,3097,3805,3357
$GC,7166,-0.66,-117.3,485.2,-6.2,266,7171,0.00,2.30,0.00,0.000,6,0.000,0.056,3097,2397,3356
$GC,7487,-0.66,-117.3,503.7,-5.8,272,7491,0.00,2.38,0.00,0.000,4,0.000,0.072,3098,993,3356
$GC,7513,-0.66,-117.3,505.3,-5.8,272,7517,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2405,3356
$GC,7851,-0.66,-117.3,526.6,-6.4,278,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3356
$GC,8155,-0.66,-117.3,547.1,-6.8,283,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3356
$GC,8457,-0.66,-117.3,568.2,-7.0,288,8462,0.00,2.40,0.00,0.000,4,0.000,0.072,3098,993,3355
$GC,8507,-0.70,-117.3,571.9,-7.2,288,8511,0.00,2.35,0.00,0.000,6,0.000,0.064,3097,2411,3355
$GC,8818,-0.70,-117.3,592.7,-6.7,293,8822,0.00,2.38,0.00,0.000,4,0.000,0.084,3097,3811,3355
$GC,8867,-0.70,-117.3,596.2,-6.5,293,8871,0.00,2.30,0.00,0.000,6,0.000,0.056,3097,2398,3355
$GC,9177,-0.70,-117.3,616.0,-6.4,298,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3355
$GC,9480,-0.70,-117.3,635.1,-6.3,303,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3355
$GC,9783,-0.70,-117.3,654.2,-6.3,308,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3354
$GC,10086,-0.70,-117.3,674.1,-6.6,313,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3354
$GC,10389,-0.70,-117.3,693.6,-6.5,318,10393,0.00,2.47,0.00,0.000,4,0.000,0.082,3097,3808,3354
$GC,10416,-0.70,-117.3,695.4,-6.7,318,10420,0.00,2.35,0.00,0.000,6,0.000,0.057,3097,2399,3354
$GC,10754,-0.70,-117.3,716.0,-6.0,324,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3354
$GC,11057,-0.70,-117.3,732.9,-5.5,329,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3354
$GC,11360,-0.70,-117.3,748.7,-5.2,334,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3354
$GC,11664,-0.70,-117.3,763.7,-4.9,339,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3354
$GC,11967,-0.74,-117.3,777.7,-4.6,344,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3354
$GC,12270,-0.78,-117.3,791.5,-4.6,349,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3354
$GC,12574,-0.82,-117.3,806.4,-4.9,354,12576,0.15,0.00,0.00,0.000,6,0.093,0.000,3041,2399,3353
$GC,12876,-0.74,-117.3,825.5,-6.3,359,12881,0.12,2.42,0.00,0.000,4,0.114,0.074,3078,986,3353
$GC,12902,-0.74,-117.3,827.3,-6.5,359,12907,0.00,2.33,0.00,0.000,6,0.000,0.067,3073,2399,3353
$GC,13241,-0.70,-117.3,848.0,-6.1,365,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3352
$GC,13544,-0.65,-117.3,866.5,-6.1,370,13546,0.12,0.00,0.00,0.000,6,0.174,0.000,3104,2398,3352
$GC,13848,-0.71,-117.3,881.6,-5.0,375,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2399,3352
$GC,14150,-0.77,-117.3,897.4,-5.2,380,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2399,3352
$GC,14454,-0.83,-117.3,913.1,-5.2,385,14455,0.17,0.00,0.00,0.000,6,0.083,0.000,3038,2399,3352
$GC,14757,-0.71,-117.3,934.2,-7.0,390,14758,0.17,0.00,0.00,0.000,6,0.165,0.000,3085,2399,3352
$GC,15059,-0.71,-117.3,951.0,-5.5,395,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3352
$GC,15362,-0.71,-117.3,967.3,-5.4,400,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3352
$GC,15666,-0.71,-117.3,984.0,-5.5,405,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3352
$STATE,15784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15784,begin apogee
$GC,15790,-0.22,0.0,990.4,5.3,407,15899,0.52,0.00,105.50,1.496,6,0.145,0.000,3244,2193,2876
$STATE,15899,end apogee,CONTROL_FINISHED_OK
$STATE,15899,begin climb
$GC,15902,0.67,117.3,991.9,0.0,408,16016,0.85,0.00,111.18,1.438,6,0.090,0.000,3525,2193,2397
$GC,16272,0.35,117.3,974.4,7.8,415,16277,0.30,2.50,0.00,0.000,4,0.171,0.076,3448,782,2393
$GC,16327,0.27,117.3,970.8,6.2,415,16334,0.17,2.38,0.00,0.000,6,0.166,0.064,3404,2201,2393
$GC,16637,0.29,134.7,956.5,4.5,421,16655,0.00,0.00,16.40,1.374,6,0.000,0.000,3404,2201,2325
$GC,16941,0.35,141.1,942.1,4.8,426,16950,0.00,0.00,7.38,1.213,6,0.000,0.000,3404,2200,2300
$GC,17244,0.40,141.1,926.9,5.0,431,17249,0.12,2.38,0.00,0.000,4,0.086,0.081,3451,3610,2299
$GC,17271,0.29,141.1,925.1,6.9,431,17275,0.15,2.35,0.00,0.000,6,0.177,0.064,3414,2201,2299
$GC,17608,0.29,142.2,907.9,5.0,437,17609,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2201,2299
$GC,17911,0.30,150.1,893.2,4.8,442,17925,0.00,2.47,9.40,1.285,4,0.000,0.079,3421,780,2263
$GC,17954,0.30,150.1,890.9,5.4,442,17958,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2213,2263
$GC,18280,0.30,150.1,873.5,5.4,448,18282,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2263
$GC,18583,0.30,150.1,857.7,5.2,453,18585,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2263
$GC,18887,0.30,150.1,842.0,5.2,458,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2263
$GC,19190,0.30,150.1,826.2,5.2,463,19191,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2262
$GC,19493,0.30,150.1,810.1,5.3,468,19494,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2262
$GC,19796,0.30,150.1,794.7,5.1,473,19800,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,792,2262
$GC,19834,0.35,150.1,792.7,5.3,473,19838,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2203,2262
$GC,20156,0.35,151.7,776.7,5.0,479,20160,0.00,2.40,0.00,0.000,4,0.000,0.081,3422,3612,2262
$GC,20194,0.35,151.7,774.7,5.1,479,20198,0.00,2.38,0.00,0.000,6,0.000,0.064,3421,2199,2262
$GC,20515,0.37,166.7,759.8,4.6,485,20536,0.00,2.45,15.73,1.304,4,0.000,0.079,3422,786,2195
$GC,20570,0.47,195.9,757.3,4.2,485,20602,0.15,2.33,26.75,1.320,6,0.091,0.064,3478,2205,2077
$GC,20940,0.40,195.9,731.9,7.0,492,20941,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2205,2073
$GC,21244,0.34,195.9,709.9,7.3,497,21246,0.17,0.00,0.00,0.000,6,0.152,0.000,3430,2205,2072
$GC,21547,0.40,195.9,690.4,6.4,502,21548,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2205,2072
$GC,21850,0.46,195.9,670.0,6.8,507,21851,0.12,0.00,0.00,0.000,6,0.087,0.000,3477,2205,2072
$GC,22152,0.46,195.9,646.5,7.8,512,22154,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2205,2072
$GC,22455,0.46,195.9,622.6,7.9,517,22459,0.00,2.45,0.00,0.000,4,0.000,0.080,3477,790,2071
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$STATE,32407,end climb,SURFACE_DEPTH_REACHED
$STATE,32408,begin surface coast
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$STATE,32581,end surface coast,CONTROL_FINISHED_OK
$STATE,32581,begin surface
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