version: 66.03
glider: 120
mission: 9
dive: 295
start: 12 17 108 13 13 36
data:
$ID,120
$MISSION,9
$DIVE,295
$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,-23806.863
$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
$GPS1,130725,5007.043,-14450.022,25,1.0,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-77.4
$GPS2,131239,5007.060,-14450.035,12,1.4,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.113
$KALMAN_X,27091.3,186.2,126.8,-27783.6,281.1
$KALMAN_Y,230037.5,145.1,43.8,-227423.1,614.6
$MHEAD_RNG_PITCHd_Wd,291.1,36574,-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,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.73,0.000,2,0.000,0.000,136,2404,1939
$GC,38,-0.67,-117.3,3.8,-0.0,1,117,14.00,2.50,-56.92,0.000,4,0.286,0.080,3093,992,3357
$GC,371,-0.47,-117.3,35.2,-12.3,31,376,0.25,2.33,0.00,0.000,6,0.161,0.064,3162,2406,3358
$GC,699,-0.47,-117.3,65.2,-7.1,61,705,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,3359
$GC,1021,-0.52,-117.3,89.3,-7.1,86,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,3359
$GC,1331,-0.58,-117.3,109.5,-6.3,101,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,3360
$GC,1639,-0.66,-117.3,129.3,-6.1,116,1644,0.15,2.38,0.00,0.000,4,0.080,0.078,3098,3808,3360
$GC,1684,-0.56,-117.3,132.8,-8.2,118,1689,0.12,2.30,0.00,0.000,6,0.125,0.053,3131,2393,3360
$GC,2014,-0.56,-117.3,156.2,-6.8,133,2018,0.00,2.35,0.00,0.000,4,0.000,0.067,3131,995,3360
$GC,2110,-0.61,-117.3,162.4,-6.3,136,2114,0.00,2.30,0.00,0.000,6,0.000,0.062,3128,2409,3360
$GC,2445,-0.61,-117.3,182.4,-6.2,147,2449,0.00,2.40,0.00,0.000,4,0.000,0.067,3128,989,3360
$GC,2500,-0.67,-117.3,186.3,-7.4,148,2507,0.00,2.30,0.00,0.000,6,0.000,0.061,3128,2401,3360
$GC,2813,-0.67,-117.3,206.8,-6.5,159,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3360
$GC,3119,-0.67,-117.3,225.1,-5.9,169,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3360
$GC,3426,-0.71,-117.3,244.1,-6.2,179,3428,0.12,0.00,0.00,0.000,6,0.086,0.000,3076,2401,3360
$GC,3732,-0.66,-117.3,266.2,-7.1,189,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2401,3360
$GC,4038,-0.61,-117.3,288.8,-7.5,199,4040,0.15,0.00,0.00,0.000,6,0.110,0.000,3120,2401,3359
$GC,4343,-0.61,-117.3,308.4,-6.2,207,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3360
$GC,4646,-0.61,-117.3,325.2,-5.5,212,4650,0.00,2.40,0.00,0.000,4,0.000,0.071,3120,987,3359
$GC,4695,-0.66,-117.3,328.2,-5.8,212,4699,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2400,3359
$GC,5005,-0.71,-117.3,346.4,-5.9,217,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3358
$GC,5309,-0.75,-117.3,364.9,-6.1,222,5310,0.15,0.00,0.00,0.000,6,0.081,0.000,3060,2401,3358
$GC,5611,-0.67,-117.3,387.1,-7.4,227,5613,0.12,0.00,0.00,0.000,6,0.104,0.000,3095,2401,3358
$GC,5914,-0.67,-117.3,407.9,-6.9,232,5918,0.00,2.33,0.00,0.000,4,0.000,0.071,3096,995,3358
$GC,5954,-0.67,-117.3,410.7,-7.7,232,5958,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2411,3358
$GC,6275,-0.67,-117.3,433.1,-7.1,238,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3357
$GC,6577,-0.67,-117.3,454.3,-6.9,243,6581,0.00,2.35,0.00,0.000,4,0.000,0.084,3095,3818,3357
$GC,6609,-0.67,-117.3,456.4,-6.6,243,6613,0.00,2.30,0.00,0.000,6,0.000,0.057,3095,2393,3357
$GC,6941,-0.67,-117.3,476.2,-5.8,249,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3357
$GC,7245,-0.67,-117.3,493.0,-5.5,254,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3357
$GC,7548,-0.67,-117.3,511.7,-6.3,259,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3356
$GC,7850,-0.67,-117.3,531.4,-6.5,264,7854,0.00,2.38,0.00,0.000,4,0.000,0.072,3095,993,3357
$GC,7878,-0.67,-117.3,533.2,-7.0,264,7881,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2407,3356
$GC,8215,-0.67,-117.3,553.9,-6.1,270,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3357
$GC,8519,-0.67,-117.3,571.8,-5.9,275,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3357
$GC,8822,-0.67,-117.3,590.2,-6.2,280,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3357
$GC,9124,-0.67,-117.3,610.2,-6.6,285,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3356
$GC,9428,-0.67,-117.3,630.5,-6.8,290,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3356
$GC,9731,-0.67,-117.3,650.3,-6.5,295,9735,0.00,2.42,0.00,0.000,4,0.000,0.072,3095,987,3355
$GC,9763,-0.67,-117.3,652.5,-7.1,295,9767,0.00,2.33,0.00,0.000,6,0.000,0.065,3095,2411,3356
$GC,10095,-0.67,-117.3,673.1,-6.1,301,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3356
$GC,10398,-0.67,-117.3,690.7,-5.8,306,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3355
$GC,10701,-0.67,-117.3,707.6,-5.5,311,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3356
$GC,11005,-0.67,-117.3,725.3,-5.9,316,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3355
$GC,11307,-0.67,-117.3,743.7,-6.1,321,11312,0.00,2.42,0.00,0.000,4,0.000,0.073,3095,991,3355
$GC,11335,-0.67,-117.3,745.4,-6.7,321,11339,0.00,2.33,0.00,0.000,6,0.000,0.065,3095,2408,3355
$GC,11667,-0.67,-117.3,765.2,-5.9,327,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3354
$GC,11970,-0.67,-117.3,782.9,-5.8,332,11974,0.00,2.42,0.00,0.000,4,0.000,0.073,3095,986,3355
$GC,11997,-0.67,-117.3,784.6,-6.1,332,12001,0.00,2.33,0.00,0.000,6,0.000,0.067,3095,2399,3354
$GC,12329,-0.67,-117.3,801.8,-5.1,338,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3354
$GC,12632,-0.67,-117.3,816.4,-4.8,343,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3354
$GC,12935,-0.67,-117.3,830.9,-4.8,348,12939,0.00,2.38,0.00,0.000,4,0.000,0.074,3095,993,3354
$GC,12968,-0.67,-117.3,832.8,-5.1,348,12972,0.00,2.33,0.00,0.000,6,0.000,0.066,3095,2407,3354
$GC,13300,-0.67,-117.3,849.6,-5.1,354,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3354
$GC,13603,-0.67,-117.3,865.9,-5.4,359,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3354
$GC,13907,-0.72,-117.3,882.4,-5.4,364,13911,0.00,2.40,0.00,0.000,4,0.000,0.074,3095,993,3353
$GC,13934,-0.72,-117.3,884.1,-5.9,364,13938,0.00,2.33,0.00,0.000,6,0.000,0.066,3095,2410,3353
$GC,14272,-0.76,-117.3,902.4,-5.5,370,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3353
$GC,14576,-0.80,-117.3,918.8,-5.4,375,14577,0.12,0.00,0.00,0.000,6,0.091,0.000,3048,2411,3353
$GC,14878,-0.80,-117.3,936.8,-5.9,380,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2411,3353
$GC,15181,-0.76,-117.3,954.5,-5.9,385,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2411,3353
$GC,15484,-0.76,-117.3,971.7,-5.7,390,15488,0.00,2.38,0.00,0.000,4,0.000,0.085,3047,3809,3353
$GC,15517,-0.68,-117.3,973.9,-6.1,390,15522,0.17,2.28,0.00,0.000,6,0.130,0.059,3095,2397,3353
$GC,15844,-0.72,-117.3,990.0,-4.9,396,15848,0.00,2.15,0.00,0.000,3,0.000,0.074,3095,1098,3353
$STATE,15848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15848,begin apogee
$GC,15856,-0.22,0.0,990.4,4.9,396,15965,0.47,0.00,106.03,1.493,6,0.144,0.000,3242,2204,2876
$STATE,15966,end apogee,CONTROL_FINISHED_OK
$STATE,15966,begin climb
$GC,15968,0.67,117.3,992.5,0.0,397,16089,0.88,2.75,111.10,1.436,4,0.090,0.077,3532,790,2395
$GC,16156,0.33,117.3,990.6,8.1,400,16163,0.40,2.47,0.00,0.000,6,0.178,0.063,3431,2211,2394
$GC,16466,0.28,118.4,975.1,5.0,406,16470,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,785,2392
$GC,16505,0.23,118.4,973.1,5.6,406,16510,0.17,2.35,0.00,0.000,6,0.165,0.063,3392,2208,2392
$GC,16826,0.34,151.3,959.9,4.1,412,16859,0.12,0.00,30.62,1.426,6,0.085,0.000,3439,2208,2259
$GC,17128,0.34,151.3,942.8,5.8,417,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2208,2257
$GC,17431,0.34,151.3,926.2,5.5,422,17433,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2208,2257
$GC,17734,0.34,151.3,909.4,5.5,427,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2208,2256
$GC,18037,0.34,151.3,893.4,5.3,432,18042,0.00,2.45,0.00,0.000,4,0.000,0.078,3439,790,2256
$GC,18065,0.36,167.1,891.9,4.5,432,18084,0.00,2.30,14.80,1.358,6,0.000,0.064,3439,2203,2194
$GC,18400,0.36,167.1,873.2,5.7,438,18402,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2203,2193
$GC,18703,0.36,167.1,855.7,5.7,443,18707,0.00,2.38,0.00,0.000,4,0.000,0.079,3446,794,2192
$GC,18736,0.36,167.1,853.6,5.5,443,18740,0.00,2.33,0.00,0.000,6,0.000,0.064,3446,2198,2193
$GC,19068,0.36,167.1,833.6,6.0,449,19073,0.00,2.35,0.00,0.000,4,0.000,0.080,3449,794,2192
$GC,19107,0.36,167.1,831.2,5.5,449,19112,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2206,2192
$GC,19428,0.36,167.1,812.8,5.8,455,19429,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2193
$GC,19731,0.36,167.1,794.8,6.0,460,19735,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,785,2193
$GC,19793,0.36,167.1,791.0,6.0,461,19797,0.00,2.33,0.00,0.000,6,0.000,0.065,3449,2210,2192
$GC,20158,0.36,167.1,766.4,6.8,467,20162,0.00,2.33,0.00,0.000,4,0.000,0.082,3449,3610,2192
$GC,20191,0.27,167.1,763.8,7.8,467,20196,0.17,2.30,0.00,0.000,6,0.169,0.064,3404,2200,2192
$GC,20518,0.37,167.1,745.6,5.6,473,20520,0.10,0.00,0.00,0.000,6,0.096,0.000,3442,2201,2192
$GC,20821,0.42,167.1,728.7,5.6,478,20825,0.00,2.40,0.00,0.000,4,0.000,0.082,3442,3610,2192
$GC,20865,0.35,167.1,725.8,6.1,478,20869,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2201,2192
$GC,21180,0.35,167.1,709.0,5.2,484,21184,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,784,2192
$GC,21207,0.38,194.1,707.7,4.2,484,21239,0.00,2.30,24.45,1.301,6,0.000,0.063,3449,2206,2084
$GC,21542,0.38,194.6,691.2,5.0,490,21546,0.00,2.38,0.00,0.000,4,0.000,0.082,3449,3614,2081
$GC,21580,0.32,194.6,688.8,6.3,490,21584,0.00,2.38,0.00,0.000,6,0.000,0.064,3449,2198,2081
$GC,21901,0.32,194.6,670.9,5.6,496,21905,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,790,2081
$GC,21950,0.32,194.6,667.8,5.5,496,21954,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2205,2081
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$STATE,32802,end climb,SURFACE_DEPTH_REACHED
$STATE,32802,begin surface coast
$FINISH,5.5,1.025422
$STATE,32814,end surface coast,CONTROL_FINISHED_OK
$STATE,32814,begin surface
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$10V_AH,10.6,39.426
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