version: 66.03
glider: 120
mission: 9
dive: 322
start: 12 27 108 17 7 9
data:
$ID,120
$MISSION,9
$DIVE,322
$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,-24475.807
$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,21
$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
$GPS1,165432,5020.873,-14429.185,58,1.2,59,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-64.9
$GPS2,170615,5020.921,-14428.937,37,1.5,43,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,-0.175
$KALMAN_X,20809.8,216.6,179.9,3483.0,-1427.1
$KALMAN_Y,240564.6,28.6,29.7,-212153.4,-848.9
$MHEAD_RNG_PITCHd_Wd,151.0,49849,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-10.48,0.000,2,0.000,0.000,134,2404,1899
$GC,38,-0.67,-117.3,3.6,-0.0,1,138,13.73,2.50,-78.85,0.000,4,0.280,0.092,3092,3801,3355
$GC,306,-0.50,-117.3,27.6,-15.5,25,313,0.22,2.33,0.00,0.000,6,0.166,0.056,3154,2390,3357
$GC,634,-0.50,-117.3,46.4,-5.6,56,638,0.00,2.45,0.00,0.000,4,0.000,0.080,3154,3808,3357
$GC,662,-0.50,-117.3,48.2,-5.8,58,666,0.00,2.33,0.00,0.000,6,0.000,0.053,3154,2388,3357
$GC,987,-0.50,-117.3,65.3,-7.2,88,991,0.00,2.35,0.00,0.000,4,0.000,0.071,3154,987,3358
$GC,1019,-0.50,-117.3,67.7,-6.7,90,1026,0.00,2.33,0.00,0.000,6,0.000,0.062,3154,2398,3357
$GC,1350,-0.50,-117.3,94.7,-8.7,114,1354,0.00,2.35,0.00,0.000,4,0.000,0.080,3154,3811,3357
$GC,1377,-0.54,-117.3,96.7,-7.3,115,1382,0.00,2.30,0.00,0.000,6,0.000,0.052,3154,2390,3357
$GC,1694,-0.59,-117.3,116.8,-6.0,130,1698,0.00,2.45,0.00,0.000,4,0.000,0.079,3154,3810,3357
$GC,1727,-0.67,-117.3,118.9,-6.5,131,1734,0.15,2.30,0.00,0.000,6,0.085,0.052,3098,2391,3357
$GC,2043,-0.61,-117.3,144.1,-8.2,147,2047,0.00,2.42,0.00,0.000,4,0.000,0.078,3098,3818,3358
$GC,2209,-0.55,-117.3,157.9,-8.0,154,2214,0.15,2.33,0.00,0.000,6,0.123,0.054,3139,2399,3358
$GC,2544,-0.60,-117.3,177.8,-5.6,165,2548,0.00,2.35,0.00,0.000,4,0.000,0.069,3140,992,3358
$GC,2599,-0.69,-117.3,181.4,-6.4,166,2606,0.15,2.28,0.00,0.000,6,0.082,0.062,3085,2404,3358
$GC,2912,-0.69,-117.3,203.0,-6.9,177,2916,0.00,2.33,0.00,0.000,4,0.000,0.070,3085,985,3358
$GC,2945,-0.64,-117.3,205.5,-7.4,178,2949,0.00,2.30,0.00,0.000,6,0.000,0.062,3085,2409,3358
$GC,3274,-0.57,-117.3,231.7,-8.1,189,3276,0.17,0.00,0.00,0.000,6,0.152,0.000,3133,2409,3358
$GC,3581,-0.65,-117.3,249.5,-5.6,199,3585,0.00,2.33,0.00,0.000,4,0.000,0.071,3133,989,3358
$GC,3613,-0.72,-117.3,251.3,-5.3,200,3618,0.15,2.28,0.00,0.000,6,0.082,0.063,3077,2401,3358
$GC,3943,-0.72,-117.3,274.0,-7.1,211,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3358
$GC,4248,-0.72,-117.3,294.8,-6.6,221,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3358
$GC,4583,-0.72,-117.3,315.8,-6.2,228,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3358
$GC,4886,-0.72,-117.3,335.2,-6.4,233,4890,0.00,2.35,0.00,0.000,4,0.000,0.071,3077,990,3357
$GC,4935,-0.72,-117.3,338.9,-6.9,233,4939,0.00,2.28,0.00,0.000,6,0.000,0.062,3077,2399,3357
$GC,5251,-0.65,-117.3,362.3,-7.5,239,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3357
$GC,5555,-0.59,-117.3,384.8,-7.4,244,5559,0.15,2.35,0.00,0.000,4,0.148,0.081,3115,3814,3357
$GC,5587,-0.65,-117.3,387.1,-6.5,244,5591,0.00,2.28,0.00,0.000,6,0.000,0.055,3115,2397,3357
$GC,5913,-0.70,-117.3,405.5,-5.6,250,5917,0.00,2.35,0.00,0.000,4,0.000,0.071,3115,989,3357
$GC,5958,-0.78,-117.3,408.3,-5.8,250,5963,0.15,2.30,0.00,0.000,6,0.090,0.061,3060,2411,3357
$GC,6273,-0.70,-117.3,431.5,-7.5,256,6278,0.10,2.35,0.00,0.000,4,0.104,0.081,3085,3817,3356
$GC,6305,-0.70,-117.3,434.1,-7.3,256,6309,0.00,2.33,0.00,0.000,6,0.000,0.055,3086,2391,3357
$GC,6638,-0.66,-117.3,457.8,-7.1,262,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3357
$GC,6941,-0.61,-117.3,478.6,-6.8,267,6943,0.12,0.00,0.00,0.000,6,0.166,0.000,3117,2388,3357
$GC,7244,-0.67,-117.3,495.3,-5.5,272,7248,0.00,2.40,0.00,0.000,4,0.000,0.071,3118,986,3356
$GC,7271,-0.73,-117.3,497.1,-6.7,272,7275,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2407,3356
$GC,7609,-0.78,-117.3,516.1,-5.6,278,7614,0.15,2.42,0.00,0.000,4,0.087,0.070,3050,993,3356
$GC,7630,-0.74,-117.3,517.7,-6.9,278,7635,0.12,2.30,0.00,0.000,6,0.166,0.064,3078,2403,3356
$GC,7968,-0.68,-117.3,540.5,-6.8,284,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3356
$GC,8271,-0.62,-117.3,560.9,-6.8,289,8273,0.12,0.00,0.00,0.000,6,0.177,0.000,3111,2403,3355
$GC,8574,-0.68,-117.3,578.7,-5.8,294,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3356
$GC,8877,-0.73,-117.3,596.5,-5.9,299,8881,0.00,2.40,0.00,0.000,4,0.000,0.071,3112,984,3355
$GC,8910,-0.78,-117.3,598.5,-6.2,299,8914,0.15,2.33,0.00,0.000,6,0.085,0.064,3058,2412,3355
$GC,9236,-0.74,-117.3,620.0,-6.6,305,9240,0.00,2.35,0.00,0.000,4,0.000,0.082,3058,3812,3355
$GC,9280,-0.65,-117.3,623.3,-7.5,305,9285,0.17,2.25,0.00,0.000,6,0.129,0.057,3107,2397,3355
$GC,9595,-0.69,-117.3,641.1,-5.6,311,9599,0.00,2.35,0.00,0.000,4,0.000,0.072,3107,988,3355
$GC,9628,-0.73,-117.3,643.0,-5.6,311,9632,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2404,3354
$GC,9954,-0.79,-117.3,661.0,-5.5,317,9956,0.15,0.00,0.00,0.000,6,0.089,0.000,3051,2405,3354
$GC,10257,-0.73,-117.3,680.3,-6.4,322,10262,0.10,2.38,0.00,0.000,4,0.104,0.072,3081,988,3354
$GC,10284,-0.73,-117.3,682.2,-7.5,322,10289,0.00,2.33,0.00,0.000,6,0.000,0.066,3081,2405,3354
$GC,10616,-0.73,-117.3,702.0,-5.9,328,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3354
$GC,10919,-0.73,-117.3,719.2,-5.6,333,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3354
$GC,11223,-0.73,-117.3,736.0,-5.5,338,11227,0.00,2.38,0.00,0.000,4,0.000,0.073,3081,993,3354
$GC,11256,-0.73,-117.3,738.1,-6.4,338,11260,0.00,2.28,0.00,0.000,6,0.000,0.065,3081,2401,3354
$GC,11588,-0.73,-117.3,756.7,-5.6,344,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,11891,-0.73,-117.3,774.9,-6.1,349,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,12194,-0.73,-117.3,794.1,-6.3,354,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,12497,-0.73,-117.3,812.5,-6.0,359,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,12800,-0.73,-117.3,829.2,-5.4,364,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3354
$GC,13103,-0.73,-117.3,845.0,-5.2,369,13107,0.00,2.40,0.00,0.000,4,0.000,0.074,3081,990,3353
$GC,13141,-0.73,-117.3,847.2,-6.4,369,13145,0.00,2.35,0.00,0.000,6,0.000,0.067,3081,2404,3353
$GC,13467,-0.73,-117.3,864.8,-5.4,375,13472,0.00,2.38,0.00,0.000,4,0.000,0.087,3081,3813,3353
$GC,13495,-0.73,-117.3,866.4,-5.8,375,13499,0.00,2.28,0.00,0.000,6,0.000,0.058,3081,2400,3353
$GC,13826,-0.73,-117.3,885.0,-5.7,381,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3353
$GC,14129,-0.73,-117.3,902.2,-5.7,386,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3353
$GC,14433,-0.73,-117.3,919.8,-5.8,391,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3353
$GC,14736,-0.73,-117.3,937.8,-5.9,396,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3353
$GC,15038,-0.73,-117.3,955.8,-6.0,401,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3353
$GC,15342,-0.73,-117.3,973.2,-5.7,406,15346,0.00,2.42,0.00,0.000,4,0.000,0.075,3081,986,3352
$GC,15374,-0.73,-117.3,975.1,-6.3,406,15378,0.00,2.35,0.00,0.000,6,0.000,0.066,3081,2404,3353
$STATE,15643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15643,begin apogee
$GC,15650,-0.22,0.0,990.5,5.6,411,15760,0.55,0.00,107.20,1.493,6,0.146,0.000,3247,2196,2876
$STATE,15761,end apogee,CONTROL_FINISHED_OK
$STATE,15761,begin climb
$GC,15763,0.67,117.3,992.2,0.0,412,15884,0.85,2.75,111.95,1.437,4,0.091,0.076,3533,793,2396
$GC,15935,0.32,117.3,991.4,7.8,415,15940,0.43,2.47,0.00,0.000,6,0.177,0.061,3426,2200,2395
$GC,16256,0.32,117.3,974.5,5.2,421,16257,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2200,2393
$GC,16559,0.28,117.3,958.7,5.2,426,16563,0.00,2.42,0.00,0.000,4,0.000,0.080,3426,786,2393
$GC,16597,0.29,126.6,956.7,4.7,426,16611,0.00,2.33,9.23,1.277,6,0.000,0.063,3426,2205,2360
$GC,16922,0.29,126.6,939.8,5.3,432,16926,0.00,2.35,0.00,0.000,4,0.000,0.081,3426,3617,2359
$GC,16949,0.21,126.6,938.0,5.9,432,16954,0.15,2.33,0.00,0.000,6,0.183,0.065,3388,2198,2359
$GC,17281,0.33,152.1,923.7,4.3,438,17311,0.12,2.45,23.85,1.412,4,0.088,0.080,3436,787,2254
$GC,17346,0.33,152.1,920.5,5.1,439,17350,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2199,2254
$GC,17711,0.33,152.1,900.4,5.5,445,17715,0.00,2.38,0.00,0.000,4,0.000,0.082,3436,3620,2253
$GC,17761,0.24,152.1,897.3,5.8,445,17765,0.15,2.33,0.00,0.000,6,0.175,0.065,3399,2200,2252
$GC,18071,0.36,173.8,883.7,4.4,450,18094,0.10,0.00,20.27,1.385,6,0.098,0.000,3436,2200,2167
$GC,18374,0.42,175.2,868.8,5.0,455,18378,0.00,2.45,0.00,0.000,4,0.000,0.079,3437,782,2165
$GC,18413,0.42,175.2,866.4,6.0,455,18417,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2199,2165
$GC,18734,0.47,175.2,849.5,5.3,461,18735,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2164
$GC,19036,0.52,175.2,833.0,5.4,466,19038,0.15,0.00,0.00,0.000,6,0.098,0.000,3498,2200,2164
$GC,19340,0.35,175.2,808.3,8.3,471,19342,0.22,0.00,0.00,0.000,6,0.153,0.000,3434,2199,2163
$GC,19643,0.35,175.2,789.4,6.2,476,19644,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2164
$GC,19945,0.35,175.2,770.0,6.5,481,19946,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2164
$GC,20248,0.35,175.2,750.6,6.5,486,20249,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2164
$GC,20552,0.35,175.2,730.5,6.6,491,20553,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2199,2164
$GC,20855,0.35,175.2,710.1,6.7,496,20856,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2163
$GC,21158,0.35,175.2,691.0,6.2,501,21159,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2164
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$STATE,32476,end climb,SURFACE_DEPTH_REACHED
$STATE,32476,begin surface coast
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$STATE,32539,end surface coast,CONTROL_FINISHED_OK
$STATE,32540,begin surface
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