version: 66.03
glider: 120
mission: 9
dive: 625
start: 4 21 109 11 33 0
data:
$ID,120
$MISSION,9
$DIVE,625
$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,275
$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,-31042.467
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,112307,5000.805,-14442.697,25,1.5,25,18.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-75.6
$GPS2,113202,5000.785,-14442.682,16,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.095,0.151
$KALMAN_X,-99526.7,-107.5,36.8,137421.6,-642.5
$KALMAN_Y,141267.9,-7.5,120.3,-146373.9,-364.9
$MHEAD_RNG_PITCHd_Wd,309.3,15813,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,64,0.00,0.00,-35.58,0.000,2,0.000,0.000,134,2408,2635
$GC,68,-0.67,-117.3,3.7,-5.1,4,105,13.60,2.50,-16.83,0.000,4,0.274,0.082,3095,987,3357
$GC,159,-0.52,-117.3,15.6,-9.8,12,164,0.17,2.35,0.00,0.000,6,0.151,0.061,3144,2400,3358
$GC,488,-0.52,-117.3,39.8,-7.3,42,494,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2399,3359
$GC,815,-0.52,-117.3,64.5,-7.6,73,816,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2399,3359
$GC,1131,-0.52,-117.3,87.6,-7.2,98,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2399,3359
$GC,1439,-0.52,-117.3,106.3,-5.3,113,1443,0.00,2.45,0.00,0.000,4,0.000,0.067,3144,985,3359
$GC,1484,-0.52,-117.3,109.0,-5.8,115,1488,0.00,2.40,0.00,0.000,6,0.000,0.059,3141,2402,3359
$GC,1807,-0.56,-117.3,128.4,-6.8,131,1811,0.00,2.42,0.00,0.000,4,0.000,0.079,3141,3814,3359
$GC,1836,-0.63,-117.3,130.6,-7.1,132,1840,0.00,2.30,0.00,0.000,6,0.000,0.052,3141,2388,3359
$GC,2164,-0.71,-117.3,152.3,-6.3,147,2166,0.17,0.00,0.00,0.000,6,0.076,0.000,3072,2389,3359
$GC,2469,-0.65,-117.3,176.7,-7.9,157,2471,0.12,0.00,0.00,0.000,6,0.096,0.000,3108,2389,3359
$GC,2775,-0.65,-117.3,199.3,-7.4,167,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2389,3359
$GC,3081,-0.65,-117.3,221.3,-7.1,177,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2389,3359
$GC,3388,-0.65,-117.3,243.2,-7.0,187,3392,0.00,2.40,0.00,0.000,4,0.000,0.068,3108,996,3359
$GC,3439,-0.65,-117.3,247.2,-7.6,188,3443,0.00,2.38,0.00,0.000,6,0.000,0.060,3108,2402,3359
$GC,3758,-0.65,-117.3,267.8,-6.5,199,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3359
$GC,4065,-0.65,-117.3,288.1,-6.5,209,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3359
$GC,4399,-0.65,-117.3,309.7,-6.5,218,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3359
$GC,4702,-0.65,-117.3,330.9,-7.0,223,4706,0.00,2.42,0.00,0.000,4,0.000,0.068,3108,995,3359
$GC,4760,-0.65,-117.3,335.2,-7.3,223,4765,0.00,2.40,0.00,0.000,6,0.000,0.061,3108,2402,3359
$GC,5071,-0.65,-117.3,356.8,-6.8,228,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3359
$GC,5375,-0.65,-117.3,374.2,-5.6,233,5379,0.00,2.45,0.00,0.000,4,0.000,0.068,3108,988,3359
$GC,5411,-0.65,-117.3,376.3,-5.6,233,5415,0.00,2.40,0.00,0.000,6,0.000,0.061,3108,2400,3359
$GC,5739,-0.65,-117.3,392.7,-5.0,239,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3359
$GC,6041,-0.65,-117.3,408.8,-5.4,244,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3359
$GC,6345,-0.65,-117.3,426.9,-6.1,249,6349,0.00,2.45,0.00,0.000,4,0.000,0.069,3108,987,3359
$GC,6396,-0.69,-117.3,430.4,-7.1,249,6400,0.00,2.40,0.00,0.000,6,0.000,0.061,3108,2399,3359
$GC,6707,-0.73,-117.3,450.0,-6.3,254,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3359
$GC,7010,-0.78,-117.3,469.8,-6.6,259,7015,0.12,2.47,0.00,0.000,4,0.084,0.068,3058,986,3358
$GC,7074,-0.72,-117.3,475.1,-8.6,260,7078,0.00,2.42,0.00,0.000,6,0.000,0.061,3058,2407,3358
$GC,7446,-0.63,-117.3,505.2,-8.0,266,7451,0.15,2.47,0.00,0.000,4,0.138,0.069,3107,995,3358
$GC,7487,-0.69,-117.3,508.2,-7.2,266,7491,0.00,2.40,0.00,0.000,6,0.000,0.061,3107,2403,3358
$GC,7808,-0.73,-117.3,529.0,-6.5,272,7813,0.00,2.45,0.00,0.000,4,0.000,0.070,3107,992,3358
$GC,7843,-0.78,-117.3,531.3,-7.0,272,7848,0.12,2.40,0.00,0.000,6,0.081,0.061,3062,2406,3358
$GC,8170,-0.78,-117.3,554.1,-6.9,278,8174,0.00,2.42,0.00,0.000,4,0.000,0.079,3061,3814,3358
$GC,8210,-0.71,-117.3,557.2,-8.3,278,8214,0.00,2.30,0.00,0.000,6,0.000,0.054,3061,2393,3358
$GC,8532,-0.67,-117.3,579.9,-7.0,284,8533,0.12,0.00,0.00,0.000,6,0.107,0.000,3097,2391,3358
$GC,8835,-0.67,-117.3,598.5,-6.1,289,8839,0.00,2.42,0.00,0.000,4,0.000,0.070,3097,995,3358
$GC,8881,-0.67,-117.3,601.6,-6.9,289,8885,0.00,2.40,0.00,0.000,6,0.000,0.062,3097,2403,3358
$GC,9197,-0.67,-117.3,619.8,-5.7,295,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3358
$GC,9500,-0.67,-117.3,636.2,-5.3,300,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3358
$GC,9803,-0.67,-117.3,652.7,-5.5,305,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3358
$GC,10106,-0.67,-117.3,669.6,-5.6,310,10110,0.00,2.45,0.00,0.000,4,0.000,0.070,3098,996,3357
$GC,10158,-0.71,-117.3,672.9,-6.7,310,10163,0.00,2.40,0.00,0.000,6,0.000,0.063,3097,2399,3357
$GC,10469,-0.71,-117.3,690.7,-5.7,315,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3357
$GC,10772,-0.71,-117.3,708.0,-5.8,320,10776,0.00,2.45,0.00,0.000,4,0.000,0.071,3097,996,3357
$GC,10813,-0.71,-117.3,710.6,-6.7,320,10817,0.00,2.40,0.00,0.000,6,0.000,0.062,3097,2403,3357
$GC,11135,-0.75,-117.3,729.6,-6.0,326,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3357
$GC,11438,-0.80,-117.3,747.4,-5.8,331,11443,0.12,2.47,0.00,0.000,4,0.084,0.069,3045,996,3356
$GC,11489,-0.73,-117.3,750.9,-6.5,331,11493,0.12,2.40,0.00,0.000,6,0.130,0.062,3078,2399,3356
$GC,11800,-0.73,-117.3,769.5,-5.9,336,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2398,3356
$GC,12102,-0.73,-117.3,786.6,-5.6,341,12106,0.00,2.45,0.00,0.000,4,0.000,0.081,3073,3808,3356
$GC,12141,-0.73,-117.3,789.0,-6.0,341,12145,0.00,2.30,0.00,0.000,6,0.000,0.054,3073,2396,3356
$GC,12463,-0.73,-117.3,807.9,-5.9,347,12467,0.00,2.45,0.00,0.000,4,0.000,0.071,3073,985,3356
$GC,12492,-0.73,-117.3,809.8,-6.3,347,12496,0.00,2.42,0.00,0.000,6,0.000,0.062,3073,2406,3356
$GC,12825,-0.73,-117.3,830.7,-6.3,353,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3356
$GC,13128,-0.73,-117.3,849.9,-6.4,358,13132,0.00,2.50,0.00,0.000,4,0.000,0.071,3072,984,3356
$GC,13157,-0.73,-117.3,851.9,-7.3,358,13161,0.00,2.42,0.00,0.000,6,0.000,0.062,3073,2402,3356
$GC,13489,-0.73,-117.3,873.1,-6.4,364,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3356
$GC,13793,-0.73,-117.3,891.3,-6.0,369,13797,0.00,2.47,0.00,0.000,4,0.000,0.070,3073,993,3355
$GC,13821,-0.73,-117.3,893.1,-6.5,369,13825,0.00,2.42,0.00,0.000,6,0.000,0.062,3072,2409,3355
$GC,14161,-0.73,-117.3,912.0,-5.6,375,14162,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2409,3355
$GC,14463,-0.73,-117.3,929.5,-5.8,380,14467,0.00,2.47,0.00,0.000,4,0.000,0.072,3072,995,3355
$GC,14513,-0.73,-117.3,932.7,-6.3,380,14518,0.00,2.42,0.00,0.000,6,0.000,0.063,3073,2408,3355
$GC,14824,-0.73,-117.3,949.9,-5.6,385,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,15128,-0.73,-117.3,967.5,-5.8,390,15132,0.00,2.47,0.00,0.000,4,0.000,0.071,3073,994,3355
$GC,15172,-0.73,-117.3,970.6,-6.4,390,15177,0.00,2.42,0.00,0.000,6,0.000,0.063,3072,2409,3355
$STATE,15485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15485,begin apogee
$GC,15494,-0.22,0.0,990.6,6.4,396,15608,0.57,0.00,108.62,1.492,6,0.133,0.000,3245,2191,2875
$STATE,15609,end apogee,CONTROL_FINISHED_OK
$STATE,15609,begin climb
$GC,15612,0.67,117.3,995.9,0.0,398,15736,0.90,2.78,115.03,1.439,4,0.084,0.074,3535,787,2395
$GC,15792,0.32,117.3,995.3,6.1,400,15799,0.45,2.58,0.00,0.000,6,0.172,0.059,3426,2197,2394
$GC,16103,0.36,149.2,982.1,4.1,406,16136,0.00,0.00,28.98,1.414,6,0.000,0.000,3425,2196,2267
$GC,16472,0.36,150.1,964.3,5.0,412,16476,0.00,2.35,0.00,0.000,4,0.000,0.079,3425,3616,2265
$GC,16512,0.29,150.1,961.9,5.2,412,16516,0.00,2.28,0.00,0.000,6,0.000,0.061,3434,2199,2265
$GC,16839,0.29,150.1,944.0,5.5,418,16843,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,784,2264
$GC,16891,0.29,150.1,940.9,5.1,418,16895,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2209,2264
$GC,17202,0.29,150.1,923.6,5.6,423,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2264
$GC,17504,0.29,150.1,907.4,5.3,428,17509,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,782,2264
$GC,17544,0.29,150.1,905.3,6.2,428,17548,0.00,2.35,0.00,0.000,6,0.000,0.060,3435,2198,2264
$GC,17866,0.30,155.8,889.7,4.8,434,17875,0.00,0.00,6.78,1.191,6,0.000,0.000,3436,2197,2241
$GC,18169,0.31,164.2,875.2,4.8,439,18180,0.00,0.00,9.48,1.276,6,0.000,0.000,3436,2197,2206
$GC,18472,0.31,164.2,858.8,5.4,444,18473,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2205
$GC,18774,0.31,164.2,840.4,6.1,449,18776,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2205
$GC,19078,0.31,164.2,820.2,6.7,454,19082,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,3613,2205
$GC,19118,0.25,164.2,817.1,8.2,454,19123,0.15,2.33,0.00,0.000,6,0.171,0.062,3399,2193,2205
$GC,19440,0.36,164.2,798.2,5.8,460,19442,0.12,0.00,0.00,0.000,6,0.081,0.000,3448,2194,2205
$GC,19743,0.36,164.2,779.5,6.1,465,19747,0.00,2.42,0.00,0.000,4,0.000,0.080,3448,3608,2205
$GC,19800,0.26,164.2,775.5,8.0,465,19807,0.17,2.30,0.00,0.000,6,0.164,0.062,3404,2201,2205
$GC,20112,0.37,172.5,760.2,4.8,471,20122,0.00,0.00,8.88,1.207,6,0.000,0.000,3405,2202,2172
$GC,20415,0.51,189.9,746.5,4.5,476,20435,0.22,0.00,17.08,1.294,6,0.073,0.000,3494,2202,2101
$GC,20719,0.39,189.9,725.0,7.3,481,20720,0.17,0.00,0.00,0.000,6,0.146,0.000,3446,2202,2099
$GC,21020,0.39,189.9,707.0,5.9,486,21021,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2202,2098
$GC,21323,0.39,189.9,688.8,6.0,491,21327,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,782,2099
$GC,21362,0.39,189.9,686.3,6.3,491,21366,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2211,2098
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$STATE,32674,end climb,SURFACE_DEPTH_REACHED
$STATE,32674,begin surface coast
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$STATE,32813,end surface coast,CONTROL_FINISHED_OK
$STATE,32814,begin surface
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