version: 66.03
glider: 120
mission: 9
dive: 75
start: 9 24 108 18 38 32
data:
$ID,120
$MISSION,9
$DIVE,75
$D_SURF,6
$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,-19124.699
$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,22
$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
$GPS1,183228,5020.913,-14429.432,33,2.8,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.82
$_SM_ANGLEo,-77.0
$GPS2,183737,5020.894,-14429.453,14,1.3,30,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.021,-0.178
$KALMAN_X,29060.5,122.1,107.4,-5212.2,-892.3
$KALMAN_Y,55429.1,132.1,55.2,-27200.5,36.4
$MHEAD_RNG_PITCHd_Wd,154.6,49789,-11.8,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.66,-117.3,0.0,0.0,0,32,0.00,0.00,-11.98,0.000,2,0.000,0.000,148,2406,1940
$GC,34,-0.66,-117.3,4.7,-0.0,1,109,13.50,2.38,-52.65,0.000,4,0.290,0.101,3099,3801,3357
$GC,327,-0.35,-117.3,41.3,-15.8,27,335,0.32,2.28,0.00,0.000,6,0.156,0.056,3199,2400,3359
$GC,654,-0.45,-117.3,63.5,-6.7,58,658,0.00,2.28,0.00,0.000,4,0.000,0.067,3199,991,3361
$GC,705,-0.56,-117.3,67.0,-6.4,62,710,0.17,2.28,0.00,0.000,6,0.077,0.058,3132,2411,3361
$GC,1035,-0.46,-117.3,94.9,-8.4,85,1040,0.12,2.28,0.00,0.000,4,0.158,0.075,3155,3809,3362
$GC,1078,-0.46,-117.3,98.6,-7.8,87,1083,0.00,2.25,0.00,0.000,6,0.000,0.052,3155,2398,3362
$GC,1405,-0.46,-117.3,121.4,-6.3,103,1409,0.00,2.28,0.00,0.000,4,0.000,0.068,3155,984,3362
$GC,1470,-0.52,-117.3,125.7,-6.9,106,1475,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2400,3362
$GC,1797,-0.52,-117.3,147.4,-7.1,122,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2400,3362
$GC,2114,-0.57,-117.3,171.0,-7.3,133,2118,0.00,2.30,0.00,0.000,4,0.000,0.070,3155,986,3362
$GC,2158,-0.63,-117.3,174.2,-7.2,134,2163,0.12,2.30,0.00,0.000,6,0.087,0.062,3106,2401,3362
$GC,2481,-0.55,-117.3,199.0,-7.6,145,2483,0.12,0.00,0.00,0.000,6,0.158,0.000,3138,2401,3362
$GC,2787,-0.55,-117.3,219.8,-6.8,155,2791,0.00,2.30,0.00,0.000,4,0.000,0.072,3138,990,3361
$GC,2816,-0.55,-117.3,221.8,-7.5,156,2820,0.00,2.28,0.00,0.000,6,0.000,0.063,3138,2406,3361
$GC,3150,-0.55,-117.3,241.5,-5.6,167,3154,0.00,2.30,0.00,0.000,4,0.000,0.073,3138,993,3361
$GC,3177,-0.55,-117.3,243.2,-6.0,168,3181,0.00,2.28,0.00,0.000,6,0.000,0.064,3138,2411,3361
$GC,3511,-0.55,-117.3,263.6,-6.3,179,3515,0.00,2.33,0.00,0.000,4,0.000,0.072,3138,984,3360
$GC,3538,-0.55,-117.3,265.5,-7.4,180,3542,0.00,2.28,0.00,0.000,6,0.000,0.064,3138,2399,3360
$GC,3871,-0.55,-117.3,286.3,-6.2,191,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3360
$GC,4177,-0.55,-117.3,305.2,-6.2,200,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3360
$GC,4481,-0.55,-117.3,322.3,-5.6,205,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3359
$GC,4784,-0.55,-117.3,337.6,-5.0,210,4788,0.00,2.30,0.00,0.000,4,0.000,0.074,3138,990,3358
$GC,4827,-0.55,-117.3,340.2,-5.7,210,4832,0.00,2.28,0.00,0.000,6,0.000,0.064,3138,2395,3358
$GC,5148,-0.55,-117.3,357.7,-5.5,216,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2395,3357
$GC,5451,-0.59,-117.3,375.9,-6.0,221,5455,0.00,2.30,0.00,0.000,4,0.000,0.075,3138,988,3357
$GC,5472,-0.64,-117.3,377.3,-6.1,221,5477,0.00,2.30,0.00,0.000,6,0.000,0.065,3138,2399,3357
$GC,5821,-0.69,-117.3,399.4,-6.5,227,5826,0.15,2.30,0.00,0.000,4,0.086,0.073,3074,987,3356
$GC,5848,-0.60,-117.3,401.7,-9.3,227,5852,0.12,2.30,0.00,0.000,6,0.162,0.064,3122,2401,3356
$GC,6185,-0.60,-117.3,426.6,-7.3,233,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3356
$GC,6488,-0.60,-117.3,447.9,-7.0,238,6492,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,991,3356
$GC,6536,-0.60,-117.3,451.4,-7.4,238,6541,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2402,3356
$GC,6851,-0.60,-117.3,472.0,-6.6,244,6855,0.00,2.30,0.00,0.000,4,0.000,0.075,3122,990,3356
$GC,6879,-0.60,-117.3,473.8,-7.1,244,6883,0.00,2.28,0.00,0.000,6,0.000,0.065,3122,2411,3356
$GC,7209,-0.60,-117.3,496.0,-6.7,250,7213,0.00,2.30,0.00,0.000,4,0.000,0.076,3122,991,3355
$GC,7235,-0.60,-117.3,497.9,-7.3,250,7240,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2402,3355
$GC,7578,-0.60,-117.3,519.5,-6.2,256,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3355
$GC,7881,-0.60,-117.3,536.3,-5.5,261,7885,0.00,2.30,0.00,0.000,4,0.000,0.076,3122,991,3355
$GC,7929,-0.60,-117.3,539.1,-5.6,261,7934,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2403,3355
$GC,8250,-0.60,-117.3,555.6,-5.1,267,8254,0.00,2.30,0.00,0.000,4,0.000,0.075,3122,992,3355
$GC,8276,-0.60,-117.3,557.0,-5.9,267,8280,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2403,3354
$GC,8613,-0.60,-117.3,574.0,-5.1,273,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3354
$GC,8916,-0.60,-117.3,591.0,-5.6,278,8920,0.00,2.30,0.00,0.000,4,0.000,0.076,3122,994,3354
$GC,8965,-0.60,-117.3,594.1,-6.3,278,8970,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2404,3354
$GC,9281,-0.60,-117.3,612.7,-6.0,284,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3354
$GC,9583,-0.60,-117.3,630.7,-6.0,289,9587,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,990,3354
$GC,9626,-0.60,-117.3,633.6,-6.6,289,9631,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2401,3354
$GC,9947,-0.60,-117.3,652.1,-5.8,295,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3353
$GC,10251,-0.64,-117.3,669.9,-5.9,300,10255,0.00,2.30,0.00,0.000,4,0.000,0.077,3122,991,3353
$GC,10293,-0.64,-117.3,672.8,-7.0,300,10298,0.00,2.30,0.00,0.000,6,0.000,0.067,3122,2398,3353
$GC,10615,-0.69,-117.3,691.9,-6.0,306,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3353
$GC,10918,-0.73,-117.3,710.3,-6.1,311,10923,0.12,2.30,0.00,0.000,4,0.091,0.075,3075,988,3352
$GC,10961,-0.64,-117.3,713.7,-8.4,311,10966,0.08,2.30,0.00,0.000,6,0.156,0.067,3108,2396,3353
$GC,11281,-0.64,-117.3,735.6,-6.8,317,11285,0.00,2.30,0.00,0.000,4,0.000,0.084,3107,3810,3352
$GC,11308,-0.64,-117.3,737.5,-6.9,317,11312,0.00,2.25,0.00,0.000,6,0.000,0.061,3107,2405,3352
$GC,11646,-0.64,-117.3,760.6,-6.9,323,11650,0.00,2.30,0.00,0.000,4,0.000,0.077,3108,984,3352
$GC,11671,-0.64,-117.3,762.6,-7.5,323,11676,0.00,2.30,0.00,0.000,6,0.000,0.067,3108,2397,3352
$GC,12009,-0.64,-117.3,784.9,-6.5,329,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2397,3352
$GC,12312,-0.64,-117.3,803.2,-6.0,334,12316,0.00,2.30,0.00,0.000,4,0.000,0.077,3108,990,3352
$GC,12344,-0.64,-117.3,805.1,-6.0,334,12349,0.00,2.30,0.00,0.000,6,0.000,0.067,3107,2401,3352
$GC,12676,-0.64,-117.3,824.7,-5.9,340,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,3352
$GC,12979,-0.64,-117.3,841.4,-5.5,345,12983,0.00,2.33,0.00,0.000,4,0.000,0.077,3107,985,3352
$GC,13033,-0.64,-117.3,844.5,-5.8,345,13041,0.00,2.33,0.00,0.000,6,0.000,0.068,3108,2404,3352
$GC,13344,-0.64,-117.3,859.6,-4.9,351,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3352
$GC,13647,-0.64,-117.3,874.1,-4.8,356,13650,0.00,2.30,0.00,0.000,4,0.000,0.076,3108,991,3352
$GC,13678,-0.64,-117.3,875.8,-5.1,356,13683,0.00,2.30,0.00,0.000,6,0.000,0.067,3107,2396,3352
$GC,14017,-0.64,-117.3,891.5,-4.6,362,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2397,3352
$GC,14319,-0.64,-117.3,906.3,-4.9,367,14324,0.00,2.33,0.00,0.000,4,0.000,0.077,3108,983,3351
$GC,14346,-0.64,-117.3,907.8,-5.8,367,14350,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2403,3352
$GC,14683,-0.64,-117.3,924.6,-5.0,373,14687,0.00,2.33,0.00,0.000,4,0.000,0.077,3107,985,3352
$GC,14715,-0.64,-117.3,926.4,-5.4,373,14720,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2405,3351
$GC,15048,-0.64,-117.3,943.7,-5.2,379,15049,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3351
$GC,15351,-0.64,-117.3,960.0,-5.4,384,15355,0.00,2.33,0.00,0.000,4,0.000,0.078,3107,993,3351
$GC,15390,-0.64,-117.3,962.4,-4.7,384,15394,0.00,2.28,0.00,0.000,6,0.000,0.067,3108,2403,3351
$GC,15709,-0.64,-117.3,981.3,-6.0,390,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3351
$STATE,15890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15890,begin apogee
$GC,15894,-0.22,0.0,992.2,6.0,393,15996,0.45,0.00,99.88,1.517,6,0.152,0.000,3246,2188,2876
$STATE,15997,end apogee,CONTROL_FINISHED_OK
$STATE,15997,begin climb
$GC,15999,0.66,117.3,994.2,0.0,394,16106,0.88,0.00,103.93,1.472,6,0.104,0.000,3524,2188,2397
$GC,16375,0.30,117.3,975.9,8.0,401,16380,0.38,2.47,0.00,0.000,4,0.183,0.081,3414,3614,2393
$GC,16436,0.18,117.3,972.0,6.2,402,16441,0.17,2.38,0.00,0.000,6,0.181,0.064,3381,2200,2394
$GC,16801,0.26,136.8,955.8,4.5,408,16825,0.00,2.50,17.33,1.400,4,0.000,0.082,3381,783,2318
$GC,16859,0.39,150.8,953.0,4.6,408,16879,0.17,2.38,13.73,1.357,6,0.088,0.064,3441,2206,2260
$GC,17234,0.31,150.8,927.0,7.1,415,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2206,2259
$GC,17537,0.24,150.8,905.3,7.2,420,17542,0.15,2.38,0.00,0.000,4,0.161,0.080,3406,789,2258
$GC,17587,0.30,150.8,902.0,6.7,420,17591,0.00,2.33,0.00,0.000,6,0.000,0.065,3407,2211,2258
$GC,17895,0.30,150.8,882.4,6.4,425,17899,0.00,2.33,0.00,0.000,4,0.000,0.084,3407,3620,2258
$GC,17938,0.30,150.8,879.5,6.1,425,17943,0.00,2.33,0.00,0.000,6,0.000,0.067,3406,2206,2258
$GC,18259,0.30,150.8,861.2,5.6,431,18263,0.00,2.35,0.00,0.000,4,0.000,0.082,3406,785,2257
$GC,18292,0.36,156.4,859.5,4.8,431,18302,0.00,2.30,5.82,1.131,6,0.000,0.064,3406,2204,2238
$GC,18617,0.36,156.4,842.6,5.2,437,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2205,2238
$GC,18920,0.38,173.6,828.6,4.5,442,18939,0.00,0.00,15.95,1.359,6,0.000,0.000,3407,2204,2167
$GC,19289,0.44,179.4,810.8,4.8,448,19303,0.15,2.47,6.43,1.151,4,0.094,0.081,3476,783,2144
$GC,19341,0.32,179.4,807.1,7.2,448,19346,0.15,2.35,0.00,0.000,6,0.162,0.066,3422,2196,2143
$GC,19656,0.32,179.4,788.2,6.0,454,19658,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2143
$GC,19959,0.32,179.4,768.9,6.4,459,19960,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2195,2143
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$STATE,32148,end climb,SURFACE_DEPTH_REACHED
$STATE,32148,begin surface coast
$FINISH,3.7,1.005445
$STATE,32224,end surface coast,CONTROL_FINISHED_OK
$STATE,32224,begin surface
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$10V_AH,10.6,10.082
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