version: 66.03
glider: 120
mission: 9
dive: 81
start: 9 27 108 2 19 28
data:
$ID,120
$MISSION,9
$DIVE,81
$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,-19283.174
$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,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
$GPS1,020956,5003.456,-14428.125,115,1.5,115,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.00
$_SM_ANGLEo,-72.7
$GPS2,021833,5003.548,-14428.053,12,1.5,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.053,-0.170
$KALMAN_X,33769.7,-91.2,-17.8,-7916.0,1630.2
$KALMAN_Y,66096.3,-151.3,-359.1,-69277.9,2735.9
$MHEAD_RNG_PITCHd_Wd,178.8,17789,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.88,0.000,2,0.000,0.000,134,2410,1989
$GC,36,-0.67,-117.3,5.1,-0.0,1,104,13.45,2.40,-47.00,0.000,4,0.285,0.103,3085,3812,3356
$GC,260,-0.25,-117.3,36.3,-17.2,21,268,0.47,2.28,0.00,0.000,6,0.166,0.053,3228,2402,3358
$GC,586,-0.77,-117.3,54.8,-7.5,52,591,0.45,2.28,0.00,0.000,4,0.099,0.064,3071,991,3360
$GC,637,-0.57,-117.3,59.8,-10.3,56,642,0.22,2.28,0.00,0.000,6,0.164,0.058,3133,2412,3360
$GC,970,-0.46,-117.3,88.2,-8.8,83,975,0.12,2.28,0.00,0.000,4,0.171,0.074,3166,3813,3362
$GC,1008,-0.46,-117.3,91.2,-7.5,85,1013,0.00,2.22,0.00,0.000,6,0.000,0.051,3166,2393,3362
$GC,1334,-0.46,-117.3,113.2,-6.8,101,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2393,3362
$GC,1644,-0.53,-117.3,134.8,-7.1,116,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2394,3362
$GC,1952,-0.62,-117.3,154.6,-6.2,130,1954,0.15,0.00,0.00,0.000,6,0.083,0.000,3108,2393,3362
$GC,2259,-0.54,-117.3,178.2,-7.7,140,2264,0.12,2.35,0.00,0.000,4,0.155,0.078,3140,3815,3361
$GC,2313,-0.60,-117.3,182.1,-6.6,141,2320,0.00,2.25,0.00,0.000,6,0.000,0.054,3140,2402,3361
$GC,2625,-0.60,-117.3,202.1,-6.5,152,2629,0.00,2.28,0.00,0.000,4,0.000,0.069,3141,987,3360
$GC,2657,-0.60,-117.3,204.3,-6.6,153,2662,0.00,2.30,0.00,0.000,6,0.000,0.061,3140,2403,3360
$GC,2992,-0.60,-117.3,224.9,-6.0,164,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3360
$GC,3299,-0.60,-117.3,243.1,-6.0,174,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3359
$GC,3605,-0.60,-117.3,260.9,-5.7,184,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2403,3359
$GC,3911,-0.60,-117.3,278.6,-6.0,194,3915,0.00,2.30,0.00,0.000,4,0.000,0.071,3140,988,3358
$GC,3939,-0.64,-117.3,280.4,-6.6,195,3943,0.00,2.28,0.00,0.000,6,0.000,0.063,3141,2402,3358
$GC,4273,-0.69,-117.3,300.0,-5.9,206,4275,0.15,0.00,0.00,0.000,6,0.085,0.000,3083,2403,3357
$GC,4576,-0.55,-117.3,324.6,-8.2,211,4580,0.15,2.28,0.00,0.000,4,0.161,0.080,3126,3809,3357
$GC,4602,-0.55,-117.3,326.6,-6.8,211,4606,0.00,2.25,0.00,0.000,6,0.000,0.057,3126,2396,3356
$GC,4945,-0.55,-117.3,347.8,-6.2,217,4949,0.00,2.28,0.00,0.000,4,0.000,0.073,3126,986,3356
$GC,4977,-0.55,-117.3,350.0,-6.7,217,4982,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2400,3356
$GC,5309,-0.55,-117.3,372.3,-6.8,223,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3356
$GC,5612,-0.55,-117.3,393.8,-7.1,228,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3355
$GC,5915,-0.55,-117.3,415.1,-7.0,233,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3355
$GC,6218,-0.55,-117.3,435.0,-6.5,238,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3355
$GC,6522,-0.55,-117.3,454.5,-6.4,243,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,6825,-0.55,-117.3,473.4,-6.2,248,6829,0.00,2.30,0.00,0.000,4,0.000,0.074,3126,989,3353
$GC,6851,-0.55,-117.3,475.3,-7.4,248,6855,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2405,3354
$GC,7189,-0.55,-117.3,495.4,-6.0,254,7193,0.00,2.30,0.00,0.000,4,0.000,0.083,3125,3817,3353
$GC,7221,-0.61,-117.3,497.6,-6.7,254,7225,0.00,2.25,0.00,0.000,6,0.000,0.058,3126,2405,3353
$GC,7553,-0.65,-117.3,516.4,-5.6,260,7557,0.00,2.28,0.00,0.000,4,0.000,0.074,3126,991,3353
$GC,7580,-0.69,-117.3,518.1,-5.7,260,7585,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2411,3353
$GC,7918,-0.69,-117.3,534.7,-4.8,266,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2410,3353
$GC,8221,-0.69,-117.3,548.9,-4.7,271,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2410,3352
$GC,8524,-0.69,-117.3,563.5,-4.9,276,8528,0.00,2.33,0.00,0.000,4,0.000,0.074,3126,987,3352
$GC,8556,-0.73,-117.3,565.3,-5.4,276,8561,0.12,2.30,0.00,0.000,6,0.091,0.064,3077,2398,3352
$GC,8888,-0.63,-117.3,586.8,-6.7,282,8892,0.12,2.30,0.00,0.000,4,0.160,0.082,3100,3813,3352
$GC,8949,-0.63,-117.3,590.8,-6.9,283,8953,0.00,2.25,0.00,0.000,6,0.000,0.059,3100,2389,3352
$GC,9313,-0.63,-117.3,612.2,-5.9,289,9317,0.00,2.35,0.00,0.000,4,0.000,0.084,3100,3820,3352
$GC,9351,-0.63,-117.3,614.6,-6.5,289,9355,0.00,2.28,0.00,0.000,6,0.000,0.059,3100,2395,3351
$GC,9683,-0.63,-117.3,634.7,-6.1,295,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3352
$GC,9986,-0.63,-117.3,653.2,-6.1,300,9990,0.00,2.33,0.00,0.000,4,0.000,0.084,3100,3809,3352
$GC,10012,-0.63,-117.3,654.7,-6.2,300,10016,0.00,2.25,0.00,0.000,6,0.000,0.059,3100,2401,3351
$GC,10349,-0.63,-117.3,674.0,-5.7,306,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3351
$GC,10652,-0.63,-117.3,691.2,-5.6,311,10656,0.00,2.33,0.00,0.000,4,0.000,0.084,3099,3810,3351
$GC,10707,-0.63,-117.3,694.5,-6.3,311,10714,0.00,2.25,0.00,0.000,6,0.000,0.060,3100,2401,3350
$GC,11016,-0.63,-117.3,712.8,-6.0,317,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3350
$GC,11319,-0.63,-117.3,731.1,-6.0,322,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3350
$GC,11623,-0.63,-117.3,749.6,-6.1,327,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3350
$GC,11926,-0.63,-117.3,768.6,-6.3,332,11930,0.00,2.33,0.00,0.000,4,0.000,0.085,3100,3817,3350
$GC,11963,-0.63,-117.3,771.1,-6.5,332,11968,0.00,2.28,0.00,0.000,6,0.000,0.060,3100,2395,3350
$GC,12295,-0.63,-117.3,791.2,-6.1,338,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,12598,-0.63,-117.3,808.8,-5.8,343,12602,0.00,2.35,0.00,0.000,4,0.000,0.084,3100,3812,3349
$GC,12636,-0.63,-117.3,811.1,-5.7,343,12640,0.00,2.25,0.00,0.000,6,0.000,0.061,3100,2405,3350
$GC,12962,-0.63,-117.3,829.5,-5.7,349,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3349
$GC,13265,-0.63,-117.3,847.0,-5.8,354,13269,0.00,2.33,0.00,0.000,4,0.000,0.085,3100,3813,3349
$GC,13308,-0.63,-117.3,849.7,-6.1,354,13313,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2394,3349
$GC,13629,-0.63,-117.3,868.5,-5.9,360,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3349
$GC,13932,-0.63,-117.3,886.5,-5.9,365,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3349
$GC,14235,-0.63,-117.3,904.7,-6.1,370,14239,0.00,2.35,0.00,0.000,4,0.000,0.085,3100,3810,3349
$GC,14273,-0.63,-117.3,907.1,-6.9,370,14277,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2394,3349
$GC,14599,-0.63,-117.3,926.9,-6.1,376,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3349
$GC,14903,-0.63,-117.3,945.0,-6.0,381,14907,0.00,2.35,0.00,0.000,4,0.000,0.085,3100,3812,3349
$GC,14929,-0.63,-117.3,946.7,-6.3,381,14933,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2396,3348
$GC,15266,-0.63,-117.3,965.8,-5.6,387,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3348
$GC,15570,-0.63,-117.3,982.5,-5.5,392,15571,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3348
$STATE,15750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15750,begin apogee
$GC,15754,-0.22,0.0,992.1,5.3,395,15856,0.47,0.00,99.03,1.516,6,0.154,0.000,3243,2197,2876
$STATE,15857,end apogee,CONTROL_FINISHED_OK
$STATE,15857,begin climb
$GC,15858,0.67,117.3,993.7,0.0,396,15970,0.88,2.62,102.95,1.466,4,0.105,0.079,3533,792,2397
$GC,16064,0.29,117.3,987.1,8.8,399,16070,0.40,2.45,0.00,0.000,6,0.193,0.063,3417,2195,2394
$GC,16418,0.25,122.0,968.8,4.9,405,16425,0.00,0.00,5.22,1.071,6,0.000,0.000,3417,2195,2377
$GC,16722,0.23,138.8,955.0,4.5,410,16742,0.00,2.40,15.68,1.391,4,0.000,0.081,3423,795,2310
$GC,16798,0.27,177.3,951.4,3.9,411,16838,0.00,2.35,34.47,1.436,6,0.000,0.064,3423,2202,2152
$GC,17147,0.27,177.3,932.4,5.6,417,17152,0.00,2.40,0.00,0.000,4,0.000,0.081,3423,793,2149
$GC,17185,0.27,177.3,930.2,6.0,417,17190,0.00,2.35,0.00,0.000,6,0.000,0.063,3423,2199,2148
$GC,17512,0.27,177.3,912.0,5.7,423,17516,0.00,2.38,0.00,0.000,4,0.000,0.081,3423,786,2148
$GC,17550,0.27,177.3,909.8,6.0,423,17554,0.00,2.33,0.00,0.000,6,0.000,0.063,3423,2214,2148
$GC,17870,0.27,177.3,891.3,5.9,429,17874,0.00,2.38,0.00,0.000,4,0.000,0.082,3423,789,2148
$GC,17925,0.32,177.3,888.0,5.9,429,17929,0.00,2.30,0.00,0.000,6,0.000,0.063,3423,2206,2148
$GC,18239,0.32,177.3,869.1,6.0,435,18243,0.00,2.35,0.00,0.000,4,0.000,0.081,3423,793,2148
$GC,18288,0.36,177.3,866.1,6.6,435,18293,0.00,2.30,0.00,0.000,6,0.000,0.063,3422,2200,2148
$GC,18603,0.36,177.3,846.3,6.3,441,18604,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2200,2148
$GC,18907,0.36,177.3,826.8,6.4,446,18911,0.00,2.35,0.00,0.000,4,0.000,0.081,3423,783,2147
$GC,18973,0.41,177.3,822.4,6.4,447,18977,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2211,2148
$GC,19338,0.41,177.3,799.4,6.3,453,19342,0.00,2.38,0.00,0.000,4,0.000,0.082,3423,787,2148
$GC,19399,0.46,177.3,795.7,6.0,454,19404,0.12,2.30,0.00,0.000,6,0.097,0.064,3470,2211,2148
$GC,19769,0.35,177.3,767.5,7.7,460,19774,0.15,2.35,0.00,0.000,4,0.163,0.080,3435,790,2147
$GC,19806,0.35,177.3,765.0,5.4,460,19811,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2200,2147
$GC,20133,0.35,177.3,744.7,6.2,466,20137,0.00,2.35,0.00,0.000,4,0.000,0.081,3435,783,2147
$GC,20181,0.35,177.3,741.8,5.2,466,20186,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2194,2147
$GC,20497,0.35,177.3,722.9,6.0,472,20501,0.00,2.33,0.00,0.000,4,0.000,0.082,3436,792,2147
$GC,20535,0.35,177.3,720.5,6.9,472,20539,0.00,2.28,0.00,0.000,6,0.000,0.063,3435,2211,2147
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$STATE,32396,end climb,SURFACE_DEPTH_REACHED
$STATE,32396,begin surface coast
$FINISH,3.9,1.024660
$STATE,32482,end surface coast,CONTROL_FINISHED_OK
$STATE,32483,begin surface
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