version: 66.03
glider: 120
mission: 9
dive: 124
start: 10 13 108 11 35 10
data:
$ID,120
$MISSION,9
$DIVE,124
$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,-20229.375
$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
$GPS1,112901,4959.062,-14431.658,41,1.3,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.54
$_SM_ANGLEo,-69.3
$GPS2,113415,4959.080,-14431.647,12,1.6,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.004,-0.178
$KALMAN_X,40384.5,-199.9,-180.2,-18516.7,936.7
$KALMAN_Y,94617.3,41.0,-241.9,-106402.7,2225.4
$MHEAD_RNG_PITCHd_Wd,160.2,9633,-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,-117.3,0.0,0.0,0,33,0.00,0.00,-11.82,0.000,2,0.000,0.000,148,2397,1651
$GC,36,-0.67,-117.3,4.6,-0.0,1,135,13.15,2.45,-78.85,0.000,4,0.276,0.102,3096,3809,3356
$GC,280,-0.36,-117.3,23.5,-12.9,23,288,0.32,2.30,0.00,0.000,6,0.161,0.053,3195,2393,3358
$GC,608,-0.46,-117.3,49.6,-6.4,54,609,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2393,3359
$GC,924,-0.78,-117.3,73.0,-7.1,84,929,0.35,2.38,0.00,0.000,4,0.084,0.072,3066,3817,3360
$GC,1125,-0.49,-117.3,95.6,-12.3,96,1130,0.25,2.28,0.00,0.000,6,0.161,0.052,3152,2397,3361
$GC,1451,-0.49,-117.3,120.7,-7.4,112,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2397,3361
$GC,1761,-0.49,-117.3,140.3,-6.3,127,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2397,3361
$GC,2079,-0.53,-117.3,160.0,-6.3,140,2083,0.00,2.28,0.00,0.000,4,0.000,0.068,3153,994,3361
$GC,2117,-0.60,-117.3,162.7,-6.8,141,2121,0.00,2.30,0.00,0.000,6,0.000,0.060,3153,2421,3361
$GC,2446,-0.66,-117.3,182.5,-5.8,152,2451,0.15,2.33,0.00,0.000,4,0.082,0.067,3087,995,3360
$GC,2484,-0.53,-117.3,185.5,-8.5,153,2488,0.15,2.30,0.00,0.000,6,0.152,0.061,3143,2400,3360
$GC,2813,-0.53,-117.3,205.2,-5.7,164,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2400,3360
$GC,3119,-0.53,-117.3,223.0,-5.6,174,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2400,3360
$GC,3426,-0.57,-117.3,240.5,-5.9,184,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2400,3359
$GC,3732,-0.62,-117.3,259.6,-6.2,194,3736,0.00,2.30,0.00,0.000,4,0.000,0.071,3143,993,3358
$GC,3760,-0.67,-117.3,261.3,-6.6,195,3764,0.12,2.28,0.00,0.000,6,0.087,0.061,3095,2407,3358
$GC,4094,-0.59,-117.3,284.2,-6.7,206,4096,0.12,0.00,0.00,0.000,6,0.161,0.000,3126,2408,3358
$GC,4399,-0.59,-117.3,301.4,-5.6,216,4404,0.00,2.30,0.00,0.000,4,0.000,0.072,3127,996,3357
$GC,4437,-0.59,-117.3,303.8,-6.2,216,4442,0.00,2.30,0.00,0.000,6,0.000,0.062,3126,2405,3357
$GC,4764,-0.59,-117.3,323.0,-6.0,222,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3356
$GC,5067,-0.59,-117.3,342.3,-6.4,227,5071,0.00,2.33,0.00,0.000,4,0.000,0.073,3127,991,3356
$GC,5092,-0.59,-117.3,344.1,-7.0,227,5097,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2398,3356
$GC,5430,-0.59,-117.3,364.9,-6.1,233,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3356
$GC,5735,-0.59,-117.3,382.7,-5.8,238,5739,0.00,2.30,0.00,0.000,4,0.000,0.072,3126,993,3355
$GC,5761,-0.59,-117.3,384.7,-7.4,238,5766,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2399,3355
$GC,6099,-0.59,-117.3,405.0,-6.0,244,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3355
$GC,6403,-0.59,-117.3,423.0,-6.0,249,6407,0.00,2.30,0.00,0.000,4,0.000,0.072,3126,993,3354
$GC,6429,-0.59,-117.3,424.7,-6.3,249,6434,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2398,3354
$GC,6767,-0.59,-117.3,444.7,-5.9,255,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3354
$GC,7070,-0.59,-117.3,461.5,-5.5,260,7074,0.00,2.30,0.00,0.000,4,0.000,0.073,3126,996,3354
$GC,7102,-0.59,-117.3,463.6,-6.2,260,7107,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2400,3354
$GC,7436,-0.63,-117.3,482.9,-5.8,266,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3353
$GC,7738,-0.68,-117.3,499.7,-5.6,271,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3353
$GC,8041,-0.72,-117.3,517.1,-5.7,276,8046,0.12,2.33,0.00,0.000,4,0.092,0.072,3080,989,3353
$GC,8079,-0.64,-117.3,519.9,-7.6,276,8083,0.12,2.30,0.00,0.000,6,0.167,0.065,3109,2413,3353
$GC,8405,-0.64,-117.3,540.8,-6.4,282,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2414,3353
$GC,8709,-0.64,-117.3,560.3,-6.4,287,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2413,3353
$GC,9011,-0.64,-117.3,580.1,-6.5,292,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2414,3353
$GC,9314,-0.64,-117.3,600.5,-6.7,297,9318,0.00,2.33,0.00,0.000,4,0.000,0.074,3109,998,3352
$GC,9340,-0.64,-117.3,602.4,-7.2,297,9344,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2400,3352
$GC,9678,-0.64,-117.3,623.3,-6.2,303,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3352
$GC,9982,-0.64,-117.3,640.6,-5.6,308,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3352
$GC,10284,-0.64,-117.3,657.8,-5.7,313,10288,0.00,2.30,0.00,0.000,4,0.000,0.074,3109,997,3351
$GC,10316,-0.64,-117.3,660.0,-6.6,313,10320,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2400,3351
$GC,10648,-0.64,-117.3,679.4,-5.8,319,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3351
$GC,10951,-0.64,-117.3,697.0,-5.8,324,10955,0.00,2.30,0.00,0.000,4,0.000,0.074,3109,997,3351
$GC,10982,-0.64,-117.3,699.1,-6.3,324,10987,0.00,2.30,0.00,0.000,6,0.000,0.065,3109,2400,3351
$GC,11315,-0.64,-117.3,719.1,-6.1,330,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3351
$GC,11618,-0.64,-117.3,738.2,-6.3,335,11622,0.00,2.30,0.00,0.000,4,0.000,0.074,3109,991,3351
$GC,11649,-0.64,-117.3,740.4,-6.5,335,11654,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2396,3351
$GC,11982,-0.64,-117.3,760.9,-6.2,341,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2396,3351
$GC,12285,-0.64,-117.3,779.0,-5.9,346,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2396,3350
$GC,12588,-0.64,-117.3,796.4,-5.7,351,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,3350
$GC,12891,-0.64,-117.3,813.1,-5.4,356,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2396,3350
$GC,13194,-0.64,-117.3,829.3,-5.3,361,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2396,3350
$GC,13499,-0.64,-117.3,845.4,-5.3,366,13503,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,992,3350
$GC,13525,-0.64,-117.3,847.0,-6.2,366,13529,0.00,2.33,0.00,0.000,6,0.000,0.066,3109,2404,3350
$GC,13863,-0.64,-117.3,864.7,-5.3,372,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3349
$GC,14166,-0.64,-117.3,880.9,-5.3,377,14170,0.00,2.33,0.00,0.000,4,0.000,0.076,3109,989,3349
$GC,14186,-0.64,-117.3,882.1,-5.4,377,14191,0.00,2.33,0.00,0.000,6,0.000,0.067,3109,2399,3349
$GC,14530,-0.64,-117.3,900.9,-5.5,383,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3349
$GC,14833,-0.68,-117.3,918.8,-6.0,388,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3349
$GC,15136,-0.72,-117.3,937.8,-6.3,393,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3349
$GC,15439,-0.77,-117.3,957.2,-6.4,398,15441,0.12,0.00,0.00,0.000,6,0.095,0.000,3063,2400,3349
$GC,15743,-0.77,-117.3,978.8,-7.1,403,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3348
$STATE,15922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15922,begin apogee
$GC,15927,-0.22,0.0,991.1,6.8,406,16030,0.60,0.00,100.30,1.506,6,0.146,0.000,3246,2199,2876
$STATE,16031,end apogee,CONTROL_FINISHED_OK
$STATE,16031,begin climb
$GC,16033,0.67,117.3,993.2,0.0,407,16143,0.85,0.00,104.35,1.449,6,0.096,0.000,3527,2200,2396
$GC,16460,0.31,117.3,970.5,8.3,414,16462,0.40,0.00,0.00,0.000,6,0.182,0.000,3421,2200,2393
$GC,16762,0.26,117.3,953.3,5.5,419,16767,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,789,2393
$GC,16806,0.22,117.3,950.7,6.5,419,16811,0.15,2.35,0.00,0.000,6,0.171,0.064,3388,2204,2392
$GC,17127,0.26,117.3,934.5,5.1,425,17131,0.00,2.35,0.00,0.000,4,0.000,0.081,3388,3616,2392
$GC,17170,0.26,117.3,932.0,5.8,425,17174,0.00,2.35,0.00,0.000,6,0.000,0.064,3394,2198,2392
$GC,17491,0.26,117.3,915.4,5.2,431,17492,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2198,2392
$GC,17794,0.27,126.8,900.9,4.7,436,17804,0.00,0.00,8.77,1.279,6,0.000,0.000,3394,2198,2359
$GC,18098,0.30,147.4,887.4,4.4,441,18122,0.00,2.45,18.80,1.386,4,0.000,0.084,3395,3606,2275
$GC,18149,0.30,147.4,884.6,5.5,441,18154,0.00,2.35,0.00,0.000,6,0.000,0.066,3394,2205,2275
$GC,18465,0.37,153.4,869.5,4.8,447,18474,0.12,0.00,6.78,1.178,6,0.097,0.000,3443,2205,2250
$GC,18835,0.30,153.4,845.7,6.5,453,18839,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,786,2250
$GC,18872,0.23,153.4,843.1,6.9,453,18877,0.20,2.33,0.00,0.000,6,0.159,0.064,3396,2206,2250
$GC,19198,0.30,153.4,826.3,5.1,459,19202,0.00,2.33,0.00,0.000,4,0.000,0.083,3396,3610,2249
$GC,19230,0.30,153.4,824.5,5.3,459,19234,0.00,2.30,0.00,0.000,6,0.000,0.066,3396,2198,2249
$GC,19563,0.38,156.3,808.1,4.9,465,19569,0.15,0.00,4.18,0.933,6,0.093,0.000,3451,2198,2238
$GC,19865,0.30,156.3,788.5,6.5,470,19867,0.15,0.00,0.00,0.000,6,0.160,0.000,3413,2198,2238
$GC,20168,0.31,162.4,773.6,4.8,475,20177,0.00,0.00,6.72,1.147,6,0.000,0.000,3413,2198,2214
$GC,20471,0.32,173.6,759.2,4.7,480,20484,0.00,0.00,11.12,1.260,6,0.000,0.000,3413,2198,2167
$GC,20775,0.37,173.6,744.2,5.0,485,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2167
$GC,21077,0.42,173.6,728.2,5.3,490,21079,0.12,0.00,0.00,0.000,6,0.091,0.000,3460,2198,2167
$GC,21381,0.34,173.6,706.8,7.2,495,21386,0.12,2.35,0.00,0.000,4,0.158,0.079,3436,787,2167
$GC,21418,0.34,173.6,704.2,6.8,495,21422,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2197,2167
$GC,21744,0.34,173.6,683.2,6.4,501,21746,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2167
$GC,22049,0.34,173.6,663.5,6.6,506,22050,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2167
$GC,22351,0.34,173.6,643.8,6.5,511,22355,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,790,2167
$GC,22399,0.34,173.6,640.7,5.9,511,22404,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2197,2166
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$STATE,33257,begin surface coast
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$STATE,33353,end surface coast,CONTROL_FINISHED_OK
$STATE,33353,begin surface
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