version: 66.03
glider: 120
mission: 9
dive: 170
start: 10 30 108 23 31 52
data:
$ID,120
$MISSION,9
$DIVE,170
$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,-21255.82
$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,20
$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
$GPS1,231908,5003.774,-14446.590,68,1.1,68,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-77.5
$GPS2,233057,5003.859,-14446.670,14,1.3,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.124
$KALMAN_X,42484.0,-80.0,-81.0,-38689.3,747.0
$KALMAN_Y,129866.2,-28.0,103.7,-133074.9,857.3
$MHEAD_RNG_PITCHd_Wd,295.8,8414,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-22.15,0.000,2,0.000,0.000,136,2405,2203
$GC,47,-0.67,-117.3,3.3,-5.9,2,108,14.05,2.42,-37.75,0.000,4,0.288,0.101,3085,3803,3356
$GC,188,-0.33,-117.3,17.6,-13.9,15,193,0.43,2.28,0.00,0.000,6,0.164,0.056,3203,2399,3357
$GC,514,-0.41,-117.3,40.5,-6.6,45,518,0.00,2.33,0.00,0.000,4,0.000,0.067,3204,990,3358
$GC,547,-0.50,-117.3,43.1,-6.9,47,554,0.12,2.35,0.00,0.000,6,0.066,0.060,3150,2405,3358
$GC,875,-0.55,-117.3,67.6,-7.3,78,879,0.00,2.33,0.00,0.000,4,0.000,0.066,3150,990,3359
$GC,930,-0.60,-117.3,72.5,-7.9,82,936,0.00,2.33,0.00,0.000,6,0.000,0.058,3150,2403,3359
$GC,1248,-0.60,-117.3,98.0,-7.6,102,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2403,3360
$GC,1557,-0.60,-117.3,121.4,-7.8,117,1561,0.00,2.35,0.00,0.000,4,0.000,0.077,3150,3809,3360
$GC,1584,-0.60,-117.3,123.6,-8.3,118,1588,0.00,2.28,0.00,0.000,6,0.000,0.052,3150,2396,3360
$GC,1905,-0.60,-117.3,144.8,-5.9,134,1909,0.00,2.30,0.00,0.000,4,0.000,0.069,3150,988,3360
$GC,1938,-0.68,-117.3,146.7,-5.8,135,1945,0.15,2.30,0.00,0.000,6,0.083,0.060,3093,2413,3360
$GC,2261,-0.56,-117.3,171.8,-8.4,147,2266,0.15,2.35,0.00,0.000,4,0.159,0.067,3139,988,3360
$GC,2323,-0.56,-117.3,176.5,-7.3,149,2327,0.00,2.30,0.00,0.000,6,0.000,0.061,3139,2403,3360
$GC,2658,-0.56,-117.3,198.8,-6.4,160,2661,0.00,2.35,0.00,0.000,4,0.000,0.080,3139,3816,3360
$GC,2692,-0.61,-117.3,201.2,-6.8,161,2696,0.00,2.25,0.00,0.000,6,0.000,0.054,3139,2400,3360
$GC,3032,-0.65,-117.3,223.0,-6.5,172,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2400,3360
$GC,3338,-0.69,-117.3,242.4,-6.4,182,3343,0.15,2.30,0.00,0.000,4,0.081,0.069,3073,989,3359
$GC,3370,-0.54,-117.3,245.3,-9.6,183,3375,0.17,2.33,0.00,0.000,6,0.162,0.063,3138,2400,3359
$GC,3705,-0.54,-117.3,267.9,-6.4,194,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3359
$GC,4011,-0.54,-117.3,286.1,-5.9,204,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3358
$GC,4317,-0.58,-117.3,304.8,-6.2,213,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3357
$GC,4619,-0.58,-117.3,322.4,-5.8,218,4623,0.00,2.33,0.00,0.000,4,0.000,0.071,3138,991,3357
$GC,4669,-0.65,-117.3,325.4,-5.8,218,4673,0.00,2.30,0.00,0.000,6,0.000,0.064,3138,2401,3356
$GC,4984,-0.71,-117.3,341.9,-5.3,224,4986,0.15,0.00,0.00,0.000,6,0.084,0.000,3081,2401,3356
$GC,5287,-0.65,-117.3,364.0,-7.5,229,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3355
$GC,5591,-0.59,-117.3,387.8,-7.9,234,5595,0.15,2.35,0.00,0.000,4,0.120,0.082,3126,3813,3355
$GC,5629,-0.63,-117.3,390.6,-7.4,234,5633,0.00,2.25,0.00,0.000,6,0.000,0.058,3126,2397,3355
$GC,5949,-0.63,-117.3,411.3,-6.4,240,5953,0.00,2.30,0.00,0.000,4,0.000,0.074,3126,989,3355
$GC,5988,-0.63,-117.3,413.8,-7.1,240,5992,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2412,3355
$GC,6308,-0.63,-117.3,431.9,-5.6,246,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2412,3355
$GC,6611,-0.63,-117.3,448.6,-5.5,251,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2412,3354
$GC,6914,-0.63,-117.3,466.3,-5.9,256,6918,0.00,2.35,0.00,0.000,4,0.000,0.073,3125,993,3354
$GC,6951,-0.63,-117.3,468.8,-6.6,256,6955,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2405,3354
$GC,7278,-0.63,-117.3,487.9,-5.9,262,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3354
$GC,7582,-0.67,-117.3,504.8,-5.6,267,7586,0.00,2.33,0.00,0.000,4,0.000,0.074,3126,993,3353
$GC,7608,-0.67,-117.3,506.4,-6.0,267,7613,0.00,2.33,0.00,0.000,6,0.000,0.065,3125,2398,3353
$GC,7947,-0.71,-117.3,523.4,-5.0,273,7949,0.12,0.00,0.00,0.000,6,0.089,0.000,3076,2399,3353
$GC,8250,-0.67,-117.3,541.9,-6.2,278,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2399,3353
$GC,8553,-0.62,-117.3,562.1,-6.6,283,8557,0.15,2.33,0.00,0.000,4,0.120,0.073,3124,990,3353
$GC,8596,-0.66,-117.3,564.9,-6.2,283,8600,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2408,3352
$GC,8917,-0.71,-117.3,583.3,-5.8,289,8922,0.12,2.33,0.00,0.000,4,0.089,0.072,3075,993,3352
$GC,8949,-0.63,-117.3,585.7,-7.7,289,8954,0.15,2.30,0.00,0.000,6,0.165,0.065,3112,2411,3352
$GC,9275,-0.63,-117.3,606.6,-6.5,295,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2410,3353
$GC,9578,-0.63,-117.3,626.4,-6.6,300,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3353
$GC,9881,-0.63,-117.3,646.1,-6.6,305,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3353
$GC,10184,-0.63,-117.3,665.9,-6.6,310,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3352
$GC,10487,-0.63,-117.3,685.8,-6.5,315,10491,0.00,2.35,0.00,0.000,4,0.000,0.074,3112,986,3352
$GC,10518,-0.63,-117.3,688.1,-6.8,315,10523,0.00,2.35,0.00,0.000,6,0.000,0.067,3112,2400,3352
$GC,10850,-0.63,-117.3,707.5,-5.8,321,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3352
$GC,11154,-0.63,-117.3,723.8,-5.3,326,11158,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,989,3351
$GC,11191,-0.63,-117.3,726.0,-6.0,326,11195,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2396,3351
$GC,11518,-0.63,-117.3,743.1,-5.3,332,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3351
$GC,11821,-0.63,-117.3,759.1,-5.4,337,11825,0.00,2.38,0.00,0.000,4,0.000,0.084,3112,3822,3351
$GC,11848,-0.69,-117.3,760.5,-5.4,337,11852,0.00,2.28,0.00,0.000,6,0.000,0.059,3112,2400,3351
$GC,12185,-0.74,-117.3,778.4,-5.3,343,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,12488,-0.79,-117.3,794.2,-5.1,348,12493,0.15,2.33,0.00,0.000,4,0.087,0.074,3050,991,3350
$GC,12537,-0.64,-117.3,797.7,-7.7,348,12542,0.22,2.33,0.00,0.000,6,0.165,0.067,3108,2413,3351
$GC,12852,-0.64,-117.3,813.7,-5.0,354,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2413,3351
$GC,13155,-0.64,-117.3,828.7,-5.0,359,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2413,3350
$GC,13458,-0.64,-117.3,843.9,-5.1,364,13462,0.00,2.38,0.00,0.000,4,0.000,0.076,3108,990,3350
$GC,13484,-0.64,-117.3,845.4,-5.6,364,13488,0.00,2.33,0.00,0.000,6,0.000,0.066,3108,2393,3350
$GC,13822,-0.64,-117.3,863.2,-5.3,370,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3350
$GC,14125,-0.64,-117.3,878.4,-5.1,375,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3350
$GC,14428,-0.64,-117.3,894.2,-5.2,380,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3350
$GC,14731,-0.64,-117.3,910.1,-5.3,385,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,3350
$GC,15035,-0.64,-117.3,926.0,-5.2,390,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3350
$GC,15337,-0.68,-117.3,942.5,-5.5,395,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3350
$GC,15641,-0.72,-117.3,959.2,-5.5,400,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,3349
$GC,15944,-0.77,-117.3,975.9,-5.5,405,15946,0.12,0.00,0.00,0.000,6,0.094,0.000,3061,2394,3349
$STATE,16186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16186,begin apogee
$GC,16191,-0.22,0.0,991.4,6.4,409,16296,0.60,0.00,102.07,1.503,6,0.145,0.000,3243,2197,2876
$STATE,16297,end apogee,CONTROL_FINISHED_OK
$STATE,16297,begin climb
$GC,16299,0.67,117.3,993.5,0.0,410,16414,0.88,2.70,106.80,1.453,4,0.095,0.081,3533,793,2396
$GC,16437,0.27,117.3,994.7,5.6,412,16442,0.50,2.53,0.00,0.000,6,0.189,0.063,3409,2206,2394
$GC,16785,0.28,119.5,977.6,4.9,418,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2206,2393
$GC,17088,0.28,119.5,961.6,5.3,423,17089,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2206,2392
$GC,17391,0.28,119.5,944.5,5.6,428,17395,0.00,2.38,0.00,0.000,4,0.000,0.081,3409,3618,2392
$GC,17453,0.19,119.5,940.7,6.0,429,17457,0.00,2.35,0.00,0.000,6,0.000,0.066,3409,2196,2392
$GC,17817,0.19,119.5,918.8,6.0,435,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2196,2392
$GC,18121,0.19,119.5,902.0,5.5,440,18122,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2195,2392
$GC,18424,0.19,119.5,885.9,5.3,445,18425,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2196,2391
$GC,18727,0.19,119.5,870.6,5.1,450,18731,0.00,2.42,0.00,0.000,4,0.000,0.081,3409,3619,2391
$GC,18770,0.11,119.5,868.1,5.2,450,18775,0.20,2.35,0.00,0.000,6,0.176,0.066,3357,2188,2391
$GC,19091,0.32,166.1,856.1,3.7,456,19135,0.20,0.00,41.72,1.413,6,0.089,0.000,3428,2188,2198
$GC,19394,0.32,166.1,837.8,6.3,461,19395,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2187,2196
$GC,19696,0.32,166.1,818.9,6.1,466,19701,0.00,2.42,0.00,0.000,4,0.000,0.082,3428,3611,2195
$GC,19735,0.26,166.1,816.4,6.4,466,19739,0.12,2.33,0.00,0.000,6,0.173,0.066,3406,2201,2194
$GC,20062,0.32,167.6,800.2,5.0,472,20063,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2201,2195
$GC,20364,0.38,167.6,784.7,5.1,477,20366,0.10,0.00,0.00,0.000,6,0.100,0.000,3445,2201,2194
$GC,20668,0.33,167.6,765.1,6.5,482,20669,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2202,2194
$GC,20970,0.28,167.6,745.2,6.6,487,20972,0.15,0.00,0.00,0.000,6,0.154,0.000,3406,2201,2194
$GC,21274,0.35,171.6,730.0,4.9,492,21282,0.00,0.00,5.65,1.061,6,0.000,0.000,3406,2201,2176
$GC,21577,0.43,175.8,715.2,4.9,497,21585,0.15,0.00,5.65,1.052,6,0.089,0.000,3463,2201,2158
$GC,21880,0.34,175.8,695.1,6.7,502,21882,0.15,0.00,0.00,0.000,6,0.158,0.000,3425,2201,2158
$GC,22182,0.34,175.8,677.1,6.0,507,22183,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2158
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$STATE,34047,end climb,SURFACE_DEPTH_REACHED
$STATE,34047,begin surface coast
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$STATE,34166,end surface coast,CONTROL_FINISHED_OK
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