version: 66.03
glider: 120
mission: 9
dive: 178
start: 11 3 108 2 8 8
data:
$ID,120
$MISSION,9
$DIVE,178
$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,-21387.043
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,020108,5014.910,-14511.303,29,1.7,29,18.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-67.8
$GPS2,020714,5014.911,-14511.344,20,1.9,25,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.032,-0.175
$KALMAN_X,44143.9,-225.6,-61.1,-69544.8,1178.6
$KALMAN_Y,135391.0,104.4,174.7,-118343.0,1412.5
$MHEAD_RNG_PITCHd_Wd,172.0,38712,-12.1,-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,-117.0,0.0,0.0,0,45,0.00,0.00,-22.23,0.000,2,0.000,0.000,134,2413,2181
$GC,48,-0.67,-117.3,3.1,-3.6,2,105,14.10,2.42,-36.78,0.000,4,0.292,0.094,3094,3806,3357
$GC,157,-0.31,-117.3,15.1,-15.4,12,162,0.43,2.30,0.00,0.000,6,0.164,0.056,3214,2391,3359
$GC,481,-0.44,-117.3,37.4,-6.3,42,483,0.12,0.00,0.00,0.000,6,0.081,0.000,3169,2391,3360
$GC,801,-0.52,-117.3,60.5,-5.7,72,805,0.00,2.33,0.00,0.000,4,0.000,0.069,3168,983,3361
$GC,851,-0.62,-117.3,63.5,-5.6,76,856,0.15,2.33,0.00,0.000,6,0.085,0.059,3112,2407,3361
$GC,1174,-0.48,-117.3,90.1,-8.1,100,1178,0.17,2.35,0.00,0.000,4,0.159,0.076,3155,3805,3362
$GC,1195,-0.43,-117.3,92.0,-7.7,101,1199,0.00,2.25,0.00,0.000,6,0.000,0.052,3155,2395,3362
$GC,1522,-0.43,-117.3,114.4,-7.2,117,1526,0.00,2.30,0.00,0.000,4,0.000,0.068,3155,991,3362
$GC,1548,-0.43,-117.3,116.6,-7.7,118,1552,0.00,2.30,0.00,0.000,6,0.000,0.060,3155,2411,3362
$GC,1870,-0.48,-117.3,138.0,-6.2,134,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3363
$GC,2199,-0.55,-117.3,157.0,-5.6,148,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3363
$GC,2506,-0.64,-117.3,174.7,-6.0,158,2510,0.12,2.35,0.00,0.000,4,0.091,0.069,3106,991,3363
$GC,2537,-0.64,-117.3,177.2,-7.9,159,2542,0.00,2.33,0.00,0.000,6,0.000,0.061,3106,2399,3362
$GC,2873,-0.57,-117.3,203.7,-7.9,170,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3363
$GC,3179,-0.50,-117.3,228.3,-8.1,180,3181,0.17,0.00,0.00,0.000,6,0.160,0.000,3154,2399,3362
$GC,3486,-0.76,-117.3,249.7,-7.7,190,3490,0.22,2.35,0.00,0.000,4,0.087,0.071,3069,983,3362
$GC,3568,-0.59,-117.3,257.2,-9.6,192,3573,0.20,2.33,0.00,0.000,6,0.166,0.064,3123,2411,3362
$GC,3881,-0.59,-117.3,278.0,-6.3,202,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2411,3362
$GC,4187,-0.59,-117.3,295.9,-5.6,212,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2411,3361
$GC,4521,-0.59,-117.3,314.2,-5.4,219,4525,0.00,2.35,0.00,0.000,4,0.000,0.072,3123,993,3360
$GC,4583,-0.59,-117.3,317.8,-5.8,220,4587,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2402,3360
$GC,4947,-0.59,-117.3,337.1,-5.3,226,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3360
$GC,5251,-0.59,-117.3,352.3,-5.0,231,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3359
$GC,5554,-0.59,-117.3,367.9,-5.2,236,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3359
$GC,5857,-0.59,-117.3,386.2,-6.2,241,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3359
$GC,6160,-0.59,-117.3,406.2,-6.6,246,6164,0.00,2.35,0.00,0.000,4,0.000,0.073,3124,986,3358
$GC,6186,-0.59,-117.3,408.2,-7.7,246,6191,0.00,2.35,0.00,0.000,6,0.000,0.065,3123,2406,3358
$GC,6524,-0.59,-117.3,430.6,-6.7,252,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2407,3359
$GC,6827,-0.59,-117.3,450.5,-6.5,257,6831,0.00,2.35,0.00,0.000,4,0.000,0.074,3124,990,3358
$GC,6871,-0.59,-117.3,453.6,-7.3,257,6875,0.00,2.33,0.00,0.000,6,0.000,0.066,3123,2413,3357
$GC,7193,-0.63,-117.3,474.1,-6.5,263,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2413,3358
$GC,7495,-0.68,-117.3,494.1,-6.6,268,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2413,3357
$GC,7798,-0.72,-117.3,513.8,-6.5,273,7803,0.12,2.38,0.00,0.000,4,0.089,0.073,3076,990,3357
$GC,7830,-0.64,-117.3,516.5,-8.4,273,7835,0.12,2.33,0.00,0.000,6,0.161,0.066,3105,2407,3357
$GC,8162,-0.64,-117.3,541.0,-7.4,279,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3357
$GC,8465,-0.64,-117.3,562.3,-7.0,284,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3357
$GC,8768,-0.64,-117.3,582.1,-6.5,289,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,3357
$GC,9071,-0.64,-117.3,600.7,-6.1,294,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3357
$GC,9374,-0.64,-117.3,618.3,-5.8,299,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3357
$GC,9677,-0.64,-117.3,634.6,-5.3,304,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3356
$GC,9980,-0.64,-117.3,652.2,-5.8,309,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3357
$GC,10283,-0.64,-117.3,671.8,-6.5,314,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3356
$GC,10586,-0.64,-117.3,692.5,-6.9,319,10590,0.00,2.35,0.00,0.000,4,0.000,0.074,3105,994,3356
$GC,10618,-0.64,-117.3,694.7,-7.0,319,10623,0.00,2.33,0.00,0.000,6,0.000,0.066,3101,2400,3356
$GC,10951,-0.64,-117.3,717.7,-7.0,325,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3356
$GC,11254,-0.64,-117.3,738.6,-6.9,330,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3356
$GC,11557,-0.64,-117.3,758.7,-6.6,335,11561,0.00,2.35,0.00,0.000,4,0.000,0.084,3100,3809,3355
$GC,11596,-0.64,-117.3,761.2,-6.6,335,11600,0.00,2.25,0.00,0.000,6,0.000,0.059,3100,2400,3355
$GC,11916,-0.64,-117.3,780.1,-5.9,341,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,12219,-0.64,-117.3,797.5,-5.7,346,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,12522,-0.64,-117.3,815.0,-5.8,351,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,12825,-0.64,-117.3,832.8,-5.9,356,12829,0.00,2.45,0.00,0.000,4,0.000,0.085,3100,3819,3355
$GC,12858,-0.64,-117.3,834.9,-6.0,356,12862,0.00,2.33,0.00,0.000,6,0.000,0.060,3100,2396,3354
$GC,13190,-0.64,-117.3,853.8,-5.7,362,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3355
$GC,13493,-0.64,-117.3,871.0,-5.7,367,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,13796,-0.64,-117.3,888.5,-5.8,372,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,14099,-0.64,-117.3,906.6,-6.0,377,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,14402,-0.64,-117.3,924.1,-5.8,382,14406,0.00,2.35,0.00,0.000,4,0.000,0.077,3100,989,3354
$GC,14429,-0.64,-117.3,925.9,-6.7,382,14433,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2410,3353
$GC,14766,-0.64,-117.3,946.5,-6.2,388,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3354
$GC,15070,-0.64,-117.3,966.3,-6.6,393,15071,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3354
$GC,15373,-0.64,-117.3,986.2,-6.6,398,15374,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3354
$STATE,15432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15432,begin apogee
$GC,15437,-0.22,0.0,990.1,6.6,399,15542,0.47,0.00,102.93,1.503,6,0.146,0.000,3242,2198,2876
$STATE,15543,end apogee,CONTROL_FINISHED_OK
$STATE,15543,begin climb
$GC,15545,0.67,117.3,992.6,0.0,400,15659,0.90,2.70,107.57,1.452,4,0.093,0.079,3534,3609,2395
$GC,15687,0.16,117.3,994.0,6.8,403,15693,0.65,2.53,0.00,0.000,6,0.199,0.065,3378,2202,2394
$GC,16037,0.28,149.0,979.5,4.1,409,16067,0.00,0.00,28.70,1.416,6,0.000,0.000,3378,2202,2268
$GC,16340,0.40,151.8,965.0,4.9,414,16349,0.17,2.47,3.83,0.864,4,0.084,0.081,3448,773,2257
$GC,16377,0.31,151.8,962.6,6.8,414,16381,0.00,2.40,0.00,0.000,6,0.000,0.065,3448,2205,2257
$GC,16703,0.23,151.8,939.0,7.3,420,16705,0.20,0.00,0.00,0.000,6,0.157,0.000,3395,2205,2256
$GC,17006,0.29,151.8,921.3,5.8,425,17010,0.00,2.42,0.00,0.000,4,0.000,0.081,3395,793,2256
$GC,17039,0.39,151.8,919.4,5.5,425,17044,0.15,2.35,0.00,0.000,6,0.089,0.065,3449,2205,2256
$GC,17365,0.31,151.8,896.0,7.3,431,17367,0.12,0.00,0.00,0.000,6,0.157,0.000,3418,2205,2255
$GC,17668,0.31,151.8,876.8,6.2,436,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2205,2255
$GC,17971,0.31,151.8,858.4,6.0,441,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2205,2256
$GC,18274,0.31,151.8,840.8,5.8,446,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2205,2255
$GC,18577,0.31,151.8,824.1,5.5,451,18581,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,797,2255
$GC,18620,0.31,151.8,821.7,5.7,451,18624,0.00,2.35,0.00,0.000,6,0.000,0.065,3421,2201,2255
$GC,18941,0.31,151.8,805.3,5.1,457,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2255
$GC,19244,0.31,152.2,790.2,5.0,462,19248,0.00,2.35,0.00,0.000,4,0.000,0.084,3421,3610,2255
$GC,19283,0.25,152.2,787.9,5.6,462,19287,0.00,2.30,0.00,0.000,6,0.000,0.067,3421,2197,2255
$GC,19609,0.25,152.5,771.7,5.0,468,19611,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2255
$GC,19912,0.25,152.5,755.2,5.5,473,19913,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2255
$GC,20215,0.25,152.5,737.4,5.9,478,20217,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2254
$GC,20518,0.25,152.5,717.3,6.7,483,20519,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2254
$GC,20821,0.25,152.5,696.4,6.8,488,20825,0.00,2.38,0.00,0.000,4,0.000,0.082,3421,792,2255
$GC,20886,0.25,152.5,692.1,6.3,489,20891,0.00,2.35,0.00,0.000,6,0.000,0.065,3422,2207,2254
$GC,21253,0.25,152.5,669.3,6.2,495,21254,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2255
$GC,21555,0.25,152.5,651.6,5.8,500,21559,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3613,2254
$GC,21594,0.20,152.5,649.2,6.0,500,21598,0.15,2.33,0.00,0.000,6,0.175,0.066,3384,2194,2254
$GC,21920,0.36,174.3,634.7,4.4,506,21943,0.15,0.00,20.05,1.247,6,0.092,0.000,3438,2194,2165
$GC,22223,0.41,174.3,618.3,5.4,511,22224,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2194,2164
$GC,22526,0.47,174.3,602.3,5.3,516,22530,0.00,2.38,0.00,0.000,4,0.000,0.082,3438,792,2163
$GC,22563,0.47,174.3,600.1,5.1,516,22568,0.00,2.35,0.00,0.000,6,0.000,0.066,3438,2196,2163
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$STATE,32761,end climb,SURFACE_DEPTH_REACHED
$STATE,32761,begin surface coast
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$STATE,32837,end surface coast,CONTROL_FINISHED_OK
$STATE,32837,begin surface
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
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