version: 66.03
glider: 120
mission: 9
dive: 182
start: 11 4 108 15 4 33
data:
$ID,120
$MISSION,9
$DIVE,182
$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,-21475.301
$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,19
$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
$GPS1,145607,5003.403,-14512.801,54,1.1,59,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-73.8
$GPS2,150338,5003.407,-14512.731,11,1.2,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.178
$KALMAN_X,45833.7,525.7,-222.6,-73479.5,-43.5
$KALMAN_Y,142524.7,-13.7,-348.0,-146121.1,2874.6
$MHEAD_RNG_PITCHd_Wd,159.4,17426,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-32.00,0.000,2,0.000,0.000,147,2402,2300
$GC,57,-0.67,-117.3,3.3,-4.8,3,112,13.82,2.50,-35.08,0.000,4,0.285,0.094,3096,3809,3356
$GC,364,-0.41,-117.3,38.5,-11.8,30,372,0.25,2.33,0.00,0.000,6,0.160,0.055,3174,2388,3358
$GC,690,-0.41,-117.3,64.9,-7.6,61,694,0.00,2.42,0.00,0.000,4,0.000,0.077,3169,3809,3359
$GC,723,-0.47,-117.3,67.5,-7.3,63,730,0.00,2.28,0.00,0.000,6,0.000,0.052,3169,2402,3359
$GC,1044,-0.47,-117.3,87.6,-5.9,88,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2401,3360
$GC,1353,-0.47,-117.3,106.9,-6.0,103,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2402,3360
$GC,1663,-0.53,-117.3,126.3,-6.3,118,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2402,3361
$GC,1972,-0.66,-117.3,144.8,-5.5,133,1977,0.15,2.42,0.00,0.000,4,0.086,0.077,3107,3816,3361
$GC,1989,-0.81,-117.3,145.9,-6.1,134,1994,0.15,2.28,0.00,0.000,6,0.081,0.054,3043,2396,3361
$GC,2323,-0.52,-117.3,183.1,-11.6,146,2328,0.32,2.33,0.00,0.000,4,0.170,0.070,3139,988,3361
$GC,2394,-0.52,-117.3,188.8,-6.8,148,2399,0.00,2.30,0.00,0.000,6,0.000,0.062,3140,2404,3361
$GC,2724,-0.52,-117.3,210.2,-6.4,159,2728,0.00,2.35,0.00,0.000,4,0.000,0.071,3140,987,3361
$GC,2744,-0.52,-117.3,211.8,-6.8,159,2752,0.00,2.35,0.00,0.000,6,0.000,0.064,3139,2405,3360
$GC,3058,-0.57,-117.3,231.6,-6.2,170,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2405,3360
$GC,3364,-0.62,-117.3,249.4,-5.7,180,3368,0.00,2.35,0.00,0.000,4,0.000,0.072,3140,990,3359
$GC,3392,-0.66,-117.3,251.0,-6.1,181,3397,0.12,2.33,0.00,0.000,6,0.089,0.064,3093,2410,3359
$GC,3727,-0.62,-117.3,273.4,-6.9,192,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3358
$GC,4032,-0.62,-117.3,295.5,-7.2,202,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3359
$GC,4366,-0.62,-117.3,318.5,-6.9,209,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3358
$GC,4670,-0.62,-117.3,337.6,-6.2,214,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3357
$GC,4973,-0.62,-117.3,354.4,-5.5,219,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3358
$GC,5276,-0.62,-117.3,372.0,-5.9,224,5280,0.00,2.35,0.00,0.000,4,0.000,0.083,3090,3806,3357
$GC,5308,-0.56,-117.3,374.4,-7.3,224,5313,0.15,2.25,0.00,0.000,6,0.132,0.058,3131,2400,3357
$GC,5640,-0.60,-117.3,394.1,-6.0,230,5644,0.00,2.33,0.00,0.000,4,0.000,0.073,3131,992,3357
$GC,5685,-0.66,-117.3,397.2,-6.9,230,5689,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2409,3357
$GC,6000,-0.70,-117.3,417.1,-6.3,236,6005,0.12,2.33,0.00,0.000,4,0.093,0.081,3074,3806,3356
$GC,6026,-0.64,-117.3,419.1,-8.2,236,6031,0.10,2.28,0.00,0.000,6,0.127,0.058,3119,2402,3356
$GC,6364,-0.64,-117.3,441.9,-6.7,242,6368,0.00,2.33,0.00,0.000,4,0.000,0.074,3119,993,3356
$GC,6390,-0.64,-117.3,443.7,-7.1,242,6395,0.00,2.33,0.00,0.000,6,0.000,0.064,3116,2404,3356
$GC,6728,-0.64,-117.3,466.7,-6.8,248,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2404,3356
$GC,7031,-0.64,-117.3,487.4,-6.8,253,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2404,3356
$GC,7335,-0.64,-117.3,507.0,-6.3,258,7339,0.00,2.35,0.00,0.000,4,0.000,0.074,3116,994,3356
$GC,7361,-0.64,-117.3,508.7,-6.2,258,7365,0.00,2.30,0.00,0.000,6,0.000,0.065,3115,2404,3355
$GC,7699,-0.64,-117.3,529.6,-6.2,264,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2403,3356
$GC,8002,-0.64,-117.3,547.6,-5.9,269,8006,0.00,2.35,0.00,0.000,4,0.000,0.074,3115,990,3355
$GC,8034,-0.64,-117.3,549.6,-6.0,269,8038,0.00,2.33,0.00,0.000,6,0.000,0.065,3115,2402,3355
$GC,8366,-0.64,-117.3,568.8,-5.8,275,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3355
$GC,8669,-0.64,-117.3,587.5,-6.3,280,8673,0.00,2.35,0.00,0.000,4,0.000,0.074,3115,990,3355
$GC,8701,-0.64,-117.3,589.6,-7.0,280,8705,0.00,2.35,0.00,0.000,6,0.000,0.065,3115,2402,3355
$GC,9033,-0.64,-117.3,611.1,-6.5,286,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3355
$GC,9336,-0.64,-117.3,630.2,-6.2,291,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3355
$GC,9639,-0.64,-117.3,649.9,-6.5,296,9643,0.00,2.35,0.00,0.000,4,0.000,0.074,3115,994,3354
$GC,9665,-0.64,-117.3,651.7,-6.9,296,9669,0.00,2.33,0.00,0.000,6,0.000,0.065,3115,2401,3354
$GC,10003,-0.64,-117.3,674.1,-6.7,302,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2401,3354
$GC,10306,-0.64,-117.3,694.5,-6.8,307,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3354
$GC,10609,-0.64,-117.3,714.9,-6.7,312,10613,0.00,2.35,0.00,0.000,4,0.000,0.074,3115,991,3354
$GC,10641,-0.69,-117.3,717.2,-7.0,312,10645,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2405,3354
$GC,10974,-0.73,-117.3,738.6,-6.4,318,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2405,3354
$GC,11276,-0.77,-117.3,756.9,-6.0,323,11278,0.15,0.00,0.00,0.000,6,0.087,0.000,3057,2406,3353
$GC,11580,-0.71,-117.3,777.6,-6.9,328,11582,0.10,0.00,0.00,0.000,6,0.107,0.000,3084,2406,3353
$GC,11883,-0.67,-117.3,796.1,-6.0,333,11887,0.00,2.35,0.00,0.000,4,0.000,0.076,3085,995,3353
$GC,11915,-0.62,-117.3,798.1,-6.9,333,11920,0.12,2.33,0.00,0.000,6,0.166,0.068,3117,2405,3353
$GC,12241,-0.68,-117.3,811.6,-4.0,339,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2405,3352
$GC,12544,-0.74,-117.3,822.9,-3.8,344,12549,0.12,2.38,0.00,0.000,4,0.093,0.075,3071,989,3352
$GC,12577,-0.69,-117.3,824.6,-5.7,344,12581,0.00,2.33,0.00,0.000,6,0.000,0.067,3071,2409,3352
$GC,12903,-0.61,-117.3,841.6,-5.3,350,12908,0.15,2.35,0.00,0.000,4,0.165,0.084,3112,3815,3352
$GC,12929,-0.61,-117.3,842.9,-4.5,350,12933,0.00,2.28,0.00,0.000,6,0.000,0.060,3112,2394,3352
$GC,13268,-0.68,-117.3,857.1,-4.3,356,13272,0.00,2.33,0.00,0.000,4,0.000,0.076,3112,990,3352
$GC,13295,-0.74,-117.3,858.4,-5.0,356,13299,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2403,3352
$GC,13627,-0.93,-117.3,877.1,-5.9,362,13631,0.25,2.35,0.00,0.000,4,0.091,0.075,3025,992,3352
$GC,13872,-0.73,-117.3,897.9,-8.7,365,13877,0.20,2.33,0.00,0.000,6,0.183,0.068,3078,2408,3352
$GC,14194,-0.67,-117.3,918.3,-6.3,371,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2408,3352
$GC,14497,-0.61,-117.3,937.3,-6.2,376,14501,0.15,2.38,0.00,0.000,4,0.176,0.075,3126,993,3352
$GC,14546,-0.71,-117.3,940.2,-5.7,376,14550,0.12,2.33,0.00,0.000,6,0.094,0.068,3083,2406,3351
$GC,14860,-0.91,-117.3,960.0,-6.4,382,14865,0.15,2.38,0.00,0.000,4,0.114,0.084,3024,3822,3351
$GC,15117,-0.71,-117.3,981.2,-8.5,385,15125,0.20,2.33,0.00,0.000,6,0.172,0.061,3083,2396,3351
$STATE,15304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15304,begin apogee
$GC,15309,-0.22,0.0,992.3,5.9,389,15415,0.52,0.00,103.18,1.504,6,0.151,0.000,3242,2203,2875
$STATE,15416,end apogee,CONTROL_FINISHED_OK
$STATE,15416,begin climb
$GC,15418,0.67,117.3,993.8,0.0,390,15534,0.88,2.67,107.40,1.450,4,0.094,0.078,3532,799,2397
$GC,15580,0.29,117.3,991.6,7.7,392,15585,0.47,2.47,0.00,0.000,6,0.188,0.062,3414,2197,2395
$GC,15906,0.29,117.3,972.6,5.8,398,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2197,2393
$GC,16209,0.29,117.3,955.3,5.7,403,16213,0.00,2.40,0.00,0.000,4,0.000,0.081,3414,3610,2393
$GC,16252,0.19,117.3,952.4,6.6,403,16257,0.17,2.35,0.00,0.000,6,0.181,0.064,3379,2201,2393
$GC,16574,0.27,121.2,936.9,4.9,409,16583,0.00,2.40,4.55,1.006,4,0.000,0.081,3381,788,2381
$GC,16611,0.39,139.1,935.0,4.5,409,16638,0.20,2.35,16.73,1.382,6,0.084,0.064,3455,2209,2309
$GC,16940,0.28,139.1,912.1,7.1,415,16942,0.17,0.00,0.00,0.000,6,0.157,0.000,3410,2209,2308
$GC,17243,0.28,139.1,894.6,5.7,420,17247,0.00,2.42,0.00,0.000,4,0.000,0.081,3409,814,2307
$GC,17297,0.32,139.1,891.4,5.9,420,17304,0.00,2.35,0.00,0.000,6,0.000,0.064,3409,2197,2307
$GC,17607,0.32,139.1,874.1,5.6,426,17611,0.00,2.38,0.00,0.000,4,0.000,0.081,3409,3615,2307
$GC,17646,0.27,139.1,871.7,6.4,426,17650,0.00,2.33,0.00,0.000,6,0.000,0.066,3409,2200,2307
$GC,17967,0.27,139.1,853.6,5.7,432,17968,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2307
$GC,18269,0.27,139.1,836.7,5.7,437,18271,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2307
$GC,18572,0.27,139.1,821.0,5.1,442,18574,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2307
$GC,18876,0.27,139.6,805.7,5.0,447,18880,0.00,2.38,0.00,0.000,4,0.000,0.081,3409,796,2307
$GC,18915,0.32,139.6,803.9,5.7,447,18919,0.00,2.30,0.00,0.000,6,0.000,0.064,3409,2202,2306
$GC,19235,0.33,143.8,788.3,4.9,453,19243,0.00,0.00,5.68,1.091,6,0.000,0.000,3409,2202,2289
$GC,19538,0.33,143.8,772.9,5.1,458,19542,0.00,2.40,0.00,0.000,4,0.000,0.081,3409,796,2289
$GC,19570,0.38,143.8,771.3,5.2,458,19574,0.00,2.33,0.00,0.000,6,0.000,0.065,3409,2208,2289
$GC,19902,0.42,143.8,753.6,5.4,464,19904,0.12,0.00,0.00,0.000,6,0.097,0.000,3457,2207,2289
$GC,20205,0.31,143.8,733.1,6.8,469,20207,0.15,0.00,0.00,0.000,6,0.155,0.000,3418,2208,2289
$GC,20508,0.31,143.8,715.8,5.6,474,20512,0.00,2.35,0.00,0.000,4,0.000,0.081,3415,3619,2288
$GC,20546,0.26,143.8,713.5,6.7,474,20550,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2198,2288
$GC,20865,0.26,143.8,695.4,5.7,480,20870,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,786,2288
$GC,20898,0.26,143.8,693.5,6.2,480,20902,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2202,2288
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$STATE,32150,end climb,SURFACE_DEPTH_REACHED
$STATE,32150,begin surface coast
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$STATE,32287,end surface coast,CONTROL_FINISHED_OK
$STATE,32287,begin surface
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