version: 66.03
glider: 120
mission: 9
dive: 210
start: 11 15 108 5 48 51
data:
$ID,120
$MISSION,9
$DIVE,210
$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,-22040.305
$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,19
$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
$GPS1,054207,4959.668,-14445.021,39,1.7,39,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.9
$GPS2,054756,4959.663,-14444.958,11,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,0.157
$KALMAN_X,41379.0,71.1,-117.0,-35663.4,-14.8
$KALMAN_Y,160290.1,-250.4,-447.0,-170479.9,615.5
$MHEAD_RNG_PITCHd_Wd,313.5,16149,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.58,0.000,2,0.000,0.000,135,2411,2443
$GC,57,-0.67,-117.3,3.3,-4.2,3,102,14.00,2.53,-25.17,0.000,4,0.287,0.081,3097,990,3357
$GC,220,-0.42,-117.3,21.5,-13.0,17,227,0.30,2.33,0.00,0.000,6,0.165,0.064,3180,2399,3358
$GC,548,-0.42,-117.3,45.5,-6.5,48,549,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2400,3358
$GC,863,-0.47,-117.3,67.2,-6.6,78,864,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2399,3360
$GC,1178,-0.74,-117.3,89.5,-7.4,102,1183,0.28,2.40,0.00,0.000,4,0.084,0.075,3079,3822,3360
$GC,1324,-0.54,-117.3,103.9,-10.2,108,1331,0.22,2.33,0.00,0.000,6,0.154,0.053,3141,2394,3361
$GC,1639,-0.54,-117.3,127.6,-7.1,124,1643,0.00,2.38,0.00,0.000,4,0.000,0.068,3142,987,3362
$GC,1683,-0.54,-117.3,131.0,-7.4,126,1687,0.00,2.30,0.00,0.000,6,0.000,0.060,3141,2404,3362
$GC,1999,-0.54,-117.3,153.0,-6.5,141,2003,0.00,2.35,0.00,0.000,4,0.000,0.079,3142,3809,3362
$GC,2062,-0.62,-117.3,156.8,-5.7,143,2066,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2392,3362
$GC,2397,-0.87,-117.3,180.0,-7.0,154,2402,0.28,2.45,0.00,0.000,4,0.085,0.077,3038,3815,3362
$GC,2537,-0.60,-117.3,194.4,-10.8,158,2542,0.30,2.30,0.00,0.000,6,0.165,0.055,3120,2402,3361
$GC,2860,-0.60,-117.3,216.3,-6.8,169,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2402,3361
$GC,3166,-0.60,-117.3,237.3,-6.9,179,3170,0.00,2.38,0.00,0.000,4,0.000,0.071,3121,993,3360
$GC,3199,-0.60,-117.3,239.7,-6.8,180,3203,0.00,2.33,0.00,0.000,6,0.000,0.063,3120,2398,3360
$GC,3534,-0.60,-117.3,261.7,-6.7,191,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3360
$GC,3840,-0.60,-117.3,280.9,-6.0,201,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3360
$GC,4146,-0.60,-117.3,298.8,-5.9,211,4150,0.00,2.40,0.00,0.000,4,0.000,0.071,3121,987,3359
$GC,4184,-0.60,-117.3,301.2,-6.7,212,4188,0.00,2.35,0.00,0.000,6,0.000,0.065,3121,2404,3359
$GC,4511,-0.60,-117.3,319.7,-5.6,218,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2404,3358
$GC,4814,-0.60,-117.3,336.4,-5.6,223,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3358
$GC,5117,-0.60,-117.3,353.8,-5.7,228,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3358
$GC,5420,-0.60,-117.3,372.0,-6.0,233,5424,0.00,2.40,0.00,0.000,4,0.000,0.072,3121,993,3358
$GC,5452,-0.60,-117.3,374.2,-6.4,233,5456,0.00,2.30,0.00,0.000,6,0.000,0.065,3120,2403,3358
$GC,5784,-0.60,-117.3,395.1,-6.4,239,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3357
$GC,6087,-0.60,-117.3,414.1,-6.3,244,6091,0.00,2.42,0.00,0.000,4,0.000,0.072,3121,984,3357
$GC,6127,-0.60,-117.3,416.9,-6.5,244,6131,0.00,2.35,0.00,0.000,6,0.000,0.065,3121,2405,3357
$GC,6447,-0.60,-117.3,436.3,-6.0,250,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3357
$GC,6750,-0.60,-117.3,455.2,-6.3,255,6754,0.00,2.40,0.00,0.000,4,0.000,0.073,3120,993,3357
$GC,6776,-0.60,-117.3,457.1,-7.1,255,6780,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2402,3357
$GC,7114,-0.64,-117.3,478.3,-6.3,261,7118,0.00,2.40,0.00,0.000,4,0.000,0.073,3121,985,3357
$GC,7147,-0.64,-117.3,480.5,-6.7,261,7151,0.00,2.33,0.00,0.000,6,0.000,0.066,3121,2407,3357
$GC,7474,-0.68,-117.3,500.6,-6.2,267,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2407,3356
$GC,7777,-0.72,-117.3,520.0,-6.4,272,7781,0.12,2.42,0.00,0.000,4,0.091,0.072,3073,989,3356
$GC,7831,-0.64,-117.3,524.6,-8.9,272,7838,0.15,2.33,0.00,0.000,6,0.162,0.066,3111,2412,3356
$GC,8141,-0.64,-117.3,545.5,-6.7,278,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2412,3356
$GC,8444,-0.64,-117.3,564.5,-6.2,283,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2411,3356
$GC,8747,-0.64,-117.3,582.4,-5.9,288,8751,0.00,2.40,0.00,0.000,4,0.000,0.074,3111,987,3355
$GC,8779,-0.64,-117.3,584.3,-5.9,288,8783,0.00,2.35,0.00,0.000,6,0.000,0.065,3111,2399,3355
$GC,9111,-0.64,-117.3,602.3,-5.4,294,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3355
$GC,9414,-0.64,-117.3,618.5,-5.3,299,9419,0.00,2.40,0.00,0.000,4,0.000,0.073,3111,986,3355
$GC,9447,-0.64,-117.3,620.3,-5.8,299,9451,0.00,2.35,0.00,0.000,6,0.000,0.066,3111,2402,3355
$GC,9779,-0.64,-117.3,637.7,-5.3,305,9783,0.00,2.38,0.00,0.000,4,0.000,0.085,3111,3811,3355
$GC,9818,-0.69,-117.3,640.0,-5.7,305,9822,0.00,2.30,0.00,0.000,6,0.000,0.058,3111,2395,3355
$GC,10139,-0.73,-117.3,657.5,-5.5,311,10143,0.00,2.38,0.00,0.000,4,0.000,0.074,3111,985,3355
$GC,10159,-0.73,-117.3,658.8,-5.8,311,10164,0.00,2.33,0.00,0.000,6,0.000,0.066,3111,2393,3355
$GC,10503,-0.73,-117.3,679.1,-6.0,317,10507,0.00,2.38,0.00,0.000,4,0.000,0.085,3111,3812,3355
$GC,10536,-0.79,-117.3,681.2,-6.3,317,10541,0.15,2.30,0.00,0.000,6,0.087,0.058,3057,2401,3354
$GC,10868,-0.73,-117.3,704.6,-7.1,323,10872,0.00,2.38,0.00,0.000,4,0.000,0.074,3057,986,3354
$GC,10896,-0.62,-117.3,706.7,-8.1,323,10900,0.20,2.33,0.00,0.000,6,0.163,0.067,3110,2410,3354
$GC,11227,-0.62,-117.3,726.1,-5.8,329,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,3354
$GC,11530,-0.62,-117.3,743.4,-5.7,334,11534,0.00,2.40,0.00,0.000,4,0.000,0.074,3111,990,3354
$GC,11562,-0.62,-117.3,745.6,-6.6,334,11566,0.00,2.35,0.00,0.000,6,0.000,0.067,3110,2398,3354
$GC,11895,-0.67,-117.3,764.2,-5.6,340,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3354
$GC,12198,-0.71,-117.3,780.3,-5.3,345,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3354
$GC,12501,-0.76,-117.3,796.2,-5.2,350,12505,0.12,2.40,0.00,0.000,4,0.093,0.074,3064,990,3353
$GC,12533,-0.69,-117.3,798.6,-7.1,350,12538,0.12,2.33,0.00,0.000,6,0.167,0.067,3096,2405,3353
$GC,12858,-0.69,-117.3,817.6,-5.8,356,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3353
$GC,13162,-0.69,-117.3,834.9,-5.7,361,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3354
$GC,13465,-0.69,-117.3,851.4,-5.4,366,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2406,3353
$GC,13768,-0.69,-117.3,867.7,-5.4,371,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2406,3353
$GC,14071,-0.69,-117.3,883.6,-5.2,376,14072,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2406,3353
$GC,14374,-0.69,-117.3,899.5,-5.2,381,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3353
$GC,14677,-0.69,-117.3,915.6,-5.3,386,14681,0.00,2.40,0.00,0.000,4,0.000,0.075,3097,992,3353
$GC,14703,-0.69,-117.3,917.1,-5.6,386,14707,0.00,2.35,0.00,0.000,6,0.000,0.068,3097,2410,3353
$GC,15041,-0.69,-117.3,934.4,-5.1,392,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3352
$GC,15344,-0.69,-117.3,950.8,-5.4,397,15345,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3353
$GC,15647,-0.69,-117.3,967.6,-5.5,402,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3353
$GC,15950,-0.69,-117.3,984.7,-5.6,407,15951,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3352
$STATE,16069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16070,begin apogee
$GC,16075,-0.22,0.0,991.7,5.7,409,16182,0.50,0.00,103.95,1.501,6,0.148,0.000,3247,2202,2876
$STATE,16183,end apogee,CONTROL_FINISHED_OK
$STATE,16183,begin climb
$GC,16185,0.67,117.3,993.8,0.0,410,16297,0.85,0.00,109.10,1.453,6,0.095,0.000,3526,2202,2397
$GC,16550,0.33,117.3,977.9,7.6,416,16555,0.35,2.55,0.00,0.000,4,0.175,0.081,3427,3615,2393
$GC,16622,0.20,117.3,973.4,6.2,417,16627,0.20,2.45,0.00,0.000,6,0.173,0.064,3387,2197,2393
$GC,16976,0.30,153.4,959.4,4.0,423,17010,0.00,0.00,32.10,1.434,6,0.000,0.000,3386,2198,2250
$GC,17280,0.40,159.9,945.2,4.8,428,17290,0.17,0.00,7.40,1.216,6,0.088,0.000,3450,2198,2223
$GC,17583,0.33,159.9,924.6,6.9,433,17584,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2198,2223
$GC,17885,0.26,159.9,903.0,7.1,438,17887,0.17,0.00,0.00,0.000,6,0.152,0.000,3403,2198,2222
$GC,18188,0.32,159.9,885.5,5.7,443,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2197,2222
$GC,18492,0.38,159.9,868.9,5.4,448,18493,0.12,0.00,0.00,0.000,6,0.091,0.000,3449,2198,2222
$GC,18795,0.31,159.9,848.7,6.8,453,18796,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2222
$GC,19098,0.25,159.9,827.8,6.9,458,19099,0.17,0.00,0.00,0.000,6,0.150,0.000,3402,2198,2221
$GC,19401,0.32,159.9,811.2,5.4,463,19405,0.00,2.45,0.00,0.000,4,0.000,0.082,3402,3611,2221
$GC,19427,0.32,159.9,809.4,6.3,463,19432,0.00,2.38,0.00,0.000,6,0.000,0.065,3407,2200,2221
$GC,19766,0.38,159.9,790.8,5.6,469,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2200,2221
$GC,20068,0.44,159.9,774.8,5.3,474,20073,0.15,2.42,0.00,0.000,4,0.094,0.081,3476,793,2221
$GC,20101,0.31,159.9,772.6,7.0,474,20106,0.20,2.33,0.00,0.000,6,0.153,0.066,3422,2206,2221
$GC,20426,0.31,159.9,754.1,5.7,480,20430,0.00,2.35,0.00,0.000,4,0.000,0.083,3422,3610,2221
$GC,20459,0.31,159.9,752.1,5.6,480,20463,0.00,2.38,0.00,0.000,6,0.000,0.066,3422,2199,2221
$GC,20791,0.31,159.9,734.0,5.4,486,20795,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,786,2221
$GC,20824,0.36,159.9,732.1,6.3,486,20828,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2212,2221
$GC,21149,0.36,159.9,714.3,5.5,492,21153,0.00,2.35,0.00,0.000,4,0.000,0.083,3422,3621,2221
$GC,21182,0.36,159.9,712.1,5.8,492,21186,0.00,2.35,0.00,0.000,6,0.000,0.066,3422,2200,2220
$GC,21514,0.36,159.9,693.5,5.6,498,21515,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2221
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$STATE,33554,begin surface coast
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$STATE,33672,end surface coast,CONTROL_FINISHED_OK
$STATE,33672,begin surface
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$10V_AH,10.6,28.026
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