version: 66.03
glider: 120
mission: 9
dive: 226
start: 11 21 108 6 4 56
data:
$ID,120
$MISSION,9
$DIVE,226
$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,-22396.033
$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,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
$GPS1,055807,4959.674,-14513.411,67,1.8,67,18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.3
$GPS2,060402,4959.644,-14513.474,16,1.4,33,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.176
$KALMAN_X,45277.6,-428.3,-334.7,-72720.6,1633.9
$KALMAN_Y,176969.4,-296.4,-78.7,-187531.8,3476.4
$MHEAD_RNG_PITCHd_Wd,170.0,10590,-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,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.60,0.000,2,0.000,0.000,147,2401,2425
$GC,57,-0.67,-117.3,3.3,-3.5,3,105,13.88,2.47,-28.15,0.000,4,0.285,0.097,3094,3816,3355
$GC,256,-0.44,-117.3,22.5,-9.8,20,263,0.20,2.35,0.00,0.000,6,0.153,0.056,3171,2401,3357
$GC,584,-0.44,-117.3,48.7,-8.0,51,588,0.00,2.38,0.00,0.000,4,0.000,0.070,3173,986,3358
$GC,616,-0.44,-117.3,51.7,-8.5,53,623,0.00,2.35,0.00,0.000,6,0.000,0.061,3169,2401,3358
$GC,945,-0.50,-117.3,73.8,-6.8,84,949,0.00,2.38,0.00,0.000,4,0.000,0.068,3169,985,3358
$GC,1000,-0.57,-117.3,78.0,-7.2,88,1007,0.12,2.35,0.00,0.000,6,0.084,0.061,3121,2421,3358
$GC,1327,-0.57,-117.3,102.5,-7.4,106,1331,0.00,2.35,0.00,0.000,4,0.000,0.078,3120,3811,3359
$GC,1368,-0.50,-117.3,105.6,-8.1,108,1373,0.12,2.30,0.00,0.000,6,0.120,0.054,3153,2389,3359
$GC,1695,-0.50,-117.3,126.4,-6.5,124,1699,0.00,2.33,0.00,0.000,4,0.000,0.069,3153,988,3360
$GC,1722,-0.50,-117.3,128.3,-6.9,125,1726,0.00,2.30,0.00,0.000,6,0.000,0.062,3153,2401,3360
$GC,2044,-0.81,-117.3,149.0,-6.8,141,2049,0.28,2.38,0.00,0.000,4,0.089,0.069,3053,989,3360
$GC,2087,-0.66,-117.3,152.8,-8.9,143,2092,0.17,2.30,0.00,0.000,6,0.171,0.062,3100,2407,3360
$GC,2405,-0.57,-117.3,178.2,-7.8,154,2410,0.12,2.38,0.00,0.000,4,0.171,0.079,3126,3818,3360
$GC,2434,-0.57,-117.3,180.4,-7.7,155,2438,0.00,2.30,0.00,0.000,6,0.000,0.055,3126,2402,3360
$GC,2768,-0.57,-117.3,204.2,-7.1,166,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3360
$GC,3074,-0.57,-117.3,225.1,-6.7,176,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3359
$GC,3381,-0.57,-117.3,245.2,-6.6,186,3385,0.00,2.45,0.00,0.000,4,0.000,0.081,3126,3813,3359
$GC,3409,-0.57,-117.3,247.1,-6.8,187,3413,0.00,2.33,0.00,0.000,6,0.000,0.056,3126,2389,3359
$GC,3743,-0.57,-117.3,268.2,-6.2,198,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3359
$GC,4049,-0.57,-117.3,287.7,-6.4,208,4053,0.00,2.45,0.00,0.000,4,0.000,0.082,3126,3808,3358
$GC,4077,-0.62,-117.3,289.5,-6.9,208,4084,0.00,2.30,0.00,0.000,6,0.000,0.058,3126,2402,3358
$GC,4388,-0.62,-117.3,309.5,-6.4,217,4392,0.00,2.38,0.00,0.000,4,0.000,0.072,3126,984,3358
$GC,4414,-0.62,-117.3,311.3,-6.9,217,4418,0.00,2.33,0.00,0.000,6,0.000,0.063,3126,2397,3358
$GC,4752,-0.62,-117.3,332.7,-6.3,223,4756,0.00,2.38,0.00,0.000,4,0.000,0.082,3125,3818,3358
$GC,4785,-0.69,-117.3,334.9,-6.7,223,4789,0.00,2.30,0.00,0.000,6,0.000,0.056,3126,2400,3358
$GC,5111,-0.74,-117.3,354.9,-6.2,229,5112,0.15,0.00,0.00,0.000,6,0.087,0.000,3068,2400,3357
$GC,5414,-0.66,-117.3,378.1,-7.8,234,5418,0.12,2.38,0.00,0.000,4,0.107,0.071,3105,991,3357
$GC,5457,-0.66,-117.3,381.5,-7.2,234,5461,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2402,3357
$GC,5778,-0.66,-117.3,403.9,-7.0,240,5782,0.00,2.38,0.00,0.000,4,0.000,0.084,3100,3818,3357
$GC,5804,-0.66,-117.3,405.9,-7.3,240,5809,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2401,3357
$GC,6142,-0.66,-117.3,427.3,-6.3,246,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,6446,-0.66,-117.3,445.8,-6.1,251,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,6749,-0.66,-117.3,463.4,-5.8,256,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,7051,-0.66,-117.3,480.3,-5.6,261,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,7355,-0.66,-117.3,498.2,-6.0,266,7359,0.00,2.45,0.00,0.000,4,0.000,0.083,3100,3808,3356
$GC,7392,-0.66,-117.3,500.8,-6.5,266,7397,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2405,3356
$GC,7719,-0.66,-117.3,521.1,-6.3,272,7724,0.00,2.38,0.00,0.000,4,0.000,0.073,3100,989,3356
$GC,7752,-0.66,-117.3,523.5,-7.1,272,7756,0.00,2.35,0.00,0.000,6,0.000,0.065,3100,2400,3356
$GC,8084,-0.66,-117.3,545.8,-6.8,278,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3355
$GC,8387,-0.66,-117.3,567.1,-7.1,283,8391,0.00,2.42,0.00,0.000,4,0.000,0.084,3100,3821,3355
$GC,8431,-0.66,-117.3,570.4,-8.3,283,8435,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2389,3355
$GC,8752,-0.66,-117.3,593.1,-7.0,289,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3355
$GC,9055,-0.66,-117.3,613.5,-6.7,294,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3355
$GC,9358,-0.66,-117.3,632.7,-6.4,299,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3355
$GC,9662,-0.66,-117.3,651.6,-6.1,304,9666,0.00,2.47,0.00,0.000,4,0.000,0.084,3100,3808,3355
$GC,9700,-0.66,-117.3,653.9,-5.8,304,9703,0.00,2.30,0.00,0.000,6,0.000,0.058,3100,2400,3355
$GC,10026,-0.66,-117.3,673.4,-5.9,310,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3355
$GC,10329,-0.66,-117.3,691.0,-5.8,315,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,10632,-0.66,-117.3,709.5,-6.2,320,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,10935,-0.66,-117.3,727.2,-5.8,325,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,11238,-0.66,-117.3,744.4,-5.7,330,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,11541,-0.66,-117.3,761.6,-5.6,335,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,11845,-0.66,-117.3,779.0,-5.8,340,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,12148,-0.66,-117.3,795.8,-5.5,345,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,12450,-0.66,-117.3,812.6,-5.6,350,12455,0.00,2.45,0.00,0.000,4,0.000,0.085,3100,3808,3353
$GC,12477,-0.66,-117.3,814.3,-5.9,350,12481,0.00,2.33,0.00,0.000,6,0.000,0.060,3100,2404,3353
$GC,12815,-0.66,-117.3,833.4,-5.6,356,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3353
$GC,13118,-0.66,-117.3,850.8,-5.7,361,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3353
$GC,13422,-0.66,-117.3,867.4,-5.5,366,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,13724,-0.66,-117.3,883.1,-5.1,371,13728,0.00,2.45,0.00,0.000,4,0.000,0.085,3100,3813,3353
$GC,13757,-0.71,-117.3,884.9,-5.3,371,13761,0.00,2.33,0.00,0.000,6,0.000,0.061,3100,2397,3353
$GC,14089,-0.71,-117.3,901.6,-5.1,377,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3353
$GC,14393,-0.75,-117.3,917.4,-5.2,382,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3353
$GC,14695,-0.75,-117.3,933.0,-5.1,387,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3353
$GC,14999,-0.79,-117.3,948.3,-5.1,392,15000,0.12,0.00,0.00,0.000,6,0.095,0.000,3052,2397,3352
$GC,15302,-0.74,-117.3,966.5,-6.1,397,15306,0.00,2.45,0.00,0.000,4,0.000,0.085,3052,3818,3353
$GC,15340,-0.66,-117.3,969.0,-6.6,397,15345,0.17,2.33,0.00,0.000,6,0.130,0.061,3100,2397,3353
$GC,15661,-0.70,-117.3,984.8,-4.8,403,15662,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2397,3353
$STATE,15779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15779,begin apogee
$GC,15785,-0.22,0.0,990.6,4.8,405,15892,0.47,0.00,104.50,1.502,6,0.141,0.000,3247,2192,2876
$STATE,15893,end apogee,CONTROL_FINISHED_OK
$STATE,15893,begin climb
$GC,15895,0.67,117.3,992.3,0.0,406,16012,0.85,2.67,109.25,1.449,4,0.091,0.080,3533,793,2396
$GC,16078,0.32,117.3,988.9,8.1,409,16083,0.43,2.47,0.00,0.000,6,0.181,0.064,3426,2196,2394
$GC,16390,0.26,117.3,970.6,5.9,414,16391,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2197,2393
$GC,16691,0.19,117.3,953.5,5.6,419,16696,0.15,2.38,0.00,0.000,4,0.183,0.079,3382,3612,2392
$GC,16728,0.19,117.3,951.5,5.3,419,16733,0.00,2.40,0.00,0.000,6,0.000,0.065,3383,2192,2392
$GC,17056,0.30,137.5,937.0,4.4,425,17076,0.00,0.00,18.30,1.397,6,0.000,0.000,3383,2192,2315
$GC,17359,0.41,139.5,922.3,4.9,430,17361,0.20,0.00,0.00,0.000,6,0.083,0.000,3457,2192,2314
$GC,17661,0.30,139.5,900.9,7.2,435,17663,0.15,0.00,0.00,0.000,6,0.150,0.000,3418,2192,2313
$GC,17964,0.30,139.5,881.9,6.2,440,17965,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2313
$GC,18268,0.30,139.5,862.8,6.3,445,18269,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2313
$GC,18570,0.30,139.5,844.2,6.1,450,18571,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2313
$GC,18873,0.30,139.5,826.3,5.9,455,18875,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2312
$GC,19177,0.30,139.5,809.3,5.6,460,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2312
$GC,19480,0.30,139.5,791.9,5.8,465,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2312
$GC,19783,0.30,139.5,774.1,5.8,470,19787,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,790,2312
$GC,19845,0.30,139.5,770.6,5.2,471,19849,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2208,2312
$GC,20209,0.30,139.5,750.5,5.4,477,20210,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2208,2312
$GC,20513,0.31,148.4,735.9,4.7,482,20529,0.00,2.45,10.93,1.246,4,0.000,0.081,3421,781,2270
$GC,20567,0.31,148.4,733.2,5.7,482,20574,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2195,2269
$GC,20878,0.32,154.0,718.3,4.8,488,20891,0.00,2.42,6.47,1.106,4,0.000,0.082,3421,3617,2247
$GC,20945,0.27,154.0,714.5,5.9,489,20950,0.00,2.38,0.00,0.000,6,0.000,0.067,3421,2196,2247
$GC,21311,0.28,157.6,696.4,4.9,495,21318,0.00,0.00,4.95,0.982,6,0.000,0.000,3422,2196,2233
$GC,21614,0.28,157.6,680.9,5.2,500,21615,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2232
$GC,21917,0.28,157.6,664.2,5.6,505,21918,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2233
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$STATE,33042,begin surface coast
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$STATE,33095,end surface coast,CONTROL_FINISHED_OK
$STATE,33095,begin surface
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