version: 66.03
glider: 120
mission: 9
dive: 333
start: 12 31 108 21 17 40
data:
$ID,120
$MISSION,9
$DIVE,333
$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,-24696.928
$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
$GPS1,211102,4958.070,-14440.110,46,1.0,46,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-75.8
$GPS2,211645,4958.053,-14440.134,8,1.3,8,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,0.144
$KALMAN_X,21178.7,-134.4,98.1,-9754.1,-481.0
$KALMAN_Y,249076.3,-99.4,-476.8,-262363.2,622.8
$MHEAD_RNG_PITCHd_Wd,305.5,21675,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.75,0.000,2,0.000,0.000,139,2404,1935
$GC,39,-0.67,-117.3,3.9,-0.0,1,125,14.23,2.45,-61.67,0.000,4,0.291,0.094,3084,3806,3356
$GC,344,-0.46,-117.3,32.3,-12.3,28,350,0.30,2.30,0.00,0.000,6,0.160,0.056,3168,2389,3357
$GC,672,-0.51,-117.3,55.2,-6.8,59,678,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2389,3357
$GC,998,-0.55,-117.3,78.8,-6.9,90,999,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2389,3358
$GC,1308,-0.60,-117.3,98.5,-6.1,106,1310,0.15,0.00,0.00,0.000,6,0.079,0.000,3108,2389,3358
$GC,1616,-0.60,-117.3,120.7,-6.9,121,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2389,3358
$GC,1926,-0.60,-117.3,141.7,-7.0,136,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2389,3358
$GC,2255,-0.60,-117.3,163.4,-6.6,149,2259,0.00,2.47,0.00,0.000,4,0.000,0.079,3108,3817,3358
$GC,2351,-0.60,-117.3,170.0,-6.6,152,2355,0.00,2.33,0.00,0.000,6,0.000,0.054,3108,2391,3358
$GC,2686,-0.60,-117.3,189.8,-5.9,163,2690,0.00,2.42,0.00,0.000,4,0.000,0.078,3108,3809,3358
$GC,2743,-0.60,-117.3,193.4,-6.7,164,2749,0.00,2.28,0.00,0.000,6,0.000,0.054,3108,2398,3358
$GC,3055,-0.60,-117.3,212.4,-6.4,175,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3358
$GC,3361,-0.60,-117.3,233.0,-6.8,185,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3358
$GC,3668,-0.60,-117.3,254.0,-7.0,195,3672,0.00,2.40,0.00,0.000,4,0.000,0.080,3108,3811,3358
$GC,3702,-0.60,-117.3,256.6,-8.0,196,3706,0.00,2.30,0.00,0.000,6,0.000,0.054,3108,2391,3358
$GC,4043,-0.60,-117.3,279.6,-6.7,207,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2391,3358
$GC,4349,-0.60,-117.3,299.5,-6.3,217,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3358
$GC,4684,-0.64,-117.3,319.4,-5.9,223,4688,0.00,2.45,0.00,0.000,4,0.000,0.081,3108,3818,3358
$GC,4716,-0.64,-117.3,321.5,-6.3,223,4720,0.00,2.33,0.00,0.000,6,0.000,0.055,3108,2388,3358
$GC,5049,-0.69,-117.3,340.3,-5.6,229,5053,0.00,2.33,0.00,0.000,4,0.000,0.072,3108,991,3358
$GC,5076,-0.74,-117.3,341.9,-5.7,229,5080,0.00,2.28,0.00,0.000,6,0.000,0.062,3107,2400,3357
$GC,5408,-0.74,-117.3,361.4,-5.9,235,5412,0.00,2.33,0.00,0.000,4,0.000,0.081,3107,3807,3358
$GC,5446,-0.74,-117.3,363.8,-6.3,235,5450,0.00,2.25,0.00,0.000,6,0.000,0.056,3107,2390,3357
$GC,5773,-0.88,-117.3,382.7,-5.9,241,5777,0.17,2.30,0.00,0.000,4,0.091,0.071,3041,988,3357
$GC,5931,-0.71,-117.3,395.1,-8.7,243,5936,0.17,2.30,0.00,0.000,6,0.167,0.064,3088,2405,3357
$GC,6269,-0.67,-117.3,416.5,-6.3,249,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2405,3357
$GC,6571,-0.67,-117.3,436.4,-6.6,254,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2406,3357
$GC,6875,-0.67,-117.3,456.2,-6.5,259,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2406,3357
$GC,7178,-0.67,-117.3,475.0,-6.2,264,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2406,3357
$GC,7480,-0.67,-117.3,492.8,-5.9,269,7485,0.00,2.40,0.00,0.000,4,0.000,0.071,3088,989,3356
$GC,7543,-0.67,-117.3,496.6,-6.4,270,7547,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2410,3356
$GC,7909,-0.67,-117.3,519.2,-6.3,276,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3356
$GC,8211,-0.67,-117.3,538.9,-6.5,281,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3356
$GC,8515,-0.67,-117.3,559.1,-6.6,286,8519,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,994,3355
$GC,8564,-0.67,-117.3,562.8,-7.7,286,8568,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3356
$GC,8880,-0.67,-117.3,585.4,-7.3,292,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,9182,-0.67,-117.3,606.3,-6.9,297,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,9485,-0.67,-117.3,626.3,-6.5,302,9489,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,988,3355
$GC,9512,-0.67,-117.3,628.2,-6.6,302,9516,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2411,3355
$GC,9851,-0.67,-117.3,649.4,-6.3,308,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3355
$GC,10154,-0.67,-117.3,667.5,-5.9,313,10158,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,994,3355
$GC,10186,-0.67,-117.3,669.6,-6.4,313,10190,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2404,3355
$GC,10519,-0.67,-117.3,688.8,-5.8,319,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,10821,-0.67,-117.3,707.3,-6.1,324,10825,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,985,3355
$GC,10849,-0.67,-117.3,709.1,-6.8,324,10853,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2410,3355
$GC,11180,-0.67,-117.3,729.7,-6.3,330,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3354
$GC,11483,-0.67,-117.3,748.2,-6.0,335,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$GC,11787,-0.67,-117.3,766.1,-5.8,340,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3354
$GC,12090,-0.67,-117.3,783.9,-5.9,345,12094,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,989,3354
$GC,12134,-0.67,-117.3,786.6,-6.0,345,12137,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2400,3354
$GC,12454,-0.67,-117.3,805.2,-5.8,351,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,12758,-0.67,-117.3,821.7,-5.4,356,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,13061,-0.67,-117.3,838.3,-5.5,361,13066,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,995,3353
$GC,13100,-0.67,-117.3,840.7,-6.3,361,13104,0.00,2.30,0.00,0.000,6,0.000,0.066,3086,2403,3353
$GC,13421,-0.67,-117.3,859.5,-5.9,367,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3353
$GC,13724,-0.67,-117.3,876.8,-5.8,372,13728,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,992,3353
$GC,13762,-0.67,-117.3,879.1,-6.3,372,13766,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2399,3353
$GC,14083,-0.67,-117.3,897.3,-5.8,378,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,14386,-0.67,-117.3,914.5,-5.6,383,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,14689,-0.67,-117.3,930.7,-5.3,388,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,14993,-0.67,-117.3,946.5,-5.2,393,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,15295,-0.67,-117.3,961.9,-5.0,398,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,15599,-0.67,-117.3,977.3,-5.1,403,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$STATE,15840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15840,begin apogee
$GC,15846,-0.22,0.0,990.2,5.3,407,15961,0.52,0.00,107.78,1.490,6,0.144,0.000,3244,2203,2876
$STATE,15962,end apogee,CONTROL_FINISHED_OK
$STATE,15962,begin climb
$GC,15964,0.67,117.3,994.2,0.0,409,16088,0.88,2.72,112.35,1.436,4,0.098,0.076,3535,791,2396
$GC,16111,0.31,117.3,993.3,5.7,411,16116,0.45,2.50,0.00,0.000,6,0.179,0.061,3422,2200,2395
$GC,16454,0.32,127.3,976.7,4.7,417,16469,0.00,2.40,10.20,1.284,4,0.000,0.080,3423,3614,2356
$GC,16522,0.24,127.3,973.2,6.1,418,16526,0.00,2.33,0.00,0.000,6,0.000,0.064,3423,2200,2356
$GC,16882,0.25,134.7,955.6,4.8,424,16892,0.00,0.00,8.30,1.249,6,0.000,0.000,3423,2200,2326
$GC,17185,0.25,134.7,940.1,5.1,429,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2326
$GC,17488,0.25,134.7,924.5,5.2,434,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2326
$GC,17791,0.25,134.7,908.3,5.4,439,17792,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2325
$GC,18094,0.25,134.7,891.5,5.5,444,18095,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2325
$GC,18397,0.25,134.7,875.8,5.1,449,18401,0.00,2.40,0.00,0.000,4,0.000,0.079,3423,790,2325
$GC,18441,0.25,134.7,873.3,5.7,449,18445,0.00,2.30,0.00,0.000,6,0.000,0.063,3423,2210,2325
$GC,18755,0.25,137.2,857.7,4.9,455,18761,0.00,0.00,3.80,0.867,6,0.000,0.000,3423,2210,2316
$GC,19059,0.25,137.2,842.4,5.1,460,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2210,2316
$GC,19361,0.25,137.2,827.2,5.1,465,19362,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2210,2315
$GC,19665,0.25,137.2,811.8,5.1,470,19669,0.00,2.40,0.00,0.000,4,0.000,0.080,3423,793,2315
$GC,19698,0.30,137.2,809.9,5.1,470,19702,0.00,2.28,0.00,0.000,6,0.000,0.062,3423,2200,2315
$GC,20024,0.30,137.2,792.5,5.4,476,20025,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2315
$GC,20327,0.30,137.2,775.6,5.6,481,20328,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2315
$GC,20631,0.30,137.2,759.1,5.4,486,20632,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2315
$GC,20933,0.30,137.2,743.1,5.3,491,20937,0.00,2.40,0.00,0.000,4,0.000,0.080,3423,786,2315
$GC,20971,0.35,143.6,741.2,4.8,491,20985,0.00,2.30,7.40,1.152,6,0.000,0.063,3423,2204,2289
$GC,21297,0.35,149.3,725.3,4.8,497,21305,0.00,0.00,6.88,1.122,6,0.000,0.000,3423,2204,2267
$GC,21601,0.37,165.1,711.4,4.5,502,21618,0.00,0.00,15.45,1.267,6,0.000,0.000,3423,2204,2202
$GC,21904,0.45,183.8,697.8,4.5,507,21924,0.12,0.00,17.98,1.269,6,0.091,0.000,3473,2204,2126
$GC,22206,0.40,183.8,679.5,6.1,512,22211,0.00,2.40,0.00,0.000,4,0.000,0.079,3476,788,2123
$GC,22251,0.33,183.8,676.5,6.6,512,22256,0.17,2.33,0.00,0.000,6,0.146,0.062,3429,2212,2123
$GC,22566,0.40,183.8,660.2,5.2,518,22568,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2212,2122
$GC,22869,0.46,183.8,643.5,5.6,523,22874,0.10,2.42,0.00,0.000,4,0.094,0.079,3468,784,2122
$GC,22947,0.46,183.8,638.3,7.0,524,22951,0.00,2.33,0.00,0.000,6,0.000,0.064,3468,2211,2122
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$STATE,33939,begin surface coast
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$STATE,34016,end surface coast,CONTROL_FINISHED_OK
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