version: 66.03
glider: 120
mission: 9
dive: 380
start: 1 18 109 17 3 29
data:
$ID,120
$MISSION,9
$DIVE,380
$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,-25699.271
$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
$GPS1,165625,5009.317,-14455.055,56,1.3,56,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-73.3
$GPS2,170232,5009.283,-14455.058,14,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.110,0.139
$KALMAN_X,15577.6,210.3,81.6,-22215.5,-784.4
$KALMAN_Y,277665.7,-175.1,-210.8,-270356.5,68.9
$MHEAD_RNG_PITCHd_Wd,303.1,29492,-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,-11.35,0.000,2,0.000,0.000,134,2411,1924
$GC,40,-0.67,-117.3,3.9,-0.0,1,125,13.43,2.47,-64.65,0.000,4,0.270,0.081,3097,983,3354
$GC,363,-0.50,-117.3,30.4,-11.3,30,367,0.20,2.33,0.00,0.000,6,0.158,0.063,3153,2401,3355
$GC,690,-0.50,-117.3,55.5,-8.2,60,691,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2401,3355
$GC,1006,-0.50,-117.3,79.7,-7.3,90,1010,0.00,2.38,0.00,0.000,4,0.000,0.067,3153,992,3356
$GC,1048,-0.50,-117.3,82.9,-8.0,92,1052,0.00,2.35,0.00,0.000,6,0.000,0.061,3153,2411,3356
$GC,1374,-0.50,-117.3,106.5,-7.1,108,1379,0.00,2.40,0.00,0.000,4,0.000,0.067,3153,986,3356
$GC,1407,-0.50,-117.3,109.1,-7.9,109,1413,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2412,3356
$GC,1724,-0.73,-117.3,131.6,-7.2,125,1729,0.17,2.38,0.00,0.000,4,0.082,0.066,3084,989,3356
$GC,1787,-0.68,-117.3,136.4,-8.0,128,1791,0.00,2.30,0.00,0.000,6,0.000,0.060,3083,2406,3356
$GC,2113,-0.58,-117.3,159.7,-7.1,142,2117,0.15,2.35,0.00,0.000,4,0.146,0.077,3125,3814,3357
$GC,2180,-0.64,-117.3,164.0,-6.4,144,2184,0.00,2.28,0.00,0.000,6,0.000,0.052,3125,2392,3357
$GC,2509,-0.64,-117.3,185.0,-6.9,155,2513,0.00,2.35,0.00,0.000,4,0.000,0.067,3125,995,3357
$GC,2587,-0.73,-117.3,190.9,-7.2,157,2592,0.12,2.30,0.00,0.000,6,0.084,0.060,3078,2409,3357
$GC,2906,-0.73,-117.3,214.5,-7.4,168,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3357
$GC,3212,-0.69,-117.3,236.2,-6.9,178,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3356
$GC,3517,-0.69,-117.3,255.5,-6.0,188,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3356
$GC,3824,-0.69,-117.3,275.5,-6.6,198,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3357
$GC,4130,-0.69,-117.3,295.5,-6.6,208,4134,0.00,2.42,0.00,0.000,4,0.000,0.070,3078,988,3356
$GC,4179,-0.69,-117.3,299.2,-7.4,209,4183,0.00,2.30,0.00,0.000,6,0.000,0.062,3078,2397,3356
$GC,4520,-0.63,-117.3,321.8,-6.5,215,4522,0.12,0.00,0.00,0.000,6,0.143,0.000,3112,2397,3356
$GC,4823,-0.63,-117.3,338.4,-5.5,220,4827,0.00,2.35,0.00,0.000,4,0.000,0.081,3112,3808,3356
$GC,4856,-0.68,-117.3,340.4,-5.9,220,4860,0.00,2.22,0.00,0.000,6,0.000,0.054,3112,2402,3356
$GC,5183,-0.88,-117.3,360.9,-6.6,226,5187,0.20,2.40,0.00,0.000,4,0.086,0.078,3033,3810,3355
$GC,5372,-0.69,-117.3,377.5,-9.2,228,5379,0.22,2.25,0.00,0.000,6,0.154,0.056,3094,2393,3355
$GC,5682,-0.69,-117.3,399.1,-6.9,234,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2393,3355
$GC,5985,-0.69,-117.3,420.5,-7.2,239,5989,0.00,2.30,0.00,0.000,4,0.000,0.072,3095,993,3355
$GC,6035,-0.69,-117.3,424.3,-7.7,239,6039,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2409,3355
$GC,6345,-0.69,-117.3,447.0,-7.4,244,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2409,3355
$GC,6647,-0.69,-117.3,468.7,-7.1,249,6651,0.00,2.35,0.00,0.000,4,0.000,0.072,3095,985,3355
$GC,6691,-0.69,-117.3,472.1,-7.4,249,6695,0.00,2.30,0.00,0.000,6,0.000,0.063,3095,2402,3355
$GC,7008,-0.69,-117.3,492.6,-6.4,255,7012,0.00,2.33,0.00,0.000,4,0.000,0.071,3094,992,3354
$GC,7057,-0.69,-117.3,495.8,-6.4,255,7061,0.00,2.30,0.00,0.000,6,0.000,0.062,3095,2408,3354
$GC,7367,-0.69,-117.3,514.5,-6.1,260,7371,0.00,2.35,0.00,0.000,4,0.000,0.071,3094,990,3354
$GC,7406,-0.69,-117.3,516.9,-6.2,260,7410,0.00,2.30,0.00,0.000,6,0.000,0.063,3095,2405,3354
$GC,7726,-0.69,-117.3,536.3,-6.0,266,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2405,3354
$GC,8030,-0.69,-117.3,553.8,-5.8,271,8034,0.00,2.38,0.00,0.000,4,0.000,0.071,3095,984,3354
$GC,8062,-0.69,-117.3,555.8,-6.3,271,8067,0.00,2.33,0.00,0.000,6,0.000,0.063,3095,2403,3354
$GC,8390,-0.69,-117.3,574.7,-5.7,277,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3354
$GC,8692,-0.69,-117.3,591.5,-5.6,282,8696,0.00,2.40,0.00,0.000,4,0.000,0.071,3095,988,3353
$GC,8730,-0.69,-117.3,593.9,-6.4,282,8734,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2410,3353
$GC,9051,-0.69,-117.3,612.1,-5.7,288,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3353
$GC,9354,-0.69,-117.3,629.7,-5.8,293,9358,0.00,2.35,0.00,0.000,4,0.000,0.072,3094,991,3353
$GC,9387,-0.69,-117.3,631.7,-6.1,293,9391,0.00,2.30,0.00,0.000,6,0.000,0.063,3094,2405,3353
$GC,9713,-0.69,-117.3,650.5,-5.8,299,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2405,3353
$GC,10016,-0.69,-117.3,668.3,-5.9,304,10020,0.00,2.35,0.00,0.000,4,0.000,0.071,3095,990,3353
$GC,10059,-0.69,-117.3,671.1,-6.1,304,10064,0.00,2.30,0.00,0.000,6,0.000,0.063,3095,2404,3352
$GC,10375,-0.69,-117.3,690.1,-6.0,310,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3353
$GC,10678,-0.69,-117.3,707.6,-5.7,315,10682,0.00,2.40,0.00,0.000,4,0.000,0.071,3094,987,3352
$GC,10710,-0.69,-117.3,709.6,-6.1,315,10714,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2408,3352
$GC,11037,-0.69,-117.3,728.5,-5.9,321,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3352
$GC,11340,-0.69,-117.3,746.6,-5.9,326,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3352
$GC,11643,-0.69,-117.3,765.1,-6.1,331,11647,0.00,2.40,0.00,0.000,4,0.000,0.084,3095,3817,3352
$GC,11671,-0.74,-117.3,766.9,-6.8,331,11675,0.00,2.28,0.00,0.000,6,0.000,0.057,3094,2398,3352
$GC,12010,-0.78,-117.3,787.8,-6.2,337,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3352
$GC,12311,-0.78,-117.3,805.6,-5.9,342,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3351
$GC,12615,-0.83,-117.3,821.6,-5.2,347,12617,0.15,0.00,0.00,0.000,6,0.084,0.000,3038,2399,3351
$GC,12918,-0.76,-117.3,841.0,-6.4,352,12920,0.12,0.00,0.00,0.000,6,0.106,0.000,3073,2398,3351
$GC,13221,-0.76,-117.3,858.8,-5.9,357,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3351
$GC,13524,-0.76,-117.3,876.4,-5.8,362,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3351
$GC,13827,-0.76,-117.3,894.6,-6.1,367,13831,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3814,3351
$GC,13854,-0.76,-117.3,896.3,-6.1,367,13858,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2402,3351
$GC,14191,-0.76,-117.3,916.9,-6.1,373,14196,0.00,2.42,0.00,0.000,4,0.000,0.074,3072,983,3351
$GC,14231,-0.76,-117.3,919.6,-6.5,373,14235,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2402,3351
$GC,14551,-0.76,-117.3,939.3,-6.2,379,14552,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3351
$GC,14854,-0.76,-117.3,959.6,-6.8,384,14858,0.00,2.42,0.00,0.000,4,0.000,0.085,3072,3815,3351
$GC,14881,-0.76,-117.3,961.6,-7.3,384,14886,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2399,3351
$GC,15214,-0.76,-117.3,984.6,-6.9,390,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3351
$STATE,15332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15332,begin apogee
$GC,15339,-0.22,0.0,992.6,6.8,392,15450,0.57,0.00,107.72,1.491,6,0.145,0.000,3244,2195,2876
$STATE,15450,end apogee,CONTROL_FINISHED_OK
$STATE,15450,begin climb
$GC,15453,0.67,117.3,995.0,0.0,393,15570,0.88,0.00,113.20,1.437,6,0.095,0.000,3528,2195,2397
$GC,15825,0.35,117.3,983.0,6.8,400,15827,0.35,0.00,0.00,0.000,6,0.165,0.000,3431,2195,2393
$GC,16127,0.31,119.1,967.8,4.9,405,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2195,2393
$GC,16430,0.31,119.1,951.7,5.3,410,16431,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2195,2393
$GC,16734,0.27,119.1,934.7,5.6,415,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2195,2392
$GC,17036,0.23,119.1,917.6,5.6,420,17038,0.15,0.00,0.00,0.000,6,0.179,0.000,3392,2195,2392
$GC,17340,0.34,140.9,903.9,4.4,425,17368,0.10,2.53,21.45,1.401,4,0.097,0.077,3435,793,2301
$GC,17391,0.38,175.2,901.4,4.0,425,17430,0.00,2.33,32.08,1.397,6,0.000,0.064,3435,2200,2161
$GC,17770,0.38,175.2,879.5,5.8,432,17771,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2157
$GC,18073,0.38,175.2,863.0,5.4,437,18074,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2156
$GC,18375,0.38,175.2,846.7,5.4,442,18376,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2156
$GC,18678,0.38,175.2,830.3,5.3,447,18680,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2156
$GC,18982,0.38,175.2,814.2,5.3,452,18984,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2156
$GC,19285,0.38,175.2,798.4,5.3,457,19286,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2155
$GC,19588,0.38,175.2,783.0,5.1,462,19592,0.00,2.38,0.00,0.000,4,0.000,0.082,3435,3619,2155
$GC,19643,0.38,175.2,779.7,5.7,462,19650,0.00,2.38,0.00,0.000,6,0.000,0.065,3435,2200,2155
$GC,19954,0.38,176.0,764.3,5.0,468,19955,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2155
$GC,20256,0.38,176.0,748.8,5.1,473,20257,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2155
$GC,20560,0.39,181.5,733.9,4.8,478,20571,0.00,2.42,6.35,1.098,4,0.000,0.078,3435,790,2135
$GC,20628,0.44,181.5,730.5,5.1,479,20632,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2208,2135
$GC,20988,0.49,184.9,712.7,4.9,485,20995,0.12,0.00,4.88,0.974,6,0.092,0.000,3489,2208,2122
$GC,21291,0.39,184.9,693.0,6.6,490,21293,0.17,0.00,0.00,0.000,6,0.145,0.000,3440,2208,2121
$GC,21595,0.43,184.9,675.4,5.9,495,21596,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2208,2121
$GC,21897,0.43,184.9,655.0,6.8,500,21898,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2208,2121
$GC,22200,0.43,184.9,634.7,6.6,505,22204,0.00,2.38,0.00,0.000,4,0.000,0.081,3440,3619,2121
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$STATE,32424,end climb,SURFACE_DEPTH_REACHED
$STATE,32424,begin surface coast
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$STATE,32562,end surface coast,CONTROL_FINISHED_OK
$STATE,32562,begin surface
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