version: 66.03
glider: 120
mission: 9
dive: 384
start: 1 20 109 5 57 4
data:
$ID,120
$MISSION,9
$DIVE,384
$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,-25799.475
$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,21
$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
$GPS1,055006,5020.250,-14510.885,40,0.9,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.06
$_SM_ANGLEo,-75.1
$GPS2,055607,5020.276,-14510.890,11,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.177
$KALMAN_X,17791.9,223.6,-313.8,-42855.0,381.6
$KALMAN_Y,278600.5,156.2,-110.1,-251368.4,-353.1
$MHEAD_RNG_PITCHd_Wd,166.2,48659,-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,-117.3,0.0,0.0,0,31,0.00,0.00,-5.97,0.000,2,0.000,0.000,142,2411,1795
$GC,34,-0.67,-117.3,4.2,-0.0,1,123,13.70,2.42,-67.80,0.000,4,0.275,0.094,3098,3808,3355
$GC,337,-0.51,-117.3,28.4,-10.1,28,344,0.20,2.33,0.00,0.000,6,0.156,0.054,3152,2387,3357
$GC,664,-0.51,-117.3,52.5,-7.5,59,668,0.00,2.33,0.00,0.000,4,0.000,0.070,3152,989,3358
$GC,692,-0.51,-117.3,54.8,-8.0,61,698,0.00,2.33,0.00,0.000,6,0.000,0.062,3152,2411,3357
$GC,1017,-0.51,-117.3,79.1,-7.3,92,1021,0.00,2.40,0.00,0.000,4,0.000,0.069,3152,988,3357
$GC,1045,-0.51,-117.3,81.5,-8.9,93,1049,0.00,2.33,0.00,0.000,6,0.000,0.061,3152,2405,3358
$GC,1361,-0.51,-117.3,106.5,-8.1,108,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2405,3358
$GC,1670,-0.56,-117.3,127.6,-6.0,123,1674,0.00,2.38,0.00,0.000,4,0.000,0.069,3152,989,3358
$GC,1699,-0.61,-117.3,129.5,-6.6,124,1703,0.00,2.30,0.00,0.000,6,0.000,0.061,3152,2411,3358
$GC,2015,-0.89,-117.3,151.1,-7.4,139,2020,0.32,2.35,0.00,0.000,4,0.084,0.068,3034,986,3359
$GC,2212,-0.65,-117.3,171.5,-11.1,145,2217,0.28,2.30,0.00,0.000,6,0.159,0.062,3108,2412,3359
$GC,2547,-0.65,-117.3,194.4,-6.4,156,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2412,3359
$GC,2853,-0.65,-117.3,212.1,-5.9,166,2857,0.00,2.33,0.00,0.000,4,0.000,0.069,3108,985,3359
$GC,2922,-0.65,-117.3,216.4,-7.0,168,2926,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2398,3359
$GC,3257,-0.65,-117.3,237.1,-6.5,179,3261,0.00,2.33,0.00,0.000,4,0.000,0.070,3108,985,3359
$GC,3295,-0.65,-117.3,240.1,-6.9,180,3299,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2402,3359
$GC,3620,-0.65,-117.3,263.2,-7.1,191,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3359
$GC,3925,-0.65,-117.3,284.5,-6.8,201,3929,0.00,2.33,0.00,0.000,4,0.000,0.071,3108,992,3358
$GC,3954,-0.65,-117.3,286.6,-7.3,202,3958,0.00,2.30,0.00,0.000,6,0.000,0.063,3109,2403,3358
$GC,4288,-0.65,-117.3,308.0,-6.2,211,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3358
$GC,4592,-0.65,-117.3,325.9,-6.0,216,4596,0.00,2.35,0.00,0.000,4,0.000,0.071,3108,989,3358
$GC,4641,-0.65,-117.3,329.2,-6.1,216,4646,0.00,2.30,0.00,0.000,6,0.000,0.063,3108,2406,3358
$GC,4953,-0.65,-117.3,346.8,-5.7,221,4957,0.00,2.33,0.00,0.000,4,0.000,0.070,3108,992,3358
$GC,4986,-0.65,-117.3,349.0,-6.1,221,4990,0.00,2.28,0.00,0.000,6,0.000,0.062,3108,2401,3358
$GC,5319,-0.65,-117.3,367.5,-5.5,227,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3358
$GC,5621,-0.65,-117.3,383.7,-5.3,232,5625,0.00,2.35,0.00,0.000,4,0.000,0.071,3108,991,3358
$GC,5653,-0.65,-117.3,385.6,-5.6,232,5657,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2405,3357
$GC,5981,-0.65,-117.3,401.8,-5.0,238,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,3357
$GC,6283,-0.65,-117.3,418.1,-5.4,243,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,3357
$GC,6586,-0.65,-117.3,436.0,-5.9,248,6590,0.00,2.42,0.00,0.000,4,0.000,0.071,3108,989,3357
$GC,6619,-0.65,-117.3,438.1,-6.8,248,6623,0.00,2.30,0.00,0.000,6,0.000,0.063,3108,2401,3357
$GC,6945,-0.65,-117.3,458.4,-6.2,254,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3357
$GC,7249,-0.70,-117.3,478.1,-6.5,259,7253,0.00,2.33,0.00,0.000,4,0.000,0.072,3108,992,3357
$GC,7288,-0.74,-117.3,480.8,-6.8,259,7292,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2409,3357
$GC,7609,-0.78,-117.3,501.5,-6.4,265,7611,0.15,0.00,0.00,0.000,6,0.087,0.000,3052,2409,3356
$GC,7913,-0.72,-117.3,525.3,-7.9,270,7915,0.10,0.00,0.00,0.000,6,0.099,0.000,3080,2410,3356
$GC,8215,-0.72,-117.3,547.0,-7.1,275,8220,0.00,2.38,0.00,0.000,4,0.000,0.072,3080,986,3356
$GC,8249,-0.68,-117.3,549.6,-7.7,275,8253,0.00,2.30,0.00,0.000,6,0.000,0.064,3080,2400,3356
$GC,8581,-0.68,-117.3,571.2,-6.4,281,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3356
$GC,8885,-0.68,-117.3,589.2,-5.9,286,8889,0.00,2.35,0.00,0.000,4,0.000,0.073,3080,984,3356
$GC,8940,-0.68,-117.3,592.8,-6.0,286,8946,0.00,2.33,0.00,0.000,6,0.000,0.064,3080,2406,3357
$GC,9250,-0.68,-117.3,609.6,-5.4,292,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2406,3356
$GC,9553,-0.68,-117.3,627.0,-5.7,297,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2406,3356
$GC,9856,-0.68,-117.3,645.6,-6.1,302,9860,0.00,2.38,0.00,0.000,4,0.000,0.072,3080,992,3356
$GC,9889,-0.68,-117.3,647.8,-6.7,302,9893,0.00,2.30,0.00,0.000,6,0.000,0.064,3080,2400,3356
$GC,10215,-0.68,-117.3,666.9,-5.7,308,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3355
$GC,10518,-0.68,-117.3,684.5,-5.8,313,10522,0.00,2.40,0.00,0.000,4,0.000,0.073,3080,986,3356
$GC,10563,-0.68,-117.3,687.3,-6.2,313,10567,0.00,2.33,0.00,0.000,6,0.000,0.065,3080,2405,3356
$GC,10878,-0.68,-117.3,704.5,-5.5,319,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3355
$GC,11181,-0.68,-117.3,722.6,-6.0,324,11185,0.00,2.40,0.00,0.000,4,0.000,0.073,3080,988,3355
$GC,11208,-0.68,-117.3,724.5,-7.1,324,11212,0.00,2.33,0.00,0.000,6,0.000,0.065,3080,2405,3355
$GC,11541,-0.68,-117.3,745.3,-6.3,330,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3355
$GC,11843,-0.68,-117.3,764.8,-6.4,335,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3355
$GC,12147,-0.68,-117.3,784.0,-6.3,340,12151,0.00,2.38,0.00,0.000,4,0.000,0.074,3080,983,3355
$GC,12174,-0.68,-117.3,785.9,-6.8,340,12178,0.00,2.33,0.00,0.000,6,0.000,0.065,3080,2401,3355
$GC,12512,-0.68,-117.3,808.5,-6.8,346,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3355
$GC,12815,-0.68,-117.3,829.5,-7.0,351,12820,0.00,2.40,0.00,0.000,4,0.000,0.074,3081,983,3355
$GC,12848,-0.68,-117.3,832.2,-6.9,351,12852,0.00,2.33,0.00,0.000,6,0.000,0.065,3080,2400,3355
$GC,13175,-0.68,-117.3,854.4,-6.8,357,13179,0.00,2.35,0.00,0.000,4,0.000,0.074,3080,988,3355
$GC,13202,-0.68,-117.3,856.3,-7.9,357,13206,0.00,2.33,0.00,0.000,6,0.000,0.064,3080,2411,3355
$GC,13534,-0.68,-117.3,878.3,-6.6,363,13535,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3354
$GC,13836,-0.68,-117.3,898.2,-6.6,368,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2411,3355
$GC,14140,-0.68,-117.3,917.6,-6.4,373,14144,0.00,2.38,0.00,0.000,4,0.000,0.075,3080,989,3354
$GC,14172,-0.68,-117.3,919.7,-6.6,373,14176,0.00,2.30,0.00,0.000,6,0.000,0.066,3080,2400,3354
$GC,14505,-0.68,-117.3,940.1,-6.1,379,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3354
$GC,14808,-0.68,-117.3,958.1,-5.9,384,14812,0.00,2.35,0.00,0.000,4,0.000,0.075,3080,990,3354
$GC,14846,-0.68,-117.3,960.5,-5.8,384,14850,0.00,2.33,0.00,0.000,6,0.000,0.066,3080,2402,3353
$GC,15167,-0.68,-117.3,977.6,-5.2,390,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3354
$STATE,15468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15468,begin apogee
$GC,15475,-0.22,0.0,992.5,4.9,395,15590,0.55,0.00,108.93,1.489,6,0.143,0.000,3247,2198,2875
$STATE,15591,end apogee,CONTROL_FINISHED_OK
$STATE,15591,begin climb
$GC,15594,0.67,117.3,996.1,0.0,397,15716,0.88,0.00,113.65,1.437,6,0.092,0.000,3530,2198,2396
$GC,16020,0.35,117.3,972.8,7.9,404,16022,0.35,0.00,0.00,0.000,6,0.163,0.000,3433,2198,2393
$GC,16322,0.30,117.3,956.6,5.2,409,16326,0.00,2.47,0.00,0.000,4,0.000,0.080,3432,3618,2393
$GC,16372,0.18,117.3,953.8,5.8,409,16378,0.22,2.38,0.00,0.000,6,0.179,0.064,3379,2199,2393
$GC,16684,0.37,169.5,942.7,3.5,414,16738,0.15,2.55,46.80,1.436,4,0.085,0.078,3442,791,2184
$GC,16761,0.37,169.5,938.9,5.2,415,16765,0.00,2.38,0.00,0.000,6,0.000,0.064,3442,2202,2182
$GC,17110,0.37,169.5,919.6,5.6,421,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,2179
$GC,17413,0.37,169.5,902.7,5.6,426,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,2179
$GC,17716,0.37,169.5,886.2,5.5,431,17718,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,2179
$GC,18019,0.37,169.5,869.6,5.5,436,18023,0.00,2.35,0.00,0.000,4,0.000,0.082,3442,3616,2179
$GC,18069,0.30,169.5,866.1,6.7,436,18074,0.12,2.30,0.00,0.000,6,0.170,0.065,3418,2198,2179
$GC,18380,0.37,169.5,849.3,5.4,441,18381,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2199,2179
$GC,18683,0.44,169.5,833.0,5.4,446,18685,0.12,0.00,0.00,0.000,6,0.088,0.000,3465,2198,2178
$GC,18985,0.44,169.5,814.1,6.3,451,18986,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2198,2179
$GC,19288,0.44,169.5,796.2,5.9,456,19292,0.00,2.42,0.00,0.000,4,0.000,0.083,3465,3615,2178
$GC,19328,0.29,169.5,793.5,6.8,456,19333,0.20,2.33,0.00,0.000,6,0.172,0.065,3413,2192,2178
$GC,19649,0.40,186.5,778.7,4.5,462,19667,0.10,0.00,15.73,1.308,6,0.094,0.000,3451,2192,2115
$GC,19952,0.46,186.5,762.8,5.3,467,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2191,2113
$GC,20255,0.52,186.5,745.0,6.0,472,20257,0.10,0.00,0.00,0.000,6,0.110,0.000,3493,2192,2113
$GC,20558,0.44,186.5,720.8,8.1,477,20563,0.12,2.47,0.00,0.000,4,0.113,0.080,3456,3616,2112
$GC,20597,0.36,186.5,717.4,8.8,477,20601,0.00,2.38,0.00,0.000,6,0.000,0.063,3463,2201,2112
$GC,20917,0.36,186.5,693.9,7.3,483,20921,0.00,2.40,0.00,0.000,4,0.000,0.080,3463,789,2112
$GC,20951,0.36,186.5,691.5,6.2,483,20955,0.00,2.30,0.00,0.000,6,0.000,0.062,3463,2209,2112
$GC,21277,0.36,186.5,668.8,7.0,489,21278,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2209,2112
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$STATE,32130,end climb,SURFACE_DEPTH_REACHED
$STATE,32130,begin surface coast
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$STATE,32218,end surface coast,CONTROL_FINISHED_OK
$STATE,32219,begin surface
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