version: 66.03
glider: 120
mission: 9
dive: 262
start: 12 5 108 0 25 4
data:
$ID,120
$MISSION,9
$DIVE,262
$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,-23129.041
$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,18
$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
$GPS1,001402,5012.988,-14511.412,42,1.7,42,18.5
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-76.3
$GPS2,002409,5013.014,-14511.233,11,2.0,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.174
$KALMAN_X,37780.9,53.0,51.4,-63447.4,1361.4
$KALMAN_Y,200906.7,150.2,60.7,-187303.4,2284.4
$MHEAD_RNG_PITCHd_Wd,173.6,35204,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-21.77,0.000,2,0.000,0.000,137,2407,2169
$GC,48,-0.67,-117.3,3.2,-2.4,2,109,14.20,2.53,-39.47,0.000,4,0.291,0.093,3093,3815,3355
$GC,121,-0.39,-117.3,7.9,-9.7,9,126,0.35,2.35,0.00,0.000,6,0.166,0.054,3190,2391,3356
$GC,446,-0.48,-117.3,29.7,-6.1,39,450,0.00,2.35,0.00,0.000,4,0.000,0.070,3190,986,3357
$GC,471,-0.57,-117.3,31.2,-6.6,41,476,0.17,2.33,0.00,0.000,6,0.081,0.061,3129,2406,3357
$GC,795,-0.57,-117.3,58.6,-8.5,71,799,0.00,2.35,0.00,0.000,4,0.000,0.077,3128,3806,3358
$GC,850,-0.50,-117.3,63.9,-9.8,75,857,0.00,2.28,0.00,0.000,6,0.000,0.054,3129,2391,3358
$GC,1182,-0.50,-117.3,89.1,-7.3,101,1186,0.00,2.47,0.00,0.000,4,0.000,0.076,3128,3807,3358
$GC,1321,-0.50,-117.3,101.2,-7.9,107,1325,0.00,2.30,0.00,0.000,6,0.000,0.053,3128,2395,3358
$GC,1642,-0.50,-117.3,123.4,-6.8,123,1646,0.00,2.35,0.00,0.000,4,0.000,0.067,3128,986,3359
$GC,1714,-0.50,-117.3,128.9,-7.9,126,1718,0.00,2.30,0.00,0.000,6,0.000,0.060,3128,2400,3359
$GC,2046,-0.50,-117.3,152.6,-6.8,142,2050,0.00,2.35,0.00,0.000,4,0.000,0.079,3129,3809,3359
$GC,2074,-0.50,-117.3,154.4,-6.8,143,2078,0.00,2.28,0.00,0.000,6,0.000,0.053,3128,2400,3359
$GC,2409,-0.72,-117.3,176.9,-6.8,154,2414,0.12,2.45,0.00,0.000,4,0.097,0.077,3083,3811,3359
$GC,2515,-0.65,-117.3,184.9,-7.3,157,2519,0.00,2.30,0.00,0.000,6,0.000,0.054,3083,2398,3359
$GC,2838,-0.55,-117.3,210.6,-8.0,168,2843,0.15,2.38,0.00,0.000,4,0.153,0.069,3133,986,3359
$GC,2866,-0.55,-117.3,212.6,-7.1,169,2870,0.00,2.30,0.00,0.000,6,0.000,0.063,3133,2402,3359
$GC,3207,-0.60,-117.3,232.5,-5.8,180,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2402,3359
$GC,3513,-0.66,-117.3,250.4,-5.8,190,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2402,3359
$GC,3819,-0.72,-117.3,268.0,-5.7,200,3824,0.15,2.38,0.00,0.000,4,0.085,0.070,3070,995,3358
$GC,3858,-0.59,-117.3,271.0,-8.2,201,3863,0.20,2.30,0.00,0.000,6,0.159,0.064,3124,2401,3358
$GC,4181,-0.59,-117.3,290.3,-5.8,212,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3358
$GC,4486,-0.59,-117.3,308.1,-5.9,220,4490,0.00,2.45,0.00,0.000,4,0.000,0.082,3124,3817,3357
$GC,4519,-0.65,-117.3,310.2,-6.8,220,4523,0.00,2.30,0.00,0.000,6,0.000,0.055,3124,2400,3357
$GC,4845,-0.88,-117.3,330.9,-6.5,226,4850,0.22,2.47,0.00,0.000,4,0.086,0.079,3034,3821,3357
$GC,5043,-0.66,-117.3,348.1,-9.2,229,5048,0.25,2.33,0.00,0.000,6,0.163,0.057,3103,2402,3356
$GC,5408,-0.66,-117.3,369.7,-5.7,235,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3357
$GC,5711,-0.66,-117.3,387.0,-5.7,240,5715,0.00,2.40,0.00,0.000,4,0.000,0.071,3103,984,3356
$GC,5743,-0.66,-117.3,389.0,-6.1,240,5747,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2401,3356
$GC,6076,-0.66,-117.3,409.2,-6.1,246,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,6378,-0.66,-117.3,427.2,-5.9,251,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,6681,-0.66,-117.3,445.0,-5.8,256,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,6985,-0.66,-117.3,463.3,-6.0,261,6989,0.00,2.40,0.00,0.000,4,0.000,0.082,3100,3813,3355
$GC,7017,-0.66,-117.3,465.6,-6.7,261,7021,0.00,2.30,0.00,0.000,6,0.000,0.057,3100,2393,3355
$GC,7350,-0.66,-117.3,485.4,-5.9,267,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3355
$GC,7652,-0.66,-117.3,503.5,-6.0,272,7656,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,992,3355
$GC,7696,-0.66,-117.3,506.6,-7.1,272,7700,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2411,3355
$GC,8017,-0.66,-117.3,525.8,-6.0,278,8021,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,988,3355
$GC,8044,-0.66,-117.3,527.6,-6.4,278,8048,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2408,3355
$GC,8382,-0.66,-117.3,547.2,-5.7,284,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,8685,-0.66,-117.3,565.3,-6.0,289,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3354
$GC,8989,-0.66,-117.3,584.7,-6.4,294,8993,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,992,3354
$GC,9027,-0.66,-117.3,587.3,-6.4,294,9030,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2403,3354
$GC,9353,-0.66,-117.3,608.7,-6.6,300,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,9656,-0.66,-117.3,628.7,-6.6,305,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,9959,-0.66,-117.3,648.5,-6.5,310,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,10263,-0.66,-117.3,666.8,-6.0,315,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,10565,-0.66,-117.3,682.8,-5.2,320,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,10869,-0.66,-117.3,697.3,-4.8,325,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3353
$GC,11172,-0.66,-117.3,712.1,-4.9,330,11176,0.00,2.42,0.00,0.000,4,0.000,0.073,3100,989,3353
$GC,11199,-0.66,-117.3,713.5,-5.5,330,11203,0.00,2.38,0.00,0.000,6,0.000,0.066,3100,2409,3353
$GC,11536,-0.66,-117.3,730.8,-5.2,336,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3353
$GC,11839,-0.66,-117.3,746.9,-5.2,341,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3353
$GC,12142,-0.66,-117.3,763.2,-5.4,346,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3353
$GC,12446,-0.66,-117.3,779.5,-5.4,351,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3353
$GC,12749,-0.66,-117.3,794.7,-5.0,356,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3353
$GC,13052,-0.66,-117.3,808.8,-4.6,361,13056,0.00,2.45,0.00,0.000,4,0.000,0.074,3100,985,3353
$GC,13079,-0.66,-117.3,810.2,-4.4,361,13083,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2401,3353
$GC,13410,-0.66,-117.3,826.9,-5.1,367,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,13714,-0.70,-117.3,844.1,-5.7,372,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,14017,-0.70,-117.3,862.1,-5.9,377,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,14320,-0.70,-117.3,880.9,-6.3,382,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,14623,-0.70,-117.3,899.8,-6.3,387,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,14927,-0.74,-117.3,918.2,-6.0,392,14931,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,989,3352
$GC,14954,-0.79,-117.3,920.0,-6.5,392,14958,0.12,2.35,0.00,0.000,6,0.095,0.067,3054,2403,3351
$GC,15291,-0.79,-117.3,941.8,-6.4,398,15295,0.00,2.38,0.00,0.000,4,0.000,0.084,3053,3811,3351
$GC,15340,-0.72,-117.3,945.3,-7.4,398,15345,0.12,2.30,0.00,0.000,6,0.117,0.058,3087,2394,3351
$GC,15650,-0.72,-117.3,963.6,-5.9,403,15654,0.00,2.38,0.00,0.000,4,0.000,0.075,3088,988,3351
$GC,15676,-0.72,-117.3,965.3,-6.4,403,15681,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2401,3351
$GC,16014,-0.72,-117.3,984.5,-5.7,409,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3351
$STATE,16133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16133,begin apogee
$GC,16139,-0.22,0.0,991.2,5.6,411,16247,0.52,0.00,105.03,1.494,6,0.148,0.000,3242,2204,2877
$STATE,16248,end apogee,CONTROL_FINISHED_OK
$STATE,16248,begin climb
$GC,16250,0.67,117.3,993.0,0.0,412,16365,0.88,0.00,110.45,1.434,6,0.091,0.000,3529,2204,2397
$GC,16616,0.33,117.3,975.3,8.1,418,16618,0.38,0.00,0.00,0.000,6,0.170,0.000,3428,2204,2393
$GC,16919,0.28,117.3,958.9,5.3,423,16923,0.00,2.42,0.00,0.000,4,0.000,0.078,3437,783,2393
$GC,16968,0.22,117.3,956.2,6.0,423,16973,0.17,2.35,0.00,0.000,6,0.168,0.064,3392,2202,2392
$GC,17279,0.31,141.6,942.9,4.3,428,17303,0.00,0.00,22.10,1.408,6,0.000,0.000,3393,2202,2298
$GC,17582,0.40,144.5,928.1,4.9,433,17589,0.17,0.00,4.32,0.960,6,0.084,0.000,3458,2202,2286
$GC,17884,0.31,144.5,908.1,6.6,438,17889,0.15,2.38,0.00,0.000,4,0.147,0.080,3413,3608,2285
$GC,17918,0.31,144.5,906.0,5.6,438,17922,0.00,2.35,0.00,0.000,6,0.000,0.063,3421,2199,2285
$GC,18244,0.31,144.5,888.5,5.4,444,18248,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,789,2285
$GC,18293,0.31,144.5,885.6,5.2,444,18297,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2198,2285
$GC,18608,0.31,144.5,868.6,5.4,450,18612,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3611,2285
$GC,18647,0.26,144.5,866.3,6.8,450,18651,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2193,2284
$GC,18967,0.26,144.5,848.9,5.4,456,18971,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,788,2285
$GC,19006,0.27,147.3,846.6,4.9,456,19015,0.00,2.30,4.28,0.951,6,0.000,0.064,3421,2203,2274
$GC,19332,0.27,147.3,828.4,5.6,462,19336,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3620,2274
$GC,19365,0.22,147.3,826.0,6.9,462,19370,0.12,2.33,0.00,0.000,6,0.179,0.065,3392,2189,2274
$GC,19691,0.32,147.3,809.0,5.3,468,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2188,2274
$GC,19994,0.43,147.3,792.5,5.4,473,19996,0.20,0.00,0.00,0.000,6,0.084,0.000,3466,2188,2274
$GC,20297,0.33,147.3,771.0,7.1,478,20302,0.15,2.40,0.00,0.000,4,0.156,0.079,3424,781,2274
$GC,20331,0.33,147.3,768.9,5.6,478,20335,0.00,2.33,0.00,0.000,6,0.000,0.063,3424,2209,2274
$GC,20657,0.33,147.3,751.2,5.3,484,20661,0.00,2.35,0.00,0.000,4,0.000,0.082,3424,3614,2274
$GC,20696,0.28,147.3,748.8,6.4,484,20700,0.00,2.35,0.00,0.000,6,0.000,0.065,3424,2190,2274
$GC,21017,0.29,154.5,733.3,4.8,490,21031,0.00,2.42,7.53,1.158,4,0.000,0.081,3424,783,2246
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$DATA_FILE_SIZE,50596,871
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