version: 66.03
glider: 120
mission: 9
dive: 77
start: 9 25 108 13 32 50
data:
$ID,120
$MISSION,9
$DIVE,77
$D_SURF,6
$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,-19172.123
$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,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
$GPS1,132637,5014.990,-14427.998,26,1.7,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.75
$_SM_ANGLEo,-74.8
$GPS2,133156,5015.018,-14428.039,14,1.6,31,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.177
$KALMAN_X,30237.9,117.9,48.3,-4647.2,287.2
$KALMAN_Y,58807.0,9.1,148.8,-41434.1,1571.2
$MHEAD_RNG_PITCHd_Wd,166.2,38963,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.73,0.000,2,0.000,0.000,141,2402,1946
$GC,35,-0.67,-117.3,5.0,-0.0,1,104,13.60,2.33,-49.62,0.000,4,0.289,0.078,3095,987,3355
$GC,150,-0.33,-117.3,14.2,-12.8,11,155,0.40,2.33,0.00,0.000,6,0.169,0.064,3209,2405,3357
$GC,474,-0.33,-117.3,41.4,-8.1,41,475,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2405,3359
$GC,793,-0.71,-117.3,63.1,-6.5,71,798,0.32,2.30,0.00,0.000,4,0.087,0.064,3091,982,3360
$GC,978,-0.52,-117.3,80.2,-10.2,87,983,0.20,2.28,0.00,0.000,6,0.162,0.058,3142,2405,3361
$GC,1293,-0.46,-117.3,105.3,-8.2,102,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3362
$GC,1602,-0.46,-117.3,128.4,-6.6,117,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3362
$GC,1911,-0.46,-117.3,150.2,-7.8,132,1915,0.00,2.30,0.00,0.000,4,0.000,0.067,3142,985,3362
$GC,1948,-0.46,-117.3,153.4,-7.9,133,1953,0.00,2.30,0.00,0.000,6,0.000,0.060,3141,2405,3362
$GC,2278,-0.46,-117.3,176.3,-6.9,144,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3362
$GC,2584,-0.46,-117.3,196.6,-6.8,154,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3362
$GC,2890,-0.46,-117.3,217.7,-6.7,164,2894,0.00,2.30,0.00,0.000,4,0.000,0.071,3142,988,3361
$GC,2919,-0.46,-117.3,219.6,-7.0,165,2923,0.00,2.28,0.00,0.000,6,0.000,0.062,3142,2407,3361
$GC,3253,-0.46,-117.3,239.8,-5.8,176,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2408,3361
$GC,3560,-0.50,-117.3,257.1,-5.6,186,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2408,3360
$GC,3865,-0.50,-117.3,274.7,-5.8,196,3869,0.00,2.30,0.00,0.000,4,0.000,0.072,3142,991,3359
$GC,3897,-0.54,-117.3,276.7,-6.2,197,3901,0.00,2.28,0.00,0.000,6,0.000,0.063,3142,2395,3359
$GC,4232,-0.59,-117.3,296.4,-5.9,208,4236,0.00,2.30,0.00,0.000,4,0.000,0.073,3142,985,3359
$GC,4265,-0.64,-117.3,298.5,-6.6,209,4269,0.00,2.28,0.00,0.000,6,0.000,0.063,3142,2406,3359
$GC,4597,-0.69,-117.3,318.1,-6.0,215,4601,0.15,2.30,0.00,0.000,4,0.084,0.072,3076,982,3358
$GC,4623,-0.59,-117.3,320.3,-8.4,215,4628,0.17,2.30,0.00,0.000,6,0.171,0.064,3120,2417,3358
$GC,4960,-0.59,-117.3,344.0,-7.0,221,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2416,3358
$GC,5263,-0.59,-117.3,363.7,-6.5,226,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2416,3358
$GC,5566,-0.59,-117.3,383.1,-6.4,231,5570,0.00,2.33,0.00,0.000,4,0.000,0.074,3120,984,3356
$GC,5621,-0.59,-117.3,386.9,-7.5,231,5628,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2398,3356
$GC,5930,-0.59,-117.3,406.3,-6.3,237,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3356
$GC,6233,-0.59,-117.3,424.4,-5.9,242,6237,0.00,2.28,0.00,0.000,4,0.000,0.073,3120,991,3355
$GC,6259,-0.59,-117.3,426.2,-6.9,242,6264,0.00,2.28,0.00,0.000,6,0.000,0.064,3120,2395,3355
$GC,6603,-0.59,-117.3,447.5,-6.2,248,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2395,3355
$GC,6906,-0.59,-117.3,466.0,-6.1,253,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3356
$GC,7209,-0.59,-117.3,484.1,-6.1,258,7213,0.00,2.28,0.00,0.000,4,0.000,0.075,3120,987,3355
$GC,7246,-0.59,-117.3,486.6,-7.0,258,7251,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2401,3355
$GC,7578,-0.59,-117.3,506.0,-5.9,264,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3355
$GC,7882,-0.59,-117.3,525.0,-6.4,269,7886,0.00,2.30,0.00,0.000,4,0.000,0.074,3121,990,3354
$GC,7930,-0.59,-117.3,528.6,-7.0,269,7935,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2405,3354
$GC,8246,-0.59,-117.3,549.0,-6.5,275,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3354
$GC,8549,-0.59,-117.3,567.4,-6.0,280,8553,0.00,2.30,0.00,0.000,4,0.000,0.075,3120,991,3353
$GC,8575,-0.59,-117.3,569.3,-7.2,280,8580,0.00,2.28,0.00,0.000,6,0.000,0.064,3120,2395,3353
$GC,8913,-0.59,-117.3,590.1,-6.3,286,8917,0.00,2.30,0.00,0.000,4,0.000,0.075,3120,982,3353
$GC,8940,-0.59,-117.3,592.0,-7.1,286,8944,0.00,2.28,0.00,0.000,6,0.000,0.065,3120,2403,3353
$GC,9271,-0.59,-117.3,614.1,-6.7,292,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2403,3353
$GC,9574,-0.59,-117.3,634.1,-6.6,297,9578,0.00,2.30,0.00,0.000,4,0.000,0.074,3120,986,3353
$GC,9618,-0.64,-117.3,637.0,-6.7,297,9622,0.00,2.30,0.00,0.000,6,0.000,0.067,3120,2397,3353
$GC,9944,-0.64,-117.3,655.3,-5.5,303,9948,0.00,2.30,0.00,0.000,4,0.000,0.075,3120,984,3353
$GC,9970,-0.64,-117.3,656.8,-5.8,303,9975,0.00,2.30,0.00,0.000,6,0.000,0.065,3120,2397,3353
$GC,10309,-0.68,-117.3,672.7,-4.7,309,10313,0.00,2.30,0.00,0.000,4,0.000,0.075,3120,984,3352
$GC,10341,-0.72,-117.3,674.3,-4.5,309,10346,0.12,2.28,0.00,0.000,6,0.091,0.065,3074,2401,3352
$GC,10673,-0.66,-117.3,694.4,-6.2,315,10675,0.10,0.00,0.00,0.000,6,0.137,0.000,3099,2400,3352
$GC,10975,-0.66,-117.3,712.3,-5.9,320,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3352
$GC,11278,-0.66,-117.3,730.4,-6.0,325,11282,0.00,2.33,0.00,0.000,4,0.000,0.076,3099,982,3352
$GC,11321,-0.66,-117.3,733.4,-6.8,325,11326,0.00,2.33,0.00,0.000,6,0.000,0.067,3099,2406,3352
$GC,11642,-0.66,-117.3,753.5,-6.3,331,11646,0.00,2.33,0.00,0.000,4,0.000,0.077,3099,986,3352
$GC,11670,-0.66,-117.3,755.4,-7.6,331,11674,0.00,2.28,0.00,0.000,6,0.000,0.067,3099,2400,3352
$GC,12000,-0.66,-117.3,778.1,-7.0,337,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3352
$GC,12303,-0.66,-117.3,801.1,-7.6,342,12307,0.00,2.30,0.00,0.000,4,0.000,0.077,3099,991,3352
$GC,12335,-0.66,-117.3,803.8,-8.2,342,12340,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2400,3352
$GC,12673,-0.66,-117.3,829.4,-7.6,348,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3352
$GC,12976,-0.66,-117.3,852.0,-7.4,353,12980,0.00,2.33,0.00,0.000,4,0.000,0.077,3099,984,3351
$GC,13030,-0.66,-117.3,856.2,-7.8,353,13037,0.00,2.33,0.00,0.000,6,0.000,0.067,3099,2402,3351
$GC,13339,-0.66,-117.3,877.4,-6.8,359,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3351
$GC,13642,-0.66,-117.3,895.6,-5.9,364,13646,0.00,2.30,0.00,0.000,4,0.000,0.077,3099,991,3351
$GC,13680,-0.66,-117.3,898.0,-7.1,364,13684,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2402,3351
$GC,14012,-0.66,-117.3,914.3,-4.9,370,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3351
$GC,14316,-0.66,-117.3,928.4,-4.6,375,14320,0.00,2.33,0.00,0.000,4,0.000,0.077,3099,984,3351
$GC,14358,-0.66,-117.3,930.7,-5.1,375,14363,0.00,2.33,0.00,0.000,6,0.000,0.068,3099,2405,3351
$GC,14680,-0.66,-117.3,945.9,-4.8,381,14684,0.00,2.33,0.00,0.000,4,0.000,0.077,3099,989,3351
$GC,14706,-0.66,-117.3,947.3,-5.2,381,14710,0.00,2.33,0.00,0.000,6,0.000,0.068,3099,2405,3351
$GC,15044,-0.66,-117.3,964.5,-5.1,387,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3350
$GC,15347,-0.66,-117.3,981.4,-5.6,392,15351,0.00,2.33,0.00,0.000,4,0.000,0.078,3099,989,3350
$GC,15390,-0.66,-117.3,984.2,-6.6,392,15394,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2393,3349
$STATE,15527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15527,begin apogee
$GC,15531,-0.22,0.0,992.1,5.8,395,15634,0.47,0.00,99.70,1.514,6,0.155,0.000,3244,2195,2876
$STATE,15635,end apogee,CONTROL_FINISHED_OK
$STATE,15635,begin climb
$GC,15636,0.67,117.3,993.8,0.0,396,15747,0.88,2.62,102.97,1.470,4,0.104,0.081,3532,792,2397
$GC,15798,0.30,117.3,992.2,7.7,398,15804,0.45,2.45,0.00,0.000,6,0.192,0.062,3419,2198,2394
$GC,16124,0.24,117.3,975.0,5.2,404,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2198,2393
$GC,16427,0.18,117.3,959.6,5.0,409,16429,0.15,0.00,0.00,0.000,6,0.183,0.000,3382,2198,2393
$GC,16731,0.29,156.2,947.4,3.9,414,16766,0.00,0.00,33.35,1.451,6,0.000,0.000,3382,2198,2239
$GC,17034,0.41,170.3,933.6,4.6,419,17050,0.20,0.00,13.55,1.365,6,0.087,0.000,3452,2198,2181
$GC,17336,0.33,170.3,912.4,7.2,424,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2198,2179
$GC,17640,0.24,170.3,889.9,7.5,429,17641,0.20,0.00,0.00,0.000,6,0.163,0.000,3400,2198,2179
$GC,17943,0.32,170.3,872.8,5.6,434,17947,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,783,2179
$GC,17975,0.40,170.3,870.8,7.1,434,17980,0.12,2.33,0.00,0.000,6,0.101,0.065,3454,2207,2179
$GC,18313,0.31,170.3,845.5,7.6,440,18314,0.15,0.00,0.00,0.000,6,0.163,0.000,3416,2208,2178
$GC,18615,0.31,170.3,826.5,6.2,445,18619,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,791,2179
$GC,18664,0.31,170.3,823.3,7.4,445,18669,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2210,2178
$GC,18979,0.31,170.3,803.8,6.2,451,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2210,2178
$GC,19282,0.31,170.3,785.9,5.9,456,19283,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2210,2178
$GC,19585,0.31,170.3,768.3,5.8,461,19589,0.00,2.35,0.00,0.000,4,0.000,0.083,3422,792,2178
$GC,19634,0.36,170.3,765.5,5.9,461,19639,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2216,2178
$GC,19949,0.36,170.3,748.3,5.5,467,19953,0.00,2.38,0.00,0.000,4,0.000,0.083,3421,782,2178
$GC,19986,0.41,170.3,746.2,5.3,467,19991,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2204,2178
$GC,20313,0.41,170.3,727.5,5.7,473,20317,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,783,2178
$GC,20361,0.46,170.3,724.7,5.6,473,20366,0.12,2.33,0.00,0.000,6,0.100,0.064,3470,2224,2178
$GC,20677,0.34,170.3,700.2,7.9,479,20678,0.15,0.00,0.00,0.000,6,0.166,0.000,3431,2225,2178
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$STATE,31307,end climb,SURFACE_DEPTH_REACHED
$STATE,31307,begin surface coast
$FINISH,5.2,1.024520
$STATE,31316,end surface coast,CONTROL_FINISHED_OK
$STATE,31316,begin surface
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$HUMID,2171
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$XPDR_PINGS,931
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$10V_AH,10.7,10.342
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$DEVICE_SECS,29.250,218.650,374.950,0.000,0.000,25.379,26.488,149.256,232.750,0.000,0.000,31.464,1740.638,26662.436,547.873,2356.485,399.216,33.377,1714.806,0.000,2313.481,0.000,0.466
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47480,796
$CAP_FILE_SIZE,181691,0
$CFSIZE,260165632,252731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250908,221801,5012.333,-14428.147,83,1.3,83,18.6