version: 66.03
glider: 120
mission: 9
dive: 78
start: 9 25 108 22 26 56
data:
$ID,120
$MISSION,9
$DIVE,78
$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,-19202.691
$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
$GPS1,221801,5012.333,-14428.147,83,1.3,83,18.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.84
$_SM_ANGLEo,-70.5
$GPS2,222602,5012.364,-14428.060,11,1.8,29,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.176
$KALMAN_X,30823.6,-35.0,193.0,-5245.6,559.1
$KALMAN_Y,60812.2,121.6,158.6,-48476.1,1852.9
$MHEAD_RNG_PITCHd_Wd,168.6,34055,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.05,0.000,2,0.000,0.000,135,2415,1866
$GC,35,-0.67,-117.3,4.7,-0.0,1,116,13.48,2.38,-57.42,0.000,4,0.287,0.080,3091,993,3356
$GC,161,-0.26,-117.3,15.0,-14.0,13,166,0.50,2.30,0.00,0.000,6,0.178,0.062,3225,2403,3358
$GC,488,-0.35,-117.3,40.0,-6.5,43,492,0.00,2.30,0.00,0.000,4,0.000,0.075,3222,3813,3359
$GC,527,-0.48,-117.3,42.0,-5.4,46,532,0.20,2.25,0.00,0.000,6,0.078,0.051,3148,2383,3359
$GC,851,-0.43,-117.3,67.0,-7.3,76,856,0.12,2.35,0.00,0.000,4,0.156,0.074,3180,3814,3361
$GC,902,-0.53,-117.3,70.1,-5.7,80,906,0.00,2.22,0.00,0.000,6,0.000,0.051,3180,2391,3361
$GC,1232,-0.58,-117.3,92.8,-7.6,103,1237,0.15,2.25,0.00,0.000,4,0.077,0.065,3111,985,3362
$GC,1271,-0.42,-117.3,96.7,-11.3,105,1276,0.22,2.28,0.00,0.000,6,0.161,0.058,3174,2408,3362
$GC,1597,-0.47,-117.3,119.3,-5.4,121,1601,0.00,2.30,0.00,0.000,4,0.000,0.067,3174,985,3362
$GC,1623,-0.53,-117.3,120.9,-5.4,122,1627,0.00,2.30,0.00,0.000,6,0.000,0.058,3174,2405,3362
$GC,1945,-0.63,-117.3,136.3,-5.1,138,1947,0.17,0.00,0.00,0.000,6,0.078,0.000,3106,2405,3362
$GC,2253,-0.54,-117.3,159.7,-7.9,151,2255,0.12,0.00,0.00,0.000,6,0.154,0.000,3138,2405,3362
$GC,2558,-0.54,-117.3,181.2,-7.0,161,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2405,3361
$GC,2865,-0.54,-117.3,199.4,-5.7,171,2869,0.00,2.30,0.00,0.000,4,0.000,0.071,3138,991,3360
$GC,2897,-0.54,-117.3,201.5,-6.6,172,2901,0.00,2.30,0.00,0.000,6,0.000,0.062,3138,2400,3361
$GC,3232,-0.54,-117.3,221.2,-5.9,183,3236,0.00,2.28,0.00,0.000,4,0.000,0.071,3138,997,3360
$GC,3293,-0.54,-117.3,225.3,-6.9,185,3297,0.00,2.25,0.00,0.000,6,0.000,0.061,3138,2402,3360
$GC,3626,-0.54,-117.3,247.3,-6.6,196,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2402,3360
$GC,3933,-0.54,-117.3,266.3,-6.0,206,3937,0.00,2.28,0.00,0.000,4,0.000,0.072,3138,997,3359
$GC,3981,-0.54,-117.3,269.5,-6.4,207,3986,0.00,2.28,0.00,0.000,6,0.000,0.063,3138,2398,3359
$GC,4299,-0.54,-117.3,288.3,-6.1,218,4303,0.00,2.28,0.00,0.000,4,0.000,0.072,3138,994,3358
$GC,4327,-0.54,-117.3,290.1,-6.6,219,4331,0.00,2.25,0.00,0.000,6,0.000,0.063,3138,2401,3358
$GC,4690,-0.58,-117.3,313.6,-6.7,228,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2401,3358
$GC,4992,-0.58,-117.3,333.9,-6.8,233,4996,0.00,2.30,0.00,0.000,4,0.000,0.074,3138,988,3357
$GC,5034,-0.58,-117.3,337.0,-7.5,233,5039,0.00,2.30,0.00,0.000,6,0.000,0.064,3138,2402,3357
$GC,5356,-0.63,-117.3,357.5,-6.3,239,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2402,3356
$GC,5659,-0.67,-117.3,374.8,-5.6,244,5664,0.12,2.30,0.00,0.000,4,0.087,0.072,3090,990,3355
$GC,5685,-0.62,-117.3,376.6,-7.1,244,5689,0.00,2.28,0.00,0.000,6,0.000,0.063,3088,2394,3355
$GC,6023,-0.51,-117.3,402.0,-7.6,250,6025,0.22,0.00,0.00,0.000,6,0.164,0.000,3151,2394,3355
$GC,6326,-0.60,-117.3,418.3,-5.3,255,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2394,3356
$GC,6629,-0.84,-117.3,438.6,-6.9,260,6634,0.30,2.30,0.00,0.000,4,0.088,0.080,3041,3807,3355
$GC,6885,-0.61,-117.3,466.2,-11.4,263,6893,0.25,2.25,0.00,0.000,6,0.169,0.060,3117,2404,3354
$GC,7195,-0.61,-117.3,491.0,-8.0,269,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2404,3354
$GC,7498,-0.61,-117.3,515.9,-8.2,274,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2404,3354
$GC,7801,-0.61,-117.3,540.1,-7.9,279,7805,0.00,2.28,0.00,0.000,4,0.000,0.074,3118,990,3353
$GC,7872,-0.61,-117.3,546.0,-8.0,280,7877,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2398,3353
$GC,8238,-0.61,-117.3,573.2,-7.4,286,8242,0.00,2.30,0.00,0.000,4,0.000,0.074,3113,983,3353
$GC,8286,-0.61,-117.3,576.8,-7.2,286,8291,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2400,3353
$GC,8608,-0.61,-117.3,597.5,-6.4,292,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3353
$GC,8910,-0.61,-117.3,615.9,-6.0,297,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3353
$GC,9213,-0.61,-117.3,633.3,-5.7,302,9217,0.00,2.28,0.00,0.000,4,0.000,0.074,3113,993,3352
$GC,9240,-0.61,-117.3,634.8,-6.2,302,9244,0.00,2.28,0.00,0.000,6,0.000,0.065,3113,2395,3352
$GC,9583,-0.61,-117.3,655.0,-6.0,308,9587,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,985,3352
$GC,9621,-0.61,-117.3,657.5,-6.4,308,9625,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2396,3352
$GC,9947,-0.61,-117.3,675.9,-5.7,314,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3352
$GC,10250,-0.61,-117.3,692.0,-5.3,319,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3352
$GC,10553,-0.61,-117.3,707.5,-5.1,324,10557,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,987,3352
$GC,10580,-0.61,-117.3,708.9,-5.7,324,10584,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2403,3351
$GC,10918,-0.61,-117.3,725.3,-4.9,330,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3352
$GC,11220,-0.61,-117.3,740.9,-5.2,335,11224,0.00,2.30,0.00,0.000,4,0.000,0.076,3113,991,3352
$GC,11246,-0.61,-117.3,742.4,-6.3,335,11251,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2402,3352
$GC,11584,-0.61,-117.3,760.0,-5.2,341,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,11887,-0.61,-117.3,777.5,-5.8,346,11891,0.00,2.30,0.00,0.000,4,0.000,0.076,3113,991,3351
$GC,11919,-0.61,-117.3,779.6,-5.5,346,11924,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2402,3351
$GC,12251,-0.61,-117.3,799.8,-6.1,352,12255,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3812,3351
$GC,12278,-0.65,-117.3,801.4,-6.1,352,12283,0.00,2.22,0.00,0.000,6,0.000,0.061,3113,2402,3351
$GC,12616,-0.65,-117.3,819.6,-5.3,358,12620,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,985,3351
$GC,12642,-0.65,-117.3,821.2,-6.3,358,12647,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2397,3351
$GC,12980,-0.65,-117.3,839.4,-5.3,364,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,13283,-0.65,-117.3,855.6,-5.3,369,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,13586,-0.65,-117.3,870.8,-5.0,374,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,13889,-0.65,-117.3,885.5,-4.8,379,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,14193,-0.65,-117.3,899.7,-4.7,384,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,14495,-0.65,-117.3,913.9,-4.7,389,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,14798,-0.65,-117.3,929.2,-5.2,394,14802,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,991,3349
$GC,14830,-0.70,-117.3,931.0,-6.1,394,14834,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2400,3349
$GC,15162,-0.75,-117.3,949.0,-5.4,400,15164,0.12,0.00,0.00,0.000,6,0.094,0.000,3065,2400,3349
$GC,15465,-0.71,-117.3,969.0,-6.6,405,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2400,3349
$GC,15768,-0.71,-117.3,989.5,-6.8,410,15772,0.00,2.33,0.00,0.000,4,0.000,0.085,3065,3820,3349
$STATE,15777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15777,begin apogee
$GC,15784,-0.22,0.0,990.3,6.8,410,15890,0.55,0.00,99.00,1.513,6,0.163,0.000,3236,2200,2876
$STATE,15891,end apogee,CONTROL_FINISHED_OK
$STATE,15891,begin climb
$GC,15893,0.67,117.3,994.6,0.0,412,16000,0.90,0.00,103.32,1.469,6,0.109,0.000,3526,2200,2397
$GC,16257,0.31,117.3,975.1,7.9,418,16259,0.40,0.00,0.00,0.000,6,0.186,0.000,3421,2200,2393
$GC,16560,0.26,117.3,958.7,5.3,423,16564,0.00,2.38,0.00,0.000,4,0.000,0.081,3425,790,2393
$GC,16628,0.21,117.3,955.1,5.3,424,16633,0.15,2.35,0.00,0.000,6,0.173,0.064,3388,2208,2392
$GC,16992,0.29,143.2,939.3,4.3,430,17021,0.00,2.45,22.23,1.424,4,0.000,0.081,3388,3610,2292
$GC,17050,0.31,157.9,936.3,4.6,430,17070,0.00,2.38,14.35,1.353,6,0.000,0.064,3395,2201,2231
$GC,17425,0.39,157.9,916.5,5.3,437,17430,0.15,2.38,0.00,0.000,4,0.094,0.081,3459,790,2230
$GC,17457,0.30,157.9,914.4,7.0,437,17461,0.12,2.35,0.00,0.000,6,0.153,0.064,3411,2199,2229
$GC,17788,0.30,157.9,895.7,5.6,443,17790,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2199,2229
$GC,18091,0.30,157.9,879.0,5.5,448,18095,0.00,2.38,0.00,0.000,4,0.000,0.082,3411,782,2229
$GC,18135,0.35,157.9,876.6,6.0,448,18139,0.00,2.33,0.00,0.000,6,0.000,0.063,3411,2198,2228
$GC,18455,0.35,157.9,858.5,5.7,454,18457,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2198,2229
$GC,18758,0.35,157.9,840.4,6.0,459,18762,0.00,2.35,0.00,0.000,4,0.000,0.082,3411,789,2228
$GC,18802,0.42,157.9,837.8,5.8,459,18807,0.08,2.33,0.00,0.000,6,0.079,0.064,3448,2208,2228
$GC,19123,0.35,157.9,815.1,7.1,465,19127,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,780,2229
$GC,19172,0.29,157.9,811.5,6.8,465,19177,0.15,2.33,0.00,0.000,6,0.169,0.065,3411,2217,2228
$GC,19486,0.29,157.9,793.4,5.7,471,19487,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2217,2228
$GC,19789,0.29,157.9,776.5,5.6,476,19793,0.00,2.38,0.00,0.000,4,0.000,0.082,3411,788,2228
$GC,19867,0.36,157.9,772.4,5.3,477,19871,0.00,2.30,0.00,0.000,6,0.000,0.064,3411,2197,2228
$GC,20221,0.41,157.9,753.6,5.3,483,20223,0.12,0.00,0.00,0.000,6,0.097,0.000,3458,2197,2228
$GC,20524,0.31,157.9,732.9,6.9,488,20529,0.15,2.35,0.00,0.000,4,0.160,0.080,3422,779,2227
$GC,20601,0.31,157.9,728.2,5.8,489,20605,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2205,2228
$GC,20955,0.31,157.9,707.8,5.7,495,20959,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,780,2228
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$STATE,33166,end climb,SURFACE_DEPTH_REACHED
$STATE,33166,begin surface coast
$FINISH,4.3,1.024522
$STATE,33179,end surface coast,CONTROL_FINISHED_OK
$STATE,33179,begin surface
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$HUMID,2191
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$TCM_TEMP,16.40
$XPDR_PINGS,1051
$24V_AH,23.4,18.819
$10V_AH,10.6,10.478
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$DEVICE_SECS,29.550,226.725,348.850,10.150,0.000,55.443,49.976,199.348,262.750,0.000,0.000,29.939,1893.355,28123.670,552.245,2593.667,523.873,33.373,1815.119,0.000,2557.532,0.000,0.465
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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,50642,875
$CAP_FILE_SIZE,197337,0
$CFSIZE,260165632,252637184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260908,074224,5009.720,-14428.425,65,3.0,84,18.6