version: 66.03
glider: 120
mission: 9
dive: 126
start: 10 14 108 5 41 26
data:
$ID,120
$MISSION,9
$DIVE,126
$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,-20278.848
$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
$GPS1,053357,4953.221,-14430.485,58,2.7,77,18.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,4.59
$_SM_ANGLEo,-70.4
$GPS2,054032,4953.271,-14430.392,21,1.1,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.134,0.116
$KALMAN_X,39172.7,-32.3,-123.3,-16044.7,-227.5
$KALMAN_Y,96384.4,5.7,49.3,-119170.4,1400.6
$MHEAD_RNG_PITCHd_Wd,292.4,35885,-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,19,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-11.93,0.000,2,0.000,0.000,136,2405,1980
$GC,36,-0.67,-117.3,5.2,-0.0,1,112,13.62,2.35,-55.53,0.000,4,0.282,0.078,3094,986,3354
$GC,248,-0.36,-117.3,27.4,-13.9,20,253,0.38,2.33,0.00,0.000,6,0.165,0.061,3200,2405,3356
$GC,572,-0.36,-117.3,50.8,-6.5,50,577,0.00,2.35,0.00,0.000,4,0.000,0.067,3201,979,3357
$GC,605,-0.46,-117.3,53.2,-6.8,52,612,0.00,2.33,0.00,0.000,6,0.000,0.058,3200,2401,3357
$GC,931,-0.79,-117.3,76.8,-7.3,83,936,0.38,2.33,0.00,0.000,4,0.084,0.064,3061,977,3359
$GC,1106,-0.49,-117.3,97.4,-12.2,92,1111,0.32,2.30,0.00,0.000,6,0.166,0.059,3151,2409,3360
$GC,1432,-0.49,-117.3,122.0,-6.9,108,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2409,3360
$GC,1741,-0.49,-117.3,141.7,-6.4,123,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2409,3360
$GC,2069,-0.49,-117.3,161.7,-5.9,136,2073,0.00,2.33,0.00,0.000,4,0.000,0.067,3151,983,3360
$GC,2101,-0.49,-117.3,163.9,-6.4,137,2105,0.00,2.30,0.00,0.000,6,0.000,0.059,3151,2398,3360
$GC,2437,-0.55,-117.3,183.0,-5.7,148,2441,0.00,2.33,0.00,0.000,4,0.000,0.079,3151,3812,3360
$GC,2469,-0.63,-117.3,185.2,-6.2,149,2474,0.12,2.28,0.00,0.000,6,0.087,0.053,3104,2389,3359
$GC,2804,-0.63,-117.3,210.9,-8.0,160,2808,0.00,2.25,0.00,0.000,4,0.000,0.069,3103,993,3360
$GC,2833,-0.57,-117.3,213.3,-9.0,161,2837,0.12,2.28,0.00,0.000,6,0.159,0.061,3133,2408,3359
$GC,3167,-0.57,-117.3,234.8,-5.9,172,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2408,3359
$GC,3473,-0.57,-117.3,252.8,-6.1,182,3477,0.00,2.33,0.00,0.000,4,0.000,0.070,3133,988,3358
$GC,3504,-0.57,-117.3,255.0,-6.5,183,3509,0.00,2.30,0.00,0.000,6,0.000,0.061,3131,2396,3358
$GC,3840,-0.57,-117.3,276.2,-6.4,194,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2397,3357
$GC,4146,-0.57,-117.3,295.2,-6.0,204,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2397,3357
$GC,4481,-0.57,-117.3,315.8,-6.2,211,4485,0.00,2.30,0.00,0.000,4,0.000,0.071,3130,991,3356
$GC,4542,-0.57,-117.3,320.1,-7.4,212,4546,0.00,2.28,0.00,0.000,6,0.000,0.063,3128,2401,3356
$GC,4907,-0.57,-117.3,344.1,-6.6,218,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2401,3356
$GC,5210,-0.57,-117.3,364.4,-6.7,223,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3355
$GC,5512,-0.57,-117.3,384.7,-6.7,228,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2401,3355
$GC,5817,-0.57,-117.3,403.8,-6.2,233,5821,0.00,2.30,0.00,0.000,4,0.000,0.072,3129,992,3355
$GC,5860,-0.61,-117.3,406.6,-6.3,233,5864,0.00,2.28,0.00,0.000,6,0.000,0.064,3128,2402,3355
$GC,6181,-0.61,-117.3,426.1,-6.1,239,6185,0.00,2.30,0.00,0.000,4,0.000,0.082,3129,3809,3354
$GC,6213,-0.67,-117.3,428.2,-6.9,239,6218,0.00,2.25,0.00,0.000,6,0.000,0.057,3128,2402,3354
$GC,6545,-0.88,-117.3,449.7,-6.6,245,6550,0.25,2.33,0.00,0.000,4,0.093,0.080,3033,3809,3354
$GC,6752,-0.62,-117.3,469.2,-10.0,248,6756,0.22,2.28,0.00,0.000,6,0.173,0.058,3110,2391,3353
$GC,7111,-0.62,-117.3,492.8,-6.5,254,7115,0.00,2.28,0.00,0.000,4,0.000,0.074,3110,992,3353
$GC,7160,-0.62,-117.3,496.3,-6.9,254,7165,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2395,3353
$GC,7476,-0.62,-117.3,516.9,-6.6,260,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2395,3353
$GC,7779,-0.62,-117.3,537.0,-6.6,265,7783,0.00,2.30,0.00,0.000,4,0.000,0.074,3110,995,3353
$GC,7805,-0.62,-117.3,539.0,-7.8,265,7810,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2402,3353
$GC,8143,-0.62,-117.3,561.1,-6.5,271,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2403,3352
$GC,8446,-0.62,-117.3,580.8,-6.4,276,8450,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,988,3352
$GC,8494,-0.62,-117.3,583.9,-6.4,276,8499,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2406,3352
$GC,8810,-0.62,-117.3,600.7,-5.3,282,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3352
$GC,9113,-0.62,-117.3,616.8,-5.3,287,9117,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,994,3352
$GC,9162,-0.62,-117.3,619.8,-6.0,287,9166,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2401,3352
$GC,9477,-0.62,-117.3,638.4,-6.0,293,9481,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,986,3352
$GC,9514,-0.62,-117.3,641.0,-6.9,293,9519,0.00,2.33,0.00,0.000,6,0.000,0.066,3110,2402,3352
$GC,9841,-0.62,-117.3,661.7,-6.4,299,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3351
$GC,10144,-0.62,-117.3,681.4,-6.5,304,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3351
$GC,10447,-0.62,-117.3,700.6,-6.3,309,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3351
$GC,10751,-0.62,-117.3,718.8,-5.9,314,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3350
$GC,11053,-0.62,-117.3,735.3,-5.5,319,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3350
$GC,11358,-0.62,-117.3,751.4,-5.3,324,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3350
$GC,11660,-0.62,-117.3,767.6,-5.3,329,11664,0.00,2.30,0.00,0.000,4,0.000,0.075,3110,995,3350
$GC,11708,-0.62,-117.3,770.5,-5.8,329,11713,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2399,3350
$GC,12024,-0.62,-117.3,786.7,-5.1,335,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3349
$GC,12327,-0.62,-117.3,802.0,-5.0,340,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3350
$GC,12630,-0.62,-117.3,816.5,-4.8,345,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3349
$GC,12934,-0.62,-117.3,831.4,-4.9,350,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3349
$GC,13236,-0.62,-117.3,846.2,-5.0,355,13240,0.00,2.30,0.00,0.000,4,0.000,0.075,3110,995,3349
$GC,13274,-0.62,-117.3,848.5,-6.1,355,13279,0.00,2.30,0.00,0.000,6,0.000,0.065,3110,2398,3349
$GC,13601,-0.62,-117.3,866.2,-5.5,361,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3349
$GC,13904,-0.62,-117.3,883.8,-5.8,366,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3349
$GC,14209,-0.66,-117.3,901.8,-5.9,371,14213,0.00,2.33,0.00,0.000,4,0.000,0.076,3110,994,3348
$GC,14248,-0.66,-117.3,904.3,-6.4,371,14252,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2412,3348
$GC,14568,-0.70,-117.3,922.4,-5.6,377,14572,0.00,2.33,0.00,0.000,4,0.000,0.087,3110,3809,3348
$GC,14606,-0.77,-117.3,924.6,-6.1,377,14610,0.12,2.25,0.00,0.000,6,0.092,0.061,3066,2402,3348
$GC,14932,-0.77,-117.3,944.5,-6.0,383,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2402,3348
$GC,15235,-0.77,-117.3,961.5,-5.6,388,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2402,3348
$GC,15538,-0.77,-117.3,978.4,-5.6,393,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2402,3348
$STATE,15779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15779,begin apogee
$GC,15783,-0.22,0.0,991.6,5.5,397,15887,0.60,0.00,100.22,1.506,6,0.150,0.000,3247,2192,2876
$STATE,15887,end apogee,CONTROL_FINISHED_OK
$STATE,15887,begin climb
$GC,15889,0.67,117.3,992.9,0.0,398,16001,0.88,2.62,104.82,1.449,4,0.099,0.080,3533,794,2397
$GC,16034,0.27,117.3,990.7,7.9,401,16039,0.50,2.50,0.00,0.000,6,0.194,0.061,3409,2202,2394
$GC,16382,0.27,117.3,970.2,5.8,407,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2202,2393
$GC,16685,0.27,117.3,953.3,5.6,412,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2202,2392
$GC,16988,0.27,117.3,937.1,5.2,417,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2202,2392
$GC,17292,0.29,131.0,923.0,4.6,422,17306,0.00,0.00,12.43,1.357,6,0.000,0.000,3409,2202,2341
$GC,17656,0.30,144.4,906.1,4.6,428,17675,0.00,2.42,12.77,1.349,4,0.000,0.083,3409,3609,2286
$GC,17727,0.24,144.4,902.3,5.7,429,17732,0.00,2.35,0.00,0.000,6,0.000,0.066,3409,2193,2286
$GC,18087,0.25,150.7,885.0,4.8,435,18096,0.00,0.00,7.20,1.210,6,0.000,0.000,3409,2193,2261
$GC,18390,0.26,154.5,870.3,4.9,440,18400,0.00,2.38,5.18,1.068,4,0.000,0.081,3409,787,2244
$GC,18433,0.31,160.5,868.2,4.8,440,18449,0.00,2.35,6.78,1.175,6,0.000,0.063,3410,2215,2221
$GC,18752,0.35,161.9,852.5,5.0,446,18753,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2216,2220
$GC,19054,0.35,161.9,836.4,5.4,451,19055,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2216,2219
$GC,19357,0.35,161.9,818.8,5.9,456,19361,0.00,2.42,0.00,0.000,4,0.000,0.081,3409,780,2219
$GC,19390,0.42,161.9,816.8,5.9,456,19394,0.12,2.33,0.00,0.000,6,0.100,0.064,3453,2205,2219
$GC,19722,0.34,161.9,791.7,7.7,462,19726,0.00,2.33,0.00,0.000,4,0.000,0.083,3453,3613,2219
$GC,19787,0.17,161.9,785.7,8.7,463,19792,0.32,2.30,0.00,0.000,6,0.176,0.066,3374,2198,2219
$GC,20153,0.32,161.9,765.1,5.6,469,20155,0.15,0.00,0.00,0.000,6,0.097,0.000,3426,2198,2219
$GC,20456,0.32,161.9,745.4,6.6,474,20460,0.00,2.35,0.00,0.000,4,0.000,0.082,3426,785,2219
$GC,20487,0.32,161.9,743.0,7.5,474,20492,0.00,2.35,0.00,0.000,6,0.000,0.066,3426,2205,2219
$GC,20820,0.32,161.9,722.0,6.4,480,20821,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2205,2219
$GC,21122,0.32,161.9,705.1,5.5,485,21124,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2205,2219
$GC,21426,0.32,163.8,689.9,4.9,490,21432,0.00,0.00,4.32,0.917,6,0.000,0.000,3426,2205,2208
$GC,21729,0.32,165.5,674.9,5.0,495,21730,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2205,2208
$GC,22032,0.32,165.5,659.5,5.1,500,22036,0.00,2.38,0.00,0.000,4,0.000,0.081,3433,786,2208
$GC,22058,0.32,165.5,658.0,5.1,500,22062,0.00,2.33,0.00,0.000,6,0.000,0.065,3433,2198,2208
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$STATE,33212,end climb,SURFACE_DEPTH_REACHED
$STATE,33213,begin surface coast
$FINISH,3.5,1.020520
$STATE,33353,end surface coast,CONTROL_FINISHED_OK
$STATE,33353,begin surface
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$HUMID,2121
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$TCM_TEMP,16.00
$XPDR_PINGS,1022
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$10V_AH,10.7,16.806
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$DEVICE_SECS,28.900,191.325,332.350,40.775,0.000,22.680,24.510,228.097,255.500,0.000,0.000,32.067,1849.478,28465.531,579.150,2389.698,518.659,33.375,1719.552,0.000,2350.821,0.000,0.466
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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,50679,871
$CAP_FILE_SIZE,184571,0
$CFSIZE,260165632,248877056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,145956,4955.454,-14434.685,63,1.3,63,18.5