version: 66.03
glider: 120
mission: 9
dive: 162
start: 10 27 108 23 33 27
data:
$ID,120
$MISSION,9
$DIVE,162
$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,-21103.918
$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,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
$GPS1,232631,5004.921,-14428.744,38,1.3,38,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-70.9
$GPS2,233232,5004.872,-14428.678,13,1.3,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.176
$KALMAN_X,40572.9,-68.9,-205.9,-15290.3,732.7
$KALMAN_Y,125252.0,-130.6,-388.8,-125990.3,2332.6
$MHEAD_RNG_PITCHd_Wd,170.0,20160,-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,20,-0.67,-117.3,0.0,0.0,0,49,0.00,0.00,-27.30,0.000,2,0.000,0.000,138,2403,1915
$GC,52,-0.67,-117.3,3.1,-1.5,3,132,13.80,2.40,-60.67,0.000,4,0.282,0.092,3096,3822,3354
$GC,384,-0.39,-117.3,36.9,-13.3,32,392,0.28,2.33,0.00,0.000,6,0.157,0.054,3195,2390,3356
$GC,712,-0.44,-117.3,58.1,-6.7,63,716,0.00,2.42,0.00,0.000,4,0.000,0.077,3195,3809,3357
$GC,740,-0.53,-117.3,60.1,-6.5,65,745,0.15,2.25,0.00,0.000,6,0.079,0.051,3137,2394,3357
$GC,1074,-0.53,-117.3,83.2,-7.1,94,1079,0.00,2.42,0.00,0.000,4,0.000,0.074,3137,3822,3358
$GC,1159,-0.48,-117.3,89.9,-8.5,98,1163,0.00,2.28,0.00,0.000,6,0.000,0.051,3137,2390,3358
$GC,1486,-0.48,-117.3,115.2,-8.0,114,1490,0.00,2.40,0.00,0.000,4,0.000,0.075,3137,3812,3359
$GC,1518,-0.48,-117.3,118.1,-8.7,115,1525,0.00,2.28,0.00,0.000,6,0.000,0.051,3137,2394,3359
$GC,1834,-0.48,-117.3,143.1,-7.5,131,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2394,3359
$GC,2151,-0.48,-117.3,162.8,-5.7,143,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2394,3359
$GC,2458,-0.52,-117.3,180.2,-5.8,153,2461,0.00,2.28,0.00,0.000,4,0.000,0.070,3137,991,3359
$GC,2492,-0.59,-117.3,182.3,-6.2,154,2496,0.00,2.28,0.00,0.000,6,0.000,0.061,3137,2405,3359
$GC,2832,-0.63,-117.3,204.3,-6.3,165,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2405,3359
$GC,3138,-0.67,-117.3,222.3,-5.7,175,3143,0.12,2.33,0.00,0.000,4,0.087,0.069,3088,989,3358
$GC,3222,-0.57,-117.3,229.1,-8.4,177,3227,0.15,2.30,0.00,0.000,6,0.156,0.062,3126,2402,3358
$GC,3534,-0.57,-117.3,250.8,-6.8,187,3538,0.00,2.33,0.00,0.000,4,0.000,0.070,3126,987,3357
$GC,3572,-0.57,-117.3,253.7,-7.4,188,3577,0.00,2.33,0.00,0.000,6,0.000,0.063,3126,2398,3358
$GC,3902,-0.57,-117.3,275.3,-6.5,199,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3357
$GC,4208,-0.57,-117.3,295.0,-6.4,209,4212,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,989,3356
$GC,4251,-0.57,-117.3,297.8,-6.6,210,4255,0.00,2.33,0.00,0.000,6,0.000,0.063,3126,2399,3356
$GC,4604,-0.57,-117.3,319.2,-6.0,217,4608,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,985,3356
$GC,4630,-0.57,-117.3,320.9,-6.1,217,4635,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2401,3355
$GC,4968,-0.57,-117.3,340.8,-5.9,223,4972,0.00,2.30,0.00,0.000,4,0.000,0.071,3126,994,3355
$GC,5017,-0.57,-117.3,344.0,-6.7,223,5021,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2408,3355
$GC,5332,-0.57,-117.3,363.7,-6.3,229,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2408,3355
$GC,5635,-0.57,-117.3,382.5,-6.2,234,5639,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,990,3354
$GC,5689,-0.57,-117.3,386.0,-6.2,234,5697,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2404,3354
$GC,5999,-0.57,-117.3,403.2,-5.4,240,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3354
$GC,6302,-0.57,-117.3,418.7,-5.1,245,6306,0.00,2.30,0.00,0.000,4,0.000,0.071,3126,996,3353
$GC,6351,-0.62,-117.3,421.4,-5.4,245,6355,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2414,3353
$GC,6666,-0.62,-117.3,437.3,-5.1,251,6670,0.00,2.35,0.00,0.000,4,0.000,0.072,3126,990,3353
$GC,6692,-0.62,-117.3,438.7,-5.2,251,6697,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2401,3353
$GC,7030,-0.62,-117.3,455.4,-4.9,257,7034,0.00,2.33,0.00,0.000,4,0.000,0.072,3126,993,3353
$GC,7062,-0.62,-117.3,457.1,-5.1,257,7067,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2401,3353
$GC,7396,-0.66,-117.3,472.1,-4.5,263,7400,0.00,2.33,0.00,0.000,4,0.000,0.072,3126,991,3353
$GC,7429,-0.70,-117.3,473.7,-4.7,263,7433,0.12,2.30,0.00,0.000,6,0.091,0.064,3080,2402,3352
$GC,7754,-0.64,-117.3,493.9,-6.3,269,7759,0.10,2.33,0.00,0.000,4,0.123,0.071,3105,996,3352
$GC,7786,-0.64,-117.3,496.0,-6.5,269,7790,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2409,3352
$GC,8118,-0.64,-117.3,517.9,-6.6,275,8122,0.00,2.33,0.00,0.000,4,0.000,0.073,3106,994,3352
$GC,8172,-0.64,-117.3,522.0,-7.3,275,8179,0.00,2.33,0.00,0.000,6,0.000,0.065,3106,2405,3352
$GC,8482,-0.64,-117.3,542.4,-6.6,281,8486,0.00,2.35,0.00,0.000,4,0.000,0.073,3106,986,3352
$GC,8531,-0.64,-117.3,546.1,-7.5,281,8535,0.00,2.33,0.00,0.000,6,0.000,0.065,3105,2412,3351
$GC,8846,-0.64,-117.3,568.2,-7.1,287,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2412,3351
$GC,9149,-0.64,-117.3,589.7,-7.0,292,9153,0.00,2.35,0.00,0.000,4,0.000,0.074,3106,996,3351
$GC,9197,-0.64,-117.3,593.4,-7.5,292,9202,0.00,2.33,0.00,0.000,6,0.000,0.066,3106,2401,3351
$GC,9513,-0.64,-117.3,614.2,-6.5,298,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3351
$GC,9816,-0.64,-117.3,632.8,-6.1,303,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3351
$GC,10119,-0.64,-117.3,650.7,-5.9,308,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3351
$GC,10422,-0.64,-117.3,668.6,-5.9,313,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3351
$GC,10725,-0.64,-117.3,686.3,-5.8,318,10729,0.00,2.33,0.00,0.000,4,0.000,0.074,3106,996,3350
$GC,10762,-0.64,-117.3,688.7,-6.7,318,10767,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2421,3350
$GC,11089,-0.64,-117.3,707.5,-5.8,324,11093,0.00,2.35,0.00,0.000,4,0.000,0.074,3106,993,3350
$GC,11121,-0.64,-117.3,709.5,-6.6,324,11125,0.00,2.33,0.00,0.000,6,0.000,0.066,3106,2401,3350
$GC,11453,-0.64,-117.3,728.0,-5.5,330,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3350
$GC,11756,-0.64,-117.3,745.5,-5.8,335,11760,0.00,2.33,0.00,0.000,4,0.000,0.074,3106,995,3349
$GC,11796,-0.64,-117.3,748.1,-6.8,335,11800,0.00,2.30,0.00,0.000,6,0.000,0.065,3106,2409,3350
$GC,12116,-0.64,-117.3,767.0,-5.9,341,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2409,3349
$GC,12419,-0.64,-117.3,784.6,-5.8,346,12423,0.00,2.35,0.00,0.000,4,0.000,0.074,3106,989,3349
$GC,12462,-0.64,-117.3,787.4,-6.6,346,12466,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2396,3349
$GC,12782,-0.64,-117.3,806.1,-5.9,352,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3349
$GC,13086,-0.64,-117.3,825.2,-6.4,357,13090,0.00,2.33,0.00,0.000,4,0.000,0.074,3106,993,3349
$GC,13123,-0.64,-117.3,827.9,-7.5,357,13128,0.00,2.33,0.00,0.000,6,0.000,0.067,3105,2399,3349
$GC,13450,-0.64,-117.3,848.4,-6.2,363,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3349
$GC,13753,-0.64,-117.3,866.3,-5.9,368,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3349
$GC,14056,-0.64,-117.3,883.4,-5.6,373,14060,0.00,2.35,0.00,0.000,4,0.000,0.075,3106,987,3348
$GC,14105,-0.64,-117.3,886.5,-6.2,373,14109,0.00,2.35,0.00,0.000,6,0.000,0.067,3105,2401,3348
$GC,14420,-0.64,-117.3,903.6,-5.5,379,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3348
$GC,14723,-0.64,-117.3,920.2,-5.4,384,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3348
$GC,15026,-0.64,-117.3,936.5,-5.4,389,15027,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3348
$GC,15329,-0.64,-117.3,953.2,-5.6,394,15333,0.00,2.33,0.00,0.000,4,0.000,0.076,3106,997,3347
$GC,15355,-0.64,-117.3,954.7,-6.5,394,15359,0.00,2.30,0.00,0.000,6,0.000,0.067,3105,2401,3348
$GC,15693,-0.64,-117.3,974.7,-5.9,400,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3348
$STATE,15994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15994,begin apogee
$GC,15999,-0.22,0.0,992.1,5.7,405,16103,0.45,0.00,101.10,1.507,6,0.143,0.000,3244,2203,2876
$STATE,16104,end apogee,CONTROL_FINISHED_OK
$STATE,16104,begin climb
$GC,16106,0.67,117.3,994.2,0.0,406,16221,0.88,2.72,106.10,1.453,4,0.091,0.080,3530,3613,2395
$GC,16259,0.18,117.3,992.9,8.1,409,16265,0.60,2.53,0.00,0.000,6,0.195,0.065,3384,2183,2394
$GC,16603,0.25,128.8,976.5,4.7,415,16615,0.00,0.00,10.88,1.308,6,0.000,0.000,3384,2183,2351
$GC,16906,0.32,128.8,961.0,5.1,420,16910,0.12,2.40,0.00,0.000,4,0.092,0.081,3431,778,2351
$GC,16949,0.28,128.8,958.3,6.5,420,16953,0.00,2.38,0.00,0.000,6,0.000,0.067,3431,2202,2351
$GC,17270,0.22,128.8,937.8,6.4,426,17275,0.15,2.38,0.00,0.000,4,0.158,0.082,3387,3614,2350
$GC,17319,0.22,128.8,934.5,6.7,426,17323,0.00,2.35,0.00,0.000,6,0.000,0.065,3394,2199,2350
$GC,17635,0.26,128.8,916.5,5.7,432,17639,0.00,2.38,0.00,0.000,4,0.000,0.081,3394,788,2350
$GC,17674,0.34,128.8,914.3,5.8,432,17678,0.00,2.33,0.00,0.000,6,0.000,0.063,3394,2206,2350
$GC,17994,0.38,128.8,896.6,5.5,438,17999,0.15,2.35,0.00,0.000,4,0.094,0.081,3461,3610,2350
$GC,18049,0.15,128.8,892.4,7.4,438,18056,0.30,2.35,0.00,0.000,6,0.178,0.067,3366,2199,2350
$GC,18359,0.32,159.5,879.1,4.1,444,18389,0.17,0.00,27.42,1.414,6,0.092,0.000,3429,2199,2225
$GC,18662,0.32,159.5,861.5,6.0,449,18666,0.00,2.40,0.00,0.000,4,0.000,0.080,3435,780,2223
$GC,18699,0.32,159.5,859.1,5.4,449,18704,0.00,2.38,0.00,0.000,6,0.000,0.065,3435,2209,2223
$GC,19026,0.28,159.5,840.8,5.5,455,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2209,2223
$GC,19329,0.28,159.5,825.2,5.2,460,19330,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2209,2222
$GC,19632,0.24,159.5,808.8,5.5,465,19634,0.15,0.00,0.00,0.000,6,0.157,0.000,3397,2209,2222
$GC,19936,0.36,187.8,795.9,4.2,470,19963,0.12,0.00,24.65,1.363,6,0.097,0.000,3442,2209,2110
$GC,20238,0.36,187.8,777.5,6.2,475,20242,0.00,2.45,0.00,0.000,4,0.000,0.081,3449,781,2108
$GC,20277,0.36,187.8,774.7,7.0,475,20281,0.00,2.38,0.00,0.000,6,0.000,0.066,3448,2206,2108
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$STATE,33043,end climb,SURFACE_DEPTH_REACHED
$STATE,33043,begin surface coast
$FINISH,2.2,1.016149
$STATE,33162,end surface coast,CONTROL_FINISHED_OK
$STATE,33162,begin surface
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$HUMID,2094
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$TCM_TEMP,15.70
$XPDR_PINGS,1077
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$10V_AH,10.7,21.611
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$DEVICE_SECS,28.975,272.275,370.575,0.000,0.000,26.542,42.356,180.455,269.250,0.000,0.000,13.049,1939.253,27884.430,594.300,2630.256,545.353,33.384,1915.661,0.000,2595.144,0.000,0.465
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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,50633,883
$CAP_FILE_SIZE,204506,0
$CFSIZE,260165632,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,281008,084839,5001.783,-14429.622,39,1.1,39,18.6