version: 66.03
glider: 120
mission: 9
dive: 12
start: 9 1 108 22 15 34
data:
$ID,120
$MISSION,9
$DIVE,12
$D_SURF,2
$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,528
$T_MISSION,540
$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,150
$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,350
$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,-17906.291
$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,18
$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
$GPS1,220938,5020.684,-14513.094,43,1.2,44,18.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.6
$GPS2,221438,5020.707,-14513.018,11,1.2,16,18.5
$SPEED_LIMITS,0.108,0.212
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.059,-0.204
$KALMAN_X,10239.2,94.2,-81.8,-37922.2,2006.2
$KALMAN_Y,4663.9,45.9,16.7,23348.4,708.8
$MHEAD_RNG_PITCHd_Wd,177.6,49457,-13.2,-6.250
$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,18,-0.76,-146.4,0.0,0.0,0,68,0.00,0.00,-48.12,0.000,2,0.000,0.000,139,2407,2680
$GC,70,-0.76,-146.6,3.5,-5.4,5,107,13.98,2.40,-16.80,0.000,4,0.304,0.109,3067,3814,3476
$GC,184,-0.38,-146.6,26.2,-18.6,15,192,0.40,2.38,0.00,0.000,6,0.186,0.066,3184,2390,3477
$GC,510,-0.50,-146.6,46.5,-6.5,46,511,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2390,3479
$GC,828,-0.64,-146.6,67.0,-6.5,76,830,0.22,0.00,0.00,0.000,6,0.079,0.000,3101,2390,3480
$GC,1141,-0.52,-146.6,100.6,-10.9,97,1143,0.17,0.00,0.00,0.000,6,0.168,0.000,3147,2390,3481
$GC,1451,-0.58,-146.6,121.7,-5.7,112,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2390,3481
$GC,1760,-0.66,-146.6,138.5,-5.8,127,1762,0.15,0.00,0.00,0.000,6,0.083,0.000,3090,2390,3480
$GC,2088,-0.61,-146.6,168.4,-9.3,140,2090,0.12,0.00,0.00,0.000,6,0.160,0.000,3121,2390,3480
$GC,2394,-0.61,-146.6,193.1,-7.9,150,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2390,3480
$GC,2700,-0.61,-146.6,216.5,-7.5,160,2704,0.00,2.35,0.00,0.000,4,0.000,0.086,3121,3810,3480
$GC,2732,-0.67,-146.6,218.8,-7.5,161,2736,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2395,3480
$GC,3067,-0.73,-146.6,242.4,-6.9,172,3069,0.12,0.00,0.00,0.000,6,0.086,0.000,3072,2395,3479
$GC,3373,-0.63,-146.6,271.7,-9.9,182,3375,0.15,0.00,0.00,0.000,6,0.167,0.000,3111,2395,3479
$GC,3679,-0.63,-146.6,297.2,-8.2,192,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2394,3479
$GC,3983,-0.63,-146.6,320.8,-7.7,198,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2395,3478
$GC,4286,-0.63,-146.6,343.5,-7.5,203,4290,0.00,2.30,0.00,0.000,4,0.000,0.084,3111,986,3478
$GC,4323,-0.68,-146.6,346.5,-7.6,203,4328,0.00,2.33,0.00,0.000,6,0.000,0.071,3111,2402,3477
$GC,4655,-0.68,-146.6,369.8,-7.0,209,4659,0.00,2.33,0.00,0.000,4,0.000,0.084,3111,992,3477
$GC,4692,-0.72,-146.6,372.4,-6.8,209,4697,0.00,2.30,0.00,0.000,6,0.000,0.068,3111,2400,3478
$GC,5019,-0.76,-146.6,393.2,-6.3,215,5023,0.12,2.30,0.00,0.000,4,0.091,0.085,3060,3811,3477
$GC,5045,-0.68,-146.6,395.4,-8.7,215,5050,0.10,2.28,0.00,0.000,6,0.158,0.069,3091,2405,3477
$GC,5382,-0.68,-146.6,421.0,-7.6,221,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2405,3477
$GC,5685,-0.68,-146.6,444.9,-7.9,226,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2405,3477
$GC,5988,-0.68,-146.6,470.9,-8.7,231,5992,0.00,2.30,0.00,0.000,4,0.000,0.084,3091,993,3476
$GC,6037,-0.68,-146.6,475.3,-8.9,231,6042,0.00,2.30,0.00,0.000,6,0.000,0.070,3091,2399,3476
$GC,6352,-0.68,-146.6,501.6,-8.4,237,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3476
$GC,6655,-0.68,-146.6,525.8,-7.9,242,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3476
$GC,6958,-0.68,-146.6,548.1,-7.3,247,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3476
$GC,7261,-0.68,-146.6,570.5,-7.4,252,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3476
$GC,7564,-0.68,-146.6,593.5,-7.6,257,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3476
$GC,7868,-0.68,-146.6,615.1,-7.1,262,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3476
$GC,8171,-0.68,-146.6,634.6,-6.4,267,8175,0.00,2.33,0.00,0.000,4,0.000,0.086,3091,989,3475
$GC,8208,-0.68,-146.6,637.2,-6.9,267,8213,0.00,2.30,0.00,0.000,6,0.000,0.070,3091,2396,3475
$GC,8541,-0.68,-146.6,657.8,-6.2,273,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3475
$GC,8844,-0.68,-146.6,676.4,-6.1,278,8848,0.00,2.30,0.00,0.000,4,0.000,0.087,3086,3810,3475
$GC,8881,-0.68,-146.6,678.8,-6.9,278,8886,0.00,2.30,0.00,0.000,6,0.000,0.072,3086,2397,3475
$GC,9207,-0.68,-146.6,699.6,-6.4,284,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3475
$GC,9511,-0.68,-146.6,720.2,-6.8,289,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3474
$GC,9814,-0.68,-146.6,740.1,-6.5,294,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3474
$GC,10117,-0.68,-146.6,759.8,-6.5,299,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3474
$GC,10420,-0.68,-146.6,780.2,-6.8,304,10424,0.00,2.35,0.00,0.000,4,0.000,0.092,3086,3816,3473
$GC,10462,-0.68,-146.6,783.1,-6.7,304,10467,0.00,2.30,0.00,0.000,6,0.000,0.073,3086,2400,3474
$GC,10783,-0.68,-146.6,805.1,-6.9,310,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3473
$GC,11086,-0.68,-146.6,827.6,-7.5,315,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3473
$GC,11389,-0.68,-146.6,850.7,-7.7,320,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3473
$GC,11693,-0.68,-146.6,874.2,-7.7,325,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3473
$GC,11995,-0.68,-146.6,896.0,-7.1,330,11999,0.00,2.33,0.00,0.000,4,0.000,0.092,3086,3807,3473
$GC,12033,-0.73,-146.6,898.6,-6.1,330,12037,0.00,2.25,0.00,0.000,6,0.000,0.074,3086,2401,3473
$GC,12359,-0.73,-146.6,920.4,-6.7,336,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3472
$GC,12662,-0.73,-146.6,940.4,-6.6,341,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3473
$GC,12965,-0.73,-146.6,960.7,-6.7,346,12969,0.00,2.35,0.00,0.000,4,0.000,0.093,3086,3821,3473
$GC,13002,-0.78,-146.6,963.3,-6.6,346,13007,0.00,2.33,0.00,0.000,6,0.000,0.074,3086,2395,3473
$GC,13329,-0.82,-146.6,986.2,-7.0,352,13331,0.10,0.00,0.00,0.000,6,0.104,0.000,3049,2395,3472
$STATE,13388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13388,begin apogee
$GC,13391,-0.22,0.0,990.9,7.1,353,13520,0.65,0.00,125.45,1.510,6,0.163,0.000,3244,2201,2876
$STATE,13521,end apogee,CONTROL_FINISHED_OK
$STATE,13521,begin climb
$GC,13522,0.76,146.6,996.4,0.0,355,13659,1.00,2.65,128.25,1.453,4,0.118,0.091,3559,794,2277
$GC,13731,0.38,146.6,990.9,10.6,358,13736,0.40,2.47,0.00,0.000,6,0.199,0.070,3446,2202,2275
$GC,14080,0.34,164.3,970.4,5.7,364,14098,0.00,0.00,15.85,1.366,6,0.000,0.000,3446,2203,2206
$GC,14383,0.30,177.6,952.5,5.9,369,14398,0.00,0.00,12.85,1.346,6,0.000,0.000,3446,2202,2152
$GC,14686,0.31,180.4,933.8,6.2,374,14692,0.00,0.00,4.20,0.947,6,0.000,0.000,3446,2202,2140
$GC,14989,0.31,180.4,914.3,6.5,379,14990,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2202,2140
$GC,15292,0.31,180.4,893.9,6.8,384,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2202,2140
$GC,15595,0.31,180.4,871.6,7.4,389,15596,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2202,2140
$GC,15898,0.31,180.4,848.5,7.6,394,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2202,2139
$GC,16201,0.31,180.4,825.0,7.8,399,16205,0.00,2.38,0.00,0.000,4,0.000,0.091,3449,781,2139
$GC,16244,0.31,180.4,821.4,8.0,399,16250,0.10,2.35,0.00,0.000,6,0.173,0.070,3419,2206,2139
$GC,16571,0.38,184.7,801.2,6.1,405,16580,0.00,0.00,5.22,1.070,6,0.000,0.000,3419,2206,2122
$GC,16941,0.46,196.9,779.4,5.9,411,16960,0.15,2.42,11.75,1.295,4,0.095,0.090,3479,3608,2072
$GC,16981,0.30,196.9,776.0,8.5,411,16987,0.22,2.38,0.00,0.000,6,0.186,0.079,3415,2204,2072
$GC,17308,0.39,196.9,755.3,6.3,417,17312,0.00,2.38,0.00,0.000,4,0.000,0.091,3422,788,2071
$GC,17362,0.49,196.9,751.6,7.5,417,17370,0.12,2.33,0.00,0.000,6,0.086,0.069,3476,2194,2072
$GC,17672,0.43,196.9,725.2,8.7,423,17675,0.00,2.35,0.00,0.000,4,0.000,0.087,3477,3620,2071
$GC,17709,0.28,196.9,721.4,11.1,423,17714,0.22,2.38,0.00,0.000,6,0.181,0.078,3411,2195,2071
$GC,18042,0.39,196.9,700.3,6.2,429,18046,0.00,2.35,0.00,0.000,4,0.000,0.085,3410,3612,2071
$GC,18068,0.46,196.9,698.4,6.6,429,18073,0.12,2.35,0.00,0.000,6,0.084,0.077,3464,2191,2071
$GC,18405,0.46,196.9,672.1,7.9,435,18410,0.00,2.35,0.00,0.000,4,0.000,0.091,3464,779,2071
$GC,18437,0.46,196.9,669.4,7.2,435,18442,0.00,2.33,0.00,0.000,6,0.000,0.069,3464,2196,2071
$GC,18770,0.46,196.9,642.4,8.2,441,18774,0.00,2.38,0.00,0.000,4,0.000,0.091,3464,780,2071
$GC,18801,0.46,196.9,639.6,9.4,441,18806,0.00,2.33,0.00,0.000,6,0.000,0.069,3464,2197,2071
$GC,19133,0.46,196.9,613.0,8.1,447,19134,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2197,2071
$GC,19436,0.46,196.9,588.6,8.1,452,19438,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2197,2071
$GC,19740,0.46,196.9,564.6,8.0,457,19741,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2197,2071
$GC,20043,0.46,196.9,541.4,7.6,462,20044,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2196,2071
$GC,20346,0.46,196.9,519.7,7.1,467,20350,0.00,2.35,0.00,0.000,4,0.000,0.091,3464,790,2071
$GC,20377,0.46,196.9,517.5,6.9,467,20382,0.00,2.30,0.00,0.000,6,0.000,0.069,3464,2197,2071
$GC,20715,0.46,196.9,493.6,7.1,473,20719,0.00,2.35,0.00,0.000,4,0.000,0.091,3464,789,2072
$GC,20757,0.46,196.9,490.4,7.0,473,20762,0.00,2.33,0.00,0.000,6,0.000,0.070,3464,2207,2071
$GC,21078,0.46,196.9,466.7,7.4,479,21079,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2207,2071
$GC,21381,0.46,196.9,444.0,7.5,484,21382,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2207,2071
$GC,21684,0.46,196.9,421.6,7.3,489,21685,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2207,2071
$GC,21987,0.46,196.9,400.3,7.0,494,21991,0.00,2.35,0.00,0.000,4,0.000,0.089,3464,790,2071
$GC,22041,0.46,196.9,396.6,6.5,494,22049,0.00,2.30,0.00,0.000,6,0.000,0.068,3464,2203,2071
$GC,22351,0.46,196.9,376.9,6.4,500,22352,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2203,2071
$GC,22654,0.46,196.9,355.4,7.1,505,22658,0.00,2.30,0.00,0.000,4,0.000,0.086,3464,3622,2071
$GC,22692,0.39,196.9,352.3,8.0,505,22696,0.00,2.33,0.00,0.000,6,0.000,0.075,3464,2200,2072
$GC,23024,0.39,196.9,328.3,7.2,511,23028,0.00,2.33,0.00,0.000,4,0.000,0.089,3464,787,2072
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$STATE,27725,end climb,SURFACE_DEPTH_REACHED
$STATE,27726,begin surface coast
$FINISH,0.6,1.012018
$STATE,27748,end surface coast,CONTROL_FINISHED_OK
$STATE,27749,begin surface
$SM_CCo,27825,0.00,0.000,0,0,1390,364.52
$SM_GC,1.57,9.90,0.00,0.00,0.082,0.000,0.000,147,2403,1390,-9.87,0.08,364.52
$IRIDIUM_FIX,4959.75,-14515.10,261197,151521
$TT8_MAMPS,0.026078
$HUMID,2181
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,16.30
$XPDR_PINGS,852
$24V_AH,23.2,6.483
$10V_AH,10.6,2.356
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.325,150.675,437.425,0.000,0.000,31.556,26.962,157.027,213.000,0.000,0.000,16.115,1531.880,23680.203,573.765,1993.425,348.988,33.354,1558.927,0.000,1977.718,0.000,0.465
$DEVICE_MAMPS,303.732,108.914,1510.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,567.610,550.620,1257.461,268.801,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,739
$CAP_FILE_SIZE,152463,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020908,060031,5017.607,-14514.001,40,1.1,40,18.5