version: 66.03
glider: 120
mission: 9
dive: 63
start: 9 20 108 6 43 22
data:
$ID,120
$MISSION,9
$DIVE,63
$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,-18898.502
$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,17
$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
$GPS1,063737,4956.909,-14515.669,34,1.6,34,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.03
$_SM_ANGLEo,-75.1
$GPS2,064227,4956.888,-14515.686,11,1.9,11,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.059,-0.168
$KALMAN_X,37462.7,-375.0,-159.9,-67763.9,1613.7
$KALMAN_Y,50483.5,105.4,-79.5,-66547.8,1867.9
$MHEAD_RNG_PITCHd_Wd,142.1,6951,-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,-12.30,0.000,2,0.000,0.000,141,2400,1839
$GC,35,-0.67,-117.3,4.2,-0.0,1,121,13.40,2.42,-61.38,0.000,4,0.288,0.105,3095,3811,3356
$GC,267,-0.30,-117.3,28.5,-14.7,22,272,0.43,2.28,0.00,0.000,6,0.173,0.058,3216,2392,3358
$GC,593,-0.75,-117.3,49.0,-6.3,52,598,0.40,2.30,0.00,0.000,4,0.094,0.067,3079,981,3359
$GC,789,-0.51,-117.3,70.0,-11.8,69,794,0.25,2.33,0.00,0.000,6,0.171,0.061,3150,2418,3360
$GC,1118,-0.45,-117.3,95.7,-7.4,90,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2418,3362
$GC,1427,-0.45,-117.3,120.1,-7.8,105,1431,0.00,2.35,0.00,0.000,4,0.000,0.070,3149,982,3362
$GC,1447,-0.45,-117.3,121.7,-7.7,106,1451,0.00,2.30,0.00,0.000,6,0.000,0.061,3150,2392,3362
$GC,1774,-0.45,-117.3,141.9,-5.7,122,1778,0.00,2.30,0.00,0.000,4,0.000,0.071,3150,984,3361
$GC,1806,-0.45,-117.3,143.9,-6.1,123,1813,0.00,2.30,0.00,0.000,6,0.000,0.062,3150,2395,3362
$GC,2130,-0.45,-117.3,164.8,-6.9,136,2134,0.00,2.30,0.00,0.000,4,0.000,0.073,3149,988,3362
$GC,2150,-0.45,-117.3,166.4,-7.4,136,2157,0.00,2.30,0.00,0.000,6,0.000,0.063,3149,2397,3362
$GC,2463,-0.50,-117.3,185.4,-5.3,147,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3361
$GC,2769,-0.56,-117.3,201.5,-5.7,157,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2398,3361
$GC,3075,-0.62,-117.3,222.7,-7.2,167,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3361
$GC,3382,-0.68,-117.3,242.5,-6.0,177,3384,0.17,0.00,0.00,0.000,6,0.084,0.000,3085,2398,3360
$GC,3688,-0.55,-117.3,266.5,-8.0,187,3692,0.15,2.30,0.00,0.000,4,0.166,0.074,3133,992,3359
$GC,3736,-0.55,-117.3,269.9,-6.4,188,3741,0.00,2.30,0.00,0.000,6,0.000,0.066,3133,2400,3359
$GC,4055,-0.55,-117.3,288.0,-5.6,199,4059,0.00,2.30,0.00,0.000,4,0.000,0.076,3133,990,3359
$GC,4084,-0.55,-117.3,289.7,-6.2,200,4088,0.00,2.28,0.00,0.000,6,0.000,0.064,3133,2405,3359
$GC,4446,-0.55,-117.3,310.9,-5.9,209,4450,0.00,2.30,0.00,0.000,4,0.000,0.076,3133,990,3358
$GC,4489,-0.55,-117.3,313.8,-7.0,209,4494,0.00,2.30,0.00,0.000,6,0.000,0.066,3133,2400,3358
$GC,4816,-0.55,-117.3,335.1,-6.6,215,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2399,3358
$GC,5119,-0.55,-117.3,354.3,-6.3,220,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3357
$GC,5422,-0.55,-117.3,374.2,-6.6,225,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3357
$GC,5725,-0.55,-117.3,394.4,-6.7,230,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3357
$GC,6029,-0.59,-117.3,413.0,-6.1,235,6032,0.00,2.30,0.00,0.000,4,0.000,0.077,3133,993,3357
$GC,6055,-0.59,-117.3,414.8,-6.5,235,6059,0.00,2.30,0.00,0.000,6,0.000,0.066,3134,2401,3356
$GC,6399,-0.64,-117.3,433.8,-5.5,241,6403,0.00,2.30,0.00,0.000,4,0.000,0.077,3133,991,3356
$GC,6425,-0.68,-117.3,435.4,-6.1,241,6430,0.08,2.30,0.00,0.000,6,0.075,0.065,3096,2405,3357
$GC,6762,-0.68,-117.3,455.4,-5.9,247,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3356
$GC,7065,-0.68,-117.3,473.6,-6.0,252,7069,0.00,2.33,0.00,0.000,4,0.000,0.077,3096,987,3356
$GC,7096,-0.68,-117.3,475.9,-6.5,252,7101,0.00,2.30,0.00,0.000,6,0.000,0.066,3096,2398,3356
$GC,7429,-0.63,-117.3,498.1,-6.7,258,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3356
$GC,7732,-0.58,-117.3,517.8,-6.5,263,7733,0.12,0.00,0.00,0.000,6,0.169,0.000,3127,2399,3356
$GC,8035,-0.62,-117.3,533.0,-5.0,268,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3356
$GC,8338,-0.66,-117.3,548.4,-5.1,273,8342,0.00,2.30,0.00,0.000,4,0.000,0.077,3127,994,3355
$GC,8370,-0.71,-117.3,550.3,-5.9,273,8375,0.08,2.30,0.00,0.000,6,0.081,0.067,3076,2401,3355
$GC,8708,-0.61,-117.3,573.7,-7.2,279,8712,0.15,2.30,0.00,0.000,4,0.166,0.084,3113,3810,3354
$GC,8733,-0.61,-117.3,575.6,-7.2,279,8738,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2395,3354
$GC,9071,-0.61,-117.3,596.9,-6.3,285,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3354
$GC,9374,-0.61,-117.3,616.4,-6.5,290,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3354
$GC,9677,-0.61,-117.3,636.7,-6.8,295,9681,0.00,2.28,0.00,0.000,4,0.000,0.079,3113,991,3354
$GC,9703,-0.61,-117.3,638.5,-7.2,295,9708,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2402,3354
$GC,10041,-0.61,-117.3,661.2,-6.7,301,10045,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,993,3354
$GC,10068,-0.61,-117.3,663.0,-7.0,301,10072,0.00,2.28,0.00,0.000,6,0.000,0.067,3113,2410,3354
$GC,10399,-0.61,-117.3,683.2,-6.1,307,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3354
$GC,10702,-0.61,-117.3,700.5,-5.6,312,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3353
$GC,11005,-0.61,-117.3,717.2,-5.5,317,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3353
$GC,11308,-0.61,-117.3,734.0,-5.6,322,11312,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,985,3353
$GC,11345,-0.61,-117.3,736.1,-5.9,322,11350,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2408,3353
$GC,11678,-0.61,-117.3,754.2,-5.4,328,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3353
$GC,11981,-0.61,-117.3,771.1,-5.6,333,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3353
$GC,12284,-0.61,-117.3,788.1,-5.6,338,12288,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,987,3352
$GC,12315,-0.61,-117.3,790.1,-6.0,338,12320,0.00,2.33,0.00,0.000,6,0.000,0.068,3113,2407,3352
$GC,12647,-0.61,-117.3,808.4,-5.6,344,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3352
$GC,12950,-0.61,-117.3,824.3,-5.2,349,12954,0.00,2.33,0.00,0.000,4,0.000,0.079,3113,988,3352
$GC,12982,-0.61,-117.3,826.0,-4.8,349,12987,0.00,2.33,0.00,0.000,6,0.000,0.069,3113,2405,3352
$GC,13314,-0.61,-117.3,843.2,-5.2,355,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,13617,-0.61,-117.3,860.5,-5.7,360,13621,0.00,2.33,0.00,0.000,4,0.000,0.080,3113,992,3352
$GC,13655,-0.65,-117.3,862.8,-6.0,360,13659,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2397,3352
$GC,13981,-0.65,-117.3,882.2,-6.0,366,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3352
$GC,14285,-0.69,-117.3,900.8,-6.2,371,14289,0.00,2.33,0.00,0.000,4,0.000,0.087,3113,3817,3351
$GC,14317,-0.75,-117.3,902.9,-6.0,371,14322,0.08,2.28,0.00,0.000,6,0.091,0.064,3077,2403,3351
$GC,14649,-0.75,-117.3,924.6,-6.5,377,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3351
$GC,14952,-0.75,-117.3,943.0,-6.0,382,14956,0.00,2.35,0.00,0.000,4,0.000,0.087,3076,3821,3351
$GC,14978,-0.71,-117.3,944.7,-6.8,382,14983,0.00,2.30,0.00,0.000,6,0.000,0.064,3076,2396,3351
$GC,15315,-0.71,-117.3,966.2,-6.4,388,15320,0.00,2.30,0.00,0.000,4,0.000,0.081,3076,986,3351
$GC,15353,-0.66,-117.3,968.8,-6.8,388,15358,0.00,2.33,0.00,0.000,6,0.000,0.077,3076,2400,3351
$STATE,15678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15679,begin apogee
$GC,15682,-0.22,0.0,990.4,6.6,394,15785,0.55,0.00,99.85,1.511,6,0.164,0.000,3240,2200,2876
$STATE,15786,end apogee,CONTROL_FINISHED_OK
$STATE,15786,begin climb
$GC,15787,0.67,117.3,991.9,0.0,395,15894,0.90,0.00,102.97,1.457,6,0.108,0.000,3528,2200,2397
$GC,16152,0.30,117.3,970.0,9.1,401,16157,0.38,2.45,0.00,0.000,4,0.189,0.082,3424,3617,2393
$GC,16184,0.17,117.3,967.3,7.3,401,16189,0.17,2.40,0.00,0.000,6,0.183,0.068,3367,2209,2393
$GC,16516,0.28,117.3,949.9,5.2,407,16521,0.12,2.40,0.00,0.000,4,0.099,0.082,3409,788,2393
$GC,16547,0.28,117.3,948.0,5.7,407,16552,0.00,2.38,0.00,0.000,6,0.000,0.065,3409,2202,2393
$GC,16879,0.28,117.3,927.2,6.3,413,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2202,2393
$GC,17182,0.28,117.3,909.7,5.7,418,17186,0.00,2.35,0.00,0.000,4,0.000,0.084,3408,3621,2392
$GC,17226,0.19,117.3,907.1,6.0,418,17231,0.08,2.35,0.00,0.000,6,0.181,0.069,3378,2198,2392
$GC,17547,0.33,163.2,894.7,3.7,424,17588,0.15,0.00,39.08,1.433,6,0.092,0.000,3431,2197,2209
$GC,17849,0.33,163.2,879.5,5.2,429,17853,0.00,2.40,0.00,0.000,4,0.000,0.084,3431,3612,2206
$GC,17893,0.22,163.2,876.9,6.4,429,17898,0.15,2.38,0.00,0.000,6,0.174,0.070,3392,2200,2206
$GC,18219,0.37,212.6,865.0,3.6,435,18264,0.12,0.00,42.88,1.407,6,0.097,0.000,3436,2200,2009
$GC,18521,0.37,212.6,847.8,5.9,440,18522,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2004
$GC,18824,0.37,212.6,828.7,6.4,445,18826,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2003
$GC,19128,0.37,212.6,807.0,7.3,450,19131,0.00,2.38,0.00,0.000,4,0.000,0.085,3436,3614,2002
$GC,19154,0.37,212.6,804.7,8.2,450,19158,0.00,2.35,0.00,0.000,6,0.000,0.069,3436,2197,2002
$GC,19497,0.37,212.6,778.0,7.8,456,19498,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2002
$GC,19800,0.37,212.6,754.2,7.9,461,19804,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3618,2002
$GC,19826,0.37,212.6,751.9,8.4,461,19830,0.00,2.35,0.00,0.000,6,0.000,0.069,3436,2193,2002
$GC,20169,0.37,212.6,723.9,8.3,467,20173,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3614,2001
$GC,20201,0.32,212.6,720.8,8.7,467,20205,0.00,2.33,0.00,0.000,6,0.000,0.069,3436,2200,2002
$GC,20532,0.32,212.6,693.3,8.3,473,20534,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2001
$GC,20835,0.32,212.6,669.9,7.7,478,20839,0.00,2.35,0.00,0.000,4,0.000,0.084,3436,3619,2001
$GC,20867,0.32,212.6,667.1,7.5,478,20872,0.00,2.33,0.00,0.000,6,0.000,0.068,3436,2200,2001
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$GC,28507,0.49,218.1,149.8,4.8,640,28514,0.00,0.00,5.00,0.766,6,0.000,0.000,3446,2197,1986
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$GC,29867,0.58,245.7,72.1,4.2,714,29900,0.12,2.38,23.17,0.910,4,0.097,0.081,3515,3603,1871
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$STATE,31044,end climb,SURFACE_DEPTH_REACHED
$STATE,31044,begin surface coast
$FINISH,3.2,1.023364
$STATE,31131,end surface coast,CONTROL_FINISHED_OK
$STATE,31132,begin surface
$SM_CCo,31148,5.10,0.673,0,0,1653,300.00
$SM_GC,5.57,0.00,0.00,5.10,0.000,0.000,0.673,142,2402,1653,-9.92,0.06,300.00
$IRIDIUM_FIX,4939.69,-14513.64,141297,212151
$TT8_MAMPS,0.026078
$HUMID,2204
$INTERNAL_PRESSURE,9.10435
$TCM_TEMP,16.60
$XPDR_PINGS,964
$24V_AH,23.4,16.114
$10V_AH,10.6,8.575
$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,29.725,204.975,350.225,5.100,0.000,30.261,26.310,140.820,241.000,0.000,0.000,11.640,1763.413,26452.420,567.205,2282.495,374.435,33.369,1683.305,0.000,2260.740,0.000,0.465
$DEVICE_MAMPS,288.392,105.079,1510.990,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,636.583,610.330,1411.813,302.551,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47446,830
$CAP_FILE_SIZE,179644,0
$CFSIZE,260165632,253808640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200908,152401,4954.234,-14513.055,51,1.7,51,18.4