version: 66.03
glider: 120
mission: 9
dive: 69
start: 9 22 108 12 47 57
data:
$ID,120
$MISSION,9
$DIVE,69
$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,-18991.844
$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
$GPS1,124201,5004.709,-14452.526,40,1.1,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.41
$_SM_ANGLEo,-77.2
$GPS2,124702,5004.736,-14452.480,11,1.2,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.101
$KALMAN_X,30420.5,405.5,319.0,-34430.3,-2803.3
$KALMAN_Y,54210.0,-412.2,234.3,-55529.5,1125.6
$MHEAD_RNG_PITCHd_Wd,31.1,5474,-14.4,-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,18,begin dive
$GC,19,-0.73,-86.5,0.0,0.0,0,33,0.00,0.00,-12.23,0.000,2,0.000,0.000,147,2402,1932
$GC,35,-0.77,-117.3,4.5,-0.0,1,111,13.38,2.40,-52.65,0.000,4,0.292,0.094,3059,3812,3357
$GC,257,-0.37,-117.3,35.3,-18.4,21,262,0.47,2.28,0.00,0.000,6,0.179,0.057,3191,2392,3359
$GC,583,-0.75,-117.3,55.1,-6.5,51,588,0.32,2.28,0.00,0.000,4,0.081,0.067,3070,991,3361
$GC,649,-0.55,-117.3,61.9,-11.1,56,657,0.20,2.30,0.00,0.000,6,0.169,0.061,3131,2399,3361
$GC,970,-0.55,-117.3,90.3,-8.2,81,974,0.00,2.30,0.00,0.000,4,0.000,0.067,3131,989,3362
$GC,998,-0.55,-117.3,92.6,-9.0,82,1002,0.00,2.28,0.00,0.000,6,0.000,0.060,3129,2405,3362
$GC,1312,-0.55,-117.3,120.3,-9.1,97,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2405,3362
$GC,1622,-0.59,-117.3,145.1,-7.5,112,1626,0.00,2.33,0.00,0.000,4,0.000,0.071,3129,987,3362
$GC,1738,-0.65,-117.3,153.9,-8.0,117,1742,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2404,3362
$GC,2056,-0.72,-117.3,174.8,-6.2,128,2058,0.12,0.00,0.00,0.000,6,0.086,0.000,3073,2405,3362
$GC,2363,-0.62,-117.3,202.8,-9.7,138,2364,0.15,0.00,0.00,0.000,6,0.166,0.000,3112,2405,3362
$GC,2668,-0.62,-117.3,225.9,-7.3,148,2672,0.00,2.30,0.00,0.000,4,0.000,0.073,3112,993,3361
$GC,2723,-0.62,-117.3,230.1,-7.8,149,2730,0.00,2.30,0.00,0.000,6,0.000,0.064,3112,2402,3361
$GC,3035,-0.62,-117.3,250.9,-6.6,160,3039,0.00,2.30,0.00,0.000,4,0.000,0.073,3112,990,3361
$GC,3063,-0.62,-117.3,252.8,-7.1,161,3067,0.00,2.28,0.00,0.000,6,0.000,0.064,3112,2408,3361
$GC,3397,-0.67,-117.3,278.3,-8.1,172,3401,0.00,2.30,0.00,0.000,4,0.000,0.074,3112,992,3360
$GC,3428,-0.67,-117.3,281.0,-8.0,173,3433,0.00,2.28,0.00,0.000,6,0.000,0.064,3112,2393,3360
$GC,3763,-0.71,-117.3,304.9,-6.9,183,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2393,3360
$GC,4066,-0.76,-117.3,326.5,-7.2,188,4070,0.12,2.28,0.00,0.000,4,0.087,0.074,3059,993,3359
$GC,4098,-0.65,-117.3,329.5,-10.6,188,4103,0.15,2.30,0.00,0.000,6,0.173,0.066,3105,2400,3359
$GC,4435,-0.65,-117.3,355.3,-7.5,194,4439,0.00,2.30,0.00,0.000,4,0.000,0.074,3105,990,3358
$GC,4472,-0.65,-117.3,358.1,-7.7,194,4477,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2403,3359
$GC,4799,-0.65,-117.3,381.4,-7.0,200,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3359
$GC,5102,-0.65,-117.3,401.5,-6.6,205,5106,0.00,2.30,0.00,0.000,4,0.000,0.075,3100,991,3358
$GC,5167,-0.65,-117.3,406.2,-7.1,206,5172,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2402,3358
$GC,5533,-0.65,-117.3,431.5,-7.0,212,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,5836,-0.65,-117.3,451.4,-6.5,217,5840,0.00,2.30,0.00,0.000,4,0.000,0.076,3100,991,3357
$GC,5867,-0.65,-117.3,453.5,-7.0,217,5872,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2401,3357
$GC,6199,-0.65,-117.3,475.6,-6.7,223,6203,0.00,2.30,0.00,0.000,4,0.000,0.076,3100,987,3356
$GC,6227,-0.65,-117.3,477.6,-7.6,223,6231,0.00,2.28,0.00,0.000,6,0.000,0.066,3100,2407,3357
$GC,6557,-0.65,-117.3,501.5,-7.3,229,6561,0.00,2.30,0.00,0.000,4,0.000,0.077,3100,990,3356
$GC,6594,-0.65,-117.3,504.5,-7.9,229,6599,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2405,3356
$GC,6927,-0.69,-117.3,528.4,-7.2,235,6931,0.00,2.30,0.00,0.000,4,0.000,0.076,3100,992,3356
$GC,6964,-0.69,-117.3,531.4,-8.0,235,6969,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2405,3356
$GC,7291,-0.73,-117.3,552.1,-6.2,241,7295,0.00,2.30,0.00,0.000,4,0.000,0.076,3100,992,3355
$GC,7339,-0.77,-117.3,555.3,-6.2,241,7344,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2402,3355
$GC,7655,-0.82,-117.3,573.5,-5.8,247,7659,0.15,2.30,0.00,0.000,4,0.087,0.075,3031,984,3355
$GC,7681,-0.69,-117.3,575.7,-9.1,247,7686,0.17,2.30,0.00,0.000,6,0.182,0.067,3084,2395,3355
$GC,8018,-0.69,-117.3,598.5,-6.8,253,8022,0.00,2.30,0.00,0.000,4,0.000,0.077,3084,984,3355
$GC,8049,-0.69,-117.3,600.8,-7.4,253,8054,0.00,2.30,0.00,0.000,6,0.000,0.067,3084,2394,3355
$GC,8381,-0.69,-117.3,623.5,-6.8,259,8385,0.00,2.30,0.00,0.000,4,0.000,0.077,3084,989,3355
$GC,8402,-0.69,-117.3,625.1,-7.7,259,8407,0.00,2.30,0.00,0.000,6,0.000,0.066,3084,2401,3354
$GC,8745,-0.69,-117.3,649.4,-7.1,265,8749,0.00,2.30,0.00,0.000,4,0.000,0.077,3084,984,3354
$GC,8772,-0.69,-117.3,651.6,-8.3,265,8776,0.00,2.33,0.00,0.000,6,0.000,0.067,3084,2406,3354
$GC,9115,-0.69,-117.3,676.6,-7.3,271,9119,0.00,2.33,0.00,0.000,4,0.000,0.077,3084,984,3354
$GC,9152,-0.69,-117.3,679.4,-7.6,271,9157,0.00,2.33,0.00,0.000,6,0.000,0.067,3084,2407,3354
$GC,9478,-0.69,-117.3,702.0,-6.9,277,9482,0.00,2.33,0.00,0.000,4,0.000,0.077,3084,984,3354
$GC,9527,-0.69,-117.3,705.5,-7.0,277,9532,0.00,2.30,0.00,0.000,6,0.000,0.067,3084,2394,3354
$GC,9843,-0.69,-117.3,724.5,-5.9,283,9847,0.00,2.30,0.00,0.000,4,0.000,0.078,3084,990,3354
$GC,9869,-0.69,-117.3,726.2,-6.9,283,9873,0.00,2.30,0.00,0.000,6,0.000,0.067,3084,2397,3354
$GC,10207,-0.69,-117.3,744.2,-5.3,289,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3354
$GC,10510,-0.69,-117.3,761.0,-5.5,294,10514,0.00,2.30,0.00,0.000,4,0.000,0.077,3084,991,3354
$GC,10541,-0.69,-117.3,762.8,-6.3,294,10546,0.00,2.30,0.00,0.000,6,0.000,0.067,3084,2399,3353
$GC,10873,-0.69,-117.3,781.5,-5.6,300,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3353
$GC,11177,-0.69,-117.3,798.8,-5.7,305,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3353
$GC,11480,-0.69,-117.3,817.7,-6.3,310,11484,0.00,2.30,0.00,0.000,4,0.000,0.078,3084,990,3352
$GC,11517,-0.69,-117.3,820.3,-6.5,310,11522,0.00,2.30,0.00,0.000,6,0.000,0.068,3084,2397,3353
$GC,11844,-0.69,-117.3,840.9,-6.3,316,11848,0.00,2.30,0.00,0.000,4,0.000,0.078,3084,993,3353
$GC,11876,-0.69,-117.3,843.0,-7.0,316,11880,0.00,2.30,0.00,0.000,6,0.000,0.068,3084,2400,3353
$GC,12207,-0.69,-117.3,863.9,-6.3,322,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3353
$GC,12511,-0.73,-117.3,883.7,-6.6,327,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3353
$GC,12814,-0.77,-117.3,904.0,-6.6,332,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3352
$GC,13117,-0.82,-117.3,923.8,-6.5,337,13121,0.00,2.30,0.00,0.000,4,0.000,0.079,3084,990,3352
$GC,13166,-0.82,-117.3,927.3,-6.7,337,13171,0.00,2.30,0.00,0.000,6,0.000,0.068,3084,2399,3352
$GC,13487,-0.87,-117.3,947.2,-6.2,343,13489,0.15,0.00,0.00,0.000,6,0.087,0.000,3024,2400,3352
$GC,13790,-0.74,-117.3,972.4,-8.4,348,13792,0.20,0.00,0.00,0.000,6,0.179,0.000,3077,2400,3352
$STATE,14092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14092,begin apogee
$GC,14096,-0.22,0.0,991.9,6.3,353,14199,0.55,0.00,99.82,1.510,6,0.160,0.000,3244,2200,2876
$STATE,14200,end apogee,CONTROL_FINISHED_OK
$STATE,14200,begin climb
$GC,14201,0.77,117.3,993.3,0.0,354,14308,0.98,0.00,103.30,1.458,6,0.104,0.000,3559,2200,2397
$GC,14566,0.41,117.3,969.6,10.0,360,14571,0.38,2.45,0.00,0.000,4,0.190,0.080,3463,781,2393
$GC,14637,0.34,117.3,963.8,7.7,361,14642,0.12,2.42,0.00,0.000,6,0.178,0.065,3428,2204,2393
$GC,14996,0.34,117.3,940.7,6.4,367,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2204,2392
$GC,15299,0.34,117.3,921.2,6.5,372,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2204,2393
$GC,15602,0.34,117.3,902.9,6.0,377,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2204,2392
$GC,15905,0.34,117.3,885.6,5.6,382,15909,0.00,2.35,0.00,0.000,4,0.000,0.081,3435,790,2392
$GC,15954,0.34,117.3,882.8,5.3,382,15959,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2199,2392
$GC,16275,0.34,117.3,863.8,6.0,388,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2392
$GC,16578,0.34,117.3,845.5,6.0,393,16579,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2391
$GC,16881,0.34,117.3,827.7,5.9,398,16882,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2392
$GC,17184,0.34,117.3,811.2,5.4,403,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2391
$GC,17487,0.34,117.3,795.0,5.3,408,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2391
$GC,17790,0.34,117.3,779.6,5.1,413,17792,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2391
$GC,18094,0.34,123.5,765.1,4.8,418,18101,0.00,0.00,5.88,1.104,6,0.000,0.000,3437,2199,2372
$GC,18397,0.35,130.0,750.7,4.7,423,18410,0.00,2.40,6.90,1.151,4,0.000,0.084,3436,3612,2346
$GC,18450,0.29,130.0,747.6,6.6,423,18454,0.00,2.33,0.00,0.000,6,0.000,0.069,3436,2207,2346
$GC,18765,0.29,130.0,730.8,5.4,429,18766,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2346
$GC,19068,0.29,130.0,713.9,5.6,434,19069,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2346
$GC,19371,0.29,130.0,697.5,5.4,439,19372,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2346
$GC,19674,0.29,130.0,680.5,5.7,444,19678,0.00,2.35,0.00,0.000,4,0.000,0.084,3436,785,2345
$GC,19717,0.34,130.0,677.9,5.5,444,19721,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2206,2346
$GC,20037,0.34,130.0,658.5,6.1,450,20038,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2346
$GC,20340,0.34,130.0,641.1,5.7,455,20341,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2345
$GC,20644,0.34,133.8,625.9,4.9,460,20650,0.00,0.00,4.95,0.965,6,0.000,0.000,3436,2206,2330
$GC,20947,0.36,149.6,612.6,4.4,465,20963,0.00,0.00,14.57,1.225,6,0.000,0.000,3436,2206,2266
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$STATE,31010,end climb,SURFACE_DEPTH_REACHED
$STATE,31010,begin surface coast
$FINISH,3.6,1.001687
$STATE,31075,end surface coast,CONTROL_FINISHED_OK
$STATE,31075,begin surface
$SM_CCo,31092,3.22,0.489,0,0,1653,300.00
$SM_GC,5.78,0.00,0.00,3.22,0.000,0.000,0.489,144,2414,1653,-9.92,0.42,300.00
$IRIDIUM_FIX,4943.02,-14457.73,171297,030317
$TT8_MAMPS,0.026078
$HUMID,2206
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$TCM_TEMP,15.30
$XPDR_PINGS,961
$24V_AH,23.4,17.183
$10V_AH,10.6,9.335
$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
$DEVICE_SECS,29.525,195.075,356.650,3.225,0.000,29.813,26.959,144.316,240.250,0.000,0.000,16.528,1733.022,26449.152,548.466,2276.266,384.670,33.371,1657.228,0.000,2252.490,0.000,0.467
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,621.279,602.945,1385.909,286.218,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47562,815
$CAP_FILE_SIZE,175396,0
$CFSIZE,260165632,253345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220908,212738,5007.356,-14448.790,51,1.5,51,18.5