version: 66.03
glider: 120
mission: 9
dive: 70
start: 9 22 108 21 33 16
data:
$ID,120
$MISSION,9
$DIVE,70
$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,-19007.014
$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,22
$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
$GPS1,212738,5007.356,-14448.790,51,1.5,51,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.81
$_SM_ANGLEo,-77.7
$GPS2,213220,5007.364,-14448.833,9,1.5,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,0.107
$KALMAN_X,30453.2,157.5,290.4,-29863.4,-1851.6
$KALMAN_Y,54612.7,267.5,-5.9,-51512.5,-39.8
$MHEAD_RNG_PITCHd_Wd,34.4,33805,-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,-12.88,0.000,2,0.000,0.000,143,2416,1979
$GC,35,-0.67,-117.3,4.7,-0.0,1,103,13.62,2.38,-47.75,0.000,4,0.294,0.100,3097,3807,3355
$GC,166,-0.32,-117.3,17.1,-15.3,13,171,0.40,2.28,0.00,0.000,6,0.173,0.058,3209,2393,3358
$GC,491,-0.56,-117.3,41.3,-6.6,43,495,0.20,2.30,0.00,0.000,4,0.087,0.069,3136,985,3360
$GC,522,-0.60,-117.3,43.6,-6.9,45,529,0.00,2.30,0.00,0.000,6,0.000,0.060,3135,2395,3360
$GC,848,-0.74,-117.3,67.3,-7.9,76,853,0.15,2.30,0.00,0.000,4,0.083,0.074,3073,3809,3362
$GC,1054,-0.47,-117.3,92.5,-14.2,90,1059,0.28,2.25,0.00,0.000,6,0.160,0.053,3157,2401,3362
$GC,1374,-0.47,-117.3,117.3,-6.8,106,1378,0.00,2.28,0.00,0.000,4,0.000,0.068,3157,994,3363
$GC,1429,-0.47,-117.3,121.7,-8.1,108,1436,0.00,2.28,0.00,0.000,6,0.000,0.061,3156,2397,3363
$GC,1744,-0.47,-117.3,142.8,-5.6,124,1748,0.00,2.30,0.00,0.000,4,0.000,0.078,3155,3807,3363
$GC,1799,-0.55,-117.3,145.8,-5.3,126,1806,0.00,2.25,0.00,0.000,6,0.000,0.055,3155,2403,3363
$GC,2133,-0.81,-117.3,168.9,-7.6,139,2138,0.25,2.33,0.00,0.000,4,0.085,0.077,3059,3817,3362
$GC,2283,-0.59,-117.3,184.8,-11.1,143,2288,0.25,2.25,0.00,0.000,6,0.164,0.057,3129,2388,3362
$GC,2595,-0.59,-117.3,205.0,-5.7,153,2599,0.00,2.25,0.00,0.000,4,0.000,0.071,3129,992,3362
$GC,2633,-0.59,-117.3,207.3,-6.1,154,2638,0.00,2.30,0.00,0.000,6,0.000,0.063,3129,2405,3362
$GC,2962,-0.59,-117.3,226.9,-6.5,165,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2405,3362
$GC,3269,-0.59,-117.3,248.4,-7.2,175,3273,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,982,3361
$GC,3317,-0.59,-117.3,252.2,-7.4,176,3322,0.00,2.30,0.00,0.000,6,0.000,0.064,3129,2396,3361
$GC,3635,-0.59,-117.3,273.4,-6.6,187,3639,0.00,2.30,0.00,0.000,4,0.000,0.073,3129,984,3360
$GC,3673,-0.59,-117.3,276.0,-6.7,188,3677,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2399,3361
$GC,4002,-0.59,-117.3,297.7,-6.5,199,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3360
$GC,4306,-0.59,-117.3,317.8,-6.7,205,4310,0.00,2.30,0.00,0.000,4,0.000,0.074,3129,986,3360
$GC,4343,-0.59,-117.3,320.6,-7.9,205,4347,0.00,2.30,0.00,0.000,6,0.000,0.065,3129,2400,3359
$GC,4669,-0.59,-117.3,343.1,-6.9,211,4673,0.00,2.30,0.00,0.000,4,0.000,0.074,3128,990,3359
$GC,4701,-0.59,-117.3,345.5,-7.6,211,4706,0.00,2.30,0.00,0.000,6,0.000,0.064,3129,2403,3359
$GC,5039,-0.59,-117.3,366.6,-6.1,217,5043,0.00,2.30,0.00,0.000,4,0.000,0.074,3129,992,3359
$GC,5070,-0.59,-117.3,368.6,-6.6,217,5075,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2403,3359
$GC,5403,-0.59,-117.3,385.4,-4.8,223,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3358
$GC,5706,-0.59,-117.3,400.8,-5.1,228,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2403,3358
$GC,6009,-0.59,-117.3,418.3,-5.9,233,6013,0.00,2.33,0.00,0.000,4,0.000,0.075,3129,982,3358
$GC,6051,-0.59,-117.3,421.2,-7.0,233,6056,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2395,3358
$GC,6372,-0.59,-117.3,441.9,-6.5,239,6376,0.00,2.30,0.00,0.000,4,0.000,0.076,3129,988,3358
$GC,6399,-0.59,-117.3,443.6,-7.0,239,6403,0.00,2.28,0.00,0.000,6,0.000,0.065,3128,2407,3357
$GC,6730,-0.59,-117.3,464.0,-6.1,245,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3357
$GC,7033,-0.59,-117.3,480.5,-5.3,250,7037,0.00,2.33,0.00,0.000,4,0.000,0.076,3129,982,3356
$GC,7070,-0.63,-117.3,482.6,-5.7,250,7075,0.00,2.33,0.00,0.000,6,0.000,0.067,3128,2405,3357
$GC,7403,-0.63,-117.3,498.0,-4.6,256,7407,0.00,2.33,0.00,0.000,4,0.000,0.076,3129,982,3356
$GC,7446,-0.63,-117.3,500.1,-4.8,256,7450,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2395,3356
$GC,7767,-0.63,-117.3,514.8,-4.6,262,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2396,3356
$GC,8070,-0.67,-117.3,529.5,-4.9,267,8074,0.00,2.30,0.00,0.000,4,0.000,0.077,3129,992,3356
$GC,8103,-0.72,-117.3,531.4,-5.5,267,8108,0.12,2.30,0.00,0.000,6,0.092,0.065,3079,2405,3355
$GC,8435,-0.63,-117.3,554.2,-7.1,273,8437,0.12,0.00,0.00,0.000,6,0.163,0.000,3111,2406,3355
$GC,8737,-0.63,-117.3,575.2,-6.9,278,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3355
$GC,9041,-0.63,-117.3,597.4,-7.4,283,9045,0.00,2.33,0.00,0.000,4,0.000,0.077,3111,984,3355
$GC,9078,-0.63,-117.3,600.4,-8.0,283,9083,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2395,3354
$GC,9405,-0.63,-117.3,624.9,-7.5,289,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2395,3354
$GC,9708,-0.63,-117.3,647.3,-7.4,294,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2395,3355
$GC,10011,-0.63,-117.3,668.3,-6.9,299,10015,0.00,2.30,0.00,0.000,4,0.000,0.078,3111,986,3354
$GC,10043,-0.63,-117.3,670.6,-7.2,299,10047,0.00,2.33,0.00,0.000,6,0.000,0.068,3111,2406,3354
$GC,10375,-0.63,-117.3,691.0,-6.0,305,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3354
$GC,10678,-0.63,-117.3,707.6,-5.4,310,10682,0.00,2.33,0.00,0.000,4,0.000,0.078,3111,984,3354
$GC,10709,-0.63,-117.3,709.5,-5.7,310,10714,0.00,2.33,0.00,0.000,6,0.000,0.067,3111,2406,3354
$GC,11042,-0.63,-117.3,726.7,-5.1,316,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3354
$GC,11345,-0.63,-117.3,742.9,-5.4,321,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3353
$GC,11648,-0.63,-117.3,759.3,-5.4,326,11652,0.00,2.33,0.00,0.000,4,0.000,0.078,3111,984,3353
$GC,11691,-0.63,-117.3,762.0,-6.6,326,11695,0.00,2.33,0.00,0.000,6,0.000,0.068,3111,2404,3353
$GC,12012,-0.63,-117.3,779.1,-5.3,332,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3353
$GC,12315,-0.63,-117.3,794.7,-5.1,337,12319,0.00,2.30,0.00,0.000,4,0.000,0.077,3111,993,3353
$GC,12346,-0.63,-117.3,796.5,-5.9,337,12351,0.00,2.30,0.00,0.000,6,0.000,0.068,3111,2397,3353
$GC,12679,-0.63,-117.3,813.2,-5.0,343,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3353
$GC,12982,-0.63,-117.3,829.1,-5.2,348,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3353
$GC,13285,-0.63,-117.3,846.2,-5.7,353,13289,0.00,2.30,0.00,0.000,4,0.000,0.078,3111,994,3353
$GC,13316,-0.63,-117.3,848.1,-6.3,353,13321,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2402,3353
$GC,13649,-0.67,-117.3,867.9,-6.1,359,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3352
$GC,13952,-0.71,-117.3,886.9,-6.3,364,13956,0.00,2.30,0.00,0.000,4,0.000,0.078,3111,993,3352
$GC,13995,-0.71,-117.3,889.9,-7.3,364,14000,0.00,2.30,0.00,0.000,6,0.000,0.067,3111,2401,3352
$GC,14316,-0.71,-117.3,909.7,-6.2,370,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3352
$GC,14620,-0.76,-117.3,926.5,-5.5,375,14624,0.12,2.30,0.00,0.000,4,0.091,0.077,3065,993,3352
$GC,14651,-0.66,-117.3,928.7,-7.0,375,14656,0.15,2.30,0.00,0.000,6,0.170,0.068,3101,2401,3352
$GC,14983,-0.66,-117.3,945.7,-5.0,381,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3352
$GC,15286,-0.66,-117.3,961.3,-5.1,386,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3352
$GC,15589,-0.66,-117.3,977.0,-5.3,391,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3352
$STATE,15831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15831,begin apogee
$GC,15835,-0.22,0.0,991.1,5.8,395,15938,0.47,0.00,100.05,1.510,6,0.151,0.000,3248,2200,2876
$STATE,15938,end apogee,CONTROL_FINISHED_OK
$STATE,15938,begin climb
$GC,15940,0.67,117.3,993.0,0.0,396,16047,0.85,0.00,103.32,1.460,6,0.098,0.000,3527,2200,2397
$GC,16304,0.30,117.3,976.3,7.6,402,16306,0.43,0.00,0.00,0.000,6,0.188,0.000,3416,2200,2394
$GC,16607,0.31,120.7,961.1,4.9,407,16613,0.00,0.00,4.20,0.938,6,0.000,0.000,3416,2200,2383
$GC,16910,0.31,120.7,944.7,5.5,412,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2383
$GC,17213,0.31,120.7,928.1,5.5,417,17214,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2383
$GC,17516,0.31,120.7,912.3,5.2,422,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2382
$GC,17819,0.32,130.0,897.8,4.7,427,17832,0.00,0.00,9.35,1.295,6,0.000,0.000,3416,2200,2345
$GC,18188,0.32,130.0,879.2,5.1,433,18192,0.00,2.33,0.00,0.000,4,0.000,0.081,3424,783,2344
$GC,18248,0.32,130.0,876.0,5.3,433,18256,0.00,2.35,0.00,0.000,6,0.000,0.066,3424,2205,2344
$GC,18558,0.27,130.0,859.2,5.4,439,18562,0.00,2.33,0.00,0.000,4,0.000,0.083,3424,3617,2344
$GC,18590,0.14,130.0,857.3,6.2,439,18595,0.17,2.33,0.00,0.000,6,0.176,0.068,3364,2203,2344
$GC,18923,0.33,165.1,843.8,4.0,445,18956,0.17,0.00,30.48,1.402,6,0.091,0.000,3425,2203,2201
$GC,19225,0.33,165.1,826.2,6.0,450,19227,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2199
$GC,19528,0.33,165.1,807.8,6.1,455,19532,0.00,2.38,0.00,0.000,4,0.000,0.084,3425,3614,2199
$GC,19555,0.28,165.1,805.7,7.0,455,19559,0.00,2.35,0.00,0.000,6,0.000,0.066,3434,2194,2199
$GC,19898,0.28,165.1,782.5,6.9,461,19899,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2194,2199
$GC,20201,0.28,165.1,760.1,7.5,466,20202,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2194,2199
$GC,20504,0.28,165.1,737.2,7.5,471,20505,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2194,2199
$GC,20807,0.28,165.1,714.9,7.3,476,20808,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2194,2199
$GC,21110,0.28,165.1,693.1,7.2,481,21114,0.00,2.35,0.00,0.000,4,0.000,0.085,3434,3610,2199
$GC,21148,0.18,165.1,690.1,8.1,481,21153,0.22,2.30,0.00,0.000,6,0.173,0.068,3376,2206,2199
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$STATE,32680,end climb,SURFACE_DEPTH_REACHED
$STATE,32680,begin surface coast
$FINISH,3.6,1.018406
$STATE,32734,end surface coast,CONTROL_FINISHED_OK
$STATE,32734,begin surface
$SM_CCo,32811,0.00,0.000,0,0,1581,317.66
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$IRIDIUM_FIX,4949.70,-14451.14,171297,121220
$TT8_MAMPS,0.026078
$HUMID,2198
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$TCM_TEMP,16.20
$XPDR_PINGS,975
$24V_AH,23.4,17.360
$10V_AH,10.7,9.460
$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
$DEVICE_SECS,29.800,185.825,372.775,0.000,0.000,28.124,29.857,129.898,243.750,0.000,0.000,14.540,1762.653,28118.916,550.655,2274.701,384.955,33.364,1659.289,0.000,2264.027,0.000,0.467
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.508,624.640,1430.025,282.646,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47528,841
$CAP_FILE_SIZE,176076,0
$CFSIZE,260165632,253272064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230908,064128,5009.468,-14445.181,28,2.1,47,18.6