version: 66.03
glider: 120
mission: 9
dive: 71
start: 9 23 108 6 47 23
data:
$ID,120
$MISSION,9
$DIVE,71
$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,-19043.893
$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
$GPS1,064128,5009.468,-14445.181,28,2.1,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.54
$_SM_ANGLEo,-71.0
$GPS2,064629,5009.461,-14445.170,16,2.1,35,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.106
$KALMAN_X,29685.9,-40.5,41.9,-24283.0,-1177.5
$KALMAN_Y,55008.2,-217.3,-298.7,-47246.6,1070.3
$MHEAD_RNG_PITCHd_Wd,34.9,28034,-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,-12.50,0.000,2,0.000,0.000,148,2404,1888
$GC,35,-0.67,-117.3,4.4,-0.0,1,119,13.32,2.35,-63.42,0.000,4,0.287,0.100,3095,3812,3354
$GC,153,-0.39,-117.3,9.5,-10.1,12,158,0.32,2.28,0.00,0.000,6,0.170,0.067,3186,2396,3356
$GC,478,-0.39,-117.3,40.8,-10.9,42,482,0.00,2.30,0.00,0.000,4,0.000,0.069,3186,984,3358
$GC,539,-0.39,-117.3,47.3,-10.4,47,543,0.00,2.30,0.00,0.000,6,0.000,0.061,3184,2406,3358
$GC,864,-0.43,-117.3,65.9,-5.8,77,865,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2406,3360
$GC,1179,-0.48,-117.3,87.7,-7.4,102,1183,0.00,2.30,0.00,0.000,4,0.000,0.067,3183,992,3361
$GC,1219,-0.54,-117.3,90.6,-7.5,104,1223,0.12,2.28,0.00,0.000,6,0.081,0.059,3134,2416,3361
$GC,1544,-0.48,-117.3,115.5,-7.2,120,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2415,3361
$GC,1853,-0.48,-117.3,142.1,-8.8,135,1857,0.00,2.33,0.00,0.000,4,0.000,0.069,3134,985,3361
$GC,1902,-0.48,-117.3,146.5,-8.6,137,1907,0.00,2.30,0.00,0.000,6,0.000,0.061,3134,2400,3361
$GC,2231,-0.48,-117.3,168.5,-6.3,149,2235,0.00,2.30,0.00,0.000,4,0.000,0.071,3134,984,3361
$GC,2279,-0.48,-117.3,172.0,-7.5,150,2284,0.00,2.30,0.00,0.000,6,0.000,0.061,3134,2400,3361
$GC,2598,-0.48,-117.3,193.4,-6.7,161,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3361
$GC,2904,-0.48,-117.3,211.6,-5.7,171,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2400,3360
$GC,3210,-0.48,-117.3,229.3,-5.9,181,3214,0.00,2.30,0.00,0.000,4,0.000,0.072,3134,990,3360
$GC,3248,-0.48,-117.3,232.0,-6.9,182,3252,0.00,2.28,0.00,0.000,6,0.000,0.063,3134,2394,3359
$GC,3577,-0.48,-117.3,254.9,-7.5,193,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2394,3359
$GC,3884,-0.48,-117.3,277.4,-7.1,203,3888,0.00,2.30,0.00,0.000,4,0.000,0.074,3134,988,3358
$GC,3915,-0.48,-117.3,279.7,-7.0,204,3920,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2399,3359
$GC,4250,-0.48,-117.3,300.4,-5.9,215,4254,0.00,2.30,0.00,0.000,4,0.000,0.073,3134,990,3358
$GC,4276,-0.48,-117.3,302.2,-6.9,215,4281,0.00,2.30,0.00,0.000,6,0.000,0.063,3134,2403,3358
$GC,4615,-0.48,-117.3,322.9,-6.1,221,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2404,3358
$GC,4918,-0.48,-117.3,340.1,-5.6,226,4922,0.00,2.30,0.00,0.000,4,0.000,0.074,3134,991,3358
$GC,4943,-0.48,-117.3,341.8,-5.6,226,4948,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2405,3357
$GC,5281,-0.48,-117.3,359.6,-5.2,232,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2405,3357
$GC,5584,-0.48,-117.3,377.1,-5.9,237,5588,0.00,2.33,0.00,0.000,4,0.000,0.075,3134,983,3356
$GC,5616,-0.48,-117.3,379.2,-6.5,237,5621,0.00,2.30,0.00,0.000,6,0.000,0.065,3134,2395,3356
$GC,5948,-0.48,-117.3,399.2,-6.0,243,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2395,3356
$GC,6252,-0.52,-117.3,417.1,-5.9,248,6256,0.00,2.30,0.00,0.000,4,0.000,0.076,3134,991,3355
$GC,6289,-0.57,-117.3,419.6,-6.2,248,6294,0.00,2.28,0.00,0.000,6,0.000,0.064,3134,2394,3355
$GC,6616,-0.61,-117.3,439.3,-6.1,254,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2393,3355
$GC,6919,-0.66,-117.3,457.4,-5.9,259,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2393,3354
$GC,7222,-0.70,-117.3,475.4,-5.9,264,7227,0.12,2.30,0.00,0.000,4,0.091,0.076,3085,987,3354
$GC,7265,-0.61,-117.3,478.7,-8.0,264,7270,0.08,2.30,0.00,0.000,6,0.164,0.065,3110,2399,3354
$GC,7585,-0.61,-117.3,500.5,-6.8,270,7589,0.00,2.30,0.00,0.000,4,0.000,0.075,3110,990,3354
$GC,7617,-0.61,-117.3,502.9,-7.4,270,7621,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2406,3354
$GC,7948,-0.61,-117.3,524.0,-6.4,276,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3354
$GC,8252,-0.61,-117.3,543.0,-6.3,281,8255,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,991,3353
$GC,8295,-0.61,-117.3,546.1,-6.9,281,8300,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2405,3353
$GC,8621,-0.61,-117.3,565.9,-6.1,287,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3354
$GC,8924,-0.61,-117.3,585.2,-6.4,292,8928,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,992,3353
$GC,8955,-0.61,-117.3,587.4,-6.9,292,8960,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2406,3353
$GC,9293,-0.61,-117.3,611.6,-7.2,298,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3353
$GC,9596,-0.61,-117.3,633.7,-7.3,303,9600,0.00,2.33,0.00,0.000,4,0.000,0.077,3110,986,3352
$GC,9622,-0.61,-117.3,635.7,-7.6,303,9626,0.00,2.30,0.00,0.000,6,0.000,0.067,3110,2397,3352
$GC,9959,-0.61,-117.3,659.1,-6.8,309,9963,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,990,3352
$GC,9987,-0.61,-117.3,661.0,-7.3,309,9991,0.00,2.28,0.00,0.000,6,0.000,0.066,3110,2409,3352
$GC,10317,-0.61,-117.3,681.8,-6.2,315,10321,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,993,3352
$GC,10349,-0.61,-117.3,683.8,-6.6,315,10354,0.00,2.28,0.00,0.000,6,0.000,0.067,3109,2394,3352
$GC,10687,-0.61,-117.3,704.0,-6.0,321,10691,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,987,3352
$GC,10713,-0.61,-117.3,705.8,-6.6,321,10717,0.00,2.30,0.00,0.000,6,0.000,0.067,3110,2399,3352
$GC,11050,-0.61,-117.3,726.2,-6.2,327,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3352
$GC,11353,-0.61,-117.3,745.5,-6.4,332,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3352
$GC,11657,-0.61,-117.3,764.6,-6.3,337,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3352
$GC,11960,-0.61,-117.3,783.0,-6.1,342,11964,0.00,2.30,0.00,0.000,4,0.000,0.077,3110,993,3351
$GC,11991,-0.61,-117.3,785.0,-5.5,342,11996,0.00,2.30,0.00,0.000,6,0.000,0.067,3110,2405,3351
$GC,12323,-0.61,-117.3,802.7,-5.2,348,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3351
$GC,12627,-0.61,-117.3,816.8,-4.7,353,12631,0.00,2.33,0.00,0.000,4,0.000,0.078,3110,989,3351
$GC,12664,-0.61,-117.3,818.8,-5.2,353,12669,0.00,2.30,0.00,0.000,6,0.000,0.068,3110,2399,3351
$GC,12991,-0.61,-117.3,834.0,-4.7,359,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3351
$GC,13294,-0.61,-117.3,848.8,-4.9,364,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3351
$GC,13597,-0.61,-117.3,864.8,-5.3,369,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3351
$GC,13900,-0.61,-117.3,881.3,-5.5,374,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3351
$GC,14203,-0.61,-117.3,899.3,-6.0,379,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3351
$GC,14506,-0.61,-117.3,918.0,-6.2,384,14510,0.00,2.33,0.00,0.000,4,0.000,0.078,3110,987,3351
$GC,14537,-0.61,-117.3,920.2,-6.3,384,14542,0.00,2.30,0.00,0.000,6,0.000,0.069,3110,2392,3350
$GC,14870,-0.65,-117.3,939.8,-5.9,390,14871,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2392,3350
$GC,15173,-0.70,-117.3,956.9,-5.6,395,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2392,3351
$GC,15475,-0.70,-117.3,972.7,-5.2,400,15479,0.00,2.30,0.00,0.000,4,0.000,0.079,3110,989,3350
$GC,15513,-0.70,-117.3,975.0,-6.4,400,15517,0.00,2.30,0.00,0.000,6,0.000,0.069,3110,2393,3350
$STATE,15838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15838,begin apogee
$GC,15843,-0.22,0.0,992.2,5.4,406,15945,0.45,0.00,99.47,1.513,6,0.150,0.000,3249,2194,2876
$STATE,15946,end apogee,CONTROL_FINISHED_OK
$STATE,15946,begin climb
$GC,15947,0.67,117.3,994.1,0.0,407,16054,0.88,0.00,103.90,1.467,6,0.099,0.000,3530,2194,2397
$GC,16323,0.30,117.3,974.6,8.2,414,16325,0.43,0.00,0.00,0.000,6,0.182,0.000,3417,2194,2394
$GC,16626,0.26,117.3,958.5,5.2,419,16630,0.00,2.38,0.00,0.000,4,0.000,0.083,3425,788,2394
$GC,16677,0.21,117.3,955.7,5.2,419,16682,0.15,2.35,0.00,0.000,6,0.171,0.065,3388,2209,2393
$GC,16991,0.29,143.1,942.2,4.3,425,17020,0.00,2.45,22.45,1.422,4,0.000,0.083,3388,3607,2292
$GC,17048,0.29,144.2,939.4,5.0,425,17056,0.00,2.38,0.00,0.000,6,0.000,0.066,3394,2202,2291
$GC,17358,0.36,154.4,924.6,4.7,431,17372,0.12,0.00,11.12,1.334,6,0.099,0.000,3440,2202,2245
$GC,17728,0.30,154.4,900.5,6.6,437,17729,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2202,2245
$GC,18031,0.24,154.4,880.0,6.9,442,18033,0.17,0.00,0.00,0.000,6,0.162,0.000,3395,2202,2245
$GC,18334,0.31,154.4,862.8,5.6,447,18335,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2202,2244
$GC,18637,0.38,154.4,844.9,5.9,452,18639,0.15,0.00,0.00,0.000,6,0.091,0.000,3450,2202,2244
$GC,18940,0.30,154.4,821.9,7.7,457,18942,0.15,0.00,0.00,0.000,6,0.165,0.000,3411,2202,2244
$GC,19243,0.30,154.4,802.2,6.4,462,19247,0.00,2.35,0.00,0.000,4,0.000,0.084,3412,778,2243
$GC,19275,0.35,154.7,800.4,5.0,462,19279,0.00,2.30,0.00,0.000,6,0.000,0.065,3411,2201,2243
$GC,19612,0.35,154.7,781.4,5.5,468,19616,0.00,2.33,0.00,0.000,4,0.000,0.084,3411,3618,2243
$GC,19643,0.35,154.7,779.6,5.2,468,19648,0.00,2.33,0.00,0.000,6,0.000,0.067,3411,2197,2243
$GC,19976,0.37,170.7,764.2,4.5,474,19992,0.00,0.00,14.27,1.313,6,0.000,0.000,3411,2197,2180
$GC,20279,0.45,193.3,750.8,4.4,479,20305,0.15,2.42,20.73,1.331,4,0.094,0.084,3475,3607,2085
$GC,20332,0.25,193.3,747.1,8.1,479,20340,0.22,2.38,0.00,0.000,6,0.176,0.068,3399,2197,2084
$GC,20642,0.40,222.2,733.8,4.2,485,20670,0.15,0.00,25.38,1.325,6,0.094,0.000,3451,2197,1970
$GC,20945,0.44,222.2,715.2,6.3,490,20949,0.00,2.40,0.00,0.000,4,0.000,0.084,3451,3610,1966
$GC,20977,0.39,222.2,712.6,7.7,490,20981,0.00,2.35,0.00,0.000,6,0.000,0.067,3451,2202,1965
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$STATE,30867,end climb,SURFACE_DEPTH_REACHED
$STATE,30867,begin surface coast
$FINISH,3.9,1.024527
$STATE,30931,end surface coast,CONTROL_FINISHED_OK
$STATE,30931,begin surface
$SM_CCo,31008,0.00,0.000,0,0,1611,310.30
$SM_GC,4.76,9.68,0.00,0.00,0.080,0.000,0.000,149,2408,1611,-9.86,0.20,310.30
$IRIDIUM_FIX,4949.70,-14453.88,171297,212155
$TT8_MAMPS,0.024544
$HUMID,2163
$INTERNAL_PRESSURE,9.10435
$TCM_TEMP,15.40
$XPDR_PINGS,912
$24V_AH,23.3,17.539
$10V_AH,10.7,9.581
$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,27.675,190.650,368.000,0.000,0.000,25.293,26.333,133.699,228.000,0.000,0.000,36.248,1687.901,26503.885,572.883,2160.606,379.596,33.368,1620.644,0.000,2128.718,0.000,0.465
$DEVICE_MAMPS,286.858,99.710,1512.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,621.160,598.894,1372.711,279.621,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47429,807
$CAP_FILE_SIZE,168567,0
$CFSIZE,260165632,253202432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230908,152555,5011.890,-14440.603,53,1.4,71,18.6