version: 66.03
glider: 120
mission: 9
dive: 73
start: 9 24 108 0 49 33
data:
$ID,120
$MISSION,9
$DIVE,73
$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,-19072.545
$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,21
$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
$GPS1,004332,5014.157,-14436.030,83,1.3,83,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.73
$_SM_ANGLEo,-74.7
$GPS2,004839,5014.130,-14435.989,11,1.5,11,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.102,0.146
$KALMAN_X,29174.9,65.0,160.5,-13094.0,-726.1
$KALMAN_Y,54619.8,40.7,11.5,-38774.1,-38.2
$MHEAD_RNG_PITCHd_Wd,16.3,14671,-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,18,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.20,0.000,2,0.000,0.000,135,2410,1961
$GC,35,-0.67,-117.3,4.7,-0.0,1,100,13.25,0.00,-49.00,0.000,6,0.281,0.000,3094,2411,3355
$GC,414,-0.38,-117.3,52.6,-10.8,37,419,0.30,2.35,0.00,0.000,4,0.166,0.067,3186,982,3359
$GC,536,-0.45,-117.3,61.1,-7.2,47,543,0.00,2.33,0.00,0.000,6,0.000,0.059,3184,2401,3360
$GC,871,-0.49,-117.3,82.8,-5.8,77,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2401,3362
$GC,1180,-0.54,-117.3,99.5,-5.4,92,1182,0.12,0.00,0.00,0.000,6,0.080,0.000,3131,2401,3362
$GC,1489,-0.54,-117.3,124.2,-8.8,107,1493,0.00,2.30,0.00,0.000,4,0.000,0.068,3131,984,3362
$GC,1527,-0.46,-117.3,127.9,-10.1,109,1532,0.15,2.28,0.00,0.000,6,0.159,0.061,3169,2409,3362
$GC,1853,-0.55,-117.3,151.4,-6.5,125,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2409,3362
$GC,2159,-0.64,-117.3,170.0,-5.4,135,2161,0.17,0.00,0.00,0.000,6,0.078,0.000,3103,2409,3362
$GC,2466,-0.54,-117.3,192.6,-8.0,145,2471,0.15,2.33,0.00,0.000,4,0.152,0.071,3149,985,3362
$GC,2531,-0.59,-117.3,197.6,-7.6,147,2536,0.00,2.30,0.00,0.000,6,0.000,0.064,3149,2400,3362
$GC,2866,-0.64,-117.3,221.9,-6.7,158,2868,0.12,0.00,0.00,0.000,6,0.085,0.000,3099,2401,3361
$GC,3173,-0.58,-117.3,241.6,-6.3,168,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3360
$GC,3479,-0.53,-117.3,263.9,-7.7,178,3481,0.15,0.00,0.00,0.000,6,0.124,0.000,3142,2401,3360
$GC,3785,-0.53,-117.3,283.7,-6.3,188,3789,0.00,2.30,0.00,0.000,4,0.000,0.074,3141,989,3360
$GC,3816,-0.53,-117.3,285.8,-6.8,189,3821,0.00,2.30,0.00,0.000,6,0.000,0.064,3141,2403,3360
$GC,4151,-0.57,-117.3,305.3,-5.8,199,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3360
$GC,4455,-0.62,-117.3,324.0,-6.2,204,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3359
$GC,4757,-0.66,-117.3,343.4,-6.4,209,4762,0.12,2.30,0.00,0.000,4,0.088,0.074,3091,990,3358
$GC,4783,-0.60,-117.3,345.4,-8.0,209,4788,0.10,2.30,0.00,0.000,6,0.155,0.066,3121,2403,3358
$GC,5121,-0.60,-117.3,368.8,-6.9,215,5125,0.00,2.30,0.00,0.000,4,0.000,0.074,3121,990,3357
$GC,5158,-0.60,-117.3,371.6,-7.1,215,5163,0.00,2.30,0.00,0.000,6,0.000,0.066,3121,2402,3357
$GC,5485,-0.60,-117.3,392.7,-6.5,221,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3357
$GC,5788,-0.60,-117.3,412.5,-6.6,226,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3357
$GC,6091,-0.60,-117.3,431.1,-6.1,231,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3357
$GC,6394,-0.60,-117.3,450.1,-6.2,236,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2402,3356
$GC,6697,-0.60,-117.3,469.7,-6.4,241,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3356
$GC,7000,-0.60,-117.3,489.3,-6.3,246,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3356
$GC,7303,-0.60,-117.3,508.8,-6.4,251,7307,0.00,2.33,0.00,0.000,4,0.000,0.076,3121,981,3355
$GC,7329,-0.60,-117.3,510.7,-7.3,251,7334,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2396,3355
$GC,7667,-0.60,-117.3,533.2,-6.7,257,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,7970,-0.60,-117.3,553.9,-6.9,262,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,8273,-0.60,-117.3,574.5,-6.9,267,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,8576,-0.60,-117.3,594.3,-6.4,272,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,8880,-0.60,-117.3,612.9,-6.1,277,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,9183,-0.60,-117.3,630.8,-5.9,282,9186,0.00,2.30,0.00,0.000,4,0.000,0.077,3121,990,3354
$GC,9209,-0.60,-117.3,632.5,-6.6,282,9214,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2398,3354
$GC,9552,-0.60,-117.3,652.9,-6.0,288,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3354
$GC,9855,-0.60,-117.3,670.7,-5.8,293,9859,0.00,2.30,0.00,0.000,4,0.000,0.077,3120,990,3353
$GC,9881,-0.60,-117.3,672.3,-6.4,293,9886,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2401,3353
$GC,10224,-0.60,-117.3,692.1,-5.7,299,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3353
$GC,10527,-0.60,-117.3,708.9,-5.5,304,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3353
$GC,10831,-0.64,-117.3,725.9,-5.7,309,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3353
$GC,11134,-0.68,-117.3,743.5,-5.8,314,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3353
$GC,11437,-0.73,-117.3,761.5,-5.9,319,11439,0.12,0.00,0.00,0.000,6,0.093,0.000,3073,2401,3352
$GC,11740,-0.68,-117.3,782.5,-7.0,324,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3352
$GC,12043,-0.64,-117.3,803.2,-6.8,329,12045,0.12,0.00,0.00,0.000,6,0.122,0.000,3107,2401,3352
$GC,12346,-0.64,-117.3,820.9,-5.7,334,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3352
$GC,12649,-0.64,-117.3,836.6,-5.2,339,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2401,3352
$GC,12952,-0.64,-117.3,852.4,-5.2,344,12956,0.00,2.33,0.00,0.000,4,0.000,0.079,3107,986,3352
$GC,12984,-0.64,-117.3,854.4,-5.7,344,12988,0.00,2.33,0.00,0.000,6,0.000,0.069,3107,2402,3352
$GC,13322,-0.64,-117.3,873.7,-5.8,350,13326,0.00,2.33,0.00,0.000,4,0.000,0.088,3107,3819,3352
$GC,13354,-0.68,-117.3,875.7,-5.8,350,13358,0.00,2.28,0.00,0.000,6,0.000,0.063,3107,2403,3352
$GC,13686,-0.68,-117.3,896.6,-6.3,356,13690,0.00,2.30,0.00,0.000,4,0.000,0.079,3107,987,3352
$GC,13712,-0.68,-117.3,898.4,-7.0,356,13717,0.00,2.30,0.00,0.000,6,0.000,0.069,3107,2398,3352
$GC,14050,-0.68,-117.3,920.2,-6.4,362,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2397,3352
$GC,14353,-0.68,-117.3,938.2,-5.9,367,14354,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2397,3352
$GC,14656,-0.68,-117.3,954.3,-5.2,372,14657,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3352
$GC,14959,-0.68,-117.3,969.8,-5.1,377,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3351
$GC,15263,-0.68,-117.3,984.6,-4.9,382,15264,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3351
$STATE,15383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15383,begin apogee
$GC,15387,-0.22,0.0,990.4,4.8,384,15490,0.45,0.00,99.95,1.511,6,0.148,0.000,3247,2198,2875
$STATE,15491,end apogee,CONTROL_FINISHED_OK
$STATE,15491,begin climb
$GC,15492,0.67,117.3,991.8,0.0,385,15604,0.85,2.62,102.90,1.467,4,0.101,0.081,3532,793,2397
$GC,15620,0.27,117.3,990.8,7.1,387,15626,0.50,2.47,0.00,0.000,6,0.193,0.064,3409,2199,2396
$GC,15979,0.27,117.3,969.1,6.0,393,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2199,2394
$GC,16282,0.27,117.3,950.6,6.2,398,16286,0.00,2.38,0.00,0.000,4,0.000,0.083,3409,3616,2393
$GC,16320,0.18,117.3,948.1,6.7,398,16325,0.12,2.33,0.00,0.000,6,0.182,0.067,3380,2200,2393
$GC,16652,0.25,117.3,930.9,5.2,404,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2199,2393
$GC,16955,0.33,126.9,916.5,4.7,409,16967,0.15,0.00,9.20,1.301,6,0.092,0.000,3435,2200,2358
$GC,17258,0.25,126.9,899.0,5.8,414,17260,0.15,0.00,0.00,0.000,6,0.160,0.000,3398,2200,2357
$GC,17561,0.29,152.8,885.7,4.3,419,17586,0.00,0.00,23.02,1.414,6,0.000,0.000,3398,2200,2251
$GC,17864,0.39,188.7,873.6,4.0,424,17899,0.15,0.00,31.80,1.414,6,0.092,0.000,3451,2200,2106
$GC,18167,0.34,188.7,855.2,6.2,429,18171,0.00,2.40,0.00,0.000,4,0.000,0.084,3451,3610,2102
$GC,18193,0.23,188.7,853.2,8.2,429,18198,0.22,2.35,0.00,0.000,6,0.176,0.068,3393,2191,2102
$GC,18536,0.36,201.2,837.2,4.6,435,18550,0.12,0.00,11.65,1.309,6,0.095,0.000,3437,2192,2055
$GC,18839,0.42,201.2,819.3,6.0,440,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2191,2053
$GC,19142,0.47,201.2,800.6,6.2,445,19146,0.00,2.38,0.00,0.000,4,0.000,0.085,3437,3611,2053
$GC,19180,0.43,201.2,797.8,7.7,445,19184,0.00,2.33,0.00,0.000,6,0.000,0.068,3437,2201,2054
$GC,19512,0.43,201.2,774.9,7.0,451,19513,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2053
$GC,19815,0.43,201.2,753.4,7.1,456,19816,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2053
$GC,20118,0.43,201.2,731.0,7.4,461,20119,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2053
$GC,20421,0.43,201.2,709.0,7.3,466,20425,0.00,2.35,0.00,0.000,4,0.000,0.084,3437,3617,2053
$GC,20441,0.43,201.2,707.4,7.1,466,20446,0.00,2.33,0.00,0.000,6,0.000,0.067,3437,2194,2053
$GC,20784,0.43,201.2,683.5,6.9,472,20786,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,2052
$GC,21088,0.43,201.2,663.3,6.7,477,21092,0.00,2.33,0.00,0.000,4,0.000,0.084,3437,782,2053
$GC,21114,0.47,201.2,661.5,7.1,477,21119,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2200,2052
$GC,21452,0.47,201.2,639.4,6.5,483,21456,0.00,2.30,0.00,0.000,4,0.000,0.082,3437,3608,2052
$GC,21483,0.47,201.2,637.0,7.3,483,21488,0.00,2.30,0.00,0.000,6,0.000,0.067,3437,2196,2052
$GC,21816,0.47,201.2,614.7,6.7,489,21817,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2197,2052
$GC,22119,0.47,201.2,594.2,6.8,494,22120,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2197,2052
$GC,22422,0.47,201.2,572.5,7.2,499,22426,0.00,2.35,0.00,0.000,4,0.000,0.083,3437,3616,2052
$GC,22460,0.47,201.2,569.3,7.3,499,22464,0.00,2.28,0.00,0.000,6,0.000,0.067,3437,2200,2052
$GC,22780,0.47,201.2,546.0,7.3,505,22781,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2052
$GC,23083,0.47,201.2,524.5,7.0,510,23084,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2052
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$GC,28976,0.61,218.2,140.6,4.9,650,28989,0.22,2.28,4.05,0.667,6,0.084,0.062,3522,2203,1986
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$STATE,31265,end climb,SURFACE_DEPTH_REACHED
$STATE,31266,begin surface coast
$FINISH,3.7,1.015274
$STATE,31329,end surface coast,CONTROL_FINISHED_OK
$STATE,31329,begin surface
$SM_CCo,31406,0.00,0.000,0,0,1452,349.06
$SM_GC,4.78,9.68,0.00,0.00,0.074,0.000,0.000,143,2406,1452,-9.87,0.17,349.06
$IRIDIUM_FIX,4953.05,-14437.90,181297,151513
$TT8_MAMPS,0.026078
$HUMID,2160
$INTERNAL_PRESSURE,9.10435
$TCM_TEMP,15.60
$XPDR_PINGS,900
$24V_AH,23.1,17.903
$10V_AH,10.6,9.830
$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
$DEVICE_SECS,28.675,140.325,397.600,0.000,0.000,27.994,27.659,157.713,225.000,0.000,0.000,11.533,1666.963,27037.145,539.467,2055.793,408.396,33.372,1535.874,0.000,2059.933,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,633.850,610.496,1401.590,290.739,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47472,824
$CAP_FILE_SIZE,160537,0
$CFSIZE,260165632,253059072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,093408,5017.429,-14432.511,36,1.2,36,18.6