version: 66.03
glider: 120
mission: 9
dive: 123
start: 10 13 108 2 28 0
data:
$ID,120
$MISSION,9
$DIVE,123
$D_SURF,7
$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,-20215.455
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,021525,5001.893,-14430.624,40,1.3,40,18.6
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.61
$_SM_ANGLEo,-72.6
$GPS2,022705,5001.860,-14430.600,12,2.3,31,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.176
$KALMAN_X,40686.8,-148.7,-253.2,-17558.6,1389.1
$KALMAN_Y,92799.4,99.7,-314.5,-99413.4,1285.3
$MHEAD_RNG_PITCHd_Wd,169.9,14564,-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,-12.07,0.000,2,0.000,0.000,135,2395,1853
$GC,36,-0.67,-117.3,4.5,-0.0,1,112,13.68,2.40,-55.55,0.000,4,0.286,0.100,3085,3812,3355
$GC,337,-0.31,-117.3,43.1,-15.6,28,342,0.45,2.28,0.00,0.000,6,0.166,0.054,3212,2394,3358
$GC,662,-0.49,-117.3,62.2,-4.9,58,666,0.15,2.28,0.00,0.000,4,0.082,0.065,3154,992,3359
$GC,701,-0.57,-117.3,65.2,-8.1,61,705,0.00,2.28,0.00,0.000,6,0.000,0.057,3153,2405,3359
$GC,1021,-0.79,-117.3,91.6,-7.8,84,1026,0.25,2.30,0.00,0.000,4,0.078,0.072,3054,3810,3360
$GC,1244,-0.50,-117.3,118.9,-12.5,94,1249,0.30,2.25,0.00,0.000,6,0.160,0.051,3157,2400,3361
$GC,1570,-0.50,-117.3,140.9,-6.1,110,1574,0.00,2.35,0.00,0.000,4,0.000,0.077,3155,3819,3361
$GC,1632,-0.56,-117.3,144.8,-6.6,113,1636,0.00,2.25,0.00,0.000,6,0.000,0.053,3155,2395,3361
$GC,1945,-0.62,-117.3,161.8,-5.3,125,1947,0.12,0.00,0.00,0.000,6,0.085,0.000,3103,2395,3361
$GC,2251,-0.62,-117.3,184.5,-7.8,135,2255,0.00,2.35,0.00,0.000,4,0.000,0.077,3101,3808,3360
$GC,2289,-0.55,-117.3,187.8,-9.0,136,2294,0.12,2.22,0.00,0.000,6,0.132,0.054,3134,2399,3360
$GC,2618,-0.55,-117.3,212.5,-7.2,147,2622,0.00,2.28,0.00,0.000,4,0.000,0.069,3135,991,3360
$GC,2649,-0.55,-117.3,214.7,-6.8,148,2654,0.00,2.28,0.00,0.000,6,0.000,0.061,3135,2393,3360
$GC,2985,-0.55,-117.3,233.9,-5.5,159,2989,0.00,2.30,0.00,0.000,4,0.000,0.070,3135,987,3359
$GC,3062,-0.55,-117.3,238.7,-6.3,161,3066,0.00,2.30,0.00,0.000,6,0.000,0.061,3135,2398,3359
$GC,3386,-0.55,-117.3,257.2,-5.9,172,3390,0.00,2.30,0.00,0.000,4,0.000,0.070,3135,986,3358
$GC,3458,-0.55,-117.3,261.7,-6.6,174,3462,0.00,2.28,0.00,0.000,6,0.000,0.063,3135,2402,3358
$GC,3781,-0.55,-117.3,279.8,-5.4,185,3785,0.00,2.30,0.00,0.000,4,0.000,0.071,3135,991,3358
$GC,3830,-0.55,-117.3,282.7,-5.7,186,3835,0.00,2.30,0.00,0.000,6,0.000,0.061,3135,2404,3358
$GC,4148,-0.55,-117.3,301.1,-5.9,197,4152,0.00,2.30,0.00,0.000,4,0.000,0.071,3135,993,3356
$GC,4181,-0.55,-117.3,303.2,-6.7,197,4185,0.00,2.30,0.00,0.000,6,0.000,0.062,3135,2402,3356
$GC,4513,-0.55,-117.3,322.0,-5.6,203,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3356
$GC,4816,-0.55,-117.3,338.7,-5.5,208,4820,0.00,2.30,0.00,0.000,4,0.000,0.071,3135,991,3356
$GC,4853,-0.55,-117.3,341.1,-6.3,208,4858,0.00,2.30,0.00,0.000,6,0.000,0.062,3134,2402,3355
$GC,5180,-0.55,-117.3,360.8,-6.1,214,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3355
$GC,5483,-0.59,-117.3,380.3,-6.4,219,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3355
$GC,5787,-0.64,-117.3,398.4,-5.9,224,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3354
$GC,6090,-0.68,-117.3,415.4,-5.6,229,6094,0.12,2.33,0.00,0.000,4,0.088,0.071,3087,987,3353
$GC,6138,-0.60,-117.3,419.3,-8.2,229,6143,0.15,2.30,0.00,0.000,6,0.165,0.065,3125,2408,3354
$GC,6452,-0.60,-117.3,440.1,-6.7,235,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3353
$GC,6756,-0.60,-117.3,459.8,-6.5,240,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3353
$GC,7059,-0.60,-117.3,478.1,-6.0,245,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3353
$GC,7362,-0.60,-117.3,495.3,-5.6,250,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3353
$GC,7665,-0.60,-117.3,511.2,-5.1,255,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3353
$GC,7968,-0.60,-117.3,524.9,-4.4,260,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3353
$GC,8272,-0.60,-117.3,538.2,-4.4,265,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3353
$GC,8575,-0.64,-117.3,552.9,-4.9,270,8579,0.00,2.33,0.00,0.000,4,0.000,0.073,3126,994,3351
$GC,8608,-0.69,-117.3,554.8,-5.1,270,8612,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2397,3351
$GC,8940,-0.74,-117.3,572.9,-5.5,276,8941,0.15,0.00,0.00,0.000,6,0.087,0.000,3070,2397,3351
$GC,9243,-0.67,-117.3,595.7,-7.7,281,9248,0.12,2.33,0.00,0.000,4,0.118,0.082,3100,3810,3351
$GC,9280,-0.67,-117.3,598.7,-8.0,281,9285,0.00,2.25,0.00,0.000,6,0.000,0.059,3100,2406,3350
$GC,9606,-0.67,-117.3,622.7,-7.4,287,9610,0.00,2.30,0.00,0.000,4,0.000,0.074,3100,992,3351
$GC,9633,-0.67,-117.3,624.9,-7.5,287,9637,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2399,3351
$GC,9971,-0.67,-117.3,649.1,-7.2,293,9975,0.00,2.33,0.00,0.000,4,0.000,0.084,3099,3810,3351
$GC,9997,-0.67,-117.3,651.1,-7.3,293,10002,0.00,2.28,0.00,0.000,6,0.000,0.059,3100,2396,3350
$GC,10335,-0.67,-117.3,673.4,-6.5,299,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3350
$GC,10638,-0.67,-117.3,691.8,-6.1,304,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3350
$GC,10941,-0.67,-117.3,708.5,-5.5,309,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,11244,-0.67,-117.3,724.9,-5.4,314,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,11547,-0.67,-117.3,742.4,-5.8,319,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,11852,-0.67,-117.3,761.8,-6.5,324,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,12153,-0.67,-117.3,781.9,-6.6,329,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3350
$GC,12456,-0.67,-117.3,802.4,-6.8,334,12461,0.00,2.38,0.00,0.000,4,0.000,0.085,3100,3810,3349
$GC,12483,-0.67,-117.3,804.3,-8.0,334,12487,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2403,3349
$GC,12821,-0.67,-117.3,826.7,-6.7,340,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3349
$GC,13124,-0.67,-117.3,846.7,-6.6,345,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3349
$GC,13427,-0.67,-117.3,865.9,-6.3,350,13431,0.00,2.33,0.00,0.000,4,0.000,0.076,3099,985,3349
$GC,13453,-0.67,-117.3,867.6,-6.4,350,13457,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2398,3348
$GC,13791,-0.67,-117.3,887.9,-5.9,356,13795,0.00,2.33,0.00,0.000,4,0.000,0.087,3099,3808,3349
$GC,13823,-0.67,-117.3,889.9,-6.3,356,13827,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2396,3349
$GC,14155,-0.67,-117.3,908.7,-5.6,362,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3349
$GC,14458,-0.67,-117.3,925.4,-5.5,367,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3349
$GC,14761,-0.67,-117.3,942.5,-5.7,372,14762,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3348
$GC,15064,-0.67,-117.3,959.7,-5.6,377,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3348
$GC,15367,-0.67,-117.3,977.1,-5.7,382,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3348
$STATE,15608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15608,begin apogee
$GC,15613,-0.22,0.0,991.4,6.0,386,15715,0.47,0.00,99.80,1.506,6,0.155,0.000,3241,2200,2876
$STATE,15716,end apogee,CONTROL_FINISHED_OK
$STATE,15716,begin climb
$GC,15718,0.67,117.3,993.6,0.0,387,15830,0.90,2.67,104.05,1.450,4,0.099,0.080,3532,790,2397
$GC,15908,0.30,117.3,990.7,7.9,390,15914,0.45,2.45,0.00,0.000,6,0.187,0.062,3418,2196,2394
$GC,16218,0.25,117.3,974.6,5.2,395,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2195,2393
$GC,16521,0.19,117.3,958.3,5.4,400,16526,0.15,2.40,0.00,0.000,4,0.181,0.078,3381,782,2392
$GC,16565,0.30,126.7,956.1,4.7,400,16582,0.00,2.35,9.12,1.284,6,0.000,0.064,3381,2202,2358
$GC,16885,0.39,132.9,940.8,4.8,406,16899,0.15,2.42,6.75,1.196,4,0.093,0.082,3446,3609,2334
$GC,16937,0.19,132.9,937.0,7.5,406,16942,0.25,2.33,0.00,0.000,6,0.179,0.066,3384,2201,2333
$GC,17252,0.27,132.9,920.7,5.1,412,17256,0.00,2.38,0.00,0.000,4,0.000,0.081,3384,780,2333
$GC,17290,0.40,153.4,918.8,4.4,412,17315,0.20,2.33,19.05,1.399,6,0.088,0.062,3455,2200,2249
$GC,17682,0.31,153.4,891.3,7.1,419,17687,0.15,2.35,0.00,0.000,4,0.161,0.081,3412,3619,2247
$GC,17725,0.26,153.4,888.4,6.9,419,17729,0.00,2.33,0.00,0.000,6,0.000,0.065,3420,2197,2247
$GC,18045,0.26,153.4,871.3,5.3,425,18049,0.00,2.35,0.00,0.000,4,0.000,0.081,3420,788,2247
$GC,18083,0.27,161.8,869.3,4.8,425,18098,0.00,2.33,8.25,1.250,6,0.000,0.063,3420,2197,2216
$GC,18408,0.27,161.8,852.6,5.1,431,18409,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2215
$GC,18710,0.27,161.8,836.5,5.4,436,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2215
$GC,19014,0.27,161.8,819.6,5.6,441,19018,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,790,2215
$GC,19057,0.27,161.8,817.1,5.4,441,19061,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2201,2215
$GC,19378,0.27,161.8,797.9,6.1,447,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2215
$GC,19680,0.27,161.8,777.6,6.8,452,19682,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2215
$GC,19984,0.27,161.8,755.4,7.4,457,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2215
$GC,20288,0.27,161.8,732.7,7.5,462,20289,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2201,2215
$GC,20590,0.27,161.8,711.6,7.0,467,20591,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2214
$GC,20893,0.27,161.8,692.3,6.2,472,20894,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2214
$GC,21196,0.27,161.8,676.2,5.2,477,21200,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,783,2214
$GC,21228,0.31,161.8,674.7,5.2,477,21233,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2202,2215
$GC,21561,0.32,172.7,659.1,4.7,483,21573,0.00,0.00,10.55,1.206,6,0.000,0.000,3420,2202,2171
$GC,21863,0.33,180.5,644.5,4.8,488,21877,0.00,2.38,8.00,1.134,4,0.000,0.084,3421,3604,2140
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$STATE,32174,end climb,SURFACE_DEPTH_REACHED
$STATE,32174,begin surface coast
$FINISH,3.6,1.012513
$STATE,32307,end surface coast,CONTROL_FINISHED_OK
$STATE,32307,begin surface
$SM_CCo,32386,0.00,0.000,0,0,1351,374.08
$SM_GC,4.74,9.57,0.00,0.00,0.072,0.000,0.000,150,2400,1351,-9.85,0.00,374.08
$IRIDIUM_FIX,4943.02,-14502.40,070198,020239
$TT8_MAMPS,0.026078
$HUMID,2139
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,16.70
$XPDR_PINGS,965
$24V_AH,22.7,26.961
$10V_AH,10.6,16.404
$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
$DEVICE_SECS,29.075,199.400,420.350,0.000,0.000,86.640,199.552,170.202,241.250,0.000,0.000,32.298,1781.633,27680.922,554.383,2361.016,702.653,33.373,1731.385,0.000,2321.115,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,642.207,620.109,1423.602,862.036,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50653,837
$CAP_FILE_SIZE,182712,0
$CFSIZE,260165632,249114624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,112901,4959.062,-14431.658,41,1.3,41,18.5