version: 66.03
glider: 120
mission: 9
dive: 128
start: 10 15 108 0 6 58
data:
$ID,120
$MISSION,9
$DIVE,128
$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,-20325.121
$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,21
$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
$GPS1,235656,4958.136,-14438.933,108,1.1,108,18.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,4.50
$_SM_ANGLEo,-71.4
$GPS2,000603,4958.154,-14438.915,14,2.0,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,0.123
$KALMAN_X,39282.4,14.5,185.7,-26645.7,-230.9
$KALMAN_Y,96630.8,-110.3,-533.8,-109672.0,1568.0
$MHEAD_RNG_PITCHd_Wd,295.4,22412,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-11.93,0.000,2,0.000,0.000,137,2417,1974
$GC,37,-0.67,-117.3,4.9,-0.0,1,112,13.75,2.40,-53.75,0.000,4,0.286,0.083,3097,986,3357
$GC,364,-0.32,-117.3,42.2,-16.7,30,372,0.35,2.35,0.00,0.000,6,0.166,0.061,3216,2403,3359
$GC,692,-0.79,-117.3,66.1,-6.7,61,697,0.45,2.33,0.00,0.000,4,0.105,0.073,3062,3815,3360
$GC,735,-0.68,-117.3,69.8,-9.1,64,743,0.10,2.30,0.00,0.000,6,0.159,0.052,3093,2385,3360
$GC,1064,-0.45,-117.3,105.9,-11.7,85,1069,0.22,2.25,0.00,0.000,4,0.173,0.064,3162,996,3362
$GC,1141,-0.45,-117.3,112.5,-7.7,88,1148,0.00,2.30,0.00,0.000,6,0.000,0.057,3162,2410,3362
$GC,1457,-0.45,-117.3,133.3,-6.0,104,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2410,3362
$GC,1777,-0.54,-117.3,152.7,-6.2,119,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2410,3362
$GC,2082,-0.74,-117.3,171.0,-6.2,129,2087,0.22,2.30,0.00,0.000,4,0.087,0.067,3078,995,3362
$GC,2137,-0.65,-117.3,175.4,-7.6,130,2144,0.00,2.30,0.00,0.000,6,0.000,0.061,3078,2400,3362
$GC,2450,-0.47,-117.3,202.2,-8.9,141,2455,0.25,2.30,0.00,0.000,4,0.168,0.079,3154,3809,3361
$GC,2499,-0.59,-117.3,205.5,-5.8,142,2503,0.00,2.25,0.00,0.000,6,0.000,0.054,3154,2405,3362
$GC,2817,-0.86,-117.3,226.0,-6.7,153,2822,0.30,2.33,0.00,0.000,4,0.091,0.077,3041,3810,3361
$GC,3074,-0.59,-117.3,253.2,-10.9,160,3081,0.25,2.28,0.00,0.000,6,0.170,0.056,3116,2395,3360
$GC,3387,-0.55,-117.3,274.7,-6.6,171,3391,0.00,2.28,0.00,0.000,4,0.000,0.071,3117,995,3360
$GC,3419,-0.51,-117.3,277.1,-7.1,172,3424,0.15,2.28,0.00,0.000,6,0.164,0.061,3153,2407,3360
$GC,3754,-0.60,-117.3,294.3,-5.3,183,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2407,3360
$GC,4058,-0.78,-117.3,312.2,-6.1,190,4063,0.22,2.33,0.00,0.000,4,0.091,0.071,3067,994,3359
$GC,4141,-0.59,-117.3,319.2,-8.4,191,4145,0.20,2.28,0.00,0.000,6,0.177,0.064,3120,2405,3358
$GC,4489,-0.59,-117.3,342.9,-6.9,197,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3358
$GC,4794,-0.59,-117.3,364.3,-7.1,202,4798,0.00,2.33,0.00,0.000,4,0.000,0.073,3120,986,3358
$GC,4825,-0.59,-117.3,367.0,-7.3,202,4830,0.00,2.33,0.00,0.000,6,0.000,0.064,3120,2405,3358
$GC,5158,-0.59,-117.3,389.6,-6.8,208,5162,0.00,2.33,0.00,0.000,4,0.000,0.074,3120,989,3357
$GC,5184,-0.59,-117.3,391.6,-7.1,208,5189,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2395,3357
$GC,5522,-0.59,-117.3,413.7,-6.6,214,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2394,3357
$GC,5825,-0.59,-117.3,433.1,-6.3,219,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2395,3357
$GC,6128,-0.59,-117.3,451.4,-6.0,224,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2395,3356
$GC,6431,-0.59,-117.3,469.0,-5.8,229,6435,0.00,2.33,0.00,0.000,4,0.000,0.084,3116,3816,3356
$GC,6462,-0.59,-117.3,471.0,-6.1,229,6467,0.00,2.28,0.00,0.000,6,0.000,0.058,3116,2399,3356
$GC,6795,-0.59,-117.3,490.1,-5.8,235,6799,0.00,2.28,0.00,0.000,4,0.000,0.074,3116,993,3356
$GC,6826,-0.59,-117.3,492.1,-5.9,235,6831,0.00,2.30,0.00,0.000,6,0.000,0.064,3116,2406,3355
$GC,7158,-0.59,-117.3,512.1,-6.1,241,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2406,3355
$GC,7461,-0.59,-117.3,531.6,-6.6,246,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2407,3355
$GC,7765,-0.59,-117.3,552.2,-6.9,251,7769,0.00,2.33,0.00,0.000,4,0.000,0.074,3116,985,3354
$GC,7808,-0.59,-117.3,555.3,-7.3,251,7812,0.00,2.33,0.00,0.000,6,0.000,0.064,3116,2405,3354
$GC,8129,-0.59,-117.3,577.1,-6.7,257,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3354
$GC,8432,-0.59,-117.3,595.5,-6.0,262,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3354
$GC,8735,-0.59,-117.3,611.7,-5.3,267,8739,0.00,2.33,0.00,0.000,4,0.000,0.075,3116,985,3354
$GC,8767,-0.59,-117.3,613.6,-5.9,267,8771,0.00,2.33,0.00,0.000,6,0.000,0.065,3116,2406,3354
$GC,9099,-0.59,-117.3,630.4,-5.0,273,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3354
$GC,9404,-0.59,-117.3,645.2,-4.9,278,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2406,3354
$GC,9705,-0.59,-117.3,660.3,-5.0,283,9709,0.00,2.33,0.00,0.000,4,0.000,0.075,3116,992,3353
$GC,9742,-0.59,-117.3,662.5,-5.8,283,9747,0.00,2.30,0.00,0.000,6,0.000,0.065,3116,2397,3353
$GC,10068,-0.59,-117.3,680.1,-5.4,289,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2397,3353
$GC,10372,-0.59,-117.3,697.5,-5.8,294,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2397,3353
$GC,10675,-0.59,-117.3,716.2,-6.2,299,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2397,3353
$GC,10978,-0.59,-117.3,735.4,-6.4,304,10982,0.00,2.33,0.00,0.000,4,0.000,0.075,3116,988,3352
$GC,11018,-0.63,-117.3,738.2,-7.5,304,11022,0.00,2.30,0.00,0.000,6,0.000,0.065,3116,2412,3352
$GC,11338,-0.68,-117.3,758.6,-6.4,310,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2412,3352
$GC,11641,-0.72,-117.3,778.1,-6.4,315,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2411,3353
$GC,11944,-0.76,-117.3,796.8,-6.1,320,11946,0.15,0.00,0.00,0.000,6,0.092,0.000,3059,2412,3351
$GC,12247,-0.69,-117.3,817.3,-6.8,325,12249,0.12,0.00,0.00,0.000,6,0.120,0.000,3093,2412,3351
$GC,12549,-0.69,-117.3,835.4,-5.9,330,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2412,3351
$GC,12853,-0.69,-117.3,852.7,-5.7,335,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2413,3351
$GC,13157,-0.69,-117.3,870.8,-6.0,340,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2412,3351
$GC,13459,-0.69,-117.3,889.0,-6.0,345,13463,0.00,2.35,0.00,0.000,4,0.000,0.076,3093,991,3351
$GC,13491,-0.69,-117.3,891.0,-6.7,345,13495,0.00,2.33,0.00,0.000,6,0.000,0.067,3093,2396,3351
$GC,13823,-0.69,-117.3,910.5,-5.8,351,13824,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2396,3351
$GC,14126,-0.69,-117.3,928.3,-5.9,356,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3351
$GC,14429,-0.69,-117.3,945.2,-5.5,361,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3351
$GC,14732,-0.69,-117.3,960.7,-5.1,366,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3351
$GC,15036,-0.69,-117.3,975.5,-4.9,371,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3350
$STATE,15337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15337,begin apogee
$GC,15342,-0.22,0.0,990.8,5.0,376,15445,0.50,0.00,100.80,1.503,6,0.153,0.000,3244,2199,2875
$STATE,15446,end apogee,CONTROL_FINISHED_OK
$STATE,15446,begin climb
$GC,15448,0.67,117.3,992.2,0.0,377,15558,0.85,0.00,104.70,1.447,6,0.100,0.000,3523,2199,2397
$GC,15876,0.32,117.3,968.4,8.1,384,15878,0.38,0.00,0.00,0.000,6,0.182,0.000,3425,2199,2393
$GC,16179,0.26,120.7,953.2,4.9,389,16184,0.00,0.00,3.92,0.889,6,0.000,0.000,3425,2199,2384
$GC,16481,0.20,128.6,938.7,4.8,394,16493,0.15,0.00,8.77,1.270,6,0.184,0.000,3387,2198,2350
$GC,16785,0.31,162.1,926.5,4.0,399,16816,0.00,0.00,30.08,1.426,6,0.000,0.000,3387,2199,2214
$GC,17088,0.42,166.2,911.9,4.9,404,17095,0.20,0.00,4.82,1.025,6,0.085,0.000,3460,2199,2198
$GC,17390,0.32,166.2,889.2,7.6,409,17392,0.15,0.00,0.00,0.000,6,0.157,0.000,3422,2199,2197
$GC,17693,0.32,166.2,869.3,6.5,414,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2196
$GC,17996,0.32,166.2,849.3,6.6,419,18000,0.00,2.40,0.00,0.000,4,0.000,0.082,3422,3614,2196
$GC,18033,0.25,166.2,846.3,7.1,419,18037,0.00,2.33,0.00,0.000,6,0.000,0.067,3421,2196,2196
$GC,18359,0.25,166.2,825.2,6.5,425,18361,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2196
$GC,18664,0.25,166.2,806.9,6.0,430,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2196
$GC,18966,0.25,166.2,789.4,5.8,435,18967,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2196
$GC,19269,0.25,166.2,772.5,5.5,440,19273,0.00,2.38,0.00,0.000,4,0.000,0.081,3422,3620,2196
$GC,19306,0.19,166.2,770.2,6.0,440,19311,0.17,2.30,0.00,0.000,6,0.180,0.067,3377,2200,2195
$GC,19633,0.37,191.7,756.3,4.3,446,19658,0.17,0.00,22.62,1.335,6,0.093,0.000,3438,2200,2093
$GC,19936,0.42,191.7,738.2,6.1,451,19940,0.00,2.40,0.00,0.000,4,0.000,0.084,3438,3618,2090
$GC,19968,0.37,191.7,735.7,7.1,451,19972,0.00,2.35,0.00,0.000,6,0.000,0.067,3439,2202,2090
$GC,20300,0.37,191.7,712.7,7.0,457,20301,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2202,2090
$GC,20603,0.37,191.7,690.7,7.3,462,20604,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2202,2090
$GC,20906,0.37,191.7,669.0,7.1,467,20907,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2202,2090
$GC,21209,0.37,191.7,648.5,6.7,472,21210,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2202,2090
$GC,21512,0.37,191.7,628.4,6.7,477,21516,0.00,2.35,0.00,0.000,4,0.000,0.083,3439,3607,2090
$GC,21544,0.32,191.7,626.0,8.6,477,21548,0.00,2.30,0.00,0.000,6,0.000,0.066,3439,2208,2090
$GC,21875,0.32,191.7,604.6,6.5,483,21877,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2208,2090
$GC,22178,0.32,191.7,584.6,6.6,488,22182,0.00,2.35,0.00,0.000,4,0.000,0.082,3439,3607,2090
$GC,22233,0.26,191.7,580.6,7.3,488,22241,0.12,2.30,0.00,0.000,6,0.173,0.065,3407,2204,2090
$GC,22543,0.37,191.7,563.6,5.5,494,22544,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2204,2090
$GC,22846,0.48,191.7,548.0,5.2,499,22851,0.15,2.33,0.00,0.000,4,0.094,0.083,3471,3607,2089
$GC,22884,0.32,191.7,545.1,7.7,499,22889,0.20,2.30,0.00,0.000,6,0.180,0.066,3424,2202,2089
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$GC,26237,0.45,213.3,338.5,6.6,555,26238,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2190,2003
$GC,26540,0.45,213.3,318.7,6.5,560,26541,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2191,2002
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$STATE,31366,end climb,SURFACE_DEPTH_REACHED
$STATE,31366,begin surface coast
$FINISH,3.4,1.015388
$STATE,31464,end surface coast,CONTROL_FINISHED_OK
$STATE,31464,begin surface
$SM_CCo,31481,16.10,0.819,0,0,1653,300.00
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$IRIDIUM_FIX,4939.69,-14428.13,090198,000028
$TT8_MAMPS,0.026845
$HUMID,2154
$INTERNAL_PRESSURE,9.10435
$TCM_TEMP,15.50
$XPDR_PINGS,913
$24V_AH,22.6,27.865
$10V_AH,10.7,17.066
$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
$DEVICE_SECS,31.550,167.650,348.500,16.100,0.000,54.400,73.409,244.812,228.250,0.000,0.000,14.485,1721.270,26974.947,539.416,2184.939,621.550,33.374,1603.486,0.000,2168.272,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,620.970,601.133,1372.407,831.308,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47622,807
$CAP_FILE_SIZE,177139,0
$CFSIZE,260165632,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,085356,5000.862,-14442.825,84,1.4,84,18.5