version: 66.03
glider: 120
mission: 9
dive: 157
start: 10 26 108 0 18 43
data:
$ID,120
$MISSION,9
$DIVE,157
$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,-21007.754
$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,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
$GPS1,000908,5020.325,-14428.895,34,1.5,34,18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-71.8
$GPS2,001747,5020.358,-14428.767,13,1.5,13,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.039,-0.174
$KALMAN_X,37644.0,297.4,443.4,-13496.7,-1713.6
$KALMAN_Y,118930.4,-64.1,-247.8,-91184.9,659.9
$MHEAD_RNG_PITCHd_Wd,148.6,48811,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.15,0.000,2,0.000,0.000,135,2413,1849
$GC,37,-0.67,-117.3,3.1,-0.0,1,107,13.27,0.00,-54.62,0.000,6,0.272,0.000,3095,2413,3356
$GC,424,-0.35,-117.3,49.8,-13.0,38,429,0.32,2.38,0.00,0.000,4,0.164,0.078,3193,3810,3358
$GC,467,-0.35,-117.3,54.0,-7.4,41,474,0.00,2.30,0.00,0.000,6,0.000,0.051,3193,2394,3358
$GC,794,-0.46,-117.3,73.3,-3.0,72,798,0.00,2.40,0.00,0.000,4,0.000,0.076,3193,3806,3359
$GC,826,-0.61,-117.3,74.8,-5.3,74,833,0.17,2.28,0.00,0.000,6,0.071,0.051,3118,2397,3359
$GC,1144,-0.48,-117.3,102.5,-9.0,93,1149,0.15,2.30,0.00,0.000,4,0.156,0.066,3164,990,3361
$GC,1176,-0.48,-117.3,105.4,-7.9,94,1183,0.00,2.30,0.00,0.000,6,0.000,0.058,3164,2396,3361
$GC,1492,-0.48,-117.3,125.6,-5.9,110,1496,0.00,2.30,0.00,0.000,4,0.000,0.067,3164,989,3361
$GC,1532,-0.48,-117.3,128.0,-6.2,112,1536,0.00,2.30,0.00,0.000,6,0.000,0.060,3164,2409,3361
$GC,1858,-0.72,-117.3,148.1,-7.4,128,1863,0.20,2.33,0.00,0.000,4,0.085,0.066,3087,993,3360
$GC,1913,-0.64,-117.3,152.7,-8.5,130,1919,0.00,2.30,0.00,0.000,6,0.000,0.061,3086,2397,3361
$GC,2226,-0.49,-117.3,180.4,-9.0,141,2228,0.25,0.00,0.00,0.000,6,0.158,0.000,3156,2397,3360
$GC,2532,-0.56,-117.3,198.1,-5.6,151,2536,0.00,2.30,0.00,0.000,4,0.000,0.069,3157,988,3360
$GC,2559,-0.65,-117.3,199.8,-6.5,151,2566,0.12,2.33,0.00,0.000,6,0.071,0.061,3099,2405,3360
$GC,2872,-0.57,-117.3,224.3,-8.2,162,2876,0.12,2.33,0.00,0.000,4,0.154,0.069,3132,992,3359
$GC,2899,-0.57,-117.3,226.6,-7.8,163,2903,0.00,2.30,0.00,0.000,6,0.000,0.062,3128,2408,3360
$GC,3238,-0.57,-117.3,249.0,-6.3,174,3242,0.00,2.33,0.00,0.000,4,0.000,0.070,3128,991,3359
$GC,3272,-0.57,-117.3,251.2,-6.9,175,3276,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2408,3359
$GC,3612,-0.57,-117.3,272.2,-6.1,186,3616,0.00,2.33,0.00,0.000,4,0.000,0.070,3128,987,3359
$GC,3638,-0.57,-117.3,274.0,-6.5,186,3645,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2394,3359
$GC,3951,-0.57,-117.3,293.4,-6.3,197,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3358
$GC,4255,-0.57,-117.3,313.2,-6.6,204,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3358
$GC,4559,-0.57,-117.3,333.0,-6.5,209,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3357
$GC,4861,-0.57,-117.3,351.7,-6.2,214,4865,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,987,3356
$GC,4887,-0.57,-117.3,353.6,-7.1,214,4891,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2414,3357
$GC,5225,-0.57,-117.3,373.2,-5.7,220,5229,0.00,2.35,0.00,0.000,4,0.000,0.073,3128,986,3356
$GC,5246,-0.57,-117.3,374.5,-6.1,220,5250,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2401,3356
$GC,5589,-0.57,-117.3,393.6,-5.5,226,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3356
$GC,5892,-0.57,-117.3,409.6,-5.3,231,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3356
$GC,6195,-0.57,-117.3,427.7,-6.0,236,6199,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,986,3355
$GC,6239,-0.62,-117.3,430.5,-6.6,236,6242,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2402,3355
$GC,6559,-0.62,-117.3,450.7,-6.2,242,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3355
$GC,6862,-0.62,-117.3,468.8,-6.0,247,6866,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,993,3355
$GC,6894,-0.67,-117.3,470.9,-5.9,247,6898,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2405,3354
$GC,7227,-0.71,-117.3,489.9,-5.7,253,7229,0.12,0.00,0.00,0.000,6,0.094,0.000,3079,2405,3355
$GC,7529,-0.66,-117.3,510.3,-6.8,258,7533,0.00,2.33,0.00,0.000,4,0.000,0.073,3079,994,3354
$GC,7567,-0.57,-117.3,513.3,-7.9,258,7572,0.20,2.30,0.00,0.000,6,0.160,0.065,3130,2409,3354
$GC,7894,-0.63,-117.3,531.7,-5.6,264,7898,0.00,2.33,0.00,0.000,4,0.000,0.073,3131,993,3354
$GC,7922,-0.69,-117.3,533.4,-6.3,264,7926,0.00,2.28,0.00,0.000,6,0.000,0.064,3128,2401,3354
$GC,8253,-0.75,-117.3,551.0,-5.3,270,8255,0.15,0.00,0.00,0.000,6,0.088,0.000,3071,2401,3353
$GC,8556,-0.68,-117.3,571.3,-6.8,275,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2401,3353
$GC,8859,-0.62,-117.3,590.3,-6.2,280,8861,0.15,0.00,0.00,0.000,6,0.125,0.000,3113,2401,3353
$GC,9162,-0.62,-117.3,605.8,-5.0,285,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3353
$GC,9465,-0.62,-117.3,620.9,-4.9,290,9469,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,994,3353
$GC,9503,-0.62,-117.3,623.0,-5.1,290,9507,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2399,3353
$GC,9830,-0.62,-117.3,639.0,-4.9,296,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,10133,-0.62,-117.3,654.2,-5.1,301,10137,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,990,3353
$GC,10176,-0.62,-117.3,656.6,-5.7,301,10180,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2399,3352
$GC,10497,-0.62,-117.3,673.9,-5.5,307,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3352
$GC,10800,-0.62,-117.3,691.8,-5.9,312,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,11103,-0.62,-117.3,710.6,-6.2,317,11107,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3352
$GC,11135,-0.62,-117.3,712.8,-7.0,317,11139,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2405,3352
$GC,11467,-0.62,-117.3,733.2,-6.2,323,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,11770,-0.62,-117.3,752.7,-6.4,328,11774,0.00,2.33,0.00,0.000,4,0.000,0.073,3113,996,3352
$GC,11796,-0.62,-117.3,754.7,-6.4,328,11800,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2397,3352
$GC,12134,-0.62,-117.3,777.2,-6.7,334,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3352
$GC,12437,-0.62,-117.3,797.0,-6.4,339,12441,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,990,3351
$GC,12469,-0.62,-117.3,799.2,-7.0,339,12473,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2393,3351
$GC,12802,-0.66,-117.3,819.7,-6.1,345,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3351
$GC,13104,-0.71,-117.3,836.2,-5.3,350,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3351
$GC,13407,-0.75,-117.3,852.4,-5.4,355,13412,0.12,2.33,0.00,0.000,4,0.094,0.074,3064,992,3350
$GC,13440,-0.67,-117.3,854.6,-7.6,355,13444,0.12,2.30,0.00,0.000,6,0.170,0.067,3097,2400,3350
$GC,13765,-0.67,-117.3,874.2,-6.0,361,13769,0.00,2.35,0.00,0.000,4,0.000,0.085,3097,3815,3351
$GC,13802,-0.67,-117.3,876.7,-7.1,361,13807,0.00,2.30,0.00,0.000,6,0.000,0.060,3097,2403,3350
$GC,14129,-0.67,-117.3,896.4,-6.1,367,14133,0.00,2.33,0.00,0.000,4,0.000,0.076,3097,992,3350
$GC,14166,-0.67,-117.3,899.1,-7.6,367,14170,0.00,2.33,0.00,0.000,6,0.000,0.066,3097,2399,3350
$GC,14493,-0.67,-117.3,919.9,-6.4,373,14494,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3350
$GC,14796,-0.67,-117.3,939.9,-6.6,378,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3350
$GC,15099,-0.67,-117.3,960.5,-6.9,383,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3350
$GC,15402,-0.67,-117.3,981.1,-6.8,388,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3350
$STATE,15582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15582,begin apogee
$GC,15587,-0.22,0.0,992.9,6.5,391,15691,0.50,0.00,101.65,1.502,6,0.150,0.000,3248,2202,2876
$STATE,15692,end apogee,CONTROL_FINISHED_OK
$STATE,15692,begin climb
$GC,15694,0.67,117.3,995.1,0.0,392,15809,0.88,2.72,106.07,1.447,4,0.092,0.081,3533,785,2397
$GC,15898,0.28,117.3,991.2,8.1,396,15903,0.43,2.50,0.00,0.000,6,0.186,0.062,3411,2196,2394
$GC,16263,0.28,117.3,972.4,5.2,402,16267,0.00,2.42,0.00,0.000,4,0.000,0.081,3412,3616,2393
$GC,16295,0.18,117.3,970.4,5.7,402,16300,0.17,2.38,0.00,0.000,6,0.177,0.064,3378,2190,2393
$GC,16627,0.27,128.8,954.9,4.7,408,16640,0.00,0.00,10.73,1.323,6,0.000,0.000,3378,2190,2351
$GC,16931,0.36,128.8,939.4,5.2,413,16933,0.17,0.00,0.00,0.000,6,0.086,0.000,3442,2190,2350
$GC,17233,0.25,128.8,918.4,7.0,418,17235,0.15,0.00,0.00,0.000,6,0.157,0.000,3404,2191,2350
$GC,17536,0.25,128.8,900.8,5.7,423,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2190,2350
$GC,17839,0.25,128.8,883.3,5.8,428,17841,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2190,2349
$GC,18142,0.25,128.8,866.9,5.4,433,18143,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2190,2350
$GC,18446,0.25,128.8,850.8,5.2,438,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2190,2350
$GC,18749,0.25,128.8,835.1,5.1,443,18753,0.00,2.42,0.00,0.000,4,0.000,0.082,3402,3612,2349
$GC,18787,0.20,128.8,833.0,5.4,443,18791,0.00,2.33,0.00,0.000,6,0.000,0.066,3408,2192,2349
$GC,19108,0.20,128.8,816.6,5.1,449,19109,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2192,2349
$GC,19411,0.20,128.8,801.4,5.0,454,19412,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2192,2349
$GC,19714,0.22,137.7,786.9,4.7,459,19725,0.00,0.00,9.12,1.240,6,0.000,0.000,3408,2192,2314
$GC,20017,0.22,141.3,772.2,4.9,464,20027,0.00,2.42,5.22,1.044,4,0.000,0.083,3408,3613,2298
$GC,20065,0.22,141.3,769.5,5.5,464,20070,0.00,2.35,0.00,0.000,6,0.000,0.067,3408,2199,2298
$GC,20381,0.22,141.3,753.7,5.0,470,20382,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2298
$GC,20684,0.22,141.3,738.1,5.1,475,20685,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2297
$GC,20987,0.22,141.3,722.7,5.1,480,20991,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,791,2298
$GC,21019,0.31,159.9,721.1,4.5,480,21041,0.00,2.30,16.65,1.294,6,0.000,0.064,3408,2206,2223
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$STATE,33317,end climb,SURFACE_DEPTH_REACHED
$STATE,33318,begin surface coast
$FINISH,2.1,1.004252
$STATE,33458,end surface coast,CONTROL_FINISHED_OK
$STATE,33458,begin surface
$SM_CCo,33535,0.00,0.000,0,0,1412,359.12
$SM_GC,3.35,9.30,0.00,0.00,0.061,0.000,0.000,144,2412,1412,-9.87,0.34,359.12
$IRIDIUM_FIX,5003.11,-14430.09,200198,000031
$TT8_MAMPS,0.026078
$HUMID,2121
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,16.70
$XPDR_PINGS,988
$24V_AH,22.5,33.314
$10V_AH,10.6,20.931
$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,29.400,216.000,420.150,0.000,0.000,52.470,54.166,237.486,247.000,0.000,0.000,13.164,1827.669,28653.602,580.555,2344.178,642.635,33.376,1771.445,0.000,2328.430,0.000,0.465
$DEVICE_MAMPS,271.518,85.137,1501.786,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,661.675,639.772,1462.023,886.811,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50601,860
$CAP_FILE_SIZE,194137,0
$CFSIZE,260165632,246448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261008,093901,5017.857,-14426.492,43,1.3,49,18.7