version: 66.03
glider: 120
mission: 9
dive: 259
start: 12 3 108 20 41 16
data:
$ID,120
$MISSION,9
$DIVE,259
$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,-23087.395
$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
$GPS1,203102,5021.065,-14511.333,38,1.9,38,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-70.0
$GPS2,204021,5021.103,-14511.395,13,2.0,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.177
$KALMAN_X,35601.1,-223.4,381.3,-61513.9,527.3
$KALMAN_Y,194686.2,-80.0,163.3,-165967.0,489.6
$MHEAD_RNG_PITCHd_Wd,166.5,50177,-12.1,-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,22,-0.67,-116.6,0.0,0.0,0,35,0.00,0.00,-11.57,0.000,2,0.000,0.000,140,2410,1929
$GC,38,-0.67,-117.3,3.0,-0.0,1,114,13.90,2.47,-54.58,0.000,4,0.285,0.080,3094,982,3354
$GC,172,-0.40,-117.3,13.9,-14.0,13,178,0.32,2.38,0.00,0.000,6,0.160,0.064,3186,2410,3356
$GC,497,-0.49,-117.3,37.4,-7.1,43,498,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2409,3356
$GC,816,-0.58,-117.3,58.8,-7.1,73,821,0.15,2.42,0.00,0.000,4,0.081,0.078,3124,3819,3357
$GC,856,-0.49,-117.3,62.3,-9.8,76,861,0.12,2.35,0.00,0.000,6,0.133,0.054,3156,2386,3357
$GC,1179,-0.49,-117.3,86.1,-7.1,102,1183,0.00,2.35,0.00,0.000,4,0.000,0.067,3156,992,3358
$GC,1241,-0.54,-117.3,90.7,-7.3,105,1246,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2413,3358
$GC,1568,-0.54,-117.3,112.5,-6.4,121,1572,0.00,2.40,0.00,0.000,4,0.000,0.067,3155,991,3358
$GC,1617,-0.59,-117.3,115.6,-6.2,123,1622,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2404,3358
$GC,1933,-0.63,-117.3,136.0,-6.8,138,1938,0.12,2.38,0.00,0.000,4,0.086,0.077,3102,3808,3358
$GC,1974,-0.53,-117.3,139.2,-8.6,140,1979,0.15,2.30,0.00,0.000,6,0.123,0.054,3143,2390,3359
$GC,2310,-0.57,-117.3,160.5,-6.0,154,2314,0.00,2.45,0.00,0.000,4,0.000,0.079,3141,3812,3358
$GC,2359,-0.67,-117.3,163.6,-6.5,155,2363,0.12,2.28,0.00,0.000,6,0.087,0.053,3094,2399,3358
$GC,2676,-0.67,-117.3,188.6,-8.2,166,2680,0.00,2.35,0.00,0.000,4,0.000,0.070,3094,995,3358
$GC,2726,-0.67,-117.3,192.8,-8.1,167,2730,0.00,2.28,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,3045,-0.61,-117.3,217.0,-7.5,178,3049,0.00,2.35,0.00,0.000,4,0.000,0.080,3089,3806,3358
$GC,3089,-0.53,-117.3,220.5,-7.6,179,3094,0.20,2.30,0.00,0.000,6,0.138,0.055,3145,2391,3358
$GC,3407,-0.62,-117.3,237.7,-5.2,190,3411,0.00,2.35,0.00,0.000,4,0.000,0.070,3145,995,3358
$GC,3439,-0.71,-117.3,239.7,-5.8,191,3444,0.15,2.28,0.00,0.000,6,0.086,0.061,3087,2399,3358
$GC,3768,-0.71,-117.3,260.7,-6.4,202,3772,0.00,2.33,0.00,0.000,4,0.000,0.080,3087,3806,3358
$GC,3818,-0.66,-117.3,264.2,-7.2,203,3822,0.00,2.28,0.00,0.000,6,0.000,0.056,3087,2391,3358
$GC,4130,-0.66,-117.3,286.1,-7.2,213,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2391,3358
$GC,4465,-0.66,-117.3,310.3,-7.1,222,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2391,3357
$GC,4768,-0.66,-117.3,330.4,-6.6,227,4773,0.00,2.47,0.00,0.000,4,0.000,0.080,3087,3806,3357
$GC,4819,-0.61,-117.3,334.0,-6.8,227,4823,0.12,2.30,0.00,0.000,6,0.115,0.056,3121,2398,3357
$GC,5128,-0.61,-117.3,351.2,-5.6,232,5132,0.00,2.38,0.00,0.000,4,0.000,0.071,3121,992,3356
$GC,5160,-0.65,-117.3,353.3,-6.6,232,5164,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2409,3356
$GC,5493,-0.65,-117.3,373.3,-6.2,238,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2410,3356
$GC,5796,-0.70,-117.3,391.9,-6.2,243,5800,0.00,2.42,0.00,0.000,4,0.000,0.071,3121,987,3356
$GC,5840,-0.75,-117.3,394.8,-6.7,243,5845,0.15,2.38,0.00,0.000,6,0.084,0.063,3068,2407,3356
$GC,6155,-0.70,-117.3,416.7,-7.0,249,6159,0.00,2.35,0.00,0.000,4,0.000,0.081,3067,3810,3355
$GC,6176,-0.62,-117.3,418.3,-7.1,249,6181,0.17,2.30,0.00,0.000,6,0.136,0.056,3115,2391,3355
$GC,6519,-0.62,-117.3,437.5,-5.4,255,6523,0.00,2.38,0.00,0.000,4,0.000,0.071,3117,987,3355
$GC,6558,-0.62,-117.3,439.7,-5.6,255,6562,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2398,3355
$GC,6879,-0.62,-117.3,456.5,-5.2,261,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3355
$GC,7182,-0.62,-117.3,472.4,-5.2,266,7186,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,991,3355
$GC,7209,-0.66,-117.3,474.0,-6.0,266,7213,0.00,2.35,0.00,0.000,6,0.000,0.063,3113,2400,3355
$GC,7541,-0.66,-117.3,492.1,-5.5,272,7545,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,994,3355
$GC,7568,-0.66,-117.3,493.6,-5.9,272,7572,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2406,3355
$GC,7905,-0.66,-117.3,512.6,-5.6,278,7909,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,995,3355
$GC,7932,-0.70,-117.3,514.4,-6.9,278,7937,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2399,3354
$GC,8265,-0.70,-117.3,534.5,-6.1,284,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3355
$GC,8568,-0.75,-117.3,553.5,-6.3,289,8570,0.12,0.00,0.00,0.000,6,0.091,0.000,3062,2400,3354
$GC,8871,-0.70,-117.3,576.5,-7.6,294,8875,0.00,2.40,0.00,0.000,4,0.000,0.071,3062,988,3354
$GC,8904,-0.61,-117.3,579.3,-8.4,294,8909,0.20,2.38,0.00,0.000,6,0.156,0.064,3115,2411,3354
$GC,9237,-0.67,-117.3,601.5,-6.6,300,9241,0.00,2.40,0.00,0.000,4,0.000,0.071,3115,995,3354
$GC,9269,-0.73,-117.3,603.8,-7.2,300,9273,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2400,3354
$GC,9602,-0.77,-117.3,624.8,-6.3,306,9604,0.15,0.00,0.00,0.000,6,0.087,0.000,3055,2400,3354
$GC,9905,-0.70,-117.3,646.7,-7.2,311,9910,0.12,2.40,0.00,0.000,4,0.111,0.082,3086,3815,3354
$GC,9937,-0.70,-117.3,649.2,-7.6,311,9941,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2401,3354
$GC,10269,-0.70,-117.3,671.9,-6.8,317,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,10572,-0.70,-117.3,692.2,-6.7,322,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,10876,-0.70,-117.3,710.9,-6.1,327,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,11178,-0.70,-117.3,729.7,-6.2,332,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,11482,-0.70,-117.3,747.7,-5.9,337,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$GC,11785,-0.70,-117.3,765.3,-5.8,342,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,12088,-0.70,-117.3,782.7,-5.8,347,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,12391,-0.70,-117.3,799.4,-5.5,352,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,12694,-0.70,-117.3,816.1,-5.5,357,12698,0.00,2.50,0.00,0.000,4,0.000,0.084,3086,3808,3353
$GC,12727,-0.70,-117.3,818.1,-5.5,357,12731,0.00,2.35,0.00,0.000,6,0.000,0.058,3086,2401,3353
$GC,13059,-0.70,-117.3,837.2,-5.8,363,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,13362,-0.70,-117.3,855.4,-6.0,368,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3352
$GC,13665,-0.70,-117.3,873.8,-6.1,373,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3352
$GC,13968,-0.70,-117.3,892.7,-6.2,378,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3352
$GC,14271,-0.70,-117.3,911.5,-6.2,383,14275,0.00,2.50,0.00,0.000,4,0.000,0.085,3086,3812,3352
$GC,14298,-0.70,-117.3,913.3,-6.5,383,14302,0.00,2.35,0.00,0.000,6,0.000,0.058,3085,2391,3351
$GC,14636,-0.70,-117.3,934.9,-6.4,389,14640,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,992,3351
$GC,14674,-0.70,-117.3,937.4,-6.8,389,14678,0.00,2.33,0.00,0.000,6,0.000,0.066,3085,2407,3351
$GC,15001,-0.70,-117.3,958.4,-6.4,395,15005,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,992,3351
$GC,15029,-0.70,-117.3,960.3,-6.9,395,15033,0.00,2.35,0.00,0.000,6,0.000,0.067,3085,2401,3351
$GC,15360,-0.70,-117.3,980.2,-6.0,401,15362,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3351
$STATE,15540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15540,begin apogee
$GC,15546,-0.22,0.0,990.6,5.7,404,15653,0.52,0.00,104.70,1.493,6,0.149,0.000,3242,2195,2876
$STATE,15654,end apogee,CONTROL_FINISHED_OK
$STATE,15654,begin climb
$GC,15656,0.67,117.3,992.2,0.0,405,15770,0.88,0.00,110.50,1.436,6,0.089,0.000,3531,2195,2397
$GC,16026,0.33,117.3,974.2,8.2,412,16029,0.40,0.00,0.00,0.000,6,0.171,0.000,3423,2195,2394
$GC,16328,0.33,117.3,957.9,5.2,417,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2195,2393
$GC,16632,0.33,120.4,943.1,4.9,422,16636,0.00,2.42,0.00,0.000,4,0.000,0.079,3432,788,2392
$GC,16670,0.29,124.0,941.1,4.9,422,16684,0.00,2.33,6.85,1.189,6,0.000,0.064,3432,2200,2370
$GC,16995,0.25,124.0,924.3,5.2,428,16997,0.12,0.00,0.00,0.000,6,0.167,0.000,3402,2200,2369
$GC,17298,0.32,151.3,911.5,4.2,433,17328,0.00,2.47,24.85,1.413,4,0.000,0.080,3408,782,2259
$GC,17373,0.40,151.3,907.8,5.2,434,17378,0.12,2.38,0.00,0.000,6,0.092,0.064,3454,2203,2258
$GC,17721,0.33,151.3,887.2,6.0,440,17725,0.00,2.38,0.00,0.000,4,0.000,0.082,3454,3620,2257
$GC,17799,0.17,151.3,881.9,5.5,441,17804,0.32,2.35,0.00,0.000,6,0.172,0.065,3375,2194,2257
$GC,18148,0.35,177.1,867.0,4.3,447,18177,0.15,2.45,23.52,1.388,4,0.084,0.081,3437,792,2154
$GC,18216,0.35,177.1,862.9,6.5,448,18220,0.00,2.38,0.00,0.000,6,0.000,0.065,3437,2212,2153
$GC,18582,0.35,177.1,839.1,6.6,454,18586,0.00,2.35,0.00,0.000,4,0.000,0.083,3437,3617,2151
$GC,18615,0.30,177.1,836.5,8.1,454,18619,0.00,2.33,0.00,0.000,6,0.000,0.066,3437,2197,2151
$GC,18942,0.30,177.1,813.5,7.1,460,18943,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2197,2151
$GC,19244,0.30,177.1,792.2,7.0,465,19246,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2198,2151
$GC,19548,0.30,177.1,770.5,7.2,470,19549,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2197,2151
$GC,19851,0.30,177.1,748.6,7.2,475,19855,0.00,2.40,0.00,0.000,4,0.000,0.081,3437,3617,2151
$GC,19895,0.23,177.1,745.2,7.6,475,19899,0.17,2.35,0.00,0.000,6,0.171,0.066,3392,2188,2151
$GC,20210,0.38,177.1,727.5,5.5,481,20214,0.15,2.35,0.00,0.000,4,0.090,0.080,3453,789,2151
$GC,20253,0.38,177.1,724.5,7.0,481,20257,0.00,2.33,0.00,0.000,6,0.000,0.065,3453,2214,2151
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$STATE,31705,end climb,SURFACE_DEPTH_REACHED
$STATE,31705,begin surface coast
$FINISH,2.0,1.003519
$STATE,31834,end surface coast,CONTROL_FINISHED_OK
$STATE,31834,begin surface
$SM_CCo,31913,0.00,0.000,0,0,1583,317.17
$SM_GC,2.84,9.40,0.00,0.00,0.071,0.000,0.000,147,2405,1583,-9.85,0.14,317.17
$IRIDIUM_FIX,5003.11,-14511.25,270298,202044
$TT8_MAMPS,0.026078
$HUMID,2088
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,16.10
$XPDR_PINGS,982
$24V_AH,22.1,52.085
$10V_AH,10.6,34.579
$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
$DEVICE_SECS,30.550,223.125,390.025,0.000,0.000,56.566,59.232,254.963,245.500,0.000,0.000,13.027,1804.106,27046.701,570.577,2314.866,727.088,33.385,1719.330,0.000,2291.302,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,642.397,623.966,1419.237,859.313,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47556,835
$CAP_FILE_SIZE,190100,0
$CFSIZE,260165632,238477312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,053426,5018.349,-14511.734,42,1.4,42,18.5