version: 66.03
glider: 120
mission: 9
dive: 317
start: 12 25 108 20 34 17
data:
$ID,120
$MISSION,9
$DIVE,317
$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,-24335.037
$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,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
$GPS1,202625,5009.678,-14445.729,36,2.0,36,18.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-70.8
$GPS2,203323,5009.682,-14445.643,11,2.1,30,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.101
$KALMAN_X,23290.6,250.6,228.9,-18936.8,-2068.6
$KALMAN_Y,242483.1,-42.2,85.2,-234877.1,176.1
$MHEAD_RNG_PITCHd_Wd,36.9,28090,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.88,0.000,2,0.000,0.000,136,2413,1945
$GC,40,-0.67,-117.3,3.9,-0.0,1,108,14.02,2.50,-47.00,0.000,4,0.286,0.091,3085,3811,3356
$GC,318,-0.46,-117.3,29.3,-10.2,26,323,0.28,2.33,0.00,0.000,6,0.160,0.054,3161,2393,3358
$GC,644,-0.46,-117.3,54.8,-7.8,56,645,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2393,3358
$GC,961,-0.46,-117.3,76.9,-7.3,86,965,0.00,2.40,0.00,0.000,4,0.000,0.068,3162,983,3359
$GC,1002,-0.50,-117.3,79.8,-6.9,89,1006,0.00,2.35,0.00,0.000,6,0.000,0.061,3162,2401,3359
$GC,1318,-0.57,-117.3,102.6,-6.8,104,1322,0.00,2.40,0.00,0.000,4,0.000,0.067,3161,988,3359
$GC,1345,-0.64,-117.3,104.4,-6.8,105,1349,0.15,2.33,0.00,0.000,6,0.078,0.060,3106,2401,3359
$GC,1666,-0.64,-117.3,128.7,-7.9,121,1669,0.00,2.40,0.00,0.000,4,0.000,0.067,3106,984,3359
$GC,1715,-0.64,-117.3,133.1,-8.5,123,1719,0.00,2.33,0.00,0.000,6,0.000,0.060,3106,2412,3359
$GC,2033,-0.59,-117.3,158.2,-7.5,137,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2413,3359
$GC,2338,-0.59,-117.3,178.6,-6.8,147,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2413,3359
$GC,2644,-0.59,-117.3,198.7,-6.6,157,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2413,3359
$GC,2950,-0.59,-117.3,219.4,-6.8,167,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2412,3359
$GC,3256,-0.59,-117.3,240.6,-7.0,177,3260,0.00,2.40,0.00,0.000,4,0.000,0.081,3100,3814,3359
$GC,3285,-0.59,-117.3,242.7,-7.8,178,3289,0.00,2.33,0.00,0.000,6,0.000,0.054,3100,2397,3359
$GC,3619,-0.59,-117.3,266.0,-6.8,189,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,3926,-0.59,-117.3,286.5,-6.6,199,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,4261,-0.59,-117.3,308.9,-6.7,208,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,4564,-0.59,-117.3,328.8,-6.6,213,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,4867,-0.59,-117.3,350.2,-7.2,218,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,5170,-0.59,-117.3,371.0,-6.8,223,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,5473,-0.59,-117.3,390.4,-6.4,228,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3358
$GC,5777,-0.59,-117.3,410.0,-6.5,233,5781,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,992,3358
$GC,5803,-0.59,-117.3,411.8,-6.3,233,5808,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2412,3358
$GC,6136,-0.59,-117.3,433.7,-6.5,239,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3358
$GC,6438,-0.59,-117.3,451.9,-6.0,244,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3358
$GC,6742,-0.59,-117.3,470.3,-6.1,249,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3357
$GC,7045,-0.59,-117.3,489.3,-6.3,254,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3357
$GC,7348,-0.59,-117.3,507.0,-5.8,259,7352,0.00,2.35,0.00,0.000,4,0.000,0.082,3100,3808,3357
$GC,7375,-0.59,-117.3,508.6,-5.8,259,7379,0.00,2.33,0.00,0.000,6,0.000,0.055,3100,2393,3357
$GC,7713,-0.64,-117.3,526.7,-5.2,265,7717,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,995,3357
$GC,7741,-0.69,-117.3,528.4,-6.1,265,7746,0.00,2.28,0.00,0.000,6,0.000,0.062,3100,2401,3356
$GC,8073,-0.69,-117.3,546.2,-5.4,271,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,8376,-0.69,-117.3,562.0,-5.2,276,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,8680,-0.73,-117.3,577.3,-5.0,281,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,8983,-0.77,-117.3,593.6,-5.5,286,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,9286,-0.81,-117.3,613.1,-6.4,291,9288,0.12,0.00,0.00,0.000,6,0.094,0.000,3050,2401,3356
$GC,9589,-0.74,-117.3,637.1,-8.0,296,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2401,3356
$GC,9892,-0.68,-117.3,660.6,-7.7,301,9894,0.15,0.00,0.00,0.000,6,0.117,0.000,3093,2401,3356
$GC,10195,-0.68,-117.3,680.2,-6.4,306,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3356
$GC,10498,-0.68,-117.3,699.0,-6.2,311,10502,0.00,2.42,0.00,0.000,4,0.000,0.073,3093,989,3355
$GC,10525,-0.68,-117.3,700.8,-6.6,311,10529,0.00,2.35,0.00,0.000,6,0.000,0.065,3093,2417,3355
$GC,10863,-0.68,-117.3,720.5,-5.8,317,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2417,3355
$GC,11167,-0.68,-117.3,738.1,-5.8,322,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2417,3355
$GC,11469,-0.68,-117.3,756.2,-6.0,327,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2417,3355
$GC,11773,-0.68,-117.3,773.8,-5.8,332,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2418,3355
$GC,12075,-0.68,-117.3,792.2,-6.0,337,12080,0.00,2.45,0.00,0.000,4,0.000,0.073,3093,987,3354
$GC,12114,-0.68,-117.3,794.7,-6.3,337,12118,0.00,2.35,0.00,0.000,6,0.000,0.066,3093,2406,3354
$GC,12441,-0.68,-117.3,814.0,-5.9,343,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,12743,-0.68,-117.3,830.8,-5.5,348,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,13047,-0.68,-117.3,847.3,-5.5,353,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,13350,-0.68,-117.3,863.2,-5.2,358,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,13653,-0.68,-117.3,878.6,-5.0,363,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,13956,-0.68,-117.3,893.1,-4.8,368,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,14259,-0.68,-117.3,907.9,-4.9,373,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3354
$GC,14562,-0.68,-117.3,923.9,-5.3,378,14566,0.00,2.42,0.00,0.000,4,0.000,0.074,3093,989,3353
$GC,14588,-0.68,-117.3,925.5,-6.1,378,14592,0.00,2.33,0.00,0.000,6,0.000,0.066,3093,2402,3353
$GC,14927,-0.72,-117.3,945.2,-5.9,384,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3353
$GC,15230,-0.76,-117.3,964.3,-6.3,389,15231,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3353
$GC,15533,-0.81,-117.3,983.8,-6.5,394,15535,0.12,0.00,0.00,0.000,6,0.091,0.000,3046,2402,3353
$STATE,15651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15651,begin apogee
$GC,15658,-0.22,0.0,992.5,6.8,396,15768,0.65,0.00,107.07,1.497,6,0.141,0.000,3242,2193,2876
$STATE,15769,end apogee,CONTROL_FINISHED_OK
$STATE,15769,begin climb
$GC,15771,0.67,117.3,995.1,0.0,397,15892,0.88,2.75,111.55,1.440,4,0.091,0.077,3533,791,2396
$GC,15920,0.33,135.5,998.3,4.5,400,15945,0.43,2.50,18.65,1.338,6,0.180,0.062,3427,2196,2323
$GC,16267,0.35,150.1,982.6,4.6,406,16283,0.00,0.00,14.43,1.345,6,0.000,0.000,3428,2197,2264
$GC,16570,0.35,150.1,967.5,5.0,411,16574,0.00,2.38,0.00,0.000,4,0.000,0.081,3427,3611,2262
$GC,16625,0.28,150.1,964.1,5.8,411,16631,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2193,2263
$GC,16935,0.28,150.1,947.1,5.5,417,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2262
$GC,17237,0.28,150.1,930.5,5.5,422,17242,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,789,2262
$GC,17265,0.29,163.5,928.9,4.6,422,17284,0.00,2.30,13.25,1.361,6,0.000,0.064,3436,2203,2209
$GC,17601,0.29,163.5,909.6,5.8,428,17602,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2208
$GC,17904,0.29,163.5,890.8,6.3,433,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2208
$GC,18207,0.29,163.5,871.6,6.3,438,18208,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2204,2207
$GC,18510,0.29,163.5,852.4,6.4,443,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2207
$GC,18813,0.29,163.5,833.8,6.1,448,18814,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2206
$GC,19117,0.29,163.5,816.3,5.8,453,19118,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2204,2206
$GC,19419,0.29,163.5,798.6,5.9,458,19423,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,792,2207
$GC,19458,0.29,163.5,796.1,6.8,458,19461,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2206
$GC,19784,0.29,163.5,776.9,5.9,464,19785,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2206
$GC,20088,0.29,163.5,758.0,6.2,469,20089,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2206
$GC,20390,0.29,163.5,738.1,6.6,474,20391,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2206
$GC,20693,0.29,163.5,718.5,6.5,479,20697,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,793,2206
$GC,20732,0.29,163.5,716.0,5.6,479,20736,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2200,2206
$GC,21058,0.29,163.5,696.5,6.0,485,21062,0.00,2.38,0.00,0.000,4,0.000,0.082,3436,3613,2206
$GC,21097,0.29,163.5,694.0,6.0,485,21101,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2200,2206
$GC,21417,0.29,163.5,675.1,5.9,491,21418,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2206
$GC,21720,0.29,163.5,657.9,5.6,496,21721,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2206
$GC,22024,0.29,163.5,641.3,5.5,501,22028,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,789,2206
$GC,22057,0.35,172.1,639.4,4.8,501,22071,0.00,2.30,8.80,1.146,6,0.000,0.063,3436,2201,2173
$GC,22388,0.35,172.1,621.0,5.6,507,22389,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2172
$GC,22691,0.35,172.1,603.9,5.7,512,22695,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,790,2172
$GC,22731,0.40,172.4,601.7,5.0,512,22735,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2207,2172
$GC,23051,0.40,172.4,584.9,5.2,518,23053,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2172
$GC,23354,0.40,172.4,568.6,5.3,523,23358,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3618,2172
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$STATE,32789,end climb,SURFACE_DEPTH_REACHED
$STATE,32789,begin surface coast
$FINISH,2.6,1.015797
$STATE,32875,end surface coast,CONTROL_FINISHED_OK
$STATE,32875,begin surface
$SM_CCo,32894,29.00,0.836,0,0,1653,300.00
$SM_GC,3.83,0.00,0.00,29.00,0.000,0.000,0.836,144,2411,1653,-9.91,0.31,300.00
$IRIDIUM_FIX,4949.70,-14449.20,210398,111118
$TT8_MAMPS,0.026845
$HUMID,2098
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,15.90
$XPDR_PINGS,925
$24V_AH,21.1,62.969
$10V_AH,10.6,42.368
$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,27.875,152.950,360.500,29.000,0.000,25.193,30.563,211.335,231.250,0.000,0.000,31.675,1706.786,28343.779,520.860,2121.432,641.526,33.385,1555.319,0.000,2085.084,0.000,0.466
$DEVICE_MAMPS,286.091,91.273,1497.184,836.030,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.913,628.197,1432.681,866.075,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50525,843
$CAP_FILE_SIZE,164806,0
$CFSIZE,260165632,233988096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261208,054432,5011.789,-14441.323,52,1.7,52,18.6