version: 66.03
glider: 120
mission: 9
dive: 351
start: 1 7 109 17 18 59
data:
$ID,120
$MISSION,9
$DIVE,351
$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,-25130.021
$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,18
$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
$GPS1,171157,4955.440,-14512.411,38,3.1,57,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,-75.5
$GPS2,171804,4955.449,-14512.461,14,3.2,33,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.143
$KALMAN_X,25817.0,-386.4,-134.1,-52314.8,1166.5
$KALMAN_Y,261155.3,4.3,-417.0,-279449.1,3006.7
$MHEAD_RNG_PITCHd_Wd,167.2,2733,-15.9,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.78,-72.0,0.0,0.0,0,36,0.00,0.00,-11.32,0.000,2,0.000,0.000,136,2403,1920
$GC,39,-0.84,-117.3,3.9,-0.0,1,128,13.93,2.47,-67.75,0.000,4,0.288,0.093,3029,3811,3356
$GC,382,-0.58,-117.3,46.6,-16.4,32,387,0.35,2.33,0.00,0.000,6,0.174,0.056,3124,2395,3358
$GC,711,-0.65,-117.3,75.1,-8.8,62,717,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3358
$GC,1039,-0.74,-117.3,104.0,-8.8,81,1044,0.15,2.38,0.00,0.000,4,0.083,0.068,3059,983,3359
$GC,1095,-0.67,-117.3,110.0,-11.4,83,1102,0.15,2.35,0.00,0.000,6,0.167,0.064,3097,2403,3359
$GC,1411,-0.72,-117.3,139.3,-8.8,99,1415,0.00,2.40,0.00,0.000,4,0.000,0.069,3098,984,3359
$GC,1478,-0.78,-117.3,145.7,-9.3,102,1482,0.00,2.35,0.00,0.000,6,0.000,0.063,3097,2410,3359
$GC,1807,-0.88,-117.3,172.1,-7.6,114,1809,0.20,0.00,0.00,0.000,6,0.074,0.000,3014,2409,3359
$GC,2113,-0.73,-117.3,207.0,-11.6,124,2118,0.20,2.35,0.00,0.000,4,0.169,0.081,3072,3815,3359
$GC,2196,-0.73,-117.3,215.2,-9.2,126,2201,0.00,2.30,0.00,0.000,6,0.000,0.054,3072,2398,3359
$GC,2509,-0.73,-117.3,241.2,-8.2,136,2513,0.00,2.33,0.00,0.000,4,0.000,0.071,3072,993,3359
$GC,2553,-0.73,-117.3,245.1,-8.7,137,2557,0.00,2.33,0.00,0.000,6,0.000,0.063,3072,2412,3359
$GC,2883,-0.73,-117.3,271.3,-7.7,148,2886,0.00,2.38,0.00,0.000,4,0.000,0.071,3072,988,3359
$GC,2922,-0.77,-117.3,274.4,-7.9,149,2926,0.00,2.30,0.00,0.000,6,0.000,0.064,3072,2400,3359
$GC,3252,-0.81,-117.3,297.9,-7.1,160,3256,0.00,2.33,0.00,0.000,4,0.000,0.082,3072,3810,3359
$GC,3302,-0.87,-117.3,301.8,-7.2,161,3306,0.10,2.25,0.00,0.000,6,0.094,0.055,3025,2391,3359
$GC,3617,-0.78,-117.3,331.5,-9.6,167,3622,0.15,2.30,0.00,0.000,4,0.160,0.071,3070,989,3359
$GC,3667,-0.84,-117.3,336.1,-8.3,167,3671,0.00,2.30,0.00,0.000,6,0.000,0.064,3069,2406,3359
$GC,3977,-0.89,-117.3,360.1,-7.7,172,3981,0.12,2.38,0.00,0.000,4,0.086,0.071,3015,986,3358
$GC,4021,-0.78,-117.3,364.5,-10.5,172,4026,0.20,2.33,0.00,0.000,6,0.179,0.064,3066,2411,3358
$GC,4336,-0.82,-117.3,389.0,-7.6,178,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3358
$GC,4639,-0.87,-117.3,413.0,-7.9,183,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3358
$GC,4943,-0.92,-117.3,437.4,-8.0,188,4945,0.12,0.00,0.00,0.000,6,0.087,0.000,3013,2411,3358
$GC,5245,-0.81,-117.3,469.2,-10.6,193,5250,0.15,2.38,0.00,0.000,4,0.168,0.071,3064,988,3358
$GC,5290,-0.87,-117.3,473.4,-8.7,193,5294,0.00,2.33,0.00,0.000,6,0.000,0.063,3059,2411,3358
$GC,5604,-0.87,-117.3,498.4,-7.9,199,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2410,3358
$GC,5908,-0.87,-117.3,520.4,-7.1,204,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2411,3358
$GC,6212,-0.87,-117.3,541.1,-6.8,209,6216,0.00,2.38,0.00,0.000,4,0.000,0.072,3059,993,3357
$GC,6238,-0.87,-117.3,543.2,-7.5,209,6243,0.00,2.30,0.00,0.000,6,0.000,0.065,3059,2405,3357
$GC,6577,-0.92,-117.3,567.5,-7.3,215,6579,0.12,0.00,0.00,0.000,6,0.088,0.000,3003,2405,3357
$GC,6880,-0.81,-117.3,597.4,-10.0,220,6885,0.15,2.38,0.00,0.000,4,0.170,0.071,3052,991,3357
$GC,6948,-0.81,-117.3,603.2,-8.2,221,6952,0.00,2.30,0.00,0.000,6,0.000,0.066,3052,2399,3357
$GC,7307,-0.81,-117.3,630.0,-7.4,227,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2399,3357
$GC,7611,-0.81,-117.3,652.1,-7.3,232,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2399,3357
$GC,7914,-0.85,-117.3,675.0,-7.6,237,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2399,3357
$GC,8217,-0.89,-117.3,700.4,-8.4,242,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2399,3356
$GC,8520,-0.94,-117.3,725.2,-8.1,247,8525,0.12,2.38,0.00,0.000,4,0.088,0.072,3000,992,3357
$GC,8565,-0.83,-117.3,729.8,-9.9,247,8570,0.17,2.33,0.00,0.000,6,0.179,0.065,3044,2402,3356
$GC,8880,-0.83,-117.3,757.6,-8.8,253,8884,0.00,2.35,0.00,0.000,4,0.000,0.084,3042,3810,3356
$GC,8935,-0.83,-117.3,762.7,-9.4,253,8941,0.00,2.25,0.00,0.000,6,0.000,0.058,3042,2399,3356
$GC,9245,-0.83,-117.3,788.2,-8.3,259,9249,0.00,2.33,0.00,0.000,4,0.000,0.074,3042,994,3356
$GC,9272,-0.83,-117.3,790.7,-9.4,259,9276,0.00,2.30,0.00,0.000,6,0.000,0.065,3042,2405,3356
$GC,9610,-0.83,-117.3,817.6,-7.9,265,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2405,3356
$GC,9913,-0.83,-117.3,840.4,-7.5,270,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2405,3356
$GC,10216,-0.83,-117.3,862.0,-7.1,275,10220,0.00,2.38,0.00,0.000,4,0.000,0.073,3042,993,3356
$GC,10254,-0.83,-117.3,864.9,-7.4,275,10258,0.00,2.33,0.00,0.000,6,0.000,0.067,3042,2410,3355
$GC,10575,-0.83,-117.3,885.8,-6.5,281,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2410,3356
$GC,10878,-0.83,-117.3,905.8,-6.6,286,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2410,3355
$GC,11181,-0.83,-117.3,925.8,-6.6,291,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2410,3355
$GC,11485,-0.87,-117.3,948.0,-7.4,296,11489,0.00,2.40,0.00,0.000,4,0.000,0.074,3042,990,3355
$GC,11513,-0.91,-117.3,950.5,-8.0,296,11517,0.00,2.33,0.00,0.000,6,0.000,0.067,3042,2399,3355
$GC,11845,-0.96,-117.3,975.5,-7.7,302,11849,0.00,2.38,0.00,0.000,4,0.000,0.085,3042,3814,3355
$GC,11878,-1.00,-117.3,978.2,-7.8,302,11883,0.15,2.28,0.00,0.000,6,0.084,0.059,2981,2391,3355
$STATE,12021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12021,begin apogee
$GC,12028,-0.22,0.0,992.4,10.1,305,12142,0.93,0.00,108.65,1.490,6,0.171,0.000,3242,2193,2875
$STATE,12143,end apogee,CONTROL_FINISHED_OK
$STATE,12143,begin climb
$GC,12145,0.84,117.3,998.0,0.0,307,12266,1.08,2.67,113.57,1.437,4,0.094,0.078,3583,3611,2396
$GC,12283,0.41,122.4,998.9,4.8,309,12298,0.57,2.53,6.45,1.089,6,0.205,0.063,3452,2196,2376
$GC,12631,0.49,144.0,984.5,4.0,315,12656,0.00,2.42,20.58,1.384,4,0.000,0.078,3457,782,2288
$GC,12730,0.59,159.4,980.2,4.3,316,12751,0.15,2.35,15.52,1.348,6,0.084,0.062,3516,2200,2226
$GC,13055,0.50,159.4,957.3,7.3,321,13057,0.15,0.00,0.00,0.000,6,0.162,0.000,3477,2200,2224
$GC,13358,0.50,159.4,937.5,6.5,326,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2200,2223
$GC,13661,0.50,159.4,916.6,7.0,331,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2200,2223
$GC,13964,0.50,159.4,893.6,7.7,336,13968,0.00,2.40,0.00,0.000,4,0.000,0.081,3478,780,2222
$GC,14009,0.54,159.4,890.0,7.2,336,14013,0.00,2.30,0.00,0.000,6,0.000,0.062,3478,2204,2223
$GC,14323,0.54,159.4,865.7,7.7,342,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2205,2222
$GC,14626,0.54,159.4,842.5,7.6,347,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2204,2223
$GC,14930,0.54,159.4,819.8,7.5,352,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2205,2222
$GC,15232,0.54,159.4,798.2,7.2,357,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2205,2222
$GC,15536,0.54,159.4,777.2,6.9,362,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2204,2222
$GC,15839,0.54,159.4,757.2,6.6,367,15843,0.00,2.33,0.00,0.000,4,0.000,0.081,3478,3609,2222
$GC,15889,0.50,159.4,753.6,7.1,367,15893,0.00,2.30,0.00,0.000,6,0.000,0.066,3478,2189,2222
$GC,16198,0.50,159.4,732.6,6.8,372,16200,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2189,2222
$GC,16502,0.50,159.4,710.4,7.4,377,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2189,2221
$GC,16805,0.54,159.4,688.0,7.4,382,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2189,2221
$GC,17108,0.58,159.4,665.5,7.3,387,17112,0.00,2.40,0.00,0.000,4,0.000,0.080,3478,782,2222
$GC,17141,0.65,159.4,663.1,6.3,387,17146,0.15,2.30,0.00,0.000,6,0.083,0.063,3538,2200,2222
$GC,17468,0.55,159.4,635.5,8.6,393,17472,0.15,2.38,0.00,0.000,4,0.161,0.076,3502,787,2221
$GC,17539,0.55,159.4,630.1,6.5,394,17543,0.00,2.30,0.00,0.000,6,0.000,0.062,3502,2210,2222
$GC,17900,0.55,159.4,604.1,7.2,400,17901,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2210,2222
$GC,18203,0.55,159.4,582.9,7.0,405,18207,0.00,2.33,0.00,0.000,4,0.000,0.081,3502,3612,2221
$GC,18242,0.45,159.4,579.7,8.2,405,18246,0.15,2.30,0.00,0.000,6,0.186,0.064,3468,2189,2221
$GC,18563,0.54,159.4,559.7,6.2,411,18564,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2189,2221
$GC,18865,0.63,159.4,541.5,5.9,416,18870,0.15,2.40,0.00,0.000,4,0.083,0.080,3535,3606,2221
$GC,18898,0.44,159.4,538.8,9.0,416,18903,0.30,2.30,0.00,0.000,6,0.184,0.063,3464,2200,2222
$GC,19225,0.54,159.4,520.8,5.4,422,19229,0.00,2.40,0.00,0.000,4,0.000,0.079,3464,789,2221
$GC,19288,0.66,159.4,517.4,6.0,423,19293,0.20,2.30,0.00,0.000,6,0.078,0.062,3546,2206,2222
$GC,19654,0.54,159.4,489.2,7.8,429,19659,0.15,2.35,0.00,0.000,4,0.165,0.076,3508,788,2222
$GC,19698,0.54,159.4,485.9,7.1,429,19702,0.00,2.30,0.00,0.000,6,0.000,0.062,3508,2210,2222
$GC,20013,0.54,159.4,463.9,7.0,435,20014,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2210,2222
$GC,20316,0.54,159.4,442.6,7.0,440,20317,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2210,2222
$GC,20620,0.54,159.4,422.4,6.7,445,20624,0.00,2.38,0.00,0.000,4,0.000,0.077,3518,787,2222
$GC,20675,0.54,159.4,418.4,6.9,445,20681,0.00,2.30,0.00,0.000,6,0.000,0.064,3518,2209,2222
$GC,20985,0.54,159.4,397.1,7.0,451,20989,0.00,2.38,0.00,0.000,4,0.000,0.078,3518,789,2222
$GC,21029,0.54,159.4,394.0,6.2,451,21033,0.00,2.30,0.00,0.000,6,0.000,0.063,3518,2205,2222
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$GC,26198,0.76,222.3,89.6,4.0,610,26223,0.10,2.42,19.95,0.901,4,0.101,0.077,3572,782,1968
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$GC,26937,0.82,267.1,51.8,2.9,672,26981,0.00,2.55,38.15,0.877,4,0.000,0.075,3572,790,1785
$GC,27044,1.14,298.7,46.5,3.5,681,27077,0.32,2.33,27.60,0.848,6,0.069,0.059,3694,2211,1657
$STATE,27372,end climb,SURFACE_DEPTH_REACHED
$STATE,27372,begin surface coast
$FINISH,2.8,1.013398
$STATE,27416,end surface coast,CONTROL_FINISHED_OK
$STATE,27416,begin surface
$SM_CCo,27497,0.00,0.000,0,0,1648,300.98
$SM_GC,3.95,10.05,0.00,0.00,0.075,0.000,0.000,137,2399,1648,-9.88,-0.03,300.98
$IRIDIUM_FIX,4943.02,-14513.64,030498,080847
$TT8_MAMPS,0.026078
$HUMID,2077
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.70
$XPDR_PINGS,877
$24V_AH,21.6,69.408
$10V_AH,10.5,46.924
$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,32.400,193.125,386.675,0.000,0.000,27.304,25.587,160.827,219.250,0.000,0.000,34.750,1590.633,22922.703,549.398,2202.896,588.623,33.373,1638.362,0.000,2152.531,0.000,0.465
$DEVICE_MAMPS,287.625,92.807,1490.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,550.715,533.042,1216.568,735.848,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41201,716
$CAP_FILE_SIZE,169686,0
$CFSIZE,260165632,231378944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080109,005832,4952.967,-14513.337,39,1.8,39,18.4