version: 66.03
glider: 120
mission: 9
dive: 363
start: 1 12 109 7 36 9
data:
$ID,120
$MISSION,9
$DIVE,363
$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,-25403.156
$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,19
$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
$GPS1,072801,5018.810,-14431.329,42,1.7,48,18.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-65.5
$GPS2,073515,5018.835,-14431.332,11,2.1,30,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.060,0.106
$KALMAN_X,15273.2,-204.8,90.6,6688.9,-582.6
$KALMAN_Y,261455.2,-143.1,-129.8,-236574.6,-190.6
$MHEAD_RNG_PITCHd_Wd,10.6,4398,-19.3,-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,22,begin dive
$GC,24,-0.90,-50.1,0.0,0.0,0,37,0.00,0.00,-11.07,0.000,2,0.000,0.000,135,2409,1935
$GC,40,-0.98,-117.3,4.4,-0.0,1,125,13.73,2.53,-60.72,0.000,4,0.288,0.080,2992,984,3357
$GC,138,-0.75,-117.3,10.7,-20.4,10,143,0.30,2.38,0.00,0.000,6,0.186,0.068,3066,2409,3357
$GC,467,-0.75,-117.3,62.4,-13.4,40,471,0.00,2.40,0.00,0.000,4,0.000,0.079,3058,3811,3358
$GC,724,-0.75,-117.3,98.5,-13.1,56,731,0.00,2.33,0.00,0.000,6,0.000,0.055,3058,2390,3358
$GC,1041,-0.80,-117.3,136.1,-11.5,72,1045,0.00,2.45,0.00,0.000,4,0.000,0.080,3058,3818,3358
$GC,1063,-0.86,-117.3,139.0,-12.4,73,1067,0.00,2.33,0.00,0.000,6,0.000,0.054,3058,2392,3358
$GC,1392,-0.96,-117.3,174.3,-10.1,86,1397,0.15,2.45,0.00,0.000,4,0.075,0.080,2987,3820,3358
$GC,1465,-0.85,-117.3,183.7,-13.3,88,1470,0.20,2.33,0.00,0.000,6,0.177,0.055,3039,2398,3359
$GC,1789,-0.90,-117.3,216.3,-9.8,99,1793,0.00,2.35,0.00,0.000,4,0.000,0.070,3039,988,3359
$GC,1862,-0.97,-117.3,224.0,-10.1,101,1866,0.00,2.30,0.00,0.000,6,0.000,0.064,3038,2412,3359
$GC,2198,-1.04,-117.3,258.1,-10.4,112,2203,0.15,2.30,0.00,0.000,4,0.074,0.079,2964,3810,3359
$GC,2247,-0.87,-117.3,265.1,-14.0,113,2252,0.28,2.25,0.00,0.000,6,0.179,0.055,3035,2390,3359
$GC,2561,-0.94,-117.3,298.1,-10.2,123,2565,0.00,2.35,0.00,0.000,4,0.000,0.070,3036,991,3359
$GC,2605,-1.02,-117.3,302.8,-10.6,124,2610,0.12,2.30,0.00,0.000,6,0.083,0.062,2976,2404,3359
$GC,2920,-0.92,-117.3,341.6,-12.5,130,2925,0.15,2.35,0.00,0.000,4,0.180,0.079,3007,3818,3359
$GC,2983,-0.92,-117.3,348.9,-11.2,131,2987,0.00,2.28,0.00,0.000,6,0.000,0.057,3011,2392,3359
$GC,3348,-0.92,-117.3,386.9,-10.3,137,3352,0.00,2.30,0.00,0.000,4,0.000,0.071,3011,992,3359
$GC,3411,-0.92,-117.3,393.6,-10.6,138,3415,0.00,2.30,0.00,0.000,6,0.000,0.064,3011,2404,3359
$GC,3777,-0.92,-117.3,431.5,-10.5,144,3781,0.00,2.35,0.00,0.000,4,0.000,0.071,3011,992,3358
$GC,3826,-0.92,-117.3,437.2,-10.8,144,3831,0.00,2.30,0.00,0.000,6,0.000,0.064,3011,2402,3358
$GC,4136,-0.92,-117.3,469.8,-10.7,149,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2401,3358
$GC,4439,-0.92,-117.3,502.1,-10.6,154,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2401,3358
$GC,4743,-0.92,-117.3,533.5,-10.3,159,4747,0.00,2.35,0.00,0.000,4,0.000,0.071,3011,993,3358
$GC,4776,-0.92,-117.3,537.3,-11.3,159,4779,0.00,2.30,0.00,0.000,6,0.000,0.064,3011,2403,3358
$GC,5108,-0.92,-117.3,571.9,-10.5,165,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2403,3357
$GC,5411,-0.92,-117.3,603.9,-10.6,170,5415,0.00,2.40,0.00,0.000,4,0.000,0.071,3011,991,3357
$GC,5497,-0.97,-117.3,613.4,-11.5,171,5501,0.00,2.30,0.00,0.000,6,0.000,0.065,3011,2398,3357
$GC,5840,-1.02,-117.3,650.9,-10.9,177,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2398,3357
$GC,6143,-1.07,-117.3,683.1,-10.5,182,6145,0.12,0.00,0.00,0.000,6,0.084,0.000,2959,2398,3357
$GC,6447,-0.97,-117.3,720.0,-12.3,187,6452,0.15,2.40,0.00,0.000,4,0.182,0.081,2992,3818,3357
$GC,6485,-0.97,-117.3,724.6,-10.7,187,6489,0.00,2.30,0.00,0.000,6,0.000,0.058,2997,2401,3357
$GC,6806,-0.97,-117.3,756.7,-10.0,193,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2401,3357
$GC,7109,-0.97,-117.3,785.6,-9.6,198,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2401,3357
$GC,7413,-0.97,-117.3,814.9,-9.7,203,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2401,3356
$GC,7715,-0.97,-117.3,844.3,-9.7,208,7719,0.00,2.40,0.00,0.000,4,0.000,0.073,2997,994,3356
$GC,7737,-0.97,-117.3,846.5,-9.6,208,7741,0.00,2.30,0.00,0.000,6,0.000,0.064,2990,2400,3356
$GC,8081,-0.97,-117.3,878.5,-9.3,214,8085,0.00,2.40,0.00,0.000,4,0.000,0.072,2990,991,3356
$GC,8108,-0.97,-117.3,881.2,-9.7,214,8112,0.00,2.33,0.00,0.000,6,0.000,0.065,2990,2409,3355
$GC,8446,-0.97,-117.3,910.4,-8.5,220,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2409,3355
$GC,8749,-0.97,-117.3,935.4,-8.2,225,8753,0.00,2.40,0.00,0.000,4,0.000,0.073,2990,990,3355
$GC,8776,-0.97,-117.3,937.6,-8.1,225,8780,0.00,2.33,0.00,0.000,6,0.000,0.067,2990,2399,3355
$GC,9108,-0.97,-117.3,965.5,-8.5,231,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2399,3355
$STATE,9408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9408,begin apogee
$GC,9415,-0.22,0.0,994.2,9.5,236,9530,0.88,0.00,108.07,1.487,6,0.163,0.000,3244,2201,2876
$STATE,9531,end apogee,CONTROL_FINISHED_OK
$STATE,9531,begin climb
$GC,9534,0.98,117.3,999.4,0.0,238,9655,1.20,2.70,112.50,1.439,4,0.085,0.077,3632,3606,2397
$GC,9708,0.55,117.3,996.6,9.9,240,9714,0.60,2.47,0.00,0.000,6,0.212,0.061,3502,2203,2394
$GC,10018,0.55,117.3,977.7,5.8,245,10022,0.00,2.42,0.00,0.000,4,0.000,0.078,3512,779,2394
$GC,10169,0.55,117.3,968.8,5.4,247,10173,0.00,2.33,0.00,0.000,6,0.000,0.063,3510,2200,2393
$GC,10513,0.55,117.3,948.1,6.1,253,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2200,2393
$GC,10816,0.55,117.3,928.3,6.6,258,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2200,2392
$GC,11119,0.55,117.3,907.5,6.9,263,11123,0.00,2.38,0.00,0.000,4,0.000,0.078,3519,789,2392
$GC,11187,0.55,117.3,902.6,6.9,264,11191,0.00,2.30,0.00,0.000,6,0.000,0.064,3519,2203,2392
$GC,11547,0.55,117.3,877.4,7.0,270,11552,0.00,2.40,0.00,0.000,4,0.000,0.080,3519,784,2392
$GC,11614,0.55,117.3,872.7,6.9,271,11618,0.00,2.30,0.00,0.000,6,0.000,0.064,3519,2199,2392
$GC,11975,0.55,117.3,847.8,7.0,277,11979,0.00,2.38,0.00,0.000,4,0.000,0.079,3519,788,2392
$GC,12063,0.55,117.3,841.3,7.1,278,12067,0.00,2.30,0.00,0.000,6,0.000,0.063,3519,2207,2391
$GC,12401,0.55,117.3,817.6,7.0,284,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2207,2391
$GC,12705,0.55,117.3,796.1,7.1,289,12709,0.00,2.40,0.00,0.000,4,0.000,0.079,3519,779,2391
$GC,12767,0.55,117.3,791.6,6.7,290,12772,0.00,2.33,0.00,0.000,6,0.000,0.062,3519,2211,2391
$GC,13133,0.55,117.3,765.5,7.1,296,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2211,2392
$GC,13436,0.55,117.3,744.2,7.1,301,13440,0.00,2.40,0.00,0.000,4,0.000,0.081,3519,777,2391
$GC,13486,0.55,117.3,740.6,7.6,301,13491,0.00,2.33,0.00,0.000,6,0.000,0.063,3519,2212,2391
$GC,13796,0.55,117.3,719.7,6.8,306,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2212,2391
$GC,14099,0.55,117.3,698.8,6.9,311,14103,0.00,2.40,0.00,0.000,4,0.000,0.080,3519,789,2391
$GC,14142,0.55,117.3,695.7,7.6,311,14147,0.00,2.30,0.00,0.000,6,0.000,0.063,3519,2200,2391
$GC,14458,0.55,117.3,674.6,6.7,317,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2200,2391
$GC,14761,0.55,117.3,655.0,6.4,322,14765,0.00,2.40,0.00,0.000,4,0.000,0.079,3519,776,2391
$GC,14832,0.55,117.3,650.4,6.5,323,14837,0.00,2.33,0.00,0.000,6,0.000,0.063,3519,2204,2391
$GC,15187,0.55,117.3,628.7,6.1,329,15191,0.00,2.33,0.00,0.000,4,0.000,0.081,3519,3608,2391
$GC,15227,0.50,117.3,626.0,6.5,329,15232,0.15,2.30,0.00,0.000,6,0.193,0.066,3482,2192,2391
$GC,15548,0.63,119.8,610.2,4.8,335,15552,0.12,2.35,0.00,0.000,4,0.087,0.078,3534,786,2392
$GC,15611,0.63,119.8,606.7,5.2,336,15615,0.00,2.30,0.00,0.000,6,0.000,0.063,3534,2201,2391
$GC,15976,0.63,119.8,587.5,5.1,342,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2201,2391
$GC,16280,0.63,119.8,570.9,5.6,347,16284,0.00,2.38,0.00,0.000,4,0.000,0.079,3534,783,2391
$GC,16385,0.63,119.8,564.4,6.4,348,16390,0.00,2.33,0.00,0.000,6,0.000,0.064,3534,2209,2391
$GC,16707,0.63,119.8,544.4,6.4,354,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2209,2391
$GC,17010,0.63,119.8,524.5,6.6,359,17011,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2209,2391
$GC,17313,0.63,119.8,506.0,6.0,364,17314,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2209,2391
$GC,17616,0.63,119.8,489.0,5.5,369,17620,0.00,2.35,0.00,0.000,4,0.000,0.081,3534,3618,2391
$GC,17666,0.53,119.8,486.0,6.1,369,17671,0.20,2.33,0.00,0.000,6,0.189,0.063,3491,2198,2391
$GC,17977,0.67,129.5,472.3,4.3,374,17996,0.12,2.47,11.38,1.088,4,0.091,0.079,3541,3614,2346
$GC,18042,0.57,129.5,468.4,6.2,375,18047,0.17,2.33,0.00,0.000,6,0.194,0.064,3503,2201,2345
$GC,18408,0.66,129.5,449.5,5.2,381,18413,0.00,2.40,0.00,0.000,4,0.000,0.078,3505,780,2345
$GC,18493,0.78,133.6,445.2,4.7,382,18503,0.17,2.33,4.93,0.867,6,0.080,0.061,3572,2207,2331
$GC,18836,0.70,133.6,421.8,7.0,388,18837,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2207,2331
$GC,19139,0.62,133.6,400.9,6.9,393,19144,0.17,2.45,0.00,0.000,4,0.182,0.074,3533,791,2330
$GC,19245,0.62,133.6,394.1,6.3,394,19249,0.00,2.30,0.00,0.000,6,0.000,0.062,3533,2208,2330
$GC,19566,0.62,133.6,373.7,6.4,400,19570,0.00,2.42,0.00,0.000,4,0.000,0.077,3533,779,2330
$GC,19633,0.67,133.6,369.2,5.9,401,19636,0.00,2.30,0.00,0.000,6,0.000,0.061,3533,2205,2331
$GC,19998,0.67,133.6,346.4,6.3,407,19999,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2205,2330
$GC,20301,0.67,133.6,328.1,5.9,412,20302,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2205,2330
$GC,20605,0.67,133.6,311.4,5.5,417,20609,0.00,2.42,0.00,0.000,4,0.000,0.077,3533,782,2331
$GC,20649,0.71,133.6,309.0,5.5,417,20653,0.00,2.30,0.00,0.000,6,0.000,0.061,3533,2201,2331
$GC,20965,0.71,133.6,291.0,6.0,425,20966,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2201,2331
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$STATE,26225,end climb,SURFACE_DEPTH_REACHED
$STATE,26227,begin surface coast
$FINISH,2.9,1.013120
$STATE,26343,end surface coast,CONTROL_FINISHED_OK
$STATE,26343,begin surface
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$IRIDIUM_FIX,4959.75,-14432.05,070498,222238
$TT8_MAMPS,0.026845
$HUMID,2079
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$TCM_TEMP,15.60
$XPDR_PINGS,919
$24V_AH,21.6,71.687
$10V_AH,10.5,48.546
$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,29.100,193.700,306.325,77.225,0.000,29.733,23.790,225.854,229.750,0.000,0.000,31.818,1581.368,21711.873,548.473,2366.120,659.057,33.378,1689.091,0.000,2307.428,0.000,0.465
$DEVICE_MAMPS,288.392,81.302,1487.213,835.263,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,534.733,514.163,1186.035,716.917,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41071,698
$CAP_FILE_SIZE,166375,0
$CFSIZE,260165632,230469632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120109,145807,5020.819,-14428.558,37,1.8,37,18.7