version: 66.03
glider: 120
mission: 9
dive: 400
start: 1 26 109 4 40 33
data:
$ID,120
$MISSION,9
$DIVE,400
$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,275
$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,-26104.436
$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,22
$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
$GPS1,042536,5004.913,-14452.429,52,1.3,52,18.5
$_CALLS,3
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-72.3
$GPS2,043938,5004.979,-14452.304,18,1.9,18,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.111,0.100
$KALMAN_X,-7321.2,390.7,187.9,33111.7,-2727.2
$KALMAN_Y,6995.8,-64.3,-93.1,-4057.5,714.3
$MHEAD_RNG_PITCHd_Wd,29.6,4980,-15.1,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.75,-79.0,0.0,0.0,0,36,0.00,0.00,-10.95,0.000,2,0.000,0.000,134,2407,2031
$GC,40,-0.80,-117.3,4.2,-0.0,1,108,13.75,2.53,-48.17,0.000,4,0.281,0.092,3044,3813,3357
$GC,343,-0.59,-117.3,39.8,-15.4,28,350,0.30,2.35,0.00,0.000,6,0.165,0.055,3127,2401,3358
$GC,671,-0.65,-117.3,69.2,-9.2,59,676,0.00,2.42,0.00,0.000,4,0.000,0.068,3128,990,3358
$GC,757,-0.72,-117.3,77.4,-9.8,66,762,0.12,2.33,0.00,0.000,6,0.081,0.062,3075,2412,3358
$GC,1074,-0.72,-117.3,111.1,-10.1,82,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2412,3358
$GC,1383,-0.72,-117.3,140.8,-9.5,97,1387,0.00,2.33,0.00,0.000,4,0.000,0.079,3073,3807,3359
$GC,1438,-0.72,-117.3,146.1,-9.2,99,1444,0.00,2.30,0.00,0.000,6,0.000,0.054,3072,2398,3359
$GC,1752,-0.72,-117.3,170.4,-7.5,111,1756,0.00,2.38,0.00,0.000,4,0.000,0.068,3072,993,3359
$GC,1824,-0.72,-117.3,176.8,-8.7,113,1828,0.00,2.30,0.00,0.000,6,0.000,0.061,3072,2413,3359
$GC,2154,-0.72,-117.3,206.3,-8.8,124,2158,0.00,2.40,0.00,0.000,4,0.000,0.067,3073,994,3359
$GC,2226,-0.72,-117.3,212.6,-9.1,126,2230,0.00,2.28,0.00,0.000,6,0.000,0.061,3072,2400,3359
$GC,2550,-0.72,-117.3,239.0,-8.1,137,2554,0.00,2.35,0.00,0.000,4,0.000,0.069,3073,987,3359
$GC,2628,-0.72,-117.3,245.9,-8.7,139,2632,0.00,2.30,0.00,0.000,6,0.000,0.061,3072,2404,3359
$GC,2948,-0.72,-117.3,272.6,-8.7,150,2952,0.00,2.38,0.00,0.000,4,0.000,0.069,3073,990,3359
$GC,2992,-0.72,-117.3,276.7,-9.2,151,2996,0.00,2.30,0.00,0.000,6,0.000,0.062,3072,2400,3359
$GC,3341,-0.72,-117.3,306.0,-8.3,162,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3359
$GC,3643,-0.72,-117.3,329.5,-7.8,167,3647,0.00,2.35,0.00,0.000,4,0.000,0.069,3073,984,3359
$GC,3694,-0.72,-117.3,333.5,-7.5,167,3698,0.00,2.35,0.00,0.000,6,0.000,0.062,3072,2410,3359
$GC,4005,-0.72,-117.3,355.5,-7.1,172,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3359
$GC,4306,-0.72,-117.3,378.9,-7.8,177,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3359
$GC,4610,-0.72,-117.3,402.8,-8.0,182,4614,0.00,2.40,0.00,0.000,4,0.000,0.070,3072,985,3358
$GC,4666,-0.78,-117.3,407.6,-8.9,182,4673,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2410,3358
$GC,4976,-0.82,-117.3,431.6,-7.7,188,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3358
$GC,5279,-0.87,-117.3,453.2,-7.1,193,5284,0.12,2.38,0.00,0.000,4,0.086,0.071,3015,984,3357
$GC,5307,-0.79,-117.3,455.6,-9.4,193,5312,0.17,2.33,0.00,0.000,6,0.173,0.064,3059,2403,3358
$GC,5639,-0.79,-117.3,481.3,-7.7,199,5643,0.00,2.35,0.00,0.000,4,0.000,0.071,3065,986,3357
$GC,5689,-0.79,-117.3,485.3,-8.0,199,5693,0.00,2.33,0.00,0.000,6,0.000,0.064,3065,2410,3357
$GC,5999,-0.79,-117.3,508.8,-7.7,204,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2409,3357
$GC,6302,-0.79,-117.3,531.4,-7.4,209,6306,0.00,2.38,0.00,0.000,4,0.000,0.071,3065,987,3357
$GC,6370,-0.79,-117.3,537.0,-8.1,210,6374,0.00,2.33,0.00,0.000,6,0.000,0.064,3065,2411,3357
$GC,6730,-0.79,-117.3,564.1,-7.5,216,6734,0.00,2.38,0.00,0.000,4,0.000,0.072,3065,988,3357
$GC,6762,-0.79,-117.3,566.7,-7.8,216,6766,0.00,2.33,0.00,0.000,6,0.000,0.064,3065,2408,3357
$GC,7090,-0.84,-117.3,590.4,-7.2,222,7094,0.00,2.38,0.00,0.000,4,0.000,0.071,3065,987,3357
$GC,7122,-0.84,-117.3,593.2,-7.8,222,7126,0.00,2.33,0.00,0.000,6,0.000,0.064,3065,2411,3357
$GC,7449,-0.89,-117.3,617.1,-7.4,228,7454,0.12,2.38,0.00,0.000,4,0.084,0.071,3013,990,3356
$GC,7477,-0.82,-117.3,619.7,-9.8,228,7482,0.15,2.30,0.00,0.000,6,0.172,0.064,3050,2399,3356
$GC,7809,-0.82,-117.3,645.6,-7.7,234,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3356
$GC,8112,-0.82,-117.3,667.9,-7.3,239,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3356
$GC,8415,-0.82,-117.3,689.0,-6.9,244,8419,0.00,2.38,0.00,0.000,4,0.000,0.071,3050,992,3356
$GC,8465,-0.82,-117.3,692.6,-7.0,244,8469,0.00,2.30,0.00,0.000,6,0.000,0.064,3045,2399,3356
$GC,8775,-0.82,-117.3,714.1,-6.9,249,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2399,3356
$GC,9078,-0.82,-117.3,737.2,-7.8,254,9082,0.00,2.35,0.00,0.000,4,0.000,0.073,3045,989,3355
$GC,9144,-0.82,-117.3,742.7,-8.4,255,9148,0.00,2.30,0.00,0.000,6,0.000,0.064,3045,2400,3356
$GC,9511,-0.82,-117.3,771.3,-7.9,261,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2400,3355
$GC,9813,-0.82,-117.3,794.2,-7.5,266,9817,0.00,2.35,0.00,0.000,4,0.000,0.074,3045,988,3355
$GC,9846,-0.82,-117.3,796.8,-7.9,266,9850,0.00,2.33,0.00,0.000,6,0.000,0.066,3045,2407,3355
$GC,10173,-0.82,-117.3,819.7,-7.0,272,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2406,3355
$GC,10476,-0.82,-117.3,841.7,-7.3,277,10480,0.00,2.38,0.00,0.000,4,0.000,0.072,3045,994,3355
$GC,10503,-0.82,-117.3,843.9,-7.8,277,10507,0.00,2.33,0.00,0.000,6,0.000,0.064,3045,2414,3355
$GC,10834,-0.82,-117.3,868.9,-7.6,283,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2413,3355
$GC,11137,-0.82,-117.3,892.1,-7.7,288,11142,0.00,2.38,0.00,0.000,4,0.000,0.074,3045,989,3354
$GC,11182,-0.82,-117.3,895.9,-7.9,288,11186,0.00,2.33,0.00,0.000,6,0.000,0.065,3045,2408,3354
$GC,11497,-0.82,-117.3,921.0,-8.0,294,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2408,3354
$GC,11800,-0.82,-117.3,945.4,-8.0,299,11804,0.00,2.38,0.00,0.000,4,0.000,0.074,3045,993,3354
$GC,11844,-0.82,-117.3,949.0,-8.4,299,11849,0.00,2.30,0.00,0.000,6,0.000,0.065,3045,2398,3354
$GC,12160,-0.82,-117.3,973.6,-7.8,305,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2398,3354
$STATE,12399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12399,begin apogee
$GC,12406,-0.22,0.0,991.5,7.4,309,12522,0.65,0.00,108.30,1.487,6,0.147,0.000,3239,2203,2876
$STATE,12523,end apogee,CONTROL_FINISHED_OK
$STATE,12523,begin climb
$GC,12526,0.80,117.3,995.8,0.0,311,12646,1.05,2.75,113.07,1.437,4,0.087,0.077,3578,3606,2395
$GC,12765,0.38,117.3,985.6,10.1,314,12770,0.57,2.45,0.00,0.000,6,0.196,0.063,3442,2198,2394
$GC,13075,0.42,117.3,967.1,5.8,319,13079,0.00,2.38,0.00,0.000,4,0.000,0.077,3450,788,2393
$GC,13108,0.46,117.3,965.2,5.5,319,13113,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2209,2393
$GC,13435,0.46,117.3,946.4,5.7,325,13439,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,3622,2392
$GC,13479,0.41,117.3,943.5,7.0,325,13483,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2194,2392
$GC,13794,0.41,117.3,925.8,5.6,331,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2392
$GC,14097,0.41,117.3,909.8,5.3,336,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2194,2392
$GC,14401,0.42,125.0,895.6,4.7,341,14410,0.00,0.00,7.60,1.226,6,0.000,0.000,3450,2194,2366
$GC,14704,0.43,135.8,881.7,4.5,346,14717,0.00,0.00,11.50,1.314,6,0.000,0.000,3449,2194,2321
$GC,15008,0.49,140.7,867.4,4.8,351,15019,0.00,2.47,6.15,1.137,4,0.000,0.080,3450,3618,2302
$GC,15072,0.49,140.7,863.9,6.0,352,15076,0.00,2.40,0.00,0.000,6,0.000,0.064,3450,2195,2302
$GC,15438,0.56,145.8,846.3,4.8,358,15447,0.15,0.00,6.53,1.157,6,0.084,0.000,3515,2195,2281
$GC,15742,0.44,145.8,825.9,6.8,363,15747,0.17,2.45,0.00,0.000,4,0.155,0.079,3455,3614,2280
$GC,15791,0.44,145.8,822.8,5.5,363,15796,0.00,2.38,0.00,0.000,6,0.000,0.062,3463,2194,2280
$GC,16102,0.45,153.2,808.0,4.7,368,16112,0.00,0.00,8.12,1.209,6,0.000,0.000,3463,2195,2251
$GC,16406,0.49,153.2,792.7,5.1,373,16410,0.00,2.45,0.00,0.000,4,0.000,0.080,3463,3620,2250
$GC,16450,0.45,153.2,789.8,6.8,373,16455,0.00,2.38,0.00,0.000,6,0.000,0.064,3462,2195,2250
$GC,16766,0.49,153.2,772.8,5.5,379,16767,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2250
$GC,17069,0.54,153.2,755.4,5.8,384,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2250
$GC,17372,0.54,153.2,737.3,6.0,389,17373,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2250
$GC,17676,0.58,153.2,718.1,6.3,394,17677,0.12,0.00,0.00,0.000,6,0.089,0.000,3520,2194,2250
$GC,17978,0.46,153.2,694.6,7.9,399,17983,0.15,2.42,0.00,0.000,4,0.155,0.078,3469,3610,2250
$GC,18017,0.46,153.2,691.4,7.6,399,18021,0.00,2.33,0.00,0.000,6,0.000,0.062,3476,2197,2249
$GC,18338,0.46,153.2,669.3,7.0,405,18342,0.00,2.40,0.00,0.000,4,0.000,0.081,3477,3618,2250
$GC,18371,0.40,153.2,666.8,7.9,405,18375,0.00,2.33,0.00,0.000,6,0.000,0.064,3476,2200,2250
$GC,18697,0.40,153.2,644.7,6.7,411,18701,0.00,2.38,0.00,0.000,4,0.000,0.081,3476,3614,2250
$GC,18753,0.33,153.2,640.5,7.6,411,18760,0.20,2.33,0.00,0.000,6,0.170,0.065,3423,2190,2250
$GC,19064,0.51,153.2,624.3,5.1,417,19065,0.17,0.00,0.00,0.000,6,0.078,0.000,3494,2190,2250
$GC,19366,0.51,153.2,603.9,6.8,422,19370,0.00,2.40,0.00,0.000,4,0.000,0.081,3493,3618,2250
$GC,19422,0.39,153.2,599.6,8.5,422,19429,0.22,2.30,0.00,0.000,6,0.166,0.064,3443,2195,2250
$GC,19732,0.51,153.2,582.9,5.2,428,19734,0.12,0.00,0.00,0.000,6,0.084,0.000,3496,2195,2250
$GC,20034,0.51,153.2,563.3,6.5,433,20039,0.00,2.33,0.00,0.000,4,0.000,0.080,3505,790,2250
$GC,20068,0.51,153.2,560.8,7.6,433,20072,0.00,2.30,0.00,0.000,6,0.000,0.064,3504,2206,2250
$GC,20395,0.46,153.2,538.2,6.9,439,20400,0.15,2.35,0.00,0.000,4,0.156,0.080,3464,3616,2250
$GC,20478,0.46,153.2,532.5,6.5,440,20482,0.00,2.30,0.00,0.000,6,0.000,0.064,3464,2195,2250
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$GC,28756,0.74,223.8,74.4,3.8,670,28789,0.15,2.40,24.23,0.888,4,0.080,0.074,3585,789,1962
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$GC,29184,0.86,223.8,49.2,5.2,708,29190,0.17,2.28,0.00,0.000,6,0.076,0.059,3606,2201,1959
$GC,29509,0.73,223.8,20.5,11.6,739,29514,0.17,2.33,0.00,0.000,4,0.174,0.074,3551,3610,1958
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$STATE,29663,end climb,SURFACE_DEPTH_REACHED
$STATE,29663,begin surface coast
$FINISH,2.8,1.025529
$STATE,29747,end surface coast,CONTROL_FINISHED_OK
$STATE,29747,begin surface
$SM_CCo,29768,42.17,0.838,0,0,1753,275.23
$SM_GC,3.91,0.00,0.00,42.17,0.000,0.000,0.838,148,2404,1753,-9.90,0.11,275.23
$IRIDIUM_FIX,4946.36,-14448.39,220498,040435
$TT8_MAMPS,0.026845
$HUMID,2103
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,15.70
$XPDR_PINGS,956
$24V_AH,21.5,78.624
$10V_AH,10.5,53.555
$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
$DEVICE_SECS,32.000,236.025,332.400,42.175,0.000,87.065,147.254,337.630,239.000,0.000,0.000,18.507,1714.917,24985.801,568.384,2336.451,1038.943,33.355,1733.024,0.000,2311.511,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,586.733,564.546,1291.714,784.391,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44318,760
$CAP_FILE_SIZE,192023,0
$CFSIZE,260165632,227573760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260109,125837,5007.381,-14449.426,32,1.5,32,18.5