version: 66.03
glider: 120
mission: 9
dive: 592
start: 4 8 109 21 10 9
data:
$ID,120
$MISSION,9
$DIVE,592
$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,-30367.115
$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,23
$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
$GPS1,205907,5021.063,-14510.956,94,0.9,94,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-76.6
$GPS2,210914,5021.063,-14510.911,16,1.0,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.178
$KALMAN_X,-80603.8,82.0,-50.5,84811.9,-108.3
$KALMAN_Y,134478.9,7.1,-33.8,-101890.1,213.1
$MHEAD_RNG_PITCHd_Wd,162.0,50116,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.67,-117.3,0.0,0.0,0,61,0.00,0.00,-30.15,0.000,2,0.000,0.000,135,2412,2491
$GC,65,-0.67,-117.3,3.7,-6.2,3,109,13.77,2.38,-22.60,0.000,4,0.278,0.094,3085,3803,3357
$GC,347,-0.49,-117.3,35.0,-11.0,28,352,0.25,2.28,0.00,0.000,6,0.150,0.055,3155,2396,3359
$GC,673,-0.49,-117.3,59.1,-7.2,58,677,0.00,2.38,0.00,0.000,4,0.000,0.070,3161,994,3360
$GC,714,-0.56,-117.3,62.0,-7.2,61,718,0.00,2.35,0.00,0.000,6,0.000,0.061,3161,2408,3360
$GC,1046,-0.61,-117.3,84.9,-7.0,89,1048,0.12,0.00,0.00,0.000,6,0.078,0.000,3108,2407,3359
$GC,1353,-0.61,-117.3,109.2,-7.9,104,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2408,3359
$GC,1662,-0.61,-117.3,129.9,-6.3,119,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2408,3359
$GC,1971,-0.61,-117.3,149.0,-6.1,134,1975,0.00,2.40,0.00,0.000,4,0.000,0.080,3107,3814,3359
$GC,2028,-0.61,-117.3,153.1,-7.7,136,2035,0.00,2.28,0.00,0.000,6,0.000,0.054,3107,2399,3360
$GC,2342,-0.61,-117.3,174.2,-6.5,147,2346,0.00,2.38,0.00,0.000,4,0.000,0.070,3107,994,3359
$GC,2381,-0.61,-117.3,176.9,-6.7,148,2385,0.00,2.35,0.00,0.000,6,0.000,0.060,3107,2405,3359
$GC,2706,-0.61,-117.3,197.5,-6.4,159,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3359
$GC,3012,-0.61,-117.3,216.6,-5.9,169,3016,0.00,2.42,0.00,0.000,4,0.000,0.069,3107,985,3359
$GC,3034,-0.61,-117.3,217.9,-5.8,169,3041,0.00,2.35,0.00,0.000,6,0.000,0.061,3107,2398,3360
$GC,3348,-0.61,-117.3,235.4,-5.6,180,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3360
$GC,3655,-0.61,-117.3,252.4,-5.5,190,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3359
$GC,3960,-0.61,-117.3,269.6,-5.8,200,3964,0.00,2.40,0.00,0.000,4,0.000,0.081,3107,3809,3359
$GC,4011,-0.66,-117.3,272.7,-5.9,201,4015,0.00,2.28,0.00,0.000,6,0.000,0.054,3107,2399,3360
$GC,4330,-0.66,-117.3,292.8,-6.3,212,4334,0.00,2.40,0.00,0.000,4,0.000,0.071,3107,984,3359
$GC,4369,-0.72,-117.3,295.1,-6.4,213,4373,0.00,2.38,0.00,0.000,6,0.000,0.060,3107,2405,3359
$GC,4702,-0.72,-117.3,316.6,-6.4,220,4706,0.00,2.40,0.00,0.000,4,0.000,0.081,3107,3808,3360
$GC,4747,-0.77,-117.3,319.6,-6.4,220,4751,0.12,2.28,0.00,0.000,6,0.083,0.054,3059,2397,3359
$GC,5063,-0.70,-117.3,343.1,-7.5,226,5065,0.12,0.00,0.00,0.000,6,0.095,0.000,3095,2398,3360
$GC,5367,-0.70,-117.3,362.4,-6.3,231,5371,0.00,2.40,0.00,0.000,4,0.000,0.071,3095,983,3359
$GC,5406,-0.70,-117.3,365.1,-6.7,231,5410,0.00,2.38,0.00,0.000,6,0.000,0.062,3095,2401,3359
$GC,5727,-0.70,-117.3,384.1,-6.0,237,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,6031,-0.70,-117.3,403.7,-6.5,242,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,6333,-0.70,-117.3,424.0,-6.8,247,6337,0.00,2.42,0.00,0.000,4,0.000,0.071,3095,992,3359
$GC,6378,-0.70,-117.3,427.1,-6.6,247,6382,0.00,2.38,0.00,0.000,6,0.000,0.063,3095,2404,3359
$GC,6694,-0.70,-117.3,447.3,-6.4,253,6698,0.00,2.42,0.00,0.000,4,0.000,0.071,3096,992,3359
$GC,6728,-0.70,-117.3,449.8,-7.6,253,6732,0.00,2.38,0.00,0.000,6,0.000,0.062,3095,2405,3359
$GC,7055,-0.70,-117.3,471.9,-6.8,259,7059,0.00,2.42,0.00,0.000,4,0.000,0.071,3096,989,3359
$GC,7082,-0.70,-117.3,474.0,-7.8,259,7087,0.00,2.38,0.00,0.000,6,0.000,0.062,3095,2401,3359
$GC,7416,-0.70,-117.3,497.4,-7.1,265,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,7719,-0.70,-117.3,520.2,-7.6,270,7723,0.00,2.42,0.00,0.000,4,0.000,0.071,3095,994,3358
$GC,7764,-0.70,-117.3,524.1,-8.3,270,7767,0.00,2.38,0.00,0.000,6,0.000,0.063,3096,2403,3358
$GC,8091,-0.70,-117.3,548.7,-7.5,276,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,8394,-0.70,-117.3,568.9,-6.6,281,8398,0.00,2.42,0.00,0.000,4,0.000,0.083,3095,3809,3358
$GC,8430,-0.70,-117.3,571.0,-6.0,281,8434,0.00,2.28,0.00,0.000,6,0.000,0.054,3095,2400,3358
$GC,8757,-0.70,-117.3,589.6,-5.5,287,8761,0.00,2.40,0.00,0.000,4,0.000,0.071,3096,995,3358
$GC,8785,-0.70,-117.3,591.3,-6.4,287,8789,0.00,2.38,0.00,0.000,6,0.000,0.063,3095,2407,3358
$GC,9124,-0.70,-117.3,609.3,-5.4,293,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3358
$GC,9428,-0.70,-117.3,626.3,-5.7,298,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3358
$GC,9730,-0.70,-117.3,645.4,-6.3,303,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3358
$GC,10034,-0.70,-117.3,665.7,-6.8,308,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3358
$GC,10336,-0.70,-117.3,686.6,-6.9,313,10340,0.00,2.45,0.00,0.000,4,0.000,0.071,3095,995,3358
$GC,10364,-0.70,-117.3,688.8,-7.6,313,10369,0.00,2.38,0.00,0.000,6,0.000,0.064,3096,2400,3358
$GC,10698,-0.70,-117.3,711.7,-7.0,319,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,11001,-0.74,-117.3,732.7,-6.9,324,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,11304,-0.78,-117.3,752.8,-6.6,329,11308,0.00,2.45,0.00,0.000,4,0.000,0.072,3095,990,3357
$GC,11341,-0.82,-117.3,755.2,-6.7,329,11346,0.15,2.40,0.00,0.000,6,0.081,0.064,3042,2405,3357
$GC,11669,-0.76,-117.3,779.9,-7.5,335,11673,0.00,2.42,0.00,0.000,4,0.000,0.081,3042,3810,3357
$GC,11708,-0.65,-117.3,783.1,-8.5,335,11713,0.22,2.30,0.00,0.000,6,0.123,0.056,3106,2396,3357
$GC,12031,-0.81,-117.3,803.8,-6.5,341,12035,0.15,2.42,0.00,0.000,4,0.084,0.071,3054,993,3357
$GC,12109,-0.81,-117.3,809.8,-7.1,342,12113,0.00,2.38,0.00,0.000,6,0.000,0.062,3053,2400,3357
$GC,12459,-0.92,-117.3,833.1,-6.6,348,12463,0.10,2.45,0.00,0.000,4,0.095,0.071,3024,997,3357
$GC,12566,-0.76,-117.3,840.9,-7.3,349,12571,0.17,2.38,0.00,0.000,6,0.159,0.064,3070,2399,3357
$GC,12887,-0.76,-117.3,858.1,-5.3,355,12892,0.00,2.45,0.00,0.000,4,0.000,0.084,3070,3811,3356
$GC,12916,-0.76,-117.3,859.8,-5.6,355,12920,0.00,2.30,0.00,0.000,6,0.000,0.057,3070,2402,3356
$GC,13249,-0.76,-117.3,878.0,-5.6,361,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3356
$GC,13552,-0.76,-117.3,897.1,-6.4,366,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3356
$GC,13855,-0.76,-117.3,917.9,-6.9,371,13859,0.00,2.47,0.00,0.000,4,0.000,0.084,3070,3807,3356
$GC,13883,-0.76,-117.3,920.0,-7.1,371,13887,0.00,2.33,0.00,0.000,6,0.000,0.057,3070,2391,3356
$GC,14222,-0.76,-117.3,943.9,-7.1,377,14223,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2391,3356
$GC,14524,-0.76,-117.3,965.1,-7.0,382,14528,0.00,2.42,0.00,0.000,4,0.000,0.073,3070,991,3356
$GC,14557,-0.76,-117.3,967.6,-7.1,382,14562,0.00,2.40,0.00,0.000,6,0.000,0.064,3070,2406,3356
$GC,14885,-0.76,-117.3,988.9,-6.4,388,14886,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2406,3356
$STATE,14942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14942,begin apogee
$GC,14951,-0.22,0.0,992.7,6.4,389,15065,0.57,0.00,108.15,1.495,6,0.138,0.000,3245,2190,2876
$STATE,15065,end apogee,CONTROL_FINISHED_OK
$STATE,15065,begin climb
$GC,15069,0.67,117.3,997.3,0.0,391,15191,0.85,0.00,114.95,1.439,6,0.087,0.000,3526,2190,2396
$GC,15496,0.35,117.3,976.7,7.5,398,15498,0.32,0.00,0.00,0.000,6,0.162,0.000,3434,2190,2393
$GC,15799,0.30,117.3,959.2,5.7,403,15800,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2190,2392
$GC,16102,0.24,117.3,941.8,5.8,408,16103,0.15,0.00,0.00,0.000,6,0.181,0.000,3395,2190,2392
$GC,16405,0.33,130.7,927.6,4.6,413,16419,0.00,0.00,12.43,1.343,6,0.000,0.000,3395,2190,2343
$GC,16709,0.45,169.6,915.6,3.9,418,16748,0.20,0.00,36.25,1.420,6,0.074,0.000,3477,2190,2184
$GC,17011,0.35,169.6,896.2,6.7,423,17016,0.15,2.42,0.00,0.000,4,0.144,0.080,3428,3609,2180
$GC,17050,0.35,169.6,893.8,5.7,423,17054,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2196,2180
$GC,17372,0.35,169.6,877.0,5.2,429,17376,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,790,2180
$GC,17417,0.35,169.6,874.5,5.9,429,17421,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2205,2180
$GC,17734,0.35,169.6,856.8,5.6,435,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2179
$GC,18036,0.35,169.6,838.7,6.0,440,18041,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2178
$GC,18070,0.35,169.6,836.5,5.5,440,18075,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2208,2179
$GC,18398,0.35,169.6,816.6,6.1,446,18402,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,790,2178
$GC,18437,0.35,169.6,814.1,6.0,446,18441,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2178
$GC,18758,0.35,169.6,795.0,5.9,452,18762,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,783,2178
$GC,18798,0.35,169.6,792.5,5.6,452,18802,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2206,2178
$GC,19119,0.35,169.6,773.4,6.0,458,19120,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2178
$GC,19422,0.35,169.6,754.0,6.5,463,19426,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,780,2178
$GC,19496,0.40,169.6,749.1,7.0,464,19500,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2201,2178
$GC,19851,0.40,169.6,726.2,6.5,470,19855,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,790,2178
$GC,19896,0.40,169.6,723.2,7.2,470,19900,0.00,2.33,0.00,0.000,6,0.000,0.060,3436,2202,2178
$GC,20224,0.40,169.6,703.6,5.9,476,20225,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2178
$GC,20528,0.40,169.6,688.0,5.0,481,20529,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2177
$GC,20830,0.41,181.7,673.8,4.7,486,20844,0.00,0.00,11.38,1.207,6,0.000,0.000,3436,2201,2134
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$GC,30748,0.53,244.5,47.7,6.4,762,30755,0.12,2.30,0.00,0.000,6,0.166,0.058,3488,2192,1874
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$STATE,31520,end climb,SURFACE_DEPTH_REACHED
$STATE,31520,begin surface coast
$FINISH,1.4,1.012392
$STATE,31660,end surface coast,CONTROL_FINISHED_OK
$STATE,31660,begin surface
$SM_CCo,31683,24.80,0.840,0,0,1754,275.23
$SM_GC,3.71,0.00,0.00,24.80,0.000,0.000,0.840,138,2401,1754,-9.94,0.03,275.23
$IRIDIUM_FIX,5006.47,-14501.86,030798,212125
$TT8_MAMPS,0.026845
$HUMID,2122
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.50
$XPDR_PINGS,1021
$24V_AH,21.0,115.797
$10V_AH,10.4,79.976
$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
$DEVICE_SECS,28.550,224.325,344.625,24.800,0.000,50.910,68.484,257.839,255.250,0.000,0.000,16.049,1824.855,26513.811,552.512,2412.140,1004.729,33.379,1733.777,0.000,2383.018,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.555,624.969,1439.921,870.679,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47535,847
$CAP_FILE_SIZE,189237,0
$CFSIZE,260165632,212672512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,060006,5018.429,-14510.873,45,1.2,45,18.5