version: 66.03
glider: 120
mission: 9
dive: 654
start: 5 2 109 10 1 2
data:
$ID,120
$MISSION,9
$DIVE,654
$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,-31599.301
$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,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
$GPS1,095306,5014.608,-14435.654,33,1.1,33,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,100008,5014.659,-14435.732,10,2.0,10,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.140
$KALMAN_X,-122217.2,-93.0,443.6,167934.9,-2031.5
$KALMAN_Y,146502.4,35.5,62.8,-125897.7,-1619.4
$MHEAD_RNG_PITCHd_Wd,19.7,13671,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,89,0.00,0.00,-60.12,0.000,2,0.000,0.000,134,2412,2951
$GC,94,-0.67,-117.3,3.9,-4.8,6,121,13.77,2.47,-7.47,0.000,4,0.277,0.089,3085,3811,3356
$GC,220,-0.49,-117.3,26.9,-11.9,16,227,0.25,2.33,0.00,0.000,6,0.146,0.054,3155,2390,3358
$GC,550,-0.49,-117.3,53.4,-6.7,47,556,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2391,3358
$GC,876,-0.53,-117.3,77.0,-7.3,78,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2391,3359
$GC,1198,-0.58,-117.3,100.8,-7.3,96,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2391,3358
$GC,1507,-0.63,-117.3,119.5,-6.3,111,1509,0.12,0.00,0.00,0.000,6,0.079,0.000,3104,2391,3359
$GC,1816,-0.63,-117.3,143.1,-6.6,126,1820,0.00,2.60,0.00,0.000,4,0.000,0.077,3102,3807,3358
$GC,1885,-0.63,-117.3,148.3,-7.5,129,1889,0.00,2.38,0.00,0.000,6,0.000,0.051,3102,2400,3358
$GC,2226,-0.63,-117.3,171.9,-6.6,141,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2401,3359
$GC,2532,-0.63,-117.3,191.3,-6.0,151,2536,0.00,2.53,0.00,0.000,4,0.000,0.068,3107,989,3358
$GC,2571,-0.68,-117.3,194.0,-6.6,152,2575,0.00,2.40,0.00,0.000,6,0.000,0.059,3107,2406,3358
$GC,2897,-0.68,-117.3,213.5,-6.3,163,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3359
$GC,3202,-0.68,-117.3,234.6,-7.0,173,3207,0.00,2.55,0.00,0.000,4,0.000,0.067,3107,988,3358
$GC,3243,-0.74,-117.3,237.5,-7.1,174,3247,0.00,2.40,0.00,0.000,6,0.000,0.059,3107,2406,3358
$GC,3568,-0.74,-117.3,259.2,-6.8,185,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3358
$GC,3874,-0.78,-117.3,279.4,-6.4,195,3879,0.12,2.47,0.00,0.000,4,0.089,0.077,3058,3808,3358
$GC,3904,-0.70,-117.3,281.7,-8.0,196,3909,0.12,2.33,0.00,0.000,6,0.109,0.053,3090,2394,3359
$GC,4271,-0.66,-117.3,309.2,-7.4,206,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2395,3358
$GC,4573,-0.62,-117.3,332.8,-7.8,211,4577,0.00,2.50,0.00,0.000,4,0.000,0.067,3091,993,3358
$GC,4612,-0.62,-117.3,336.1,-7.8,211,4617,0.12,2.42,0.00,0.000,6,0.146,0.061,3117,2405,3358
$GC,4934,-0.66,-117.3,357.4,-6.6,217,4938,0.00,2.45,0.00,0.000,4,0.000,0.080,3113,3809,3358
$GC,4969,-0.74,-117.3,359.7,-6.2,217,4974,0.12,2.30,0.00,0.000,6,0.081,0.053,3067,2402,3359
$GC,5296,-0.74,-117.3,383.0,-7.1,223,5300,0.00,2.45,0.00,0.000,4,0.000,0.068,3067,994,3358
$GC,5359,-0.74,-117.3,387.7,-7.8,224,5363,0.00,2.40,0.00,0.000,6,0.000,0.060,3066,2402,3358
$GC,5727,-0.67,-117.3,414.9,-7.4,230,5732,0.12,2.50,0.00,0.000,4,0.137,0.079,3099,3819,3358
$GC,5761,-0.67,-117.3,417.5,-6.9,230,5765,0.00,2.33,0.00,0.000,6,0.000,0.053,3099,2400,3358
$GC,6088,-0.67,-117.3,439.5,-6.8,236,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6392,-0.67,-117.3,460.6,-7.0,241,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6694,-0.67,-117.3,481.8,-7.0,246,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6997,-0.67,-117.3,501.3,-6.4,251,7002,0.00,2.53,0.00,0.000,4,0.000,0.069,3099,993,3357
$GC,7026,-0.67,-117.3,503.3,-6.6,251,7030,0.00,2.40,0.00,0.000,6,0.000,0.060,3099,2402,3357
$GC,7358,-0.67,-117.3,523.1,-5.9,257,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,7662,-0.67,-117.3,541.1,-5.9,262,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,7965,-0.67,-117.3,558.6,-5.8,267,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,8267,-0.67,-117.3,577.0,-6.1,272,8272,0.00,2.50,0.00,0.000,4,0.000,0.070,3099,995,3357
$GC,8307,-0.67,-117.3,579.5,-6.4,272,8311,0.00,2.42,0.00,0.000,6,0.000,0.060,3099,2410,3357
$GC,8630,-0.67,-117.3,598.0,-5.7,278,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3357
$GC,8932,-0.67,-117.3,616.0,-5.9,283,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3357
$GC,9236,-0.67,-117.3,635.2,-6.4,288,9240,0.00,2.50,0.00,0.000,4,0.000,0.070,3099,994,3356
$GC,9264,-0.71,-117.3,637.3,-7.4,288,9268,0.00,2.40,0.00,0.000,6,0.000,0.061,3099,2403,3356
$GC,9604,-0.71,-117.3,660.5,-6.8,294,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3356
$GC,9906,-0.71,-117.3,680.6,-6.6,299,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3356
$GC,10210,-0.76,-117.3,699.3,-6.2,304,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,10513,-0.80,-117.3,717.9,-6.1,309,10515,0.12,0.00,0.00,0.000,6,0.088,0.000,3047,2402,3356
$GC,10817,-0.75,-117.3,739.0,-7.0,314,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2402,3356
$GC,11120,-0.70,-117.3,760.5,-7.1,319,11122,0.15,0.00,0.00,0.000,6,0.103,0.000,3091,2402,3356
$GC,11422,-0.70,-117.3,778.6,-5.9,324,11426,0.00,2.53,0.00,0.000,4,0.000,0.071,3091,992,3356
$GC,11450,-0.70,-117.3,780.6,-6.8,324,11454,0.00,2.42,0.00,0.000,6,0.000,0.061,3091,2409,3356
$GC,11784,-0.70,-117.3,798.5,-5.3,330,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2408,3356
$GC,12085,-0.70,-117.3,814.0,-5.1,335,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2408,3355
$GC,12388,-0.70,-117.3,829.5,-5.2,340,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2408,3355
$GC,12692,-0.70,-117.3,846.1,-5.5,345,12696,0.00,2.53,0.00,0.000,4,0.000,0.071,3091,995,3355
$GC,12732,-0.74,-117.3,848.5,-5.9,345,12736,0.00,2.42,0.00,0.000,6,0.000,0.062,3091,2401,3355
$GC,13055,-0.78,-117.3,867.7,-6.0,351,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3355
$GC,13357,-0.83,-117.3,886.3,-6.2,356,13362,0.12,2.50,0.00,0.000,4,0.084,0.081,3041,3807,3355
$GC,13385,-0.77,-117.3,888.4,-7.5,356,13389,0.00,2.33,0.00,0.000,6,0.000,0.055,3041,2402,3355
$GC,13720,-0.71,-117.3,912.1,-7.1,362,13722,0.15,0.00,0.00,0.000,6,0.118,0.000,3084,2400,3355
$GC,14023,-0.71,-117.3,930.3,-6.0,367,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3355
$GC,14324,-0.71,-117.3,947.8,-5.7,372,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3355
$GC,14628,-0.71,-117.3,964.7,-5.6,377,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3355
$GC,14932,-0.71,-117.3,981.6,-5.6,382,14936,0.00,2.53,0.00,0.000,4,0.000,0.072,3084,994,3354
$GC,14960,-0.71,-117.3,983.4,-6.0,382,14964,0.00,2.42,0.00,0.000,6,0.000,0.063,3084,2399,3354
$STATE,15113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15113,begin apogee
$GC,15122,-0.22,0.0,991.9,5.4,385,15236,0.52,0.00,108.20,1.491,6,0.133,0.000,3242,2198,2875
$STATE,15236,end apogee,CONTROL_FINISHED_OK
$STATE,15237,begin climb
$GC,15240,0.67,117.3,996.7,0.0,387,15364,0.90,2.88,115.88,1.440,4,0.083,0.075,3532,797,2397
$GC,15411,0.31,118.7,995.9,5.0,389,15417,0.45,2.62,0.00,0.000,6,0.168,0.058,3427,2197,2395
$GC,15723,0.35,145.1,982.4,4.2,394,15750,0.00,0.00,25.77,1.406,6,0.000,0.000,3426,2196,2284
$GC,16026,0.35,145.1,967.4,5.1,399,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2196,2281
$GC,16329,0.35,145.1,952.0,5.1,404,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2196,2281
$GC,16631,0.35,145.1,936.6,5.0,409,16636,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,786,2281
$GC,16677,0.35,145.1,934.2,5.3,409,16681,0.00,2.35,0.00,0.000,6,0.000,0.060,3435,2207,2281
$GC,16992,0.35,145.1,917.7,5.2,415,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2280
$GC,17296,0.35,145.1,901.8,5.3,420,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2280
$GC,17599,0.35,145.1,885.5,5.3,425,17600,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2280
$GC,17902,0.35,145.1,869.7,5.2,430,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2280
$GC,18205,0.35,145.1,853.7,5.3,435,18209,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,793,2280
$GC,18250,0.35,145.1,851.3,5.3,435,18254,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2199,2280
$GC,18578,0.35,145.1,833.4,5.6,441,18582,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,790,2280
$GC,18612,0.35,145.1,831.2,5.8,441,18616,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2210,2280
$GC,18945,0.35,145.1,810.6,6.3,447,18947,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2280
$GC,19249,0.35,145.1,790.5,6.7,452,19250,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2280
$GC,19552,0.35,145.1,770.7,6.5,457,19557,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,785,2280
$GC,19587,0.35,145.1,768.4,6.3,457,19591,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2199,2280
$GC,19914,0.35,145.1,749.0,5.8,463,19915,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2280
$GC,20217,0.35,152.2,734.1,4.8,468,20231,0.00,2.50,7.20,1.137,4,0.000,0.077,3436,783,2254
$GC,20279,0.36,160.1,731.1,4.8,468,20294,0.00,2.35,8.75,1.178,6,0.000,0.060,3436,2201,2222
$GC,20657,0.36,160.1,711.6,5.2,475,20658,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2222
$GC,20960,0.36,160.1,694.0,5.9,480,20965,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,787,2222
$GC,21012,0.36,160.1,690.8,5.9,480,21017,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2214,2222
$GC,21323,0.36,160.1,672.5,5.9,485,21324,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2222
$GC,21626,0.36,160.1,654.3,6.0,490,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2222
$GC,21929,0.36,160.1,636.8,5.8,495,21930,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2221
$GC,22233,0.36,160.1,620.4,5.4,500,22238,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,793,2221
$GC,22262,0.36,160.1,618.8,5.5,500,22266,0.00,2.38,0.00,0.000,6,0.000,0.058,3436,2211,2221
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$STATE,33152,end climb,SURFACE_DEPTH_REACHED
$STATE,33152,begin surface coast
$FINISH,0.9,1.025658
$STATE,33227,end surface coast,CONTROL_FINISHED_OK
$STATE,33227,begin surface
$SM_CCo,33252,24.65,0.848,0,0,1753,275.23
$SM_GC,2.93,0.00,0.00,24.65,0.000,0.000,0.848,147,2411,1753,-9.91,0.28,275.23
$IRIDIUM_FIX,4953.05,-14437.90,270798,000058
$TT8_MAMPS,0.026845
$HUMID,2132
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$TCM_TEMP,15.40
$XPDR_PINGS,1010
$24V_AH,20.7,127.561
$10V_AH,10.4,88.559
$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
$DEVICE_SECS,28.700,200.300,350.050,24.650,0.000,31.235,25.704,197.374,252.500,0.000,0.000,10.117,1813.098,28033.486,581.927,2321.885,938.371,33.379,1716.771,0.000,2313.157,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50687,865
$CAP_FILE_SIZE,181446,0
$CFSIZE,260165632,207851520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020509,191731,5017.182,-14432.852,68,1.0,68,18.6