version: 66.03
glider: 120
mission: 9
dive: 723
start: 5 28 109 8 14 22
data:
$ID,120
$MISSION,9
$DIVE,723
$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,-33127.207
$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
$GPS1,080551,5018.559,-14510.967,60,4.0,79,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.7
$GPS2,081328,5018.534,-14510.918,11,5.5,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002,-0.178
$KALMAN_X,-151970.2,-99.7,304.1,156001.5,-308.4
$KALMAN_Y,140197.0,440.3,555.1,-113339.6,-2062.9
$MHEAD_RNG_PITCHd_Wd,161.0,45432,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.65,0.000,2,0.000,0.000,140,2409,2767
$GC,74,-0.67,-117.3,3.5,-6.1,4,107,13.60,2.60,-11.60,0.000,4,0.278,0.092,3096,3801,3358
$GC,312,-0.54,-117.3,35.2,-10.3,25,317,0.17,2.40,0.00,0.000,6,0.150,0.052,3143,2388,3359
$GC,638,-0.54,-117.3,59.9,-7.2,55,640,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2389,3360
$GC,966,-0.54,-117.3,83.5,-7.1,84,968,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2389,3360
$GC,1277,-0.54,-117.3,105.9,-7.5,99,1281,0.00,2.53,0.00,0.000,4,0.000,0.065,3144,986,3360
$GC,1318,-0.54,-117.3,109.1,-7.9,101,1322,0.00,2.42,0.00,0.000,6,0.000,0.058,3142,2405,3360
$GC,1646,-0.54,-117.3,133.4,-7.2,117,1650,0.00,2.53,0.00,0.000,4,0.000,0.078,3141,3806,3360
$GC,1692,-0.63,-117.3,136.9,-7.4,119,1697,0.00,2.38,0.00,0.000,6,0.000,0.051,3141,2397,3360
$GC,2025,-0.89,-117.3,163.3,-8.1,133,2030,0.30,2.58,0.00,0.000,4,0.085,0.074,3029,3818,3361
$GC,2207,-0.66,-117.3,183.1,-10.7,138,2212,0.28,2.38,0.00,0.000,6,0.146,0.052,3101,2392,3360
$GC,2526,-0.66,-117.3,206.7,-7.1,149,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3360
$GC,2833,-0.66,-117.3,229.3,-7.5,159,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3360
$GC,3139,-0.66,-117.3,251.5,-7.1,169,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3360
$GC,3446,-0.66,-117.3,272.2,-6.5,179,3450,0.00,2.70,0.00,0.000,4,0.000,0.077,3099,3806,3360
$GC,3475,-0.66,-117.3,274.1,-6.5,180,3479,0.00,2.42,0.00,0.000,6,0.000,0.051,3099,2403,3361
$GC,3818,-0.66,-117.3,294.3,-5.6,191,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3360
$GC,4122,-0.66,-117.3,312.7,-6.1,198,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3360
$GC,4426,-0.66,-117.3,333.4,-7.0,203,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3360
$GC,4728,-0.66,-117.3,355.5,-7.3,208,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3360
$GC,5033,-0.66,-117.3,375.1,-6.3,213,5037,0.00,2.62,0.00,0.000,4,0.000,0.067,3099,991,3359
$GC,5068,-0.66,-117.3,377.4,-6.2,213,5072,0.00,2.42,0.00,0.000,6,0.000,0.060,3099,2397,3359
$GC,5397,-0.66,-117.3,396.1,-5.6,219,5401,0.00,2.60,0.00,0.000,4,0.000,0.079,3099,3816,3360
$GC,5431,-0.66,-117.3,398.3,-6.1,219,5435,0.00,2.40,0.00,0.000,6,0.000,0.052,3099,2392,3359
$GC,5758,-0.66,-117.3,417.5,-5.9,225,5762,0.00,2.47,0.00,0.000,4,0.000,0.068,3099,994,3359
$GC,5798,-0.66,-117.3,420.0,-6.4,225,5802,0.00,2.42,0.00,0.000,6,0.000,0.059,3099,2400,3359
$GC,6121,-0.66,-117.3,440.1,-6.2,231,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3359
$GC,6422,-0.66,-117.3,458.0,-5.9,236,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6726,-0.66,-117.3,475.1,-5.7,241,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,7029,-0.66,-117.3,492.3,-5.7,246,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,7333,-0.66,-117.3,510.7,-6.2,251,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,7635,-0.66,-117.3,529.7,-6.2,256,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,7938,-0.66,-117.3,548.0,-6.0,261,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,8241,-0.66,-117.3,566.4,-6.1,266,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,8544,-0.66,-117.3,585.4,-6.3,271,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,8848,-0.66,-117.3,605.0,-6.5,276,8853,0.00,2.58,0.00,0.000,4,0.000,0.068,3099,995,3358
$GC,8883,-0.66,-117.3,607.6,-6.8,276,8887,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2408,3357
$GC,9211,-0.66,-117.3,627.5,-6.1,282,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3357
$GC,9513,-0.66,-117.3,644.2,-5.4,287,9518,0.00,2.60,0.00,0.000,4,0.000,0.068,3099,994,3357
$GC,9543,-0.71,-117.3,645.9,-5.7,287,9548,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2408,3357
$GC,9877,-0.71,-117.3,665.0,-5.8,293,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3357
$GC,10180,-0.75,-117.3,683.4,-6.1,298,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3357
$GC,10484,-0.79,-117.3,701.6,-6.0,303,10489,0.12,2.58,0.00,0.000,4,0.087,0.068,3053,991,3356
$GC,10525,-0.75,-117.3,704.5,-7.1,303,10529,0.00,2.45,0.00,0.000,6,0.000,0.061,3053,2401,3356
$GC,10847,-0.69,-117.3,726.8,-6.8,309,10852,0.15,2.58,0.00,0.000,4,0.130,0.081,3100,3814,3356
$GC,10904,-0.78,-117.3,730.2,-6.1,309,10911,0.12,2.38,0.00,0.000,6,0.084,0.054,3057,2396,3356
$GC,11216,-0.78,-117.3,750.5,-6.5,315,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2397,3356
$GC,11520,-0.78,-117.3,770.9,-6.8,320,11524,0.00,2.62,0.00,0.000,4,0.000,0.079,3057,3809,3356
$GC,11555,-0.78,-117.3,773.5,-7.8,320,11559,0.00,2.42,0.00,0.000,6,0.000,0.053,3057,2389,3356
$GC,11883,-0.78,-117.3,797.0,-7.2,326,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2390,3356
$GC,12187,-0.78,-117.3,818.0,-6.9,331,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2390,3356
$GC,12489,-0.78,-117.3,837.7,-6.4,336,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2390,3356
$GC,12793,-0.78,-117.3,856.3,-6.1,341,12797,0.00,2.62,0.00,0.000,4,0.000,0.080,3057,3809,3355
$GC,12821,-0.78,-117.3,858.1,-6.5,341,12825,0.00,2.42,0.00,0.000,6,0.000,0.054,3057,2390,3355
$GC,13161,-0.78,-117.3,877.2,-5.6,347,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2391,3355
$GC,13463,-0.78,-117.3,894.8,-5.8,352,13467,0.00,2.62,0.00,0.000,4,0.000,0.080,3057,3812,3355
$GC,13485,-0.78,-117.3,896.2,-6.2,352,13489,0.00,2.45,0.00,0.000,6,0.000,0.054,3057,2397,3354
$GC,13824,-0.78,-117.3,916.6,-6.0,358,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2399,3355
$GC,14127,-0.78,-117.3,935.9,-6.4,363,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2399,3355
$GC,14432,-0.78,-117.3,955.9,-6.6,368,14436,0.00,2.65,0.00,0.000,4,0.000,0.080,3057,3811,3354
$GC,14471,-0.78,-117.3,958.9,-7.2,368,14475,0.00,2.50,0.00,0.000,6,0.000,0.054,3057,2396,3354
$GC,14793,-0.78,-117.3,980.3,-6.6,374,14797,0.00,2.58,0.00,0.000,4,0.000,0.071,3057,983,3354
$GC,14817,-0.78,-117.3,982.0,-6.8,374,14821,0.00,2.47,0.00,0.000,6,0.000,0.061,3057,2409,3354
$STATE,14972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14972,begin apogee
$GC,14982,-0.22,0.0,992.6,6.8,377,15096,0.62,0.00,110.53,1.493,6,0.133,0.000,3241,2192,2876
$STATE,15097,end apogee,CONTROL_FINISHED_OK
$STATE,15097,begin climb
$GC,15101,0.67,117.3,997.8,0.0,379,15228,0.93,2.85,118.85,1.442,4,0.080,0.074,3533,797,2397
$GC,15318,0.33,117.3,995.1,7.2,382,15323,0.45,2.67,0.00,0.000,6,0.171,0.057,3431,2209,2395
$GC,15663,0.30,135.2,979.4,4.5,388,15687,0.00,2.65,18.33,1.368,4,0.000,0.077,3431,3606,2324
$GC,15758,0.20,135.2,973.9,6.8,389,15764,0.22,2.58,0.00,0.000,6,0.170,0.058,3388,2207,2324
$GC,16098,0.32,159.4,959.1,4.3,395,16128,0.10,2.62,24.10,1.402,4,0.084,0.074,3425,777,2226
$GC,16175,0.37,159.4,955.1,5.4,396,16179,0.00,2.60,0.00,0.000,6,0.000,0.058,3425,2208,2224
$GC,16531,0.43,159.4,935.5,5.5,402,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2207,2224
$GC,16834,0.49,159.4,919.2,5.3,407,16836,0.15,0.00,0.00,0.000,6,0.090,0.000,3490,2207,2223
$GC,17138,0.32,159.4,896.9,7.5,412,17140,0.25,0.00,0.00,0.000,6,0.144,0.000,3420,2208,2222
$GC,17440,0.32,159.4,880.8,5.2,417,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2222
$GC,17743,0.32,159.4,864.0,5.6,422,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2222
$GC,18046,0.32,159.4,847.5,5.4,427,18047,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2222
$GC,18349,0.32,159.4,832.1,5.0,432,18353,0.00,2.60,0.00,0.000,4,0.000,0.074,3421,777,2221
$GC,18401,0.38,159.4,829.5,5.1,432,18405,0.00,2.40,0.00,0.000,6,0.000,0.058,3421,2202,2222
$GC,18713,0.46,190.0,816.4,4.1,437,18748,0.12,2.47,27.98,1.371,4,0.086,0.079,3477,3605,2099
$GC,18779,0.27,190.0,812.3,7.9,438,18784,0.28,2.42,0.00,0.000,6,0.166,0.061,3408,2195,2097
$GC,19147,0.43,221.3,797.0,4.1,444,19182,0.15,2.45,28.85,1.352,4,0.080,0.077,3476,778,1972
$GC,19265,0.37,221.3,789.3,7.2,445,19270,0.15,2.40,0.00,0.000,6,0.146,0.059,3438,2202,1970
$GC,19583,0.43,221.3,769.7,6.2,451,19587,0.00,2.42,0.00,0.000,4,0.000,0.079,3438,3607,1967
$GC,19628,0.43,221.3,766.1,7.0,451,19632,0.00,2.35,0.00,0.000,6,0.000,0.060,3438,2195,1967
$GC,19945,0.49,221.3,744.5,6.9,457,19946,0.12,0.00,0.00,0.000,6,0.088,0.000,3486,2195,1967
$GC,20250,0.49,221.3,719.7,8.3,462,20251,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2195,1967
$GC,20550,0.49,221.3,694.8,8.2,467,20555,0.00,2.62,0.00,0.000,4,0.000,0.075,3487,786,1966
$GC,20596,0.49,221.3,690.9,8.6,467,20600,0.00,2.40,0.00,0.000,6,0.000,0.059,3486,2198,1967
$GC,20912,0.43,221.3,663.9,8.6,473,20914,0.12,0.00,0.00,0.000,6,0.136,0.000,3453,2197,1966
$GC,21216,0.43,221.3,642.1,7.0,478,21217,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2197,1965
$GC,21518,0.43,221.3,621.8,6.7,483,21519,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2197,1965
$GC,21821,0.43,221.3,601.6,6.7,488,21825,0.00,2.53,0.00,0.000,4,0.000,0.079,3453,3614,1965
$GC,21849,0.43,221.3,599.4,8.3,488,21853,0.00,2.42,0.00,0.000,6,0.000,0.061,3453,2190,1965
$GC,22183,0.43,221.3,577.5,6.6,494,22184,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2191,1965
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$STATE,31095,end climb,SURFACE_DEPTH_REACHED
$STATE,31095,begin surface coast
$FINISH,0.4,1.007017
$STATE,31260,end surface coast,CONTROL_FINISHED_OK
$STATE,31260,begin surface
$SM_CCo,31285,5.82,0.716,0,0,1753,275.23
$SM_GC,3.13,0.00,0.00,5.82,0.000,0.000,0.716,137,2406,1753,-9.94,0.17,275.23
$IRIDIUM_FIX,5003.11,-14511.25,210898,232316
$TT8_MAMPS,0.026845
$HUMID,2162
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,14.50
$XPDR_PINGS,957
$24V_AH,20.7,140.587
$10V_AH,10.2,98.080
$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,29.625,205.475,368.800,5.825,0.000,25.545,31.710,190.117,239.250,0.000,0.000,31.510,1765.189,26163.113,509.265,2341.084,957.552,33.378,1658.336,0.000,2289.311,0.000,0.466
$DEVICE_MAMPS,278.421,92.040,1492.582,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,629.909,602.645,1403.174,846.840,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47537,825
$CAP_FILE_SIZE,178685,0
$CFSIZE,260165632,202469376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280509,165800,5015.062,-14511.415,80,2.0,80,18.5