version: 66.03
glider: 120
mission: 9
dive: 14
start: 9 2 108 13 44 34
data:
$ID,120
$MISSION,9
$DIVE,14
$D_SURF,2
$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,528
$T_MISSION,540
$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,350
$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,-17936.359
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,133908,5014.795,-14514.002,32,1.4,32,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.6
$GPS2,134339,5014.824,-14513.949,14,1.5,14,18.5
$SPEED_LIMITS,0.108,0.192
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.074,-0.178
$KALMAN_X,12538.5,44.3,-431.4,-40934.3,2610.0
$KALMAN_Y,6409.1,14.4,-163.8,10915.3,1384.6
$MHEAD_RNG_PITCHd_Wd,184.2,38620,-15.0,-6.250
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.80,-117.2,0.0,0.0,0,72,0.00,0.00,-52.62,0.000,2,0.000,0.000,142,2412,2795
$GC,74,-0.80,-117.3,3.8,-5.1,5,108,13.80,2.45,-11.00,0.000,4,0.302,0.092,3051,992,3358
$GC,130,-0.35,-117.3,18.5,-21.5,10,136,0.57,2.35,0.00,0.000,6,0.204,0.067,3196,2407,3359
$GC,455,-0.77,-117.3,46.2,-7.4,40,459,0.35,2.38,0.00,0.000,4,0.092,0.075,3072,983,3361
$GC,505,-0.68,-117.3,50.8,-9.6,44,509,0.00,2.33,0.00,0.000,6,0.000,0.067,3072,2403,3361
$GC,837,-0.50,-117.3,93.5,-13.1,70,841,0.25,2.33,0.00,0.000,4,0.184,0.077,3146,989,3363
$GC,862,-0.50,-117.3,96.3,-10.2,71,867,0.00,2.33,0.00,0.000,6,0.000,0.065,3147,2398,3363
$GC,1184,-0.59,-117.3,125.1,-9.8,87,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2398,3363
$GC,1504,-0.72,-117.3,152.8,-7.4,102,1506,0.17,0.00,0.00,0.000,6,0.079,0.000,3079,2399,3363
$GC,1810,-0.66,-117.3,176.9,-8.0,112,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3363
$GC,2116,-0.61,-117.3,203.9,-8.9,122,2118,0.15,0.00,0.00,0.000,6,0.166,0.000,3117,2399,3363
$GC,2422,-0.68,-117.3,227.3,-7.7,132,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3363
$GC,2728,-0.75,-117.3,249.6,-6.9,142,2730,0.12,0.00,0.00,0.000,6,0.087,0.000,3068,2399,3362
$GC,3034,-0.68,-117.3,276.9,-9.1,152,3039,0.12,2.33,0.00,0.000,4,0.173,0.087,3099,3811,3362
$GC,3054,-0.68,-117.3,278.8,-8.8,152,3062,0.00,2.30,0.00,0.000,6,0.000,0.068,3098,2397,3362
$GC,3397,-0.68,-117.3,307.3,-8.5,163,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3362
$GC,3700,-0.68,-117.3,332.5,-8.3,168,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3362
$GC,4003,-0.68,-117.3,357.7,-8.3,173,4007,0.00,2.30,0.00,0.000,4,0.000,0.084,3098,990,3361
$GC,4045,-0.68,-117.3,361.4,-8.6,173,4050,0.00,2.33,0.00,0.000,6,0.000,0.071,3099,2405,3361
$GC,4366,-0.68,-117.3,386.9,-7.9,179,4370,0.00,2.33,0.00,0.000,4,0.000,0.083,3099,991,3361
$GC,4398,-0.72,-117.3,389.3,-7.8,179,4402,0.00,2.30,0.00,0.000,6,0.000,0.071,3098,2395,3360
$GC,4730,-0.77,-117.3,413.4,-7.2,185,4734,0.00,2.33,0.00,0.000,4,0.000,0.089,3098,3820,3360
$GC,4756,-0.82,-117.3,415.4,-7.3,185,4761,0.10,2.30,0.00,0.000,6,0.071,0.069,3045,2402,3360
$GC,5100,-0.70,-117.3,447.2,-9.3,191,5102,0.17,0.00,0.00,0.000,6,0.179,0.000,3091,2403,3360
$GC,5402,-0.70,-117.3,467.7,-6.6,196,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2403,3360
$GC,5705,-0.70,-117.3,487.0,-6.4,201,5709,0.00,2.30,0.00,0.000,4,0.000,0.084,3091,989,3360
$GC,5743,-0.70,-117.3,489.8,-7.2,201,5747,0.00,2.30,0.00,0.000,6,0.000,0.071,3091,2397,3359
$GC,6075,-0.70,-117.3,514.3,-7.5,207,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3360
$GC,6378,-0.70,-117.3,537.7,-7.8,212,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3359
$GC,6681,-0.70,-117.3,560.3,-7.4,217,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3359
$GC,6984,-0.70,-117.3,580.3,-6.5,222,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3359
$GC,7288,-0.75,-117.3,599.7,-6.5,227,7292,0.00,2.33,0.00,0.000,4,0.000,0.084,3091,987,3359
$GC,7314,-0.79,-117.3,601.6,-7.0,227,7318,0.00,2.33,0.00,0.000,6,0.000,0.071,3091,2406,3359
$GC,7652,-0.84,-117.3,624.3,-6.8,233,7654,0.15,0.00,0.00,0.000,6,0.083,0.000,3031,2406,3358
$GC,7955,-0.71,-117.3,654.3,-10.1,238,7957,0.20,0.00,0.00,0.000,6,0.179,0.000,3083,2406,3358
$GC,8257,-0.71,-117.3,680.1,-8.4,243,8261,0.00,2.35,0.00,0.000,4,0.000,0.085,3083,983,3358
$GC,8300,-0.71,-117.3,683.9,-9.2,243,8305,0.00,2.33,0.00,0.000,6,0.000,0.071,3083,2402,3358
$GC,8621,-0.71,-117.3,711.7,-8.7,249,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3358
$GC,8924,-0.71,-117.3,736.7,-8.2,254,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3358
$GC,9228,-0.75,-117.3,760.4,-7.7,259,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3359
$GC,9531,-0.80,-117.3,781.7,-6.9,264,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3358
$GC,9834,-0.85,-117.3,801.4,-6.5,269,9836,0.12,0.00,0.00,0.000,6,0.089,0.000,3031,2403,3358
$GC,10137,-0.75,-117.3,827.1,-8.6,274,10139,0.17,0.00,0.00,0.000,6,0.174,0.000,3077,2403,3358
$GC,10440,-0.75,-117.3,847.2,-6.6,279,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3358
$GC,10743,-0.75,-117.3,864.1,-5.6,284,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3358
$GC,11046,-0.75,-117.3,880.9,-5.6,289,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3358
$GC,11349,-0.75,-117.3,897.8,-5.5,294,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3357
$GC,11652,-0.75,-117.3,915.3,-5.8,299,11656,0.00,2.33,0.00,0.000,4,0.000,0.091,3072,3818,3357
$GC,11684,-0.75,-117.3,917.4,-6.8,299,11689,0.00,2.30,0.00,0.000,6,0.000,0.072,3073,2405,3357
$GC,12022,-0.75,-117.3,938.3,-6.2,305,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,12325,-0.75,-117.3,958.3,-6.7,310,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3357
$GC,12628,-0.79,-117.3,980.6,-7.4,315,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3357
$STATE,12809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12809,begin apogee
$GC,12812,-0.22,0.0,994.3,7.5,318,12916,0.57,0.00,100.68,1.519,6,0.166,0.000,3245,2197,2876
$STATE,12917,end apogee,CONTROL_FINISHED_OK
$STATE,12917,begin climb
$GC,12918,0.80,117.3,996.3,0.0,319,13029,1.00,2.62,102.60,1.463,4,0.107,0.088,3573,795,2397
$GC,13080,0.40,117.3,996.3,7.9,321,13085,0.50,2.45,0.00,0.000,6,0.204,0.069,3449,2206,2395
$GC,13406,0.38,139.1,978.2,5.5,327,13430,0.00,2.47,19.30,1.401,4,0.000,0.089,3449,3606,2309
$GC,13452,0.29,139.1,975.3,6.5,327,13457,0.12,2.47,0.00,0.000,6,0.191,0.078,3416,2198,2308
$GC,13773,0.41,176.2,959.5,4.9,333,13809,0.10,0.00,33.20,1.438,6,0.100,0.000,3452,2197,2157
$GC,14075,0.41,176.2,939.7,6.7,338,14079,0.00,2.42,0.00,0.000,4,0.000,0.087,3453,3608,2154
$GC,14113,0.36,176.2,936.8,8.1,338,14117,0.00,2.42,0.00,0.000,6,0.000,0.077,3452,2197,2154
$GC,14445,0.36,176.2,913.7,7.0,344,14449,0.00,2.40,0.00,0.000,4,0.000,0.090,3456,782,2153
$GC,14482,0.36,176.2,910.8,7.8,344,14487,0.00,2.38,0.00,0.000,6,0.000,0.069,3455,2197,2153
$GC,14808,0.36,176.2,886.7,7.5,350,14812,0.00,2.38,0.00,0.000,4,0.000,0.087,3455,3618,2153
$GC,14852,0.30,176.2,882.8,8.9,350,14857,0.15,2.40,0.00,0.000,6,0.183,0.079,3419,2195,2153
$GC,15173,0.42,176.2,861.4,6.7,356,15175,0.10,0.00,0.00,0.000,6,0.105,0.000,3457,2195,2153
$GC,15475,0.42,176.2,835.6,8.6,361,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2195,2153
$GC,15778,0.42,176.2,809.5,8.6,366,15782,0.00,2.38,0.00,0.000,4,0.000,0.094,3462,781,2153
$GC,15815,0.42,176.2,806.1,9.1,366,15820,0.00,2.35,0.00,0.000,6,0.000,0.072,3462,2201,2153
$GC,16142,0.42,176.2,777.1,9.0,372,16146,0.00,2.35,0.00,0.000,4,0.000,0.089,3462,3621,2152
$GC,16174,0.35,176.2,773.9,9.2,372,16180,0.10,2.38,0.00,0.000,6,0.189,0.078,3433,2195,2152
$GC,16507,0.44,176.2,748.2,7.7,378,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2195,2152
$GC,16810,0.52,176.2,726.4,7.1,383,16812,0.15,0.00,0.00,0.000,6,0.092,0.000,3490,2195,2152
$GC,17113,0.45,176.2,701.0,8.4,388,17117,0.00,2.35,0.00,0.000,4,0.000,0.092,3491,784,2152
$GC,17163,0.39,176.2,696.9,8.5,388,17168,0.17,2.30,0.00,0.000,6,0.186,0.068,3446,2210,2152
$GC,17477,0.45,176.2,675.6,6.6,394,17481,0.00,2.30,0.00,0.000,4,0.000,0.087,3446,3614,2152
$GC,17519,0.45,176.2,672.2,8.9,394,17524,0.00,2.33,0.00,0.000,6,0.000,0.076,3449,2204,2152
$GC,17841,0.50,176.3,652.1,6.2,400,17845,0.00,2.35,0.00,0.000,4,0.000,0.090,3449,784,2152
$GC,17883,0.57,176.3,649.4,6.5,400,17889,0.12,2.33,0.00,0.000,6,0.081,0.069,3507,2202,2152
$GC,18205,0.47,176.3,623.6,8.1,406,18207,0.15,0.00,0.00,0.000,6,0.179,0.000,3470,2202,2152
$GC,18507,0.47,176.3,602.2,7.0,411,18511,0.00,2.35,0.00,0.000,4,0.000,0.089,3476,789,2152
$GC,18544,0.47,176.3,599.5,8.6,411,18549,0.00,2.30,0.00,0.000,6,0.000,0.068,3476,2200,2152
$GC,18871,0.47,176.3,574.9,7.7,417,18872,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2200,2152
$GC,19174,0.47,176.3,551.0,7.9,422,19178,0.00,2.38,0.00,0.000,4,0.000,0.091,3476,778,2152
$GC,19217,0.47,176.3,547.2,8.5,422,19221,0.00,2.33,0.00,0.000,6,0.000,0.069,3477,2200,2152
$GC,19537,0.47,176.3,521.7,8.0,428,19538,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2200,2152
$GC,19840,0.47,176.3,497.7,7.9,433,19844,0.00,2.30,0.00,0.000,4,0.000,0.087,3476,3612,2152
$GC,19867,0.41,176.3,495.3,9.3,433,19871,0.00,2.33,0.00,0.000,6,0.000,0.077,3477,2200,2152
$GC,20210,0.41,176.3,466.2,8.6,439,20214,0.00,2.33,0.00,0.000,4,0.000,0.090,3477,789,2152
$GC,20286,0.41,176.3,459.4,8.3,440,20291,0.00,2.30,0.00,0.000,6,0.000,0.067,3476,2201,2152
$GC,20641,0.41,176.3,429.4,8.5,446,20642,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2201,2152
$GC,20944,0.41,176.3,405.9,7.7,451,20948,0.00,2.30,0.00,0.000,4,0.000,0.084,3477,3620,2152
$GC,20975,0.33,176.3,403.1,8.2,451,20980,0.15,2.33,0.00,0.000,6,0.186,0.076,3432,2199,2152
$GC,21308,0.48,184.4,383.1,6.0,457,21323,0.12,2.40,7.38,1.003,4,0.094,0.088,3478,787,2124
$GC,21355,0.48,184.4,379.6,7.6,457,21360,0.00,2.33,0.00,0.000,6,0.000,0.067,3478,2204,2123
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$STATE,26886,end climb,SURFACE_DEPTH_REACHED
$STATE,26886,begin surface coast
$FINISH,0.7,1.024657
$STATE,26909,end surface coast,CONTROL_FINISHED_OK
$STATE,26909,begin surface
$SM_CCo,26925,60.17,0.847,0,0,1449,350.04
$SM_GC,1.70,0.00,0.00,60.17,0.000,0.000,0.847,148,2402,1449,-9.90,0.06,350.04
$IRIDIUM_FIX,5003.11,-14643.86,271197,060643
$TT8_MAMPS,0.026845
$HUMID,2158
$INTERNAL_PRESSURE,9.06528
$TCM_TEMP,16.00
$XPDR_PINGS,825
$24V_AH,23.3,6.846
$10V_AH,10.6,2.573
$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,30.675,165.250,339.100,60.175,0.000,27.779,26.761,130.897,206.250,0.000,0.000,14.375,1517.302,22901.828,563.571,1957.007,319.753,33.380,1524.467,0.000,1940.256,0.000,0.465
$DEVICE_MAMPS,302.198,93.574,1518.660,846.768,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,538.441,526.237,1200.339,248.300,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41210,706
$CAP_FILE_SIZE,156227,0
$CFSIZE,260165632,257478656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020908,211532,5012.442,-14515.013,38,1.5,38,18.5