version: 66.03
glider: 120
mission: 9
dive: 56
start: 9 17 108 14 15 57
data:
$ID,120
$MISSION,9
$DIVE,56
$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,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,300
$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,-18752.707
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,141008,5016.730,-14514.736,33,1.1,33,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-73.2
$GPS2,141503,5016.643,-14514.705,13,1.8,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,-0.175
$KALMAN_X,30629.6,-18.5,-181.8,-60106.8,1844.1
$KALMAN_Y,38775.4,123.6,-63.7,-18289.9,-18.0
$MHEAD_RNG_PITCHd_Wd,172.2,42043,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.55,0.000,2,0.000,0.000,148,2410,647
$GC,35,-0.67,-117.3,3.2,-0.0,1,183,12.18,2.40,-125.10,0.000,4,0.255,0.091,3095,3814,3355
$GC,435,-0.34,-117.3,37.2,-12.1,37,443,0.32,2.30,0.00,0.000,6,0.158,0.053,3198,2386,3356
$GC,762,-0.45,-117.3,53.7,-5.4,68,766,0.00,2.35,0.00,0.000,4,0.000,0.075,3197,3819,3357
$GC,846,-0.68,-117.3,59.3,-7.3,75,851,0.30,2.22,0.00,0.000,6,0.079,0.052,3087,2400,3357
$GC,1178,-0.45,-117.3,94.8,-11.1,100,1182,0.25,2.28,0.00,0.000,4,0.161,0.067,3164,986,3357
$GC,1299,-0.45,-117.3,104.2,-7.6,105,1306,0.00,2.30,0.00,0.000,6,0.000,0.059,3164,2400,3358
$GC,1615,-0.50,-117.3,125.4,-7.1,121,1619,0.00,2.28,0.00,0.000,4,0.000,0.069,3164,993,3358
$GC,1679,-0.56,-117.3,130.6,-8.7,124,1683,0.00,2.25,0.00,0.000,6,0.000,0.061,3164,2400,3357
$GC,1994,-0.64,-117.3,152.8,-5.9,139,1996,0.17,0.00,0.00,0.000,6,0.079,0.000,3098,2401,3356
$GC,2301,-0.74,-117.3,176.4,-7.9,149,2305,0.00,2.30,0.00,0.000,4,0.000,0.072,3098,987,3355
$GC,2411,-0.65,-117.3,185.6,-8.1,152,2416,0.00,2.30,0.00,0.000,6,0.000,0.064,3097,2401,3355
$GC,2735,-0.53,-117.3,207.9,-6.6,163,2740,0.15,2.30,0.00,0.000,4,0.171,0.072,3145,991,3354
$GC,2773,-0.57,-117.3,210.0,-5.0,164,2777,0.00,2.25,0.00,0.000,6,0.000,0.062,3142,2402,3354
$GC,3102,-0.57,-117.3,228.1,-5.9,175,3106,0.00,2.30,0.00,0.000,4,0.000,0.074,3142,990,3353
$GC,3198,-0.61,-117.3,234.3,-6.4,178,3202,0.00,2.28,0.00,0.000,6,0.000,0.064,3142,2407,3353
$GC,3532,-0.61,-117.3,254.0,-5.6,189,3536,0.00,2.30,0.00,0.000,4,0.000,0.075,3142,994,3352
$GC,3609,-0.66,-117.3,258.4,-5.5,191,3614,0.08,2.28,0.00,0.000,6,0.077,0.064,3101,2396,3351
$GC,3933,-0.66,-117.3,278.5,-6.5,202,3937,0.00,2.30,0.00,0.000,4,0.000,0.081,3100,3816,3350
$GC,3976,-0.58,-117.3,281.7,-7.3,203,3980,0.00,2.25,0.00,0.000,6,0.000,0.060,3100,2407,3350
$GC,4299,-0.52,-117.3,304.5,-6.9,213,4301,0.17,0.00,0.00,0.000,6,0.152,0.000,3149,2405,3349
$GC,4602,-0.59,-117.3,320.9,-5.3,218,4606,0.00,2.30,0.00,0.000,4,0.000,0.076,3149,981,3349
$GC,4645,-0.68,-117.3,323.4,-5.4,218,4650,0.12,2.30,0.00,0.000,6,0.076,0.064,3095,2397,3348
$GC,4966,-0.60,-117.3,346.9,-7.5,224,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3347
$GC,5269,-0.52,-117.3,370.9,-7.9,229,5271,0.17,0.00,0.00,0.000,6,0.166,0.000,3142,2397,3347
$GC,5572,-0.59,-117.3,389.2,-6.0,234,5576,0.00,2.30,0.00,0.000,4,0.000,0.077,3142,981,3346
$GC,5604,-0.65,-117.3,391.3,-6.6,234,5608,0.08,2.30,0.00,0.000,6,0.081,0.064,3103,2403,3346
$GC,5936,-0.65,-117.3,412.0,-6.2,240,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3346
$GC,6238,-0.65,-117.3,428.8,-5.5,245,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3345
$GC,6541,-0.65,-117.3,445.7,-5.6,250,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3345
$GC,6845,-0.65,-117.3,462.9,-5.7,255,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3345
$GC,7148,-0.65,-117.3,482.3,-6.5,260,7152,0.00,2.30,0.00,0.000,4,0.000,0.075,3103,991,3345
$GC,7185,-0.65,-117.3,485.2,-7.6,260,7190,0.00,2.28,0.00,0.000,6,0.000,0.064,3103,2393,3344
$GC,7512,-0.65,-117.3,508.2,-7.0,266,7516,0.00,2.30,0.00,0.000,4,0.000,0.084,3101,3809,3344
$GC,7538,-0.65,-117.3,510.1,-7.6,266,7542,0.00,2.25,0.00,0.000,6,0.000,0.062,3101,2405,3344
$GC,7876,-0.65,-117.3,533.8,-7.0,272,7880,0.00,2.30,0.00,0.000,4,0.000,0.077,3101,981,3344
$GC,7907,-0.65,-117.3,536.2,-7.8,272,7913,0.00,2.30,0.00,0.000,6,0.000,0.065,3101,2398,3344
$GC,8240,-0.65,-117.3,560.1,-7.2,278,8243,0.00,2.28,0.00,0.000,4,0.000,0.077,3101,991,3343
$GC,8288,-0.65,-117.3,563.8,-7.7,278,8293,0.00,2.30,0.00,0.000,6,0.000,0.066,3101,2403,3343
$GC,8609,-0.65,-117.3,586.1,-6.9,284,8613,0.00,2.30,0.00,0.000,4,0.000,0.077,3101,991,3343
$GC,8646,-0.65,-117.3,588.9,-7.3,284,8651,0.00,2.30,0.00,0.000,6,0.000,0.066,3101,2405,3343
$GC,8972,-0.65,-117.3,610.1,-6.5,290,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2405,3343
$GC,9275,-0.65,-117.3,627.9,-5.8,295,9279,0.00,2.33,0.00,0.000,4,0.000,0.078,3101,984,3342
$GC,9307,-0.65,-117.3,629.7,-5.5,295,9312,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2399,3341
$GC,9639,-0.65,-117.3,648.3,-5.7,301,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3342
$GC,9942,-0.65,-117.3,665.5,-5.7,306,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3341
$GC,10245,-0.65,-117.3,683.1,-5.8,311,10249,0.00,2.30,0.00,0.000,4,0.000,0.077,3101,991,3341
$GC,10300,-0.65,-117.3,686.6,-5.9,311,10307,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2402,3341
$GC,10609,-0.65,-117.3,705.3,-6.1,317,10613,0.00,2.30,0.00,0.000,4,0.000,0.077,3101,985,3341
$GC,10635,-0.65,-117.3,707.0,-6.4,317,10640,0.00,2.30,0.00,0.000,6,0.000,0.066,3101,2400,3341
$GC,10979,-0.65,-117.3,727.7,-6.1,323,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3341
$GC,11282,-0.65,-117.3,745.9,-6.0,328,11286,0.00,2.30,0.00,0.000,4,0.000,0.078,3101,992,3341
$GC,11313,-0.65,-117.3,748.0,-5.9,328,11318,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2402,3341
$GC,11651,-0.65,-117.3,768.2,-6.0,334,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3341
$GC,11954,-0.65,-117.3,787.8,-6.5,339,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3341
$GC,12257,-0.65,-117.3,807.9,-6.6,344,12261,0.00,2.33,0.00,0.000,4,0.000,0.080,3101,987,3340
$GC,12299,-0.65,-117.3,811.0,-7.7,344,12304,0.00,2.30,0.00,0.000,6,0.000,0.069,3101,2397,3340
$GC,12626,-0.65,-117.3,832.9,-6.7,350,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2397,3340
$GC,12929,-0.65,-117.3,853.3,-6.7,355,12933,0.00,2.30,0.00,0.000,4,0.000,0.079,3101,991,3340
$GC,12960,-0.65,-117.3,855.5,-6.9,355,12965,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2400,3340
$GC,13298,-0.65,-117.3,875.7,-5.9,361,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3340
$GC,13601,-0.65,-117.3,891.8,-5.3,366,13605,0.00,2.30,0.00,0.000,4,0.000,0.079,3101,991,3339
$GC,13638,-0.65,-117.3,893.8,-5.3,366,13643,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2400,3340
$GC,13971,-0.65,-117.3,909.4,-4.7,372,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3339
$GC,14274,-0.65,-117.3,921.6,-4.0,377,14278,0.00,2.30,0.00,0.000,4,0.000,0.080,3101,991,3339
$GC,14322,-0.65,-117.3,923.7,-4.7,377,14327,0.00,2.30,0.00,0.000,6,0.000,0.068,3101,2402,3339
$GC,14638,-0.65,-117.3,937.1,-4.3,383,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3339
$GC,14940,-0.65,-117.3,952.8,-5.3,388,14944,0.00,2.33,0.00,0.000,4,0.000,0.081,3101,984,3339
$GC,14972,-0.65,-117.3,954.9,-7.0,388,14977,0.00,2.33,0.00,0.000,6,0.000,0.068,3100,2407,3339
$GC,15304,-0.65,-117.3,974.1,-5.9,394,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2407,3339
$STATE,15606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15606,begin apogee
$GC,15610,-0.22,0.0,992.4,6.0,399,15710,0.47,0.00,97.07,1.513,6,0.158,0.000,3244,2193,2876
$STATE,15711,end apogee,CONTROL_FINISHED_OK
$STATE,15711,begin climb
$GC,15712,0.67,117.3,994.3,0.0,400,15819,0.88,0.00,102.95,1.460,6,0.110,0.000,3524,2193,2397
$GC,16077,0.32,117.3,977.3,7.6,406,16079,0.38,0.00,0.00,0.000,6,0.182,0.000,3424,2193,2393
$GC,16380,0.26,117.3,961.2,5.3,411,16384,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,3613,2391
$GC,16440,0.12,117.3,957.5,6.2,411,16448,0.20,2.38,0.00,0.000,6,0.176,0.071,3365,2199,2392
$GC,16750,0.27,141.7,944.4,4.3,417,16773,0.12,0.00,20.98,1.419,6,0.095,0.000,3407,2200,2298
$GC,17052,0.27,141.7,926.6,6.0,422,17056,0.00,2.40,0.00,0.000,4,0.000,0.083,3407,3617,2296
$GC,17085,0.22,141.7,924.3,6.2,422,17089,0.00,2.38,0.00,0.000,6,0.000,0.068,3407,2176,2296
$GC,17422,0.22,141.7,903.7,6.0,428,17423,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2176,2296
$GC,17725,0.22,141.7,886.4,5.8,433,17729,0.00,2.33,0.00,0.000,4,0.000,0.085,3408,782,2296
$GC,17757,0.28,155.6,884.5,4.6,433,17776,0.00,2.33,13.10,1.354,6,0.000,0.066,3407,2210,2241
$GC,18092,0.28,155.6,865.1,5.7,439,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2210,2240
$GC,18395,0.32,155.6,849.3,5.2,444,18399,0.00,2.33,0.00,0.000,4,0.000,0.084,3408,3618,2240
$GC,18433,0.32,155.6,847.1,6.8,444,18438,0.00,2.33,0.00,0.000,6,0.000,0.069,3407,2205,2239
$GC,18760,0.38,165.6,831.6,4.7,450,18774,0.00,2.40,9.45,1.277,4,0.000,0.085,3408,780,2201
$GC,18808,0.48,187.5,829.3,4.4,450,18834,0.20,2.33,20.30,1.359,6,0.092,0.064,3479,2200,2111
$GC,19194,0.35,187.5,799.2,8.0,457,19199,0.15,2.35,0.00,0.000,4,0.166,0.082,3434,3608,2107
$GC,19262,0.28,187.5,793.9,6.9,458,19266,0.00,2.33,0.00,0.000,6,0.000,0.070,3435,2196,2107
$GC,19626,0.28,187.5,769.4,6.8,464,19627,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2195,2107
$GC,19929,0.28,187.5,749.5,6.6,469,19930,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2195,2107
$GC,20232,0.28,187.5,731.0,6.1,474,20236,0.00,2.35,0.00,0.000,4,0.000,0.087,3436,779,2107
$GC,20263,0.28,187.5,729.1,6.0,474,20268,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2195,2107
$GC,20601,0.28,187.5,708.4,6.2,480,20602,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2107
$GC,20904,0.28,187.5,689.3,6.4,485,20905,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2106
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$STATE,32336,end climb,NO_VERTICAL_VELOCITY
$STATE,32336,begin surface
$SM_CCo,32755,0.00,0.000,0,0,390,609.82
$SM_GC,3.50,10.68,0.00,0.00,0.071,0.000,0.000,147,2408,390,-9.86,0.23,609.82
$IRIDIUM_FIX,5003.11,-14515.95,121297,040433
$TT8_MAMPS,0.026078
$HUMID,2071
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,17.70
$XPDR_PINGS,968
$24V_AH,23.4,14.781
$10V_AH,10.6,7.684
$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
$DEVICE_SECS,29.525,208.900,530.550,0.000,0.000,25.091,28.584,143.583,242.000,0.000,0.000,14.360,1872.410,27479.201,704.580,2587.368,399.924,33.366,2011.982,0.000,2566.868,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,688.112,665.598,1541.562,372.539,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53764,906
$CAP_FILE_SIZE,189036,0
$CFSIZE,260165632,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170908,232302,5014.335,-14514.138,37,1.6,37,18.5