version: 66.03
glider: 120
mission: 9
dive: 104
start: 10 5 108 20 48 46
data:
$ID,120
$MISSION,9
$DIVE,104
$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,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,-19773.686
$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,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
$GPS1,204238,4956.350,-14514.499,47,1.7,47,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.13
$_SM_ANGLEo,-75.1
$GPS2,204751,4956.329,-14514.485,13,1.6,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.163
$KALMAN_X,45036.4,19.2,15.9,-74490.6,-62.5
$KALMAN_Y,84757.1,16.4,-149.2,-101694.7,2585.5
$MHEAD_RNG_PITCHd_Wd,138.3,5255,-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,-12.10,0.000,2,0.000,0.000,148,2403,1967
$GC,35,-0.67,-117.3,5.3,-0.0,1,111,13.70,2.42,-51.17,0.000,4,0.291,0.092,3085,3818,3355
$GC,317,-0.28,-117.3,42.9,-17.1,26,325,0.45,2.30,0.00,0.000,6,0.169,0.055,3219,2401,3357
$GC,643,-0.75,-117.3,64.9,-7.7,57,648,0.40,2.28,0.00,0.000,4,0.105,0.066,3081,988,3359
$GC,686,-0.75,-117.3,68.5,-8.2,60,693,0.00,2.30,0.00,0.000,6,0.000,0.058,3081,2400,3359
$GC,1016,-0.50,-117.3,105.1,-12.1,82,1021,0.22,2.30,0.00,0.000,4,0.172,0.075,3141,3810,3361
$GC,1048,-0.44,-117.3,108.6,-9.4,83,1056,0.08,2.28,0.00,0.000,6,0.148,0.052,3165,2388,3361
$GC,1364,-0.49,-117.3,130.8,-6.6,99,1368,0.00,2.25,0.00,0.000,4,0.000,0.068,3166,992,3361
$GC,1407,-0.56,-117.3,133.8,-6.7,101,1411,0.00,2.30,0.00,0.000,6,0.000,0.059,3165,2402,3361
$GC,1733,-0.72,-117.3,155.2,-6.7,116,1735,0.25,0.00,0.00,0.000,6,0.089,0.000,3079,2403,3361
$GC,2040,-0.81,-117.3,179.0,-7.6,126,2044,0.00,2.30,0.00,0.000,4,0.000,0.077,3079,3814,3361
$GC,2297,-0.67,-117.3,201.9,-8.8,133,2304,0.00,2.28,0.00,0.000,6,0.000,0.057,3080,2397,3361
$GC,2609,-0.52,-117.3,230.3,-9.2,144,2614,0.22,2.28,0.00,0.000,4,0.169,0.070,3147,986,3360
$GC,2664,-0.59,-117.3,234.5,-7.3,145,2671,0.00,2.30,0.00,0.000,6,0.000,0.062,3147,2398,3360
$GC,2977,-0.65,-117.3,254.0,-6.3,156,2978,0.12,0.00,0.00,0.000,6,0.087,0.000,3100,2398,3360
$GC,3282,-0.65,-117.3,274.9,-6.8,166,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3359
$GC,3589,-0.65,-117.3,296.4,-7.0,176,3592,0.00,2.30,0.00,0.000,4,0.000,0.081,3099,3813,3359
$GC,3649,-0.59,-117.3,301.0,-8.0,177,3656,0.00,2.28,0.00,0.000,6,0.000,0.058,3099,2401,3359
$GC,3959,-0.55,-117.3,322.9,-7.1,183,3961,0.15,0.00,0.00,0.000,6,0.140,0.000,3140,2399,3359
$GC,4262,-0.60,-117.3,340.1,-5.5,188,4266,0.00,2.30,0.00,0.000,4,0.000,0.073,3140,984,3358
$GC,4299,-0.67,-117.3,342.4,-6.0,188,4304,0.08,2.30,0.00,0.000,6,0.079,0.063,3091,2397,3358
$GC,4625,-0.67,-117.3,363.8,-6.7,194,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2397,3357
$GC,4928,-0.67,-117.3,385.8,-7.2,199,4932,0.00,2.30,0.00,0.000,4,0.000,0.080,3087,3810,3357
$GC,4954,-0.60,-117.3,387.8,-7.9,199,4959,0.12,2.25,0.00,0.000,6,0.133,0.058,3120,2387,3356
$GC,5292,-0.60,-117.3,409.9,-6.4,205,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2387,3357
$GC,5594,-0.60,-117.3,427.7,-5.8,210,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2387,3357
$GC,5898,-0.60,-117.3,444.4,-5.4,215,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2387,3356
$GC,6201,-0.60,-117.3,460.2,-5.1,220,6205,0.00,2.28,0.00,0.000,4,0.000,0.074,3119,989,3356
$GC,6233,-0.60,-117.3,462.1,-5.5,220,6237,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2401,3356
$GC,6565,-0.60,-117.3,478.5,-5.0,226,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3356
$GC,6868,-0.60,-117.3,495.3,-5.6,231,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3355
$GC,7171,-0.60,-117.3,512.2,-5.5,236,7175,0.00,2.33,0.00,0.000,4,0.000,0.074,3120,985,3355
$GC,7208,-0.60,-117.3,514.5,-6.0,236,7213,0.00,2.33,0.00,0.000,6,0.000,0.066,3120,2405,3355
$GC,7535,-0.60,-117.3,533.5,-5.9,242,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3355
$GC,7839,-0.60,-117.3,552.6,-6.4,247,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3355
$GC,8141,-0.60,-117.3,572.6,-6.6,252,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3355
$GC,8444,-0.60,-117.3,592.0,-6.4,257,8448,0.00,2.33,0.00,0.000,4,0.000,0.075,3120,991,3354
$GC,8475,-0.60,-117.3,594.2,-6.5,257,8480,0.00,2.30,0.00,0.000,6,0.000,0.065,3120,2398,3355
$GC,8807,-0.60,-117.3,613.5,-5.8,263,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2399,3354
$GC,9111,-0.65,-117.3,630.2,-5.4,268,9115,0.00,2.33,0.00,0.000,4,0.000,0.084,3120,3820,3353
$GC,9137,-0.71,-117.3,631.6,-5.9,268,9141,0.00,2.25,0.00,0.000,6,0.000,0.060,3120,2400,3354
$GC,9475,-0.93,-117.3,652.5,-6.5,274,9480,0.28,2.35,0.00,0.000,4,0.088,0.082,3016,3820,3353
$GC,9731,-0.66,-117.3,678.0,-10.2,277,9739,0.28,2.28,0.00,0.000,6,0.173,0.061,3098,2404,3353
$GC,10041,-0.66,-117.3,698.4,-6.5,283,10045,0.00,2.33,0.00,0.000,4,0.000,0.085,3098,3809,3353
$GC,10084,-0.66,-117.3,701.2,-6.9,283,10088,0.00,2.25,0.00,0.000,6,0.000,0.060,3098,2405,3353
$GC,10405,-0.66,-117.3,721.0,-6.2,289,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3353
$GC,10708,-0.66,-117.3,739.1,-6.0,294,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3353
$GC,11011,-0.66,-117.3,757.1,-6.0,299,11015,0.00,2.35,0.00,0.000,4,0.000,0.085,3098,3820,3353
$GC,11043,-0.66,-117.3,759.1,-6.7,299,11047,0.00,2.28,0.00,0.000,6,0.000,0.061,3098,2406,3353
$GC,11375,-0.66,-117.3,779.9,-6.3,305,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3353
$GC,11678,-0.66,-117.3,799.6,-6.5,310,11682,0.00,2.33,0.00,0.000,4,0.000,0.076,3098,984,3352
$GC,11715,-0.66,-117.3,802.3,-7.5,310,11719,0.00,2.33,0.00,0.000,6,0.000,0.066,3098,2403,3352
$GC,12041,-0.66,-117.3,824.2,-6.7,316,12045,0.00,2.33,0.00,0.000,4,0.000,0.085,3098,3820,3352
$GC,12073,-0.66,-117.3,826.6,-7.1,316,12078,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2390,3352
$GC,12405,-0.66,-117.3,848.7,-6.8,322,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2390,3352
$GC,12708,-0.66,-117.3,869.4,-6.9,327,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3352
$GC,13012,-0.66,-117.3,889.3,-6.5,332,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3352
$GC,13315,-0.66,-117.3,908.5,-6.3,337,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3351
$GC,13618,-0.66,-117.3,926.8,-5.9,342,13622,0.00,2.40,0.00,0.000,4,0.000,0.086,3098,3820,3351
$GC,13655,-0.66,-117.3,929.0,-6.1,342,13659,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2397,3351
$GC,13981,-0.66,-117.3,947.5,-5.7,348,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2397,3351
$GC,14284,-0.66,-117.3,963.3,-5.2,353,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2397,3351
$GC,14588,-0.66,-117.3,978.3,-4.9,358,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2397,3351
$STATE,14830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14830,begin apogee
$GC,14835,-0.22,0.0,990.1,4.9,362,14938,0.47,0.00,100.40,1.506,6,0.151,0.000,3243,2201,2876
$STATE,14938,end apogee,CONTROL_FINISHED_OK
$STATE,14939,begin climb
$GC,14940,0.67,117.3,991.5,0.0,363,15050,0.88,0.00,103.85,1.451,6,0.099,0.000,3529,2201,2397
$GC,15367,0.30,117.3,963.9,9.1,370,15372,0.38,2.45,0.00,0.000,4,0.183,0.078,3433,783,2394
$GC,15405,0.23,117.3,960.9,6.5,370,15409,0.17,2.40,0.00,0.000,6,0.175,0.064,3390,2195,2394
$GC,15731,0.23,118.9,944.6,5.0,376,15732,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2195,2392
$GC,16034,0.25,134.7,930.6,4.5,381,16055,0.00,2.40,15.75,1.377,4,0.000,0.081,3390,3609,2325
$GC,16082,0.25,134.7,928.2,5.2,381,16086,0.00,2.38,0.00,0.000,6,0.000,0.064,3394,2200,2325
$GC,16398,0.32,151.9,914.0,4.5,387,16415,0.00,0.00,16.02,1.374,6,0.000,0.000,3395,2200,2256
$GC,16701,0.41,179.2,901.1,4.2,392,16729,0.17,0.00,24.80,1.402,6,0.088,0.000,3460,2200,2145
$GC,17004,0.31,179.2,880.6,6.9,397,17009,0.15,2.38,0.00,0.000,4,0.161,0.079,3421,792,2142
$GC,17041,0.31,179.2,878.2,6.2,397,17045,0.00,2.35,0.00,0.000,6,0.000,0.063,3421,2201,2142
$GC,17368,0.31,179.2,860.4,5.4,403,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2141
$GC,17670,0.31,179.2,842.9,5.9,408,17672,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2141
$GC,17974,0.31,179.2,823.9,6.2,413,17978,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,781,2141
$GC,18000,0.31,179.2,822.1,6.1,413,18004,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2195,2141
$GC,18338,0.31,179.2,800.1,6.6,419,18342,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,782,2141
$GC,18375,0.35,179.2,797.4,8.4,419,18379,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2199,2141
$GC,18701,0.35,179.2,776.5,6.4,425,18702,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2140
$GC,19006,0.35,179.2,757.8,6.1,430,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2140
$GC,19308,0.35,179.2,738.3,6.5,435,19312,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,785,2140
$GC,19357,0.40,179.2,734.9,6.8,435,19361,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2203,2140
$GC,19672,0.40,179.2,713.7,6.8,441,19673,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2140
$GC,19975,0.40,179.2,694.6,6.3,446,19979,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,786,2140
$GC,20007,0.45,179.2,692.5,6.5,446,20012,0.12,2.30,0.00,0.000,6,0.097,0.064,3469,2214,2140
$GC,20339,0.35,179.2,668.4,7.3,452,20343,0.15,2.38,0.00,0.000,4,0.158,0.081,3425,789,2141
$GC,20370,0.40,179.2,666.3,5.7,452,20375,0.00,2.30,0.00,0.000,6,0.000,0.063,3425,2201,2140
$GC,20702,0.40,179.2,648.6,5.3,458,20704,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2201,2140
$GC,21005,0.40,179.2,633.1,5.1,463,21006,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2140
$GC,21309,0.40,179.2,615.9,5.8,468,21310,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2140
$GC,21612,0.40,179.2,597.9,6.0,473,21613,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2201,2140
$GC,21915,0.40,179.2,579.5,6.1,478,21916,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2140
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$STATE,31614,end climb,SURFACE_DEPTH_REACHED
$STATE,31614,begin surface coast
$FINISH,4.0,1.006462
$STATE,31688,end surface coast,CONTROL_FINISHED_OK
$STATE,31688,begin surface
$SM_CCo,31705,7.60,0.764,0,0,1653,300.00
$SM_GC,6.68,0.00,0.00,7.60,0.000,0.000,0.764,140,2413,1653,-9.93,0.37,300.00
$IRIDIUM_FIX,4943.02,-14513.64,301297,111102
$TT8_MAMPS,0.026078
$HUMID,2218
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,16.40
$XPDR_PINGS,960
$24V_AH,22.8,23.496
$10V_AH,10.7,13.891
$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
$DEVICE_SECS,30.525,195.550,359.850,7.600,0.000,23.796,27.060,159.245,240.000,0.000,0.000,13.758,1770.433,26966.502,540.789,2316.552,427.483,33.378,1685.326,0.000,2288.432,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,626.735,607.586,1391.014,840.273,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47472,818
$CAP_FILE_SIZE,182855,0
$CFSIZE,260165632,250626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,053840,4953.891,-14513.282,46,1.2,46,18.4