version: 66.03
glider: 120
mission: 9
dive: 111
start: 10 8 108 13 3 18
data:
$ID,120
$MISSION,9
$DIVE,111
$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,-19981.568
$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,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
$GPS1,125258,5007.796,-14449.541,31,2.8,50,18.5
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,5.19
$_SM_ANGLEo,-69.3
$GPS2,130223,5007.795,-14449.529,18,2.6,37,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.089
$KALMAN_X,37497.7,41.4,392.4,-37713.9,-1437.2
$KALMAN_Y,89581.3,-157.8,-23.4,-85245.6,1364.5
$MHEAD_RNG_PITCHd_Wd,41.6,33773,-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,-12.32,0.000,2,0.000,0.000,137,2406,1978
$GC,35,-0.67,-117.3,5.1,-0.0,1,105,13.45,2.38,-50.75,0.000,4,0.281,0.081,3096,988,3354
$GC,357,-0.34,-117.3,41.7,-13.2,29,365,0.32,2.33,0.00,0.000,6,0.167,0.061,3195,2393,3357
$GC,683,-0.67,-117.3,63.9,-7.3,60,687,0.25,2.30,0.00,0.000,4,0.088,0.066,3104,989,3358
$GC,906,-0.50,-117.3,85.7,-10.8,77,910,0.17,2.28,0.00,0.000,6,0.160,0.058,3148,2401,3359
$GC,1233,-0.45,-117.3,111.5,-7.4,93,1237,0.00,2.30,0.00,0.000,4,0.000,0.066,3148,989,3360
$GC,1259,-0.41,-117.3,113.7,-8.2,94,1264,0.12,2.28,0.00,0.000,6,0.162,0.059,3181,2406,3360
$GC,1580,-0.68,-117.3,132.8,-6.1,110,1585,0.22,2.33,0.00,0.000,4,0.081,0.066,3097,985,3360
$GC,1623,-0.68,-117.3,135.9,-7.7,112,1628,0.00,2.30,0.00,0.000,6,0.000,0.059,3097,2397,3360
$GC,1939,-0.54,-117.3,164.5,-9.3,125,1943,0.15,2.30,0.00,0.000,4,0.164,0.077,3141,3810,3360
$GC,2027,-0.61,-117.3,170.8,-6.5,127,2034,0.00,2.25,0.00,0.000,6,0.000,0.053,3141,2396,3360
$GC,2339,-0.61,-117.3,190.4,-6.1,138,2343,0.00,2.28,0.00,0.000,4,0.000,0.070,3141,986,3360
$GC,2376,-0.61,-117.3,192.8,-5.9,139,2381,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2400,3359
$GC,2706,-0.61,-117.3,213.0,-6.3,150,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3359
$GC,3012,-0.61,-117.3,232.9,-6.5,160,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3359
$GC,3318,-0.61,-117.3,250.6,-5.5,170,3322,0.00,2.30,0.00,0.000,4,0.000,0.071,3141,985,3358
$GC,3349,-0.61,-117.3,252.5,-5.8,171,3354,0.00,2.30,0.00,0.000,6,0.000,0.062,3141,2400,3358
$GC,3685,-0.61,-117.3,270.5,-5.6,182,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3357
$GC,3991,-0.65,-117.3,288.9,-6.0,192,3995,0.00,2.30,0.00,0.000,4,0.000,0.071,3141,988,3357
$GC,4019,-0.69,-117.3,290.5,-6.6,193,4024,0.15,2.28,0.00,0.000,6,0.087,0.063,3085,2402,3356
$GC,4352,-0.58,-117.3,316.7,-8.0,201,4353,0.15,0.00,0.00,0.000,6,0.160,0.000,3125,2401,3356
$GC,4655,-0.58,-117.3,335.2,-6.1,206,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3356
$GC,4957,-0.58,-117.3,353.1,-5.9,211,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3356
$GC,5260,-0.58,-117.3,370.7,-5.7,216,5264,0.00,2.30,0.00,0.000,4,0.000,0.073,3125,995,3354
$GC,5292,-0.58,-117.3,372.6,-6.0,216,5297,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2402,3355
$GC,5624,-0.58,-117.3,390.8,-5.5,222,5628,0.00,2.30,0.00,0.000,4,0.000,0.073,3125,992,3355
$GC,5645,-0.58,-117.3,392.1,-6.4,222,5650,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2400,3354
$GC,5989,-0.58,-117.3,412.3,-5.9,228,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,6292,-0.58,-117.3,430.1,-5.9,233,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,6594,-0.58,-117.3,448.7,-6.2,238,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,6899,-0.58,-117.3,468.7,-6.7,243,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,7201,-0.58,-117.3,488.7,-6.6,248,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,7504,-0.58,-117.3,507.0,-6.0,253,7508,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,989,3353
$GC,7536,-0.58,-117.3,509.1,-6.3,253,7540,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2403,3353
$GC,7868,-0.58,-117.3,528.0,-5.7,259,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3353
$GC,8171,-0.62,-117.3,545.6,-5.8,264,8175,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,990,3352
$GC,8214,-0.62,-117.3,548.3,-6.1,264,8219,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2403,3352
$GC,8536,-0.66,-117.3,565.4,-5.3,270,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3352
$GC,8839,-0.71,-117.3,582.4,-5.6,275,8844,0.12,2.30,0.00,0.000,4,0.090,0.073,3078,994,3351
$GC,8865,-0.64,-117.3,584.4,-8.3,275,8870,0.08,2.30,0.00,0.000,6,0.163,0.064,3110,2402,3351
$GC,9203,-0.64,-117.3,606.4,-6.5,281,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3351
$GC,9506,-0.64,-117.3,626.1,-6.6,286,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3351
$GC,9809,-0.64,-117.3,645.8,-6.4,291,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3352
$GC,10112,-0.64,-117.3,665.3,-6.4,296,10116,0.00,2.30,0.00,0.000,4,0.000,0.074,3110,992,3351
$GC,10138,-0.64,-117.3,667.2,-7.1,296,10142,0.00,2.30,0.00,0.000,6,0.000,0.065,3111,2400,3351
$GC,10476,-0.64,-117.3,687.7,-6.1,302,10480,0.00,2.33,0.00,0.000,4,0.000,0.085,3110,3817,3351
$GC,10502,-0.64,-117.3,689.5,-6.2,302,10506,0.00,2.28,0.00,0.000,6,0.000,0.059,3110,2398,3350
$GC,10839,-0.64,-117.3,709.8,-6.1,308,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3350
$GC,11143,-0.64,-117.3,728.0,-5.9,313,11147,0.00,2.30,0.00,0.000,4,0.000,0.076,3110,985,3350
$GC,11174,-0.64,-117.3,730.1,-6.2,313,11179,0.00,2.33,0.00,0.000,6,0.000,0.066,3110,2405,3350
$GC,11506,-0.64,-117.3,748.8,-5.6,319,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3349
$GC,11811,-0.64,-117.3,766.2,-5.7,324,11815,0.00,2.33,0.00,0.000,4,0.000,0.075,3111,992,3349
$GC,11837,-0.64,-117.3,767.9,-5.7,324,11841,0.00,2.30,0.00,0.000,6,0.000,0.065,3110,2398,3350
$GC,12175,-0.64,-117.3,787.1,-5.7,330,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3349
$GC,12478,-0.64,-117.3,804.7,-5.8,335,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3349
$GC,12781,-0.64,-117.3,821.7,-5.6,340,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3349
$GC,13084,-0.64,-117.3,838.4,-5.5,345,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3349
$GC,13389,-0.64,-117.3,854.4,-5.2,350,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3349
$GC,13690,-0.64,-117.3,870.0,-5.1,355,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3349
$GC,13993,-0.64,-117.3,885.6,-5.1,360,13997,0.00,2.33,0.00,0.000,4,0.000,0.076,3110,985,3349
$GC,14024,-0.64,-117.3,887.4,-5.8,360,14029,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2402,3349
$GC,14357,-0.68,-117.3,904.6,-5.2,366,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3349
$GC,14660,-0.68,-117.3,920.2,-5.1,371,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3349
$GC,14963,-0.68,-117.3,934.7,-4.8,376,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3349
$GC,15266,-0.68,-117.3,949.4,-4.9,381,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3348
$GC,15570,-0.73,-117.3,964.4,-4.9,386,15574,0.00,2.33,0.00,0.000,4,0.000,0.077,3110,988,3348
$GC,15596,-0.73,-117.3,965.9,-5.5,386,15600,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2401,3348
$GC,15934,-0.78,-117.3,982.7,-5.0,392,15936,0.15,0.00,0.00,0.000,6,0.092,0.000,3056,2401,3348
$STATE,16114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16114,begin apogee
$GC,16118,-0.22,0.0,993.5,5.8,395,16221,0.62,0.00,99.65,1.504,6,0.153,0.000,3246,2200,2876
$STATE,16221,end apogee,CONTROL_FINISHED_OK
$STATE,16222,begin climb
$GC,16223,0.67,117.3,994.8,0.0,396,16336,0.90,2.67,103.57,1.452,4,0.100,0.080,3534,796,2397
$GC,16414,0.29,117.3,988.9,9.5,399,16419,0.47,2.45,0.00,0.000,6,0.194,0.063,3415,2197,2394
$GC,16729,0.25,117.3,969.9,5.9,405,16730,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2197,2393
$GC,17032,0.20,117.3,952.6,5.7,410,17034,0.12,0.00,0.00,0.000,6,0.187,0.000,3385,2197,2393
$GC,17335,0.26,128.3,938.2,4.7,415,17348,0.00,0.00,10.40,1.317,6,0.000,0.000,3385,2197,2352
$GC,17639,0.34,139.9,924.1,4.7,420,17653,0.12,0.00,11.40,1.330,6,0.091,0.000,3430,2197,2305
$GC,17941,0.29,139.9,905.8,6.1,425,17945,0.00,2.38,0.00,0.000,4,0.000,0.083,3431,3617,2304
$GC,17991,0.15,139.9,902.5,6.7,425,17995,0.25,2.33,0.00,0.000,6,0.178,0.066,3371,2200,2304
$GC,18307,0.31,169.6,889.0,4.1,431,18336,0.15,0.00,26.38,1.410,6,0.096,0.000,3423,2200,2184
$GC,18609,0.37,169.6,873.3,5.2,436,18610,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2181
$GC,18912,0.42,169.6,857.3,5.3,441,18916,0.00,2.38,0.00,0.000,4,0.000,0.081,3423,780,2181
$GC,18944,0.47,171.0,855.4,5.0,441,18949,0.15,2.35,0.00,0.000,6,0.095,0.065,3479,2216,2181
$GC,19276,0.32,171.0,829.0,8.1,447,19281,0.17,2.33,0.00,0.000,4,0.167,0.081,3427,3619,2181
$GC,19319,0.25,171.0,825.8,8.1,447,19323,0.00,2.33,0.00,0.000,6,0.000,0.067,3427,2203,2180
$GC,19639,0.25,171.0,806.1,6.1,453,19641,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2203,2180
$GC,19943,0.25,171.0,787.3,6.2,458,19947,0.00,2.35,0.00,0.000,4,0.000,0.081,3429,787,2181
$GC,19974,0.25,171.0,785.2,5.8,458,19979,0.08,2.33,0.00,0.000,6,0.166,0.064,3405,2202,2180
$GC,20307,0.32,171.0,766.5,5.6,464,20311,0.00,2.33,0.00,0.000,4,0.000,0.082,3405,3614,2180
$GC,20344,0.32,171.0,764.1,6.6,464,20348,0.00,2.33,0.00,0.000,6,0.000,0.066,3408,2197,2180
$GC,20671,0.38,171.0,747.0,5.1,470,20675,0.00,2.33,0.00,0.000,4,0.000,0.082,3408,790,2180
$GC,20720,0.47,171.0,744.4,5.3,470,20724,0.12,2.30,0.00,0.000,6,0.085,0.064,3476,2197,2180
$GC,21035,0.34,171.0,722.0,7.3,476,21040,0.15,2.33,0.00,0.000,4,0.166,0.081,3428,3616,2180
$GC,21078,0.28,171.0,718.9,7.0,476,21082,0.00,2.28,0.00,0.000,6,0.000,0.064,3436,2198,2180
$GC,21398,0.28,171.0,700.4,5.8,482,21400,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2180
$GC,21702,0.28,171.0,682.5,6.0,487,21703,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2181
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$STATE,32817,end climb,SURFACE_DEPTH_REACHED
$STATE,32817,begin surface coast
$FINISH,3.9,1.012071
$STATE,32871,end surface coast,CONTROL_FINISHED_OK
$STATE,32871,begin surface
$SM_CCo,32948,0.00,0.000,0,0,1561,322.32
$SM_GC,4.94,9.73,0.00,0.00,0.074,0.000,0.000,148,2405,1561,-9.86,0.14,322.32
$IRIDIUM_FIX,4949.70,-14451.95,020198,131314
$TT8_MAMPS,0.026078
$HUMID,2169
$INTERNAL_PRESSURE,9.09458
$TCM_TEMP,16.40
$XPDR_PINGS,968
$24V_AH,22.8,24.750
$10V_AH,10.6,14.817
$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,30.625,190.975,371.550,0.000,0.000,47.459,64.357,263.875,242.000,0.000,0.000,38.625,1808.857,28215.680,532.807,2339.955,612.429,33.374,1670.748,0.000,2291.383,0.000,0.465
$DEVICE_MAMPS,280.722,85.137,1504.087,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,649.244,632.317,1445.567,874.256,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50636,850
$CAP_FILE_SIZE,186888,0
$CFSIZE,260165632,250068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,221338,5009.696,-14445.379,38,1.6,38,18.6