version: 66.03
glider: 120
mission: 9
dive: 633
start: 4 24 109 11 5 20
data:
$ID,120
$MISSION,9
$DIVE,633
$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,-31191.486
$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,20
$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
$GPS1,105336,5021.165,-14511.309,40,1.1,45,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.2
$GPS2,110425,5021.147,-14511.275,11,1.3,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.005,-0.178
$KALMAN_X,-102042.7,-91.4,-166.6,106110.6,65.0
$KALMAN_Y,137010.8,184.8,-52.0,-104428.0,-1076.5
$MHEAD_RNG_PITCHd_Wd,163.1,50262,-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,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.17,0.000,2,0.000,0.000,143,2408,2519
$GC,63,-0.67,-117.3,3.4,-5.7,3,107,13.40,2.60,-21.15,0.000,4,0.270,0.094,3095,3810,3357
$GC,346,-0.54,-117.3,33.3,-10.1,28,351,0.17,2.40,0.00,0.000,6,0.146,0.053,3144,2392,3359
$GC,672,-0.54,-117.3,58.8,-7.5,58,673,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2393,3359
$GC,991,-0.54,-117.3,82.3,-7.3,87,995,0.00,2.53,0.00,0.000,4,0.000,0.067,3145,990,3359
$GC,1036,-0.54,-117.3,85.9,-7.5,89,1040,0.00,2.38,0.00,0.000,6,0.000,0.060,3141,2400,3359
$GC,1359,-0.54,-117.3,108.0,-6.7,105,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2399,3359
$GC,1667,-0.54,-117.3,130.4,-7.3,120,1671,0.00,2.53,0.00,0.000,4,0.000,0.067,3141,993,3359
$GC,1710,-0.59,-117.3,133.4,-7.4,122,1714,0.00,2.40,0.00,0.000,6,0.000,0.060,3141,2401,3359
$GC,2039,-0.65,-117.3,153.5,-5.5,137,2043,0.00,2.45,0.00,0.000,4,0.000,0.080,3142,3806,3359
$GC,2075,-0.77,-117.3,155.6,-6.2,138,2080,0.22,2.35,0.00,0.000,6,0.074,0.052,3058,2393,3359
$GC,2411,-0.77,-117.3,181.1,-7.7,149,2415,0.00,2.45,0.00,0.000,4,0.000,0.067,3058,989,3359
$GC,2428,-0.73,-117.3,182.5,-7.6,149,2432,0.00,2.38,0.00,0.000,6,0.000,0.058,3058,2401,3359
$GC,2743,-0.58,-117.3,209.3,-8.6,159,2748,0.20,2.47,0.00,0.000,4,0.140,0.077,3113,3811,3359
$GC,2808,-0.63,-117.3,213.7,-6.7,161,2812,0.00,2.35,0.00,0.000,6,0.000,0.052,3113,2393,3360
$GC,3145,-0.63,-117.3,235.4,-6.1,172,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3359
$GC,3450,-0.63,-117.3,251.8,-5.3,182,3454,0.00,2.55,0.00,0.000,4,0.000,0.067,3113,994,3359
$GC,3480,-0.67,-117.3,253.4,-5.8,183,3484,0.00,2.40,0.00,0.000,6,0.000,0.059,3113,2407,3359
$GC,3816,-0.67,-117.3,271.3,-5.2,194,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3359
$GC,4123,-0.67,-117.3,289.2,-5.9,204,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3359
$GC,4427,-0.67,-117.3,308.9,-6.7,212,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3359
$GC,4730,-0.67,-117.3,331.1,-7.4,217,4734,0.00,2.58,0.00,0.000,4,0.000,0.067,3113,990,3359
$GC,4781,-0.74,-117.3,335.1,-7.8,217,4786,0.12,2.40,0.00,0.000,6,0.084,0.060,3068,2402,3359
$GC,5092,-0.74,-117.3,361.1,-8.4,222,5097,0.00,2.45,0.00,0.000,4,0.000,0.080,3067,3809,3359
$GC,5127,-0.68,-117.3,364.1,-8.8,222,5131,0.00,2.38,0.00,0.000,6,0.000,0.053,3067,2401,3359
$GC,5454,-0.68,-117.3,390.0,-7.8,228,5459,0.00,2.53,0.00,0.000,4,0.000,0.068,3067,989,3359
$GC,5478,-0.64,-117.3,392.0,-7.9,228,5483,0.15,2.40,0.00,0.000,6,0.127,0.060,3107,2402,3359
$GC,5817,-0.64,-117.3,413.3,-6.2,234,5821,0.00,2.47,0.00,0.000,4,0.000,0.081,3107,3813,3359
$GC,5845,-0.69,-117.3,415.1,-6.4,234,5849,0.00,2.35,0.00,0.000,6,0.000,0.052,3107,2400,3359
$GC,6184,-0.73,-117.3,433.9,-5.5,240,6189,0.00,2.53,0.00,0.000,4,0.000,0.069,3107,981,3359
$GC,6231,-0.79,-117.3,436.9,-6.6,240,6236,0.15,2.42,0.00,0.000,6,0.077,0.061,3054,2409,3358
$GC,6547,-0.73,-117.3,458.1,-6.8,246,6552,0.00,2.45,0.00,0.000,4,0.000,0.079,3054,3817,3358
$GC,6593,-0.62,-117.3,461.7,-7.8,246,6598,0.20,2.38,0.00,0.000,6,0.117,0.054,3110,2394,3359
$GC,6911,-0.67,-117.3,480.2,-5.8,252,6915,0.00,2.53,0.00,0.000,4,0.000,0.069,3110,995,3358
$GC,6945,-0.72,-117.3,482.4,-6.6,252,6949,0.00,2.40,0.00,0.000,6,0.000,0.061,3110,2405,3358
$GC,7273,-0.78,-117.3,502.9,-6.3,258,7278,0.15,2.53,0.00,0.000,4,0.080,0.067,3044,986,3358
$GC,7309,-0.68,-117.3,505.7,-8.7,258,7314,0.20,2.42,0.00,0.000,6,0.140,0.061,3097,2410,3358
$GC,7636,-0.68,-117.3,527.0,-6.3,264,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3358
$GC,7939,-0.68,-117.3,544.5,-5.7,269,7943,0.00,2.50,0.00,0.000,4,0.000,0.068,3098,994,3358
$GC,7979,-0.68,-117.3,546.9,-6.1,269,7983,0.00,2.40,0.00,0.000,6,0.000,0.061,3097,2398,3358
$GC,8300,-0.68,-117.3,566.0,-5.9,275,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,8604,-0.68,-117.3,584.7,-6.3,280,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3358
$GC,8907,-0.68,-117.3,605.0,-6.8,285,8911,0.00,2.55,0.00,0.000,4,0.000,0.069,3097,996,3357
$GC,8941,-0.72,-117.3,607.6,-7.4,285,8945,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2403,3357
$GC,9268,-0.72,-117.3,628.7,-6.4,291,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,9571,-0.72,-117.3,647.8,-6.2,296,9575,0.00,2.58,0.00,0.000,4,0.000,0.069,3098,986,3357
$GC,9593,-0.72,-117.3,649.2,-6.4,296,9597,0.00,2.42,0.00,0.000,6,0.000,0.061,3097,2404,3357
$GC,9932,-0.76,-117.3,669.8,-6.1,302,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3357
$GC,10235,-0.80,-117.3,688.0,-6.0,307,10236,0.12,0.00,0.00,0.000,6,0.086,0.000,3047,2403,3357
$GC,10538,-0.75,-117.3,708.6,-6.8,312,10542,0.00,2.47,0.00,0.000,4,0.000,0.081,3046,3807,3357
$GC,10566,-0.67,-117.3,710.9,-7.8,312,10571,0.20,2.38,0.00,0.000,6,0.114,0.054,3102,2401,3356
$GC,10900,-0.73,-117.3,730.5,-5.8,318,10905,0.00,2.55,0.00,0.000,4,0.000,0.071,3102,986,3356
$GC,10935,-0.78,-117.3,732.7,-6.2,318,10940,0.10,2.42,0.00,0.000,6,0.089,0.061,3062,2401,3356
$GC,11262,-0.78,-117.3,752.3,-5.9,324,11266,0.00,2.47,0.00,0.000,4,0.000,0.081,3061,3816,3356
$GC,11299,-0.78,-117.3,754.6,-7.0,324,11303,0.00,2.33,0.00,0.000,6,0.000,0.054,3061,2400,3356
$GC,11626,-0.78,-117.3,773.9,-5.8,330,11631,0.00,2.47,0.00,0.000,4,0.000,0.070,3066,990,3356
$GC,11662,-0.78,-117.3,776.0,-6.2,330,11666,0.00,2.42,0.00,0.000,6,0.000,0.061,3066,2403,3356
$GC,11989,-0.78,-117.3,795.2,-5.9,336,11993,0.00,2.47,0.00,0.000,4,0.000,0.081,3066,3817,3356
$GC,12025,-0.78,-117.3,797.5,-6.9,336,12029,0.00,2.35,0.00,0.000,6,0.000,0.054,3066,2391,3355
$GC,12352,-0.78,-117.3,818.7,-6.5,342,12356,0.00,2.45,0.00,0.000,4,0.000,0.072,3066,988,3356
$GC,12391,-0.78,-117.3,821.4,-6.8,342,12396,0.00,2.42,0.00,0.000,6,0.000,0.061,3066,2401,3356
$GC,12715,-0.78,-117.3,842.8,-6.6,348,12719,0.00,2.47,0.00,0.000,4,0.000,0.081,3066,3813,3356
$GC,12744,-0.78,-117.3,844.7,-6.3,348,12749,0.00,2.35,0.00,0.000,6,0.000,0.054,3066,2388,3355
$GC,13077,-0.78,-117.3,865.4,-6.1,354,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2388,3356
$GC,13381,-0.78,-117.3,883.5,-6.0,359,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3356
$GC,13685,-0.78,-117.3,902.3,-6.2,364,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3356
$GC,13987,-0.78,-117.3,921.4,-6.3,369,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3355
$GC,14291,-0.78,-117.3,940.9,-6.4,374,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3355
$GC,14593,-0.78,-117.3,960.9,-6.6,379,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3355
$GC,14896,-0.78,-117.3,980.7,-6.5,384,14900,0.00,2.65,0.00,0.000,4,0.000,0.081,3066,3817,3354
$GC,14925,-0.78,-117.3,982.5,-6.7,384,14929,0.00,2.45,0.00,0.000,6,0.000,0.055,3066,2397,3355
$STATE,15073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15073,begin apogee
$GC,15082,-0.22,0.0,991.8,6.1,387,15195,0.57,0.00,108.40,1.495,6,0.127,0.000,3242,2192,2877
$STATE,15195,end apogee,CONTROL_FINISHED_OK
$STATE,15196,begin climb
$GC,15199,0.67,117.3,996.7,0.0,389,15323,0.88,0.00,115.40,1.442,6,0.085,0.000,3529,2192,2397
$GC,15631,0.35,117.3,977.2,7.3,396,15636,0.32,2.55,0.00,0.000,4,0.158,0.075,3437,787,2394
$GC,15677,0.32,130.0,974.2,4.6,396,15694,0.00,2.35,12.30,1.325,6,0.000,0.061,3437,2203,2345
$GC,15999,0.27,130.0,956.5,5.5,402,16001,0.12,0.00,0.00,0.000,6,0.166,0.000,3405,2203,2344
$GC,16301,0.34,151.7,942.9,4.4,407,16327,0.00,2.45,20.62,1.404,4,0.000,0.078,3405,3612,2256
$GC,16356,0.34,151.7,940.1,5.3,407,16362,0.00,2.38,0.00,0.000,6,0.000,0.061,3408,2200,2255
$GC,16667,0.44,184.6,927.3,4.1,413,16701,0.15,0.00,30.85,1.418,6,0.079,0.000,3473,2200,2123
$GC,16971,0.35,184.6,910.1,5.8,418,16973,0.15,0.00,0.00,0.000,6,0.139,0.000,3433,2200,2118
$GC,17273,0.39,221.3,897.9,3.9,423,17309,0.00,0.00,34.00,1.411,6,0.000,0.000,3433,2200,1972
$GC,17577,0.47,228.2,883.8,4.8,428,17587,0.10,0.00,7.55,1.201,6,0.091,0.000,3476,2200,1945
$GC,17880,0.47,228.2,863.7,6.8,433,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2200,1942
$GC,18182,0.47,228.2,840.6,7.7,438,18186,0.00,2.58,0.00,0.000,4,0.000,0.079,3476,3615,1941
$GC,18227,0.33,228.2,836.5,9.6,438,18232,0.20,2.45,0.00,0.000,6,0.162,0.061,3423,2200,1941
$GC,18544,0.44,228.2,815.1,6.6,444,18549,0.12,2.58,0.00,0.000,4,0.082,0.075,3473,787,1941
$GC,18600,0.44,228.2,810.4,8.4,444,18607,0.00,2.35,0.00,0.000,6,0.000,0.061,3473,2202,1941
$GC,18911,0.44,228.2,785.2,8.1,450,18915,0.00,2.40,0.00,0.000,4,0.000,0.080,3473,3609,1941
$GC,18951,0.32,228.2,781.5,8.5,450,18956,0.20,2.35,0.00,0.000,6,0.160,0.061,3423,2192,1940
$GC,19273,0.44,228.2,762.9,5.6,456,19278,0.10,2.47,0.00,0.000,4,0.089,0.075,3464,786,1940
$GC,19324,0.44,228.2,759.5,5.9,456,19328,0.00,2.38,0.00,0.000,6,0.000,0.060,3464,2207,1941
$GC,19635,0.44,228.2,739.7,6.4,461,19639,0.00,2.40,0.00,0.000,4,0.000,0.079,3464,3612,1940
$GC,19671,0.36,228.2,737.4,6.5,461,19675,0.00,2.33,0.00,0.000,6,0.000,0.061,3464,2199,1940
$GC,19998,0.36,228.2,715.9,6.5,467,20002,0.00,2.45,0.00,0.000,4,0.000,0.078,3464,3611,1940
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$STATE,30961,end climb,SURFACE_DEPTH_REACHED
$STATE,30961,begin surface coast
$FINISH,1.0,1.013349
$STATE,31124,end surface coast,CONTROL_FINISHED_OK
$STATE,31124,begin surface
$SM_CCo,31148,21.12,0.844,0,0,1753,275.23
$SM_GC,3.78,0.00,0.00,21.12,0.000,0.000,0.844,145,2409,1753,-9.92,0.23,275.23
$IRIDIUM_FIX,5003.11,-14508.49,190798,111159
$TT8_MAMPS,0.026845
$HUMID,2124
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.60
$XPDR_PINGS,962
$24V_AH,20.8,123.582
$10V_AH,10.3,85.655
$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,30.200,244.725,347.750,21.125,0.000,48.521,59.242,305.159,240.500,0.000,0.000,16.741,1808.205,26077.400,556.037,2290.241,1076.151,33.381,1701.068,0.000,2261.093,0.000,0.465
$DEVICE_MAMPS,269.984,93.574,1494.883,844.467,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,637.147,612.991,1411.010,853.671,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47436,830
$CAP_FILE_SIZE,193509,0
$CFSIZE,260165632,209457152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240409,194637,5018.256,-14510.836,63,0.9,63,18.5