version: 66.03
glider: 120
mission: 9
dive: 169
start: 10 30 108 14 11 18
data:
$ID,120
$MISSION,9
$DIVE,169
$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,-21240.891
$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,18
$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
$GPS1,140455,5000.923,-14442.270,28,2.0,45,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-76.7
$GPS2,141023,5000.884,-14442.204,12,3.8,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.135,0.116
$KALMAN_X,42312.3,29.6,-10.5,-33404.2,1002.0
$KALMAN_Y,129067.1,77.0,-143.9,-137639.1,578.7
$MHEAD_RNG_PITCHd_Wd,292.1,16029,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-21.67,0.000,2,0.000,0.000,147,2407,2172
$GC,45,-0.67,-117.3,3.6,-8.0,2,104,13.93,2.38,-38.55,0.000,4,0.289,0.081,3094,990,3355
$GC,351,-0.39,-117.3,39.1,-12.6,29,356,0.32,2.35,0.00,0.000,6,0.162,0.064,3185,2414,3358
$GC,677,-0.39,-117.3,62.9,-7.6,59,681,0.00,2.35,0.00,0.000,4,0.000,0.080,3182,3812,3358
$GC,705,-0.47,-117.3,64.7,-6.7,61,709,0.00,2.28,0.00,0.000,6,0.000,0.053,3182,2389,3358
$GC,1027,-0.81,-117.3,88.8,-7.8,86,1032,0.32,2.40,0.00,0.000,4,0.086,0.074,3061,3812,3359
$GC,1256,-0.52,-117.3,116.9,-13.2,96,1260,0.22,2.28,0.00,0.000,6,0.160,0.053,3144,2400,3360
$GC,1578,-0.52,-117.3,142.8,-7.2,112,1582,0.00,2.30,0.00,0.000,4,0.000,0.067,3144,993,3361
$GC,1605,-0.52,-117.3,145.0,-7.6,113,1610,0.00,2.30,0.00,0.000,6,0.000,0.060,3141,2412,3361
$GC,1924,-0.52,-117.3,167.4,-6.8,125,1928,0.00,2.30,0.00,0.000,4,0.000,0.079,3141,3806,3360
$GC,1962,-0.56,-117.3,170.0,-7.0,126,1966,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2394,3360
$GC,2291,-0.61,-117.3,190.5,-6.3,137,2295,0.00,2.28,0.00,0.000,4,0.000,0.070,3141,993,3360
$GC,2318,-0.61,-117.3,192.2,-6.7,137,2325,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2396,3360
$GC,2631,-0.61,-117.3,210.5,-5.5,148,2635,0.00,2.33,0.00,0.000,4,0.000,0.080,3141,3806,3360
$GC,2665,-0.67,-117.3,212.1,-5.3,149,2669,0.12,2.25,0.00,0.000,6,0.087,0.054,3094,2394,3360
$GC,3005,-0.62,-117.3,234.0,-6.6,160,3009,0.00,2.28,0.00,0.000,4,0.000,0.071,3093,995,3360
$GC,3077,-0.53,-117.3,239.8,-8.4,162,3081,0.17,2.28,0.00,0.000,6,0.159,0.062,3138,2401,3359
$GC,3412,-0.58,-117.3,259.4,-5.8,173,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3359
$GC,3718,-0.62,-117.3,277.9,-6.2,183,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2400,3359
$GC,4024,-0.66,-117.3,296.9,-6.1,193,4029,0.12,2.35,0.00,0.000,4,0.086,0.079,3088,3819,3358
$GC,4062,-0.59,-117.3,299.9,-7.6,194,4067,0.15,2.28,0.00,0.000,6,0.128,0.057,3129,2390,3358
$GC,4382,-0.59,-117.3,320.2,-6.2,200,4386,0.00,2.30,0.00,0.000,4,0.000,0.072,3129,991,3358
$GC,4425,-0.59,-117.3,323.0,-6.3,200,4429,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2404,3358
$GC,4746,-0.59,-117.3,341.7,-5.8,206,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3358
$GC,5049,-0.59,-117.3,359.8,-6.0,211,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3357
$GC,5352,-0.59,-117.3,378.2,-6.1,216,5356,0.00,2.35,0.00,0.000,4,0.000,0.072,3128,986,3357
$GC,5384,-0.59,-117.3,380.2,-6.5,216,5388,0.00,2.35,0.00,0.000,6,0.000,0.064,3128,2399,3357
$GC,5716,-0.59,-117.3,399.1,-5.6,222,5720,0.00,2.33,0.00,0.000,4,0.000,0.072,3128,992,3356
$GC,5754,-0.59,-117.3,401.2,-5.4,222,5758,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2399,3357
$GC,6081,-0.59,-117.3,417.9,-5.1,228,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3356
$GC,6384,-0.59,-117.3,434.3,-5.5,233,6388,0.00,2.33,0.00,0.000,4,0.000,0.072,3128,989,3356
$GC,6433,-0.64,-117.3,437.4,-6.2,233,6437,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2406,3356
$GC,6748,-0.68,-117.3,456.8,-6.3,239,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3356
$GC,7051,-0.73,-117.3,475.0,-6.0,244,7056,0.15,2.33,0.00,0.000,4,0.087,0.072,3062,996,3355
$GC,7140,-0.59,-117.3,482.5,-8.4,245,7145,0.22,2.30,0.00,0.000,6,0.163,0.065,3122,2411,3355
$GC,7477,-0.59,-117.3,501.5,-5.5,251,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2411,3355
$GC,7780,-0.59,-117.3,517.2,-5.2,256,7784,0.00,2.35,0.00,0.000,4,0.000,0.073,3122,987,3355
$GC,7829,-0.64,-117.3,519.9,-5.4,256,7833,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2401,3355
$GC,8145,-0.68,-117.3,536.2,-5.2,262,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3355
$GC,8447,-0.72,-117.3,553.2,-5.6,267,8449,0.12,0.00,0.00,0.000,6,0.090,0.000,3074,2402,3354
$GC,8750,-0.67,-117.3,573.4,-6.8,272,8754,0.00,2.35,0.00,0.000,4,0.000,0.074,3074,988,3354
$GC,8839,-0.59,-117.3,580.3,-7.2,273,8844,0.20,2.33,0.00,0.000,6,0.161,0.066,3127,2403,3354
$GC,9176,-0.65,-117.3,597.6,-5.0,279,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3354
$GC,9480,-0.72,-117.3,612.1,-4.7,284,9485,0.12,2.35,0.00,0.000,4,0.091,0.073,3080,989,3354
$GC,9512,-0.67,-117.3,614.0,-6.0,284,9516,0.00,2.30,0.00,0.000,6,0.000,0.065,3080,2401,3354
$GC,9845,-0.59,-117.3,634.3,-6.2,290,9846,0.17,0.00,0.00,0.000,6,0.167,0.000,3128,2401,3354
$GC,10148,-0.66,-117.3,648.6,-4.7,295,10152,0.00,2.33,0.00,0.000,4,0.000,0.074,3128,991,3354
$GC,10186,-0.73,-117.3,650.8,-5.5,295,10190,0.15,2.30,0.00,0.000,6,0.089,0.065,3074,2406,3353
$GC,10512,-0.73,-117.3,671.6,-6.5,301,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2406,3353
$GC,10815,-0.73,-117.3,691.2,-6.5,306,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2406,3353
$GC,11118,-0.73,-117.3,710.1,-6.3,311,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2406,3353
$GC,11421,-0.73,-117.3,728.1,-5.9,316,11425,0.00,2.35,0.00,0.000,4,0.000,0.074,3074,992,3353
$GC,11454,-0.67,-117.3,730.2,-6.1,316,11458,0.00,2.30,0.00,0.000,6,0.000,0.066,3073,2400,3353
$GC,11786,-0.58,-117.3,751.7,-6.6,322,11791,0.15,2.35,0.00,0.000,4,0.166,0.073,3121,993,3353
$GC,11818,-0.65,-117.3,753.7,-5.4,322,11822,0.00,2.30,0.00,0.000,6,0.000,0.066,3121,2400,3352
$GC,12150,-0.72,-117.3,770.5,-5.0,328,12152,0.12,0.00,0.00,0.000,6,0.092,0.000,3074,2400,3352
$GC,12453,-0.72,-117.3,788.0,-5.8,333,12457,0.00,2.35,0.00,0.000,4,0.000,0.074,3074,990,3352
$GC,12497,-0.67,-117.3,790.8,-7.3,333,12501,0.00,2.33,0.00,0.000,6,0.000,0.065,3074,2411,3352
$GC,12818,-0.61,-117.3,809.7,-5.9,339,12820,0.17,0.00,0.00,0.000,6,0.165,0.000,3121,2411,3352
$GC,13121,-0.68,-117.3,823.7,-4.6,344,13125,0.00,2.38,0.00,0.000,4,0.000,0.074,3121,989,3352
$GC,13148,-0.75,-117.3,825.3,-5.3,344,13153,0.15,2.33,0.00,0.000,6,0.088,0.067,3069,2411,3352
$GC,13486,-0.75,-117.3,845.1,-5.9,350,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2411,3352
$GC,13789,-0.75,-117.3,865.1,-6.6,355,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2411,3352
$GC,14092,-0.75,-117.3,886.3,-7.1,360,14096,0.00,2.38,0.00,0.000,4,0.000,0.075,3069,987,3352
$GC,14119,-0.71,-117.3,888.4,-7.5,360,14123,0.00,2.33,0.00,0.000,6,0.000,0.066,3069,2409,3352
$GC,14457,-0.65,-117.3,913.6,-7.5,366,14459,0.15,0.00,0.00,0.000,6,0.163,0.000,3108,2409,3352
$GC,14760,-0.69,-117.3,931.7,-5.9,371,14764,0.00,2.35,0.00,0.000,4,0.000,0.075,3108,995,3352
$GC,14786,-0.74,-117.3,933.4,-6.7,371,14791,0.00,2.30,0.00,0.000,6,0.000,0.067,3108,2405,3352
$GC,15124,-0.79,-117.3,952.0,-5.5,377,15126,0.15,0.00,0.00,0.000,6,0.088,0.000,3053,2405,3351
$GC,15428,-0.73,-117.3,972.4,-6.8,382,15432,0.00,2.35,0.00,0.000,4,0.000,0.076,3053,991,3351
$GC,15467,-0.61,-117.3,975.3,-8.1,382,15472,0.22,2.30,0.00,0.000,6,0.168,0.067,3113,2400,3351
$STATE,15785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15786,begin apogee
$GC,15791,-0.22,0.0,992.8,5.4,388,15896,0.43,0.00,102.65,1.503,6,0.143,0.000,3244,2201,2875
$STATE,15897,end apogee,CONTROL_FINISHED_OK
$STATE,15897,begin climb
$GC,15899,0.67,117.3,994.9,0.0,389,16013,0.90,2.65,106.82,1.453,4,0.092,0.077,3546,791,2396
$GC,16057,0.25,117.3,994.4,7.7,392,16062,0.57,2.50,0.00,0.000,6,0.193,0.063,3403,2200,2394
$GC,16389,0.26,129.5,978.6,4.7,398,16402,0.00,0.00,11.70,1.322,6,0.000,0.000,3403,2200,2348
$GC,16691,0.26,129.5,963.3,5.1,403,16693,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2200,2347
$GC,16994,0.26,129.5,947.2,5.4,408,16998,0.00,2.38,0.00,0.000,4,0.000,0.082,3403,3610,2347
$GC,17033,0.21,129.5,944.8,6.4,408,17037,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2199,2347
$GC,17358,0.21,129.5,926.0,5.8,414,17363,0.00,2.40,0.00,0.000,4,0.000,0.083,3408,3612,2346
$GC,17397,0.14,129.5,923.5,6.6,414,17401,0.17,2.33,0.00,0.000,6,0.175,0.065,3364,2197,2346
$GC,17723,0.30,147.7,908.8,4.5,420,17742,0.15,0.00,17.10,1.390,6,0.091,0.000,3425,2197,2273
$GC,18086,0.30,147.7,886.5,6.2,426,18090,0.00,2.42,0.00,0.000,4,0.000,0.083,3425,3613,2271
$GC,18135,0.21,147.7,883.0,7.1,426,18139,0.17,2.33,0.00,0.000,6,0.171,0.065,3390,2200,2271
$GC,18451,0.29,147.7,866.6,5.1,432,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2200,2271
$GC,18753,0.38,150.8,851.7,4.9,437,18760,0.15,0.00,4.03,0.914,6,0.086,0.000,3448,2200,2261
$GC,19057,0.29,150.8,832.7,6.3,442,19061,0.12,2.42,0.00,0.000,4,0.157,0.082,3415,3622,2260
$GC,19095,0.24,150.8,830.4,6.1,442,19099,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2200,2260
$GC,19415,0.24,150.8,812.2,5.6,448,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2260
$GC,19718,0.24,150.8,793.9,6.0,453,19722,0.00,2.40,0.00,0.000,4,0.000,0.083,3421,3614,2260
$GC,19779,0.18,150.8,789.8,7.2,454,19784,0.17,2.33,0.00,0.000,6,0.175,0.066,3377,2195,2260
$GC,20145,0.32,156.7,772.0,4.8,460,20154,0.15,0.00,6.72,1.143,6,0.089,0.000,3438,2195,2237
$GC,20514,0.32,156.7,750.0,5.9,466,20519,0.00,2.42,0.00,0.000,4,0.000,0.083,3438,3616,2237
$GC,20564,0.20,156.7,746.8,6.4,466,20569,0.20,2.33,0.00,0.000,6,0.173,0.065,3386,2197,2236
$GC,20880,0.37,198.5,734.5,3.8,472,20919,0.15,0.00,36.80,1.338,6,0.091,0.000,3442,2197,2066
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$STATE,32622,end climb,SURFACE_DEPTH_REACHED
$STATE,32622,begin surface coast
$FINISH,1.7,1.015531
$STATE,32738,end surface coast,CONTROL_FINISHED_OK
$STATE,32738,begin surface
$SM_CCo,32756,9.62,0.788,0,0,1652,300.00
$SM_GC,4.31,0.00,0.00,9.62,0.000,0.000,0.788,147,2403,1652,-9.91,0.08,300.00
$IRIDIUM_FIX,4939.69,-14442.12,240198,040436
$TT8_MAMPS,0.026845
$HUMID,2131
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,16.60
$XPDR_PINGS,1024
$24V_AH,22.4,35.494
$10V_AH,10.7,22.530
$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
$DEVICE_SECS,33.950,225.825,361.925,9.625,0.000,29.601,27.210,145.850,256.000,0.000,0.000,32.493,1879.642,27689.752,542.102,2491.415,487.553,33.368,1763.117,0.000,2445.953,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,652.327,631.801,1440.006,871.269,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50631,847
$CAP_FILE_SIZE,200479,0
$CFSIZE,260165632,245514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301008,231908,5003.774,-14446.590,68,1.1,68,18.5