version: 66.03
glider: 120
mission: 9
dive: 181
start: 11 4 108 6 18 38
data:
$ID,120
$MISSION,9
$DIVE,181
$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,-21458.412
$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,19
$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
$GPS1,060838,5006.350,-14513.422,76,0.8,76,18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.8
$GPS2,061744,5006.292,-14513.531,17,0.9,34,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.177
$KALMAN_X,45065.6,-413.8,-180.0,-72744.6,1025.3
$KALMAN_Y,141137.0,-375.5,-201.1,-139180.1,3146.9
$MHEAD_RNG_PITCHd_Wd,167.4,22823,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-32.10,0.000,2,0.000,0.000,138,2403,2452
$GC,57,-0.67,-117.3,3.8,-6.5,3,102,14.12,2.45,-20.88,0.000,4,0.289,0.103,3097,3811,3358
$GC,193,-0.37,-117.3,22.1,-12.2,15,198,0.35,2.30,0.00,0.000,6,0.160,0.054,3195,2393,3359
$GC,518,-0.43,-117.3,46.1,-6.4,45,522,0.00,2.33,0.00,0.000,4,0.000,0.068,3195,988,3360
$GC,568,-0.53,-117.3,49.6,-6.8,49,573,0.15,2.33,0.00,0.000,6,0.081,0.060,3142,2408,3360
$GC,893,-0.53,-117.3,74.4,-7.9,79,897,0.00,2.35,0.00,0.000,4,0.000,0.067,3142,989,3361
$GC,936,-0.53,-117.3,78.1,-7.8,82,943,0.00,2.33,0.00,0.000,6,0.000,0.058,3141,2399,3362
$GC,1252,-0.53,-117.3,104.2,-8.3,99,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2399,3362
$GC,1562,-0.53,-117.3,127.3,-6.8,114,1566,0.00,2.33,0.00,0.000,4,0.000,0.067,3142,990,3363
$GC,1601,-0.53,-117.3,129.9,-7.3,116,1605,0.00,2.30,0.00,0.000,6,0.000,0.060,3142,2404,3363
$GC,1927,-0.53,-117.3,150.1,-6.1,132,1931,0.00,2.33,0.00,0.000,4,0.000,0.068,3141,992,3363
$GC,1965,-0.59,-117.3,152.5,-6.2,133,1969,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2407,3363
$GC,2294,-0.63,-117.3,171.5,-5.7,144,2298,0.00,2.35,0.00,0.000,4,0.000,0.070,3141,986,3363
$GC,2333,-0.72,-117.3,173.9,-6.4,145,2337,0.17,2.30,0.00,0.000,6,0.084,0.061,3076,2401,3362
$GC,2662,-0.56,-117.3,201.0,-8.3,156,2664,0.20,0.00,0.00,0.000,6,0.156,0.000,3130,2401,3362
$GC,2967,-0.56,-117.3,220.0,-6.3,166,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3362
$GC,3274,-0.56,-117.3,239.9,-6.6,176,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3362
$GC,3580,-0.56,-117.3,261.0,-7.1,186,3584,0.00,2.35,0.00,0.000,4,0.000,0.071,3131,987,3361
$GC,3601,-0.56,-117.3,262.7,-7.3,186,3608,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2398,3361
$GC,3913,-0.56,-117.3,282.5,-6.1,197,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3361
$GC,4220,-0.56,-117.3,299.5,-5.6,207,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3360
$GC,4553,-0.56,-117.3,318.3,-5.6,213,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3360
$GC,4857,-0.56,-117.3,336.9,-6.2,218,4861,0.00,2.33,0.00,0.000,4,0.000,0.072,3128,993,3359
$GC,4901,-0.61,-117.3,339.8,-7.2,218,4905,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2409,3359
$GC,5221,-0.61,-117.3,360.4,-6.5,224,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2410,3359
$GC,5524,-0.61,-117.3,378.9,-6.1,229,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2410,3358
$GC,5827,-0.61,-117.3,396.7,-5.8,234,5832,0.00,2.35,0.00,0.000,4,0.000,0.073,3128,990,3358
$GC,5883,-0.68,-117.3,400.1,-6.3,234,5889,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2400,3358
$GC,6193,-0.72,-117.3,418.8,-6.1,240,6197,0.12,2.35,0.00,0.000,4,0.091,0.081,3078,3813,3358
$GC,6225,-0.63,-117.3,421.4,-8.5,240,6230,0.12,2.25,0.00,0.000,6,0.127,0.058,3111,2400,3358
$GC,6557,-0.63,-117.3,445.3,-7.3,246,6561,0.00,2.33,0.00,0.000,4,0.000,0.073,3111,992,3358
$GC,6606,-0.63,-117.3,449.2,-8.0,246,6610,0.00,2.33,0.00,0.000,6,0.000,0.065,3111,2401,3358
$GC,6921,-0.63,-117.3,471.2,-7.0,252,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3358
$GC,7224,-0.63,-117.3,491.5,-6.6,257,7228,0.00,2.35,0.00,0.000,4,0.000,0.085,3111,3812,3357
$GC,7251,-0.63,-117.3,493.5,-6.6,257,7255,0.00,2.25,0.00,0.000,6,0.000,0.058,3111,2402,3357
$GC,7589,-0.63,-117.3,513.4,-5.9,263,7593,0.00,2.33,0.00,0.000,4,0.000,0.074,3111,986,3357
$GC,7626,-0.63,-117.3,515.9,-6.3,263,7631,0.00,2.33,0.00,0.000,6,0.000,0.065,3111,2399,3357
$GC,7954,-0.63,-117.3,534.4,-5.6,269,7958,0.00,2.33,0.00,0.000,4,0.000,0.074,3111,990,3357
$GC,7980,-0.63,-117.3,536.0,-6.6,269,7985,0.00,2.33,0.00,0.000,6,0.000,0.065,3111,2402,3357
$GC,8318,-0.63,-117.3,555.2,-5.8,275,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3356
$GC,8621,-0.63,-117.3,572.8,-5.8,280,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3356
$GC,8924,-0.63,-117.3,589.9,-5.6,285,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3356
$GC,9227,-0.63,-117.3,605.8,-5.2,290,9231,0.00,2.35,0.00,0.000,4,0.000,0.074,3111,986,3356
$GC,9253,-0.63,-117.3,607.3,-5.9,290,9258,0.00,2.35,0.00,0.000,6,0.000,0.066,3111,2406,3356
$GC,9591,-0.63,-117.3,624.6,-5.1,296,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3356
$GC,9895,-0.63,-117.3,640.3,-5.1,301,9899,0.00,2.38,0.00,0.000,4,0.000,0.075,3111,986,3356
$GC,9944,-0.63,-117.3,642.9,-5.1,301,9948,0.00,2.35,0.00,0.000,6,0.000,0.067,3111,2406,3356
$GC,10260,-0.63,-117.3,658.5,-4.9,307,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3355
$GC,10562,-0.80,-117.3,675.3,-5.8,312,10567,0.15,2.38,0.00,0.000,4,0.093,0.074,3054,990,3355
$GC,10686,-0.67,-117.3,683.9,-7.7,313,10693,0.17,2.33,0.00,0.000,6,0.165,0.067,3100,2400,3355
$GC,10995,-0.84,-117.3,703.6,-6.4,319,11000,0.15,2.38,0.00,0.000,4,0.089,0.082,3041,3820,3355
$GC,11130,-0.70,-117.3,713.9,-7.9,321,11134,0.17,2.30,0.00,0.000,6,0.162,0.060,3088,2388,3354
$GC,11489,-0.83,-117.3,739.3,-7.1,327,11494,0.12,2.40,0.00,0.000,4,0.090,0.082,3042,3809,3355
$GC,11600,-0.69,-117.3,748.5,-9.2,328,11605,0.17,2.28,0.00,0.000,6,0.164,0.060,3088,2392,3354
$GC,11915,-0.82,-117.3,771.8,-7.5,334,11920,0.12,2.40,0.00,0.000,4,0.091,0.082,3042,3816,3354
$GC,12014,-0.70,-117.3,780.5,-8.2,335,12019,0.17,2.28,0.00,0.000,6,0.151,0.060,3089,2402,3354
$GC,12346,-0.83,-117.3,807.4,-8.2,341,12351,0.12,2.38,0.00,0.000,4,0.091,0.083,3044,3812,3354
$GC,12446,-0.71,-117.3,816.4,-9.2,342,12451,0.15,2.28,0.00,0.000,6,0.160,0.061,3082,2392,3354
$GC,12778,-0.83,-117.3,843.0,-8.1,348,12783,0.00,2.40,0.00,0.000,4,0.000,0.084,3082,3811,3354
$GC,12884,-0.87,-117.3,851.6,-8.0,349,12889,0.15,2.28,0.00,0.000,6,0.086,0.061,3027,2402,3353
$GC,13210,-0.87,-117.3,879.5,-8.6,355,13214,0.00,2.40,0.00,0.000,4,0.000,0.085,3027,3818,3353
$GC,13243,-0.71,-117.3,882.4,-8.6,355,13248,0.22,2.28,0.00,0.000,6,0.176,0.061,3087,2400,3353
$GC,13568,-0.71,-117.3,903.8,-6.5,361,13572,0.00,2.33,0.00,0.000,4,0.000,0.077,3091,988,3353
$GC,13640,-0.71,-117.3,908.7,-6.8,362,13644,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2397,3353
$GC,14000,-0.71,-117.3,929.7,-5.7,368,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14303,-0.71,-117.3,946.4,-5.5,373,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14606,-0.71,-117.3,962.5,-5.3,378,14607,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14909,-0.71,-117.3,977.8,-5.0,383,14913,0.00,2.38,0.00,0.000,4,0.000,0.076,3086,984,3352
$GC,14942,-0.71,-117.3,979.5,-4.9,383,14946,0.00,2.35,0.00,0.000,6,0.000,0.068,3086,2409,3353
$STATE,15145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15145,begin apogee
$GC,15150,-0.22,0.0,990.0,5.1,387,15256,0.52,0.00,103.20,1.501,6,0.144,0.000,3244,2199,2875
$STATE,15257,end apogee,CONTROL_FINISHED_OK
$STATE,15257,begin climb
$GC,15259,0.67,117.3,991.3,0.0,388,15374,0.90,2.65,107.50,1.447,4,0.091,0.077,3546,794,2396
$GC,15395,0.24,117.3,990.5,6.7,391,15400,0.60,2.53,0.00,0.000,6,0.196,0.063,3400,2198,2394
$GC,15749,0.25,122.9,972.9,4.8,397,15760,0.00,2.42,5.88,1.108,4,0.000,0.080,3400,3612,2375
$GC,15799,0.20,122.9,970.2,5.0,397,15803,0.00,2.38,0.00,0.000,6,0.000,0.065,3408,2204,2374
$GC,16109,0.20,127.2,955.0,4.9,402,16119,0.00,2.42,5.93,1.134,4,0.000,0.081,3408,779,2357
$GC,16152,0.20,127.2,952.7,5.2,402,16156,0.00,2.40,0.00,0.000,6,0.000,0.064,3408,2206,2356
$GC,16473,0.20,127.2,936.9,5.0,408,16477,0.00,2.38,0.00,0.000,4,0.000,0.083,3408,3613,2356
$GC,16528,0.13,127.2,933.6,5.7,408,16535,0.15,2.38,0.00,0.000,6,0.170,0.066,3365,2196,2355
$GC,16838,0.31,158.6,920.8,4.1,414,16868,0.17,0.00,28.08,1.426,6,0.091,0.000,3427,2196,2229
$GC,17141,0.31,158.6,901.6,6.5,419,17145,0.00,2.45,0.00,0.000,4,0.000,0.082,3427,3618,2227
$GC,17203,0.22,158.6,897.0,7.5,420,17208,0.17,2.38,0.00,0.000,6,0.174,0.065,3391,2191,2226
$GC,17568,0.31,158.6,877.5,5.2,426,17569,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2191,2226
$GC,17872,0.40,158.6,862.2,5.0,431,17877,0.15,2.45,0.00,0.000,4,0.090,0.082,3454,3620,2226
$GC,17915,0.22,158.6,859.1,6.8,431,17920,0.28,2.35,0.00,0.000,6,0.174,0.066,3389,2194,2226
$GC,18236,0.35,177.1,844.5,4.5,437,18260,0.12,2.50,16.62,1.359,4,0.093,0.084,3435,3619,2154
$GC,18301,0.25,177.1,840.5,6.2,438,18305,0.15,2.38,0.00,0.000,6,0.177,0.066,3399,2190,2153
$GC,18665,0.34,177.1,820.8,5.4,444,18669,0.00,2.42,0.00,0.000,4,0.000,0.081,3399,3610,2152
$GC,18709,0.34,177.1,818.0,6.3,444,18713,0.00,2.35,0.00,0.000,6,0.000,0.064,3405,2197,2152
$GC,19030,0.42,177.1,799.0,6.0,450,19032,0.12,0.00,0.00,0.000,6,0.096,0.000,3451,2197,2152
$GC,19333,0.36,177.1,776.2,7.6,455,19337,0.00,2.40,0.00,0.000,4,0.000,0.084,3452,3612,2152
$GC,19371,0.22,177.1,772.8,9.1,455,19376,0.22,2.33,0.00,0.000,6,0.177,0.067,3394,2197,2152
$GC,19698,0.34,177.1,753.0,6.0,461,19702,0.00,2.35,0.00,0.000,4,0.000,0.081,3395,791,2152
$GC,19725,0.47,177.1,751.2,6.2,461,19729,0.22,2.30,0.00,0.000,6,0.087,0.064,3476,2202,2152
$GC,20063,0.35,177.1,722.1,8.7,467,20067,0.15,2.35,0.00,0.000,4,0.164,0.080,3428,3621,2152
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$GC,25788,0.34,225.2,327.8,8.7,560,25792,0.15,2.30,0.00,0.000,6,0.178,0.065,3428,2199,1949
$GC,26113,0.46,225.2,309.0,5.7,566,26118,0.12,2.35,0.00,0.000,4,0.090,0.078,3473,795,1950
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$STATE,30802,end climb,SURFACE_DEPTH_REACHED
$STATE,30803,begin surface coast
$FINISH,1.6,1.025087
$STATE,30878,end surface coast,CONTROL_FINISHED_OK
$STATE,30878,begin surface
$SM_CCo,30956,0.00,0.000,0,0,1510,335.08
$SM_GC,2.59,9.80,0.00,0.00,0.076,0.000,0.000,149,2401,1510,-9.86,0.03,335.08
$IRIDIUM_FIX,4949.70,-14515.32,290198,060612
$TT8_MAMPS,0.026078
$HUMID,2148
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,16.30
$XPDR_PINGS,1003
$24V_AH,22.3,37.699
$10V_AH,10.6,24.142
$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
$DEVICE_SECS,33.250,245.525,398.375,0.000,0.000,61.334,131.449,158.642,250.750,0.000,0.000,34.418,1809.123,25947.822,582.993,2512.913,641.909,33.384,1820.834,0.000,2455.714,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,616.750,603.251,1376.755,831.940,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47602,810
$CAP_FILE_SIZE,197194,0
$CFSIZE,260165632,244563968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041108,145607,5003.403,-14512.801,54,1.1,59,18.4