version: 66.03
glider: 120
mission: 9
dive: 197
start: 11 10 108 8 2 58
data:
$ID,120
$MISSION,9
$DIVE,197
$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,-21756.18
$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,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
$GPS1,075608,5019.929,-14429.387,68,1.1,68,18.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-71.4
$GPS2,080203,5019.958,-14429.352,12,1.1,12,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,0.085
$KALMAN_X,35335.2,273.2,128.3,-11542.8,-927.0
$KALMAN_Y,149249.0,24.2,61.1,-122647.5,-211.8
$MHEAD_RNG_PITCHd_Wd,350.9,2027,-27.6,-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,20,begin dive
$GC,22,-1.23,-25.0,0.0,0.0,0,54,0.00,0.00,-30.62,0.000,2,0.000,0.000,147,2408,2414
$GC,57,-1.23,-26.3,3.3,-4.8,3,93,13.07,2.45,-16.55,0.000,4,0.288,0.087,2913,996,2986
$GC,347,-0.98,-26.3,63.0,-22.7,29,352,0.35,2.33,0.00,0.000,6,0.219,0.064,2991,2401,2988
$GC,675,-0.98,-26.3,114.8,-14.9,49,680,0.00,2.38,0.00,0.000,4,0.000,0.067,2996,983,2990
$GC,783,-1.06,-26.3,130.3,-13.6,54,787,0.00,2.35,0.00,0.000,6,0.000,0.063,2990,2409,2990
$GC,1098,-1.13,-26.3,166.6,-10.6,67,1102,0.12,2.38,0.00,0.000,4,0.086,0.067,2944,985,2990
$GC,1354,-1.13,-26.3,199.5,-13.3,74,1361,0.00,2.35,0.00,0.000,6,0.000,0.064,2935,2403,2990
$GC,1668,-1.07,-26.3,240.2,-13.0,85,1672,0.15,2.38,0.00,0.000,4,0.208,0.068,2984,983,2990
$GC,1813,-1.16,-26.3,256.4,-11.2,89,1817,0.00,2.33,0.00,0.000,6,0.000,0.064,2977,2408,2990
$GC,2137,-1.23,-26.3,290.3,-10.4,100,2139,0.17,0.00,0.00,0.000,6,0.079,0.000,2909,2408,2990
$GC,2471,-1.13,-26.3,333.8,-13.1,107,2476,0.15,2.38,0.00,0.000,4,0.206,0.079,2938,3816,2990
$GC,2509,-1.05,-26.3,338.9,-13.0,107,2514,0.12,2.30,0.00,0.000,6,0.216,0.058,2972,2392,2989
$GC,2836,-1.13,-26.3,373.1,-10.4,113,2840,0.00,2.33,0.00,0.000,4,0.000,0.072,2972,988,2989
$GC,2969,-1.21,-26.3,387.8,-11.6,115,2974,0.15,2.33,0.00,0.000,6,0.084,0.067,2917,2405,2989
$GC,3336,-1.15,-26.3,432.0,-12.2,121,3340,0.12,2.35,0.00,0.000,4,0.209,0.079,2934,3815,2988
$GC,3435,-1.08,-26.3,444.5,-13.0,122,3440,0.15,2.30,0.00,0.000,6,0.215,0.059,2967,2394,2988
$GC,3767,-1.15,-26.3,478.1,-10.0,128,3771,0.00,2.33,0.00,0.000,4,0.000,0.073,2971,994,2988
$GC,3857,-1.24,-26.3,487.6,-11.2,129,3861,0.15,2.30,0.00,0.000,6,0.084,0.066,2908,2400,2988
$GC,4193,-1.15,-26.3,528.3,-12.1,135,4195,0.15,0.00,0.00,0.000,6,0.212,0.000,2941,2400,2988
$GC,4496,-1.15,-26.3,560.3,-10.5,140,4500,0.00,2.35,0.00,0.000,4,0.000,0.073,2944,994,2987
$GC,4534,-1.15,-26.3,564.5,-10.8,140,4538,0.00,2.33,0.00,0.000,6,0.000,0.066,2935,2404,2987
$GC,4860,-1.15,-26.3,597.9,-10.2,146,4864,0.00,2.35,0.00,0.000,4,0.000,0.072,2935,993,2987
$GC,4942,-1.15,-26.3,606.6,-10.3,147,4946,0.00,2.35,0.00,0.000,6,0.000,0.068,2935,2398,2987
$GC,5292,-1.15,-26.3,643.8,-10.7,153,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2398,2987
$GC,5595,-1.15,-26.3,677.5,-11.2,158,5599,0.00,2.38,0.00,0.000,4,0.000,0.085,2935,3806,2986
$GC,5622,-1.11,-26.3,680.6,-11.8,158,5626,0.00,2.33,0.00,0.000,6,0.000,0.061,2935,2395,2986
$GC,5959,-1.11,-26.3,717.1,-10.8,164,5963,0.00,2.33,0.00,0.000,4,0.000,0.074,2935,994,2986
$GC,6059,-1.11,-26.3,728.4,-11.8,165,6063,0.00,2.33,0.00,0.000,6,0.000,0.069,2935,2406,2986
$GC,6391,-1.11,-26.3,763.2,-10.5,171,6395,0.00,2.38,0.00,0.000,4,0.000,0.074,2935,990,2986
$GC,6456,-1.11,-26.3,770.2,-10.7,172,6461,0.00,2.38,0.00,0.000,6,0.000,0.069,2935,2401,2985
$GC,6822,-1.11,-26.3,807.6,-10.2,178,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2401,2985
$GC,7125,-1.11,-26.3,838.2,-10.0,183,7129,0.00,2.38,0.00,0.000,4,0.000,0.074,2935,986,2985
$GC,7157,-1.11,-26.3,841.6,-10.4,183,7162,0.00,2.35,0.00,0.000,6,0.000,0.070,2935,2396,2985
$GC,7490,-1.11,-26.3,874.2,-9.8,189,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2396,2985
$GC,7793,-1.11,-26.3,903.3,-9.6,194,7798,0.00,2.35,0.00,0.000,4,0.000,0.075,2935,993,2984
$GC,7833,-1.11,-26.3,907.4,-10.6,194,7837,0.00,2.33,0.00,0.000,6,0.000,0.068,2934,2412,2984
$GC,8153,-1.11,-26.3,938.0,-9.6,200,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2412,2984
$GC,8456,-1.11,-26.3,965.7,-9.2,205,8460,0.00,2.40,0.00,0.000,4,0.000,0.076,2934,985,2984
$GC,8518,-1.11,-26.3,971.7,-9.9,206,8522,0.00,2.35,0.00,0.000,6,0.000,0.070,2934,2402,2984
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8760,begin apogee
$GC,8765,-0.22,0.0,994.1,9.1,210,8793,1.12,0.00,24.55,1.475,6,0.190,0.000,3244,2191,2876
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8795,1.23,26.3,994.1,0.0,210,8824,1.40,0.00,24.62,1.439,6,0.103,0.000,3711,2191,2768
$GC,9126,1.09,107.4,1008.9,-5.8,216,9206,0.15,2.58,71.78,1.490,4,0.234,0.077,3672,3612,2437
$GC,9264,0.85,107.4,1004.4,11.5,218,9269,0.38,2.42,0.00,0.000,6,0.233,0.064,3597,2205,2435
$GC,9618,0.92,107.4,970.1,9.4,224,9622,0.00,2.45,0.00,0.000,4,0.000,0.079,3607,778,2435
$GC,9689,0.97,107.4,963.5,9.1,225,9694,0.00,2.38,0.00,0.000,6,0.000,0.064,3606,2208,2434
$GC,10050,1.03,107.4,931.3,9.0,231,10054,0.12,2.45,0.00,0.000,4,0.097,0.080,3653,793,2434
$GC,10133,0.97,107.4,923.1,10.1,232,10137,0.00,2.35,0.00,0.000,6,0.000,0.066,3654,2204,2434
$GC,10475,0.90,107.4,889.8,9.8,238,10480,0.15,2.40,0.00,0.000,4,0.225,0.078,3625,784,2434
$GC,10547,0.90,107.4,883.1,8.8,239,10551,0.00,2.35,0.00,0.000,6,0.000,0.067,3625,2203,2434
$GC,10907,0.90,107.4,851.9,8.7,245,10911,0.00,2.42,0.00,0.000,4,0.000,0.081,3627,787,2434
$GC,10983,0.90,107.4,844.8,9.4,246,10988,0.00,2.38,0.00,0.000,6,0.000,0.067,3626,2206,2433
$GC,11338,0.90,107.4,811.9,9.4,252,11342,0.00,2.42,0.00,0.000,4,0.000,0.082,3627,781,2433
$GC,11432,0.90,107.4,802.6,9.5,253,11437,0.00,2.35,0.00,0.000,6,0.000,0.066,3627,2197,2433
$GC,11770,0.90,107.4,770.9,9.4,259,11774,0.00,2.40,0.00,0.000,4,0.000,0.082,3627,788,2433
$GC,11920,0.90,107.4,756.3,10.0,261,11924,0.00,2.33,0.00,0.000,6,0.000,0.066,3627,2206,2433
$GC,12269,0.90,107.4,722.6,9.7,267,12273,0.00,2.40,0.00,0.000,4,0.000,0.080,3627,789,2433
$GC,12414,0.90,107.4,708.6,10.0,269,12419,0.00,2.33,0.00,0.000,6,0.000,0.066,3627,2206,2433
$GC,12763,0.90,107.4,676.1,9.2,275,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2206,2432
$GC,13066,0.90,107.4,649.5,8.7,280,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2206,2432
$GC,13369,0.90,107.4,624.3,8.3,285,13373,0.00,2.42,0.00,0.000,4,0.000,0.082,3627,789,2432
$GC,13627,0.90,107.4,603.5,8.3,288,13633,0.00,2.35,0.00,0.000,6,0.000,0.067,3627,2199,2432
$GC,13936,0.90,107.4,579.5,7.8,294,13940,0.00,2.40,0.00,0.000,4,0.000,0.082,3627,791,2432
$GC,14115,0.90,107.4,566.1,7.1,296,14119,0.00,2.33,0.00,0.000,6,0.000,0.065,3627,2216,2432
$GC,14429,0.90,107.4,542.0,7.8,302,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2216,2432
$GC,14733,0.90,107.4,517.7,8.0,307,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2216,2432
$GC,15035,0.90,107.4,493.1,8.0,312,15039,0.00,2.45,0.00,0.000,4,0.000,0.082,3627,778,2432
$GC,15106,0.90,107.4,487.4,7.6,313,15110,0.00,2.35,0.00,0.000,6,0.000,0.065,3627,2211,2432
$GC,15466,0.90,107.4,460.5,7.4,319,15470,0.00,2.42,0.00,0.000,4,0.000,0.081,3627,794,2432
$GC,15589,0.90,107.4,451.6,7.1,320,15596,0.00,2.33,0.00,0.000,6,0.000,0.066,3627,2212,2432
$GC,15898,0.90,107.4,430.2,6.9,326,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2212,2432
$GC,16202,0.90,107.4,409.3,6.9,331,16203,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2212,2432
$GC,16504,0.90,107.4,387.2,7.3,336,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2212,2432
$GC,16807,0.90,107.4,364.7,7.4,341,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2212,2432
$GC,17111,0.90,107.4,344.6,6.5,346,17115,0.00,2.33,0.00,0.000,4,0.000,0.081,3627,3608,2432
$GC,17369,0.83,107.4,328.2,7.1,349,17376,0.22,2.33,0.00,0.000,6,0.222,0.066,3586,2186,2432
$GC,17681,0.98,111.5,314.1,4.4,355,17687,0.15,0.00,4.43,0.778,6,0.094,0.000,3640,2187,2421
$GC,17981,0.98,111.5,297.3,5.5,360,17986,0.00,2.45,0.00,0.000,4,0.000,0.080,3640,3614,2421
$GC,18121,0.89,111.5,288.8,5.9,364,18126,0.17,2.35,0.00,0.000,6,0.229,0.067,3604,2194,2420
$GC,18445,0.99,112.6,272.5,4.9,375,18449,0.00,2.38,0.00,0.000,4,0.000,0.077,3613,782,2421
$GC,18624,1.09,116.5,263.8,4.5,380,18636,0.15,2.33,5.93,0.864,6,0.093,0.064,3668,2206,2400
$GC,18942,1.04,116.5,244.7,6.1,390,18946,0.00,2.40,0.00,0.000,4,0.000,0.080,3668,790,2400
$GC,19200,0.99,116.5,228.8,6.2,397,19204,0.12,2.30,0.00,0.000,6,0.220,0.065,3642,2200,2400
$GC,19517,0.99,116.5,208.8,6.3,408,19518,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,2200,2400
$GC,19823,0.99,116.5,190.5,5.9,418,19824,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,2200,2400
$GC,20130,0.99,116.5,174.2,5.4,428,20134,0.00,2.38,0.00,0.000,4,0.000,0.081,3642,3615,2400
$GC,20387,0.92,121.6,160.1,4.3,435,20397,0.00,2.35,5.85,0.815,6,0.000,0.067,3642,2190,2380
$GC,20718,0.92,126.2,145.5,4.4,448,20728,0.00,2.42,5.82,0.802,4,0.000,0.078,3643,3618,2360
$GC,20812,0.87,126.2,140.2,6.1,452,20817,0.22,2.35,0.00,0.000,6,0.220,0.064,3601,2189,2360
$GC,21128,1.06,152.4,130.6,1.5,467,21158,0.15,2.38,22.00,0.935,4,0.095,0.079,3667,790,2253
$GC,21410,1.06,152.4,115.4,5.3,479,21417,0.00,2.38,0.00,0.000,6,0.000,0.064,3667,2199,2252
$GC,21726,1.07,154.5,98.7,4.7,495,21730,0.00,2.35,0.00,0.000,4,0.000,0.078,3667,3608,2252
$GC,21984,1.01,154.5,85.5,5.1,506,21991,0.00,2.33,0.00,0.000,6,0.000,0.066,3667,2199,2252
$GC,22306,1.07,164.8,73.3,3.6,530,22319,0.00,0.00,11.10,0.865,6,0.000,0.000,3668,2199,2204
$GC,22637,1.17,185.8,57.9,2.2,561,22662,0.00,2.45,18.23,0.882,4,0.000,0.079,3667,792,2118
$GC,22916,1.30,189.3,51.9,4.5,586,22928,0.20,2.33,4.30,0.653,6,0.084,0.062,3739,2201,2103
$GC,23246,1.25,189.3,29.0,8.3,617,23250,0.00,2.40,0.00,0.000,4,0.000,0.074,3749,801,2102
$GC,23477,1.12,189.3,9.2,9.0,637,23482,0.30,2.35,0.00,0.000,6,0.215,0.064,3677,2212,2103
$STATE,23513,end climb,SURFACE_DEPTH_REACHED
$STATE,23513,begin surface coast
$FINISH,1.0,1.013846
$STATE,23631,end surface coast,CONTROL_FINISHED_OK
$STATE,23631,begin surface
$SM_CCo,23649,87.00,0.831,0,0,1652,300.00
$SM_GC,2.85,0.00,0.00,87.00,0.000,0.000,0.831,147,2401,1652,-9.91,0.03,300.00
$IRIDIUM_FIX,4959.75,-14434.79,030298,222216
$TT8_MAMPS,0.026845
$HUMID,2090
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,16.40
$XPDR_PINGS,981
$24V_AH,23.2,40.556
$10V_AH,10.6,26.265
$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,29.950,180.600,198.600,87.000,0.000,27.583,30.540,183.282,245.250,0.000,0.000,12.467,1572.658,18949.539,432.635,2626.815,506.143,33.376,1660.281,0.000,2593.065,0.000,0.465
$DEVICE_MAMPS,288.392,87.438,1490.281,830.661,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,502.096,478.903,1106.836,670.657,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38057,651
$CAP_FILE_SIZE,165026,0
$CFSIZE,260165632,243347456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101108,144026,5021.542,-14429.306,74,1.3,75,18.7