version: 66.03
glider: 120
mission: 9
dive: 164
start: 10 28 108 18 5 41
data:
$ID,120
$MISSION,9
$DIVE,164
$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,-21132.682
$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,22
$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
$GPS1,175938,4958.517,-14430.410,42,1.4,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-67.9
$GPS2,180445,4958.462,-14430.381,14,1.6,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.177
$KALMAN_X,39743.1,-110.1,22.9,-16669.8,-137.5
$KALMAN_Y,126834.1,-170.4,102.6,-139883.2,1558.0
$MHEAD_RNG_PITCHd_Wd,156.9,8269,-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,-117.3,0.0,0.0,0,34,0.00,0.00,-12.35,0.000,2,0.000,0.000,145,2406,1852
$GC,37,-0.67,-117.3,3.3,-0.0,1,113,13.38,2.40,-56.17,0.000,4,0.276,0.091,3095,3818,3355
$GC,316,-0.38,-117.3,33.3,-13.2,26,321,0.32,2.30,0.00,0.000,6,0.160,0.054,3188,2389,3356
$GC,640,-0.38,-117.3,62.7,-8.8,56,641,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2389,3357
$GC,968,-0.47,-117.3,83.7,-5.8,84,972,0.00,2.42,0.00,0.000,4,0.000,0.077,3186,3810,3359
$GC,994,-0.58,-117.3,85.4,-6.4,85,999,0.17,2.25,0.00,0.000,6,0.080,0.051,3121,2396,3359
$GC,1316,-0.53,-117.3,111.2,-8.5,101,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3360
$GC,1625,-0.53,-117.3,138.0,-8.5,116,1629,0.00,2.40,0.00,0.000,4,0.000,0.077,3119,3807,3360
$GC,1674,-0.47,-117.3,142.4,-8.6,118,1679,0.15,2.25,0.00,0.000,6,0.128,0.054,3161,2394,3360
$GC,2004,-0.55,-117.3,163.8,-6.1,131,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2394,3360
$GC,2310,-0.63,-117.3,181.2,-5.7,141,2312,0.15,0.00,0.00,0.000,6,0.079,0.000,3103,2394,3360
$GC,2616,-0.55,-117.3,203.8,-7.3,151,2621,0.12,2.40,0.00,0.000,4,0.150,0.079,3126,3809,3359
$GC,2649,-0.55,-117.3,206.1,-6.5,152,2654,0.00,2.25,0.00,0.000,6,0.000,0.055,3126,2392,3359
$GC,2978,-0.55,-117.3,225.1,-5.6,163,2982,0.00,2.28,0.00,0.000,4,0.000,0.071,3126,987,3359
$GC,3011,-0.55,-117.3,227.0,-6.1,164,3015,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2408,3359
$GC,3351,-0.55,-117.3,247.5,-6.3,175,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2408,3359
$GC,3657,-0.55,-117.3,267.7,-6.7,185,3660,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,992,3359
$GC,3677,-0.55,-117.3,269.3,-6.8,185,3682,0.00,2.30,0.00,0.000,6,0.000,0.062,3126,2392,3358
$GC,3996,-0.55,-117.3,289.6,-6.3,196,4001,0.00,2.35,0.00,0.000,4,0.000,0.081,3126,3812,3358
$GC,4025,-0.55,-117.3,291.2,-6.0,197,4029,0.00,2.25,0.00,0.000,6,0.000,0.056,3126,2401,3358
$GC,4357,-0.55,-117.3,311.6,-6.1,205,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3358
$GC,4660,-0.55,-117.3,331.3,-6.6,210,4664,0.00,2.30,0.00,0.000,4,0.000,0.072,3126,992,3357
$GC,4687,-0.55,-117.3,333.3,-7.1,210,4691,0.00,2.33,0.00,0.000,6,0.000,0.063,3126,2403,3357
$GC,5025,-0.55,-117.3,356.5,-6.9,216,5029,0.00,2.33,0.00,0.000,4,0.000,0.082,3126,3809,3357
$GC,5051,-0.55,-117.3,358.5,-7.6,216,5056,0.00,2.28,0.00,0.000,6,0.000,0.056,3126,2400,3357
$GC,5389,-0.55,-117.3,382.0,-6.9,222,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3357
$GC,5692,-0.55,-117.3,401.8,-6.5,227,5696,0.00,2.33,0.00,0.000,4,0.000,0.073,3126,983,3356
$GC,5725,-0.61,-117.3,404.0,-6.2,227,5729,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2413,3356
$GC,6057,-0.61,-117.3,420.7,-4.9,233,6061,0.00,2.33,0.00,0.000,4,0.000,0.084,3126,3813,3356
$GC,6084,-0.67,-117.3,422.0,-4.3,233,6088,0.00,2.25,0.00,0.000,6,0.000,0.058,3126,2399,3356
$GC,6415,-0.71,-117.3,436.3,-4.3,239,6417,0.12,0.00,0.00,0.000,6,0.094,0.000,3077,2399,3355
$GC,6718,-0.65,-117.3,454.8,-6.2,244,6720,0.10,0.00,0.00,0.000,6,0.107,0.000,3104,2399,3355
$GC,7021,-0.65,-117.3,474.7,-6.6,249,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2399,3355
$GC,7324,-0.65,-117.3,496.0,-7.0,254,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2399,3355
$GC,7627,-0.65,-117.3,517.4,-7.1,259,7631,0.00,2.33,0.00,0.000,4,0.000,0.074,3104,989,3355
$GC,7670,-0.65,-117.3,520.6,-7.2,259,7674,0.00,2.33,0.00,0.000,6,0.000,0.065,3101,2396,3355
$GC,7991,-0.65,-117.3,541.6,-6.5,265,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3355
$GC,8294,-0.65,-117.3,560.1,-6.1,270,8298,0.00,2.33,0.00,0.000,4,0.000,0.073,3101,993,3354
$GC,8333,-0.65,-117.3,562.6,-6.7,270,8338,0.00,2.30,0.00,0.000,6,0.000,0.066,3101,2400,3354
$GC,8654,-0.65,-117.3,582.0,-6.1,276,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3354
$GC,8956,-0.65,-117.3,600.2,-6.0,281,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3354
$GC,9260,-0.65,-117.3,618.7,-6.2,286,9264,0.00,2.35,0.00,0.000,4,0.000,0.074,3101,985,3354
$GC,9292,-0.65,-117.3,620.7,-6.4,286,9296,0.00,2.33,0.00,0.000,6,0.000,0.065,3101,2411,3354
$GC,9624,-0.65,-117.3,639.5,-5.7,292,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2412,3354
$GC,9927,-0.65,-117.3,656.6,-5.6,297,9931,0.00,2.35,0.00,0.000,4,0.000,0.074,3101,993,3353
$GC,9954,-0.65,-117.3,658.2,-6.0,297,9958,0.00,2.33,0.00,0.000,6,0.000,0.066,3101,2399,3353
$GC,10292,-0.65,-117.3,677.0,-5.5,303,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3353
$GC,10595,-0.65,-117.3,694.1,-5.6,308,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3353
$GC,10898,-0.65,-117.3,711.0,-5.5,313,10902,0.00,2.33,0.00,0.000,4,0.000,0.074,3101,992,3353
$GC,10947,-0.65,-117.3,713.9,-5.7,313,10951,0.00,2.33,0.00,0.000,6,0.000,0.067,3101,2402,3353
$GC,11262,-0.65,-117.3,731.2,-5.5,319,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3353
$GC,11565,-0.65,-117.3,748.4,-5.7,324,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3352
$GC,11868,-0.65,-117.3,766.2,-5.9,329,11872,0.00,2.35,0.00,0.000,4,0.000,0.074,3101,986,3352
$GC,11895,-0.65,-117.3,767.8,-6.2,329,11899,0.00,2.35,0.00,0.000,6,0.000,0.067,3101,2408,3352
$GC,12233,-0.65,-117.3,787.6,-5.8,335,12237,0.00,2.35,0.00,0.000,4,0.000,0.074,3101,987,3352
$GC,12259,-0.65,-117.3,789.4,-6.5,335,12263,0.00,2.33,0.00,0.000,6,0.000,0.067,3101,2398,3352
$GC,12597,-0.65,-117.3,808.6,-5.6,341,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3352
$GC,12900,-0.65,-117.3,824.9,-5.3,346,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3352
$GC,13203,-0.65,-117.3,840.7,-5.2,351,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3352
$GC,13506,-0.65,-117.3,856.8,-5.3,356,13510,0.00,2.35,0.00,0.000,4,0.000,0.075,3101,990,3351
$GC,13543,-0.65,-117.3,859.0,-5.1,356,13547,0.00,2.35,0.00,0.000,6,0.000,0.067,3101,2399,3352
$GC,13870,-0.65,-117.3,876.6,-5.5,362,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3351
$GC,14173,-0.65,-117.3,893.9,-5.7,367,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3351
$GC,14476,-0.65,-117.3,910.5,-5.4,372,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3351
$GC,14779,-0.65,-117.3,927.0,-5.5,377,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3351
$GC,15082,-0.65,-117.3,943.3,-5.3,382,15086,0.00,2.35,0.00,0.000,4,0.000,0.076,3101,990,3351
$GC,15109,-0.65,-117.3,944.9,-6.3,382,15113,0.00,2.33,0.00,0.000,6,0.000,0.067,3101,2395,3351
$GC,15447,-0.65,-117.3,963.6,-5.6,388,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2395,3351
$GC,15750,-0.65,-117.3,980.4,-5.6,393,15754,0.00,2.35,0.00,0.000,4,0.000,0.077,3101,992,3350
$GC,15776,-0.65,-117.3,982.1,-5.9,393,15780,0.00,2.33,0.00,0.000,6,0.000,0.067,3101,2395,3350
$STATE,15930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15930,begin apogee
$GC,15935,-0.22,0.0,991.0,5.7,396,16040,0.47,0.00,102.22,1.506,6,0.145,0.000,3244,2197,2876
$STATE,16041,end apogee,CONTROL_FINISHED_OK
$STATE,16041,begin climb
$GC,16043,0.67,117.3,993.1,0.0,397,16157,0.90,2.67,106.97,1.456,4,0.093,0.080,3537,3612,2396
$GC,16184,0.15,117.3,993.8,6.9,400,16190,0.73,2.50,0.00,0.000,6,0.199,0.062,3369,2203,2394
$GC,16539,0.31,163.2,980.4,3.7,406,16586,0.15,2.53,40.95,1.436,4,0.088,0.080,3435,789,2208
$GC,16613,0.31,163.2,976.2,6.8,407,16618,0.00,2.45,0.00,0.000,6,0.000,0.064,3435,2194,2207
$GC,16969,0.26,163.2,953.0,6.6,413,16974,0.12,2.42,0.00,0.000,4,0.158,0.081,3402,3621,2205
$GC,17006,0.26,163.2,950.3,7.2,413,17011,0.00,2.38,0.00,0.000,6,0.000,0.064,3408,2188,2205
$GC,17333,0.26,163.2,931.0,6.0,419,17334,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2188,2205
$GC,17637,0.31,163.2,913.2,5.9,424,17638,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2188,2205
$GC,17939,0.31,163.2,895.9,5.7,429,17943,0.00,2.42,0.00,0.000,4,0.000,0.084,3408,3620,2204
$GC,17971,0.31,163.2,893.8,5.4,429,17975,0.00,2.35,0.00,0.000,6,0.000,0.065,3408,2202,2204
$GC,18303,0.35,163.2,875.3,5.6,435,18304,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2202,2204
$GC,18607,0.40,163.2,858.6,5.5,440,18608,0.12,0.00,0.00,0.000,6,0.102,0.000,3457,2202,2204
$GC,18910,0.31,163.2,837.8,6.9,445,18912,0.15,0.00,0.00,0.000,6,0.160,0.000,3419,2202,2204
$GC,19212,0.31,163.2,820.7,5.6,450,19213,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2202,2203
$GC,19515,0.31,163.2,804.4,5.4,455,19517,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2202,2204
$GC,19818,0.31,163.2,787.8,5.5,460,19822,0.00,2.42,0.00,0.000,4,0.000,0.084,3418,3618,2204
$GC,19857,0.27,163.2,785.4,6.9,460,19860,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2191,2203
$GC,20182,0.27,163.2,766.8,5.7,466,20184,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2191,2204
$GC,20486,0.27,163.2,749.7,5.7,471,20487,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2191,2203
$GC,20789,0.27,163.2,731.6,6.0,476,20793,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,789,2203
$GC,20828,0.31,163.2,729.1,6.1,476,20833,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2206,2203
$GC,21149,0.31,163.2,710.3,5.9,482,21150,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2203
$GC,21451,0.31,163.2,692.0,6.1,487,21455,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3617,2203
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$STATE,32946,end climb,SURFACE_DEPTH_REACHED
$STATE,32946,begin surface coast
$FINISH,2.0,1.013905
$STATE,33043,end surface coast,CONTROL_FINISHED_OK
$STATE,33043,begin surface
$SM_CCo,33061,4.60,0.644,0,0,1653,300.00
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$IRIDIUM_FIX,4943.02,-14426.18,220198,090923
$TT8_MAMPS,0.026845
$HUMID,2124
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$TCM_TEMP,16.70
$XPDR_PINGS,997
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$10V_AH,10.7,21.876
$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
$DEVICE_SECS,28.675,202.175,360.775,4.600,0.000,25.093,25.498,146.126,249.250,0.000,0.000,14.651,1817.007,28228.438,544.023,2304.304,477.232,33.374,1677.129,0.000,2283.782,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,665.132,641.207,1467.308,887.432,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50747,863
$CAP_FILE_SIZE,182063,0
$CFSIZE,260165632,245903360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291008,031825,4955.158,-14429.460,43,1.1,61,18.5