version: 66.03
glider: 120
mission: 9
dive: 188
start: 11 6 108 20 43 15
data:
$ID,120
$MISSION,9
$DIVE,188
$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,-21585.441
$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,21
$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
$GPS1,203637,4957.358,-14503.824,41,1.5,41,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.5
$GPS2,204220,4957.320,-14503.851,10,1.4,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,0.107
$KALMAN_X,41616.9,-56.4,-413.0,-57927.2,-1345.1
$KALMAN_Y,148422.1,-85.3,-278.2,-163277.8,1026.7
$MHEAD_RNG_PITCHd_Wd,34.7,24352,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-31.95,0.000,2,0.000,0.000,148,2404,2447
$GC,57,-0.67,-117.3,3.7,-6.1,3,101,14.07,2.38,-23.55,0.000,4,0.291,0.081,3096,991,3355
$GC,274,-0.43,-117.3,33.1,-12.1,22,282,0.20,2.38,0.00,0.000,6,0.163,0.064,3172,2400,3357
$GC,602,-0.43,-117.3,59.3,-7.5,53,603,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2399,3359
$GC,928,-0.70,-117.3,81.8,-7.1,83,933,0.20,2.35,0.00,0.000,4,0.082,0.066,3097,984,3359
$GC,1000,-0.54,-117.3,88.0,-9.4,86,1004,0.17,2.33,0.00,0.000,6,0.161,0.061,3142,2406,3359
$GC,1315,-0.49,-117.3,113.6,-8.5,101,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2407,3361
$GC,1624,-0.49,-117.3,136.5,-6.9,116,1628,0.00,2.35,0.00,0.000,4,0.000,0.067,3146,986,3361
$GC,1645,-0.49,-117.3,137.9,-6.6,117,1649,0.00,2.33,0.00,0.000,6,0.000,0.061,3146,2410,3361
$GC,1970,-0.49,-117.3,157.5,-5.9,131,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2410,3361
$GC,2277,-0.55,-117.3,175.0,-5.7,141,2281,0.00,2.35,0.00,0.000,4,0.000,0.070,3146,984,3361
$GC,2309,-0.61,-117.3,176.8,-5.5,142,2313,0.00,2.33,0.00,0.000,6,0.000,0.062,3146,2405,3361
$GC,2639,-0.68,-117.3,194.5,-5.5,153,2640,0.15,0.00,0.00,0.000,6,0.081,0.000,3088,2407,3360
$GC,2945,-0.62,-117.3,215.7,-7.0,163,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2407,3360
$GC,3251,-0.57,-117.3,237.9,-7.4,173,3256,0.15,2.35,0.00,0.000,4,0.118,0.080,3128,3806,3359
$GC,3283,-0.57,-117.3,240.2,-7.2,174,3287,0.00,2.30,0.00,0.000,6,0.000,0.057,3129,2393,3360
$GC,3618,-0.57,-117.3,260.8,-5.9,185,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3359
$GC,3924,-0.57,-117.3,279.7,-6.3,195,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3359
$GC,4231,-0.57,-117.3,299.2,-6.3,205,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3358
$GC,4565,-0.57,-117.3,319.1,-5.9,211,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3358
$GC,4867,-0.57,-117.3,336.4,-5.7,216,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3358
$GC,5170,-0.57,-117.3,353.6,-5.8,221,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3357
$GC,5474,-0.57,-117.3,371.0,-5.8,226,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3357
$GC,5777,-0.57,-117.3,388.6,-5.8,231,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3357
$GC,6080,-0.61,-117.3,404.8,-5.3,236,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3357
$GC,6384,-0.66,-117.3,419.0,-4.7,241,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3357
$GC,6687,-0.70,-117.3,433.0,-4.6,246,6689,0.12,0.00,0.00,0.000,6,0.091,0.000,3079,2393,3356
$GC,6990,-0.66,-117.3,450.2,-5.7,251,6994,0.00,2.33,0.00,0.000,4,0.000,0.075,3079,991,3356
$GC,7028,-0.60,-117.3,453.0,-6.4,251,7033,0.17,2.33,0.00,0.000,6,0.158,0.066,3126,2411,3356
$GC,7355,-0.65,-117.3,470.2,-5.3,257,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2411,3356
$GC,7658,-0.70,-117.3,487.0,-5.6,262,7660,0.12,0.00,0.00,0.000,6,0.092,0.000,3079,2411,3356
$GC,7960,-0.70,-117.3,507.5,-6.8,267,7964,0.00,2.35,0.00,0.000,4,0.000,0.074,3078,993,3356
$GC,8022,-0.63,-117.3,512.1,-7.7,268,8027,0.12,2.30,0.00,0.000,6,0.163,0.066,3109,2399,3356
$GC,8387,-0.63,-117.3,532.9,-5.6,274,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,8690,-0.63,-117.3,549.7,-5.5,279,8694,0.00,2.35,0.00,0.000,4,0.000,0.084,3109,3809,3355
$GC,8716,-0.63,-117.3,551.2,-5.8,279,8720,0.00,2.28,0.00,0.000,6,0.000,0.059,3109,2407,3355
$GC,9054,-0.63,-117.3,569.5,-5.5,285,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,9357,-0.63,-117.3,587.2,-5.9,290,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,9660,-0.63,-117.3,604.7,-5.8,295,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,9963,-0.63,-117.3,621.2,-5.3,300,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,10266,-0.63,-117.3,636.4,-5.0,305,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,10570,-0.63,-117.3,651.2,-4.9,310,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3354
$GC,10873,-0.63,-117.3,666.0,-4.9,315,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3354
$GC,11175,-0.63,-117.3,681.4,-5.1,320,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3354
$GC,11479,-0.63,-117.3,697.4,-5.3,325,11483,0.00,2.35,0.00,0.000,4,0.000,0.075,3109,992,3354
$GC,11505,-0.63,-117.3,699.0,-5.3,325,11510,0.00,2.33,0.00,0.000,6,0.000,0.066,3109,2390,3353
$GC,11843,-0.63,-117.3,717.3,-5.4,331,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2390,3354
$GC,12147,-0.63,-117.3,733.3,-5.3,336,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2391,3353
$GC,12449,-0.63,-117.3,748.9,-5.2,341,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2391,3354
$GC,12752,-0.63,-117.3,765.0,-5.3,346,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2391,3354
$GC,13056,-0.63,-117.3,782.1,-5.7,351,13060,0.00,2.35,0.00,0.000,4,0.000,0.075,3109,993,3352
$GC,13089,-0.68,-117.3,784.3,-6.4,351,13093,0.00,2.35,0.00,0.000,6,0.000,0.067,3109,2410,3353
$GC,13420,-0.72,-117.3,803.3,-5.7,357,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2410,3352
$GC,13723,-0.76,-117.3,820.7,-5.8,362,13728,0.12,2.40,0.00,0.000,4,0.094,0.074,3065,985,3352
$GC,13761,-0.70,-117.3,823.4,-6.9,362,13765,0.00,2.35,0.00,0.000,6,0.000,0.067,3065,2402,3352
$GC,14088,-0.61,-117.3,846.7,-7.2,368,14089,0.20,0.00,0.00,0.000,6,0.169,0.000,3121,2403,3352
$GC,14390,-0.79,-117.3,865.5,-6.3,373,14395,0.17,2.38,0.00,0.000,4,0.093,0.075,3057,989,3352
$GC,14462,-0.79,-117.3,871.0,-7.2,374,14466,0.00,2.35,0.00,0.000,6,0.000,0.067,3057,2405,3352
$GC,14823,-0.86,-117.3,896.9,-7.3,380,14827,0.00,2.38,0.00,0.000,4,0.000,0.076,3057,986,3352
$GC,14917,-0.78,-117.3,904.0,-7.3,381,14921,0.00,2.33,0.00,0.000,6,0.000,0.067,3057,2405,3352
$GC,15255,-0.68,-117.3,927.6,-7.0,387,15260,0.15,2.38,0.00,0.000,4,0.169,0.085,3099,3816,3352
$GC,15304,-0.72,-117.3,930.6,-6.2,387,15308,0.00,2.28,0.00,0.000,6,0.000,0.061,3099,2401,3352
$GC,15619,-0.72,-117.3,946.7,-5.0,393,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3352
$GC,15923,-0.72,-117.3,961.3,-4.9,398,15927,0.00,2.35,0.00,0.000,4,0.000,0.076,3099,988,3352
$GC,15949,-0.72,-117.3,962.8,-5.3,398,15953,0.00,2.33,0.00,0.000,6,0.000,0.067,3099,2402,3352
$GC,16287,-0.72,-117.3,980.7,-5.4,404,16288,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3351
$STATE,16467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16467,begin apogee
$GC,16472,-0.22,0.0,991.1,5.6,407,16578,0.50,0.00,103.07,1.502,6,0.151,0.000,3248,2191,2875
$STATE,16578,end apogee,CONTROL_FINISHED_OK
$STATE,16579,begin climb
$GC,16581,0.67,117.3,993.1,0.0,408,16698,0.88,2.70,108.10,1.449,4,0.092,0.079,3532,3609,2395
$GC,16714,0.20,117.3,994.8,5.6,411,16720,0.60,2.53,0.00,0.000,6,0.199,0.066,3388,2205,2394
$GC,17075,0.30,161.5,981.1,3.7,417,17119,0.00,2.55,39.25,1.430,4,0.000,0.080,3394,1054,2217
$GC,17153,0.39,167.8,977.7,4.8,418,17168,0.15,2.45,7.15,1.159,6,0.087,0.063,3448,2209,2192
$GC,17506,0.32,167.8,955.8,6.3,424,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2209,2190
$GC,17809,0.26,167.8,936.1,6.6,429,17814,0.15,2.38,0.00,0.000,4,0.154,0.080,3402,3609,2189
$GC,17858,0.26,167.8,932.7,6.9,429,17862,0.00,2.38,0.00,0.000,6,0.000,0.064,3408,2196,2189
$GC,18174,0.30,167.8,914.7,5.8,435,18175,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2189
$GC,18477,0.34,167.8,895.4,6.4,440,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2189
$GC,18780,0.39,167.8,874.8,6.8,445,18785,0.10,2.45,0.00,0.000,4,0.100,0.082,3447,3612,2188
$GC,18842,0.24,167.8,869.3,9.2,446,18847,0.20,2.35,0.00,0.000,6,0.177,0.067,3397,2189,2188
$GC,19207,0.33,167.8,845.5,6.4,452,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2189,2188
$GC,19510,0.42,167.8,826.2,6.4,457,19512,0.17,0.00,0.00,0.000,6,0.087,0.000,3463,2189,2188
$GC,19813,0.32,167.8,801.4,8.2,462,19815,0.15,0.00,0.00,0.000,6,0.156,0.000,3424,2189,2188
$GC,20116,0.32,167.8,781.2,6.6,467,20120,0.00,2.42,0.00,0.000,4,0.000,0.082,3424,3609,2188
$GC,20160,0.26,167.8,778.0,7.5,467,20164,0.00,2.33,0.00,0.000,6,0.000,0.066,3424,2191,2188
$GC,20474,0.26,167.8,758.1,6.3,473,20478,0.00,2.35,0.00,0.000,4,0.000,0.082,3424,893,2188
$GC,20506,0.26,167.8,756.0,5.9,473,20510,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2204,2188
$GC,20838,0.26,167.8,735.8,6.0,479,20842,0.00,2.35,0.00,0.000,4,0.000,0.081,3425,3619,2188
$GC,20900,0.20,167.8,731.8,6.9,480,20905,0.15,2.33,0.00,0.000,6,0.177,0.066,3386,2196,2187
$GC,21265,0.38,198.7,716.0,4.1,486,21295,0.17,0.00,27.00,1.316,6,0.089,0.000,3449,2196,2066
$GC,21568,0.38,198.7,699.6,5.5,491,21572,0.00,2.45,0.00,0.000,4,0.000,0.083,3449,3613,2062
$GC,21606,0.29,198.7,697.0,7.2,491,21611,0.15,2.35,0.00,0.000,6,0.176,0.066,3412,2197,2062
$GC,21927,0.40,210.2,681.9,4.7,497,21940,0.00,0.00,11.23,1.214,6,0.000,0.000,3413,2197,2019
$GC,22230,0.51,213.7,667.1,4.9,502,22240,0.17,2.38,4.80,0.946,4,0.086,0.081,3489,796,2004
$GC,22257,0.45,213.7,665.3,6.5,502,22261,0.00,2.33,0.00,0.000,6,0.000,0.065,3489,2200,2003
$GC,22588,0.33,213.7,638.4,8.2,508,22593,0.20,2.38,0.00,0.000,4,0.164,0.082,3428,3612,2003
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$STATE,32623,end climb,SURFACE_DEPTH_REACHED
$STATE,32623,begin surface coast
$FINISH,1.4,1.021218
$STATE,32751,end surface coast,CONTROL_FINISHED_OK
$STATE,32751,begin surface
$SM_CCo,32769,22.60,0.828,0,0,1652,300.00
$SM_GC,3.68,0.00,0.00,22.60,0.000,0.000,0.828,142,2401,1652,-9.92,0.00,300.00
$IRIDIUM_FIX,4939.69,-14510.89,310198,111147
$TT8_MAMPS,0.026078
$HUMID,2108
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,15.30
$XPDR_PINGS,1013
$24V_AH,22.3,38.949
$10V_AH,10.6,25.072
$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
$DEVICE_SECS,31.000,198.750,352.475,22.600,0.000,27.826,26.964,170.418,253.250,0.000,0.000,15.042,1839.024,27861.432,553.561,2355.845,520.640,33.379,1692.382,0.000,2333.166,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,663.419,644.875,1470.944,889.034,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50672,865
$CAP_FILE_SIZE,186599,0
$CFSIZE,260165632,244011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,071108,055107,4959.664,-14459.395,43,0.9,43,18.5