version: 66.03
glider: 120
mission: 9
dive: 436
start: 2 8 109 17 33 43
data:
$ID,120
$MISSION,9
$DIVE,436
$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,608.58929
$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,-27062.488
$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
$GPS1,171417,4953.400,-14511.921,71,3.1,91,18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.82
$_SM_ANGLEo,-69.0
$GPS2,173247,4953.266,-14511.971,20,3.1,39,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,0.110
$KALMAN_X,-3451.7,-282.5,3.7,6720.0,1133.9
$KALMAN_Y,43092.7,-14.5,-243.5,-61743.0,2635.8
$MHEAD_RNG_PITCHd_Wd,33.3,36365,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.35,0.000,2,0.000,0.000,132,2409,2037
$GC,41,-0.67,-117.3,4.4,-0.0,1,117,14.35,2.47,-54.72,0.000,4,0.288,0.077,3094,992,3353
$GC,321,-0.51,-117.3,35.6,-8.8,26,325,0.20,2.33,0.00,0.000,6,0.153,0.064,3151,2407,3355
$GC,650,-0.51,-117.3,53.2,-8.0,56,656,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2407,3356
$GC,973,-0.51,-117.3,84.7,-6.6,84,977,0.00,2.45,0.00,0.000,4,0.000,0.068,3151,986,3355
$GC,1024,-0.51,-117.3,88.8,-7.5,86,1028,0.00,2.33,0.00,0.000,6,0.000,0.061,3150,2407,3356
$GC,1340,-0.51,-117.3,110.9,-8.0,101,1344,0.00,2.40,0.00,0.000,4,0.000,0.068,3150,988,3356
$GC,1378,-0.51,-117.3,114.1,-8.3,102,1385,0.00,2.30,0.00,0.000,6,0.000,0.061,3151,2402,3356
$GC,1695,-0.51,-117.3,137.6,-8.0,118,1699,0.00,2.40,0.00,0.000,4,0.000,0.081,3151,3818,3356
$GC,1729,-0.59,-117.3,140.3,-7.7,119,1735,0.00,2.30,0.00,0.000,6,0.000,0.052,3151,2390,3356
$GC,2054,-0.88,-117.3,159.5,-6.5,133,2059,0.32,2.38,0.00,0.000,4,0.084,0.067,3034,993,3356
$GC,2161,-0.65,-117.3,170.7,-11.3,136,2166,0.25,2.30,0.00,0.000,6,0.156,0.061,3101,2407,3356
$GC,2485,-0.65,-117.3,193.7,-6.9,147,2489,0.00,2.42,0.00,0.000,4,0.000,0.067,3102,992,3356
$GC,2518,-0.65,-117.3,196.1,-7.4,148,2522,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2409,3356
$GC,2848,-0.65,-117.3,221.2,-7.6,159,2852,0.00,2.40,0.00,0.000,4,0.000,0.068,3099,992,3356
$GC,2911,-0.65,-117.3,226.1,-8.1,161,2915,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2406,3356
$GC,3252,-0.65,-117.3,249.5,-6.5,172,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3356
$GC,3558,-0.65,-117.3,270.0,-6.7,182,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3356
$GC,3865,-0.65,-117.3,289.6,-6.2,192,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,4169,-0.65,-117.3,308.9,-6.4,200,4173,0.00,2.40,0.00,0.000,4,0.000,0.069,3100,994,3356
$GC,4207,-0.65,-117.3,311.6,-7.1,200,4212,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2407,3355
$GC,4528,-0.65,-117.3,332.1,-6.5,206,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,4832,-0.65,-117.3,352.1,-6.7,211,4836,0.00,2.42,0.00,0.000,4,0.000,0.069,3099,995,3355
$GC,4865,-0.65,-117.3,354.6,-7.3,211,4869,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2407,3355
$GC,5191,-0.65,-117.3,376.9,-6.9,217,5196,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,989,3355
$GC,5247,-0.65,-117.3,380.8,-6.7,217,5254,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2411,3355
$GC,5557,-0.65,-117.3,400.8,-6.5,223,5562,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,990,3355
$GC,5585,-0.65,-117.3,402.6,-6.7,223,5589,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2399,3355
$GC,5917,-0.65,-117.3,423.6,-6.3,229,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,6220,-0.65,-117.3,442.4,-6.2,234,6224,0.00,2.38,0.00,0.000,4,0.000,0.070,3099,993,3354
$GC,6248,-0.65,-117.3,444.3,-6.9,234,6252,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2405,3354
$GC,6580,-0.65,-117.3,464.0,-5.9,240,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3354
$GC,6883,-0.65,-117.3,482.5,-6.1,245,6887,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,991,3354
$GC,6921,-0.65,-117.3,485.1,-6.5,245,6925,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2402,3354
$GC,7243,-0.65,-117.3,504.7,-6.1,251,7247,0.00,2.38,0.00,0.000,4,0.000,0.070,3099,996,3354
$GC,7270,-0.65,-117.3,506.4,-6.2,251,7274,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2405,3353
$GC,7602,-0.65,-117.3,524.8,-5.5,257,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3353
$GC,7905,-0.65,-117.3,540.8,-5.2,262,7909,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,991,3353
$GC,7938,-0.65,-117.3,542.7,-6.4,262,7942,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2409,3354
$GC,8264,-0.65,-117.3,559.4,-5.0,268,8268,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3812,3353
$GC,8297,-0.70,-117.3,561.2,-5.4,268,8301,0.00,2.33,0.00,0.000,6,0.000,0.054,3099,2392,3353
$GC,8624,-0.70,-117.3,577.2,-4.9,274,8628,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,994,3353
$GC,8657,-0.70,-117.3,578.9,-5.4,274,8661,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2401,3353
$GC,8983,-0.70,-117.3,595.8,-5.2,280,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,9286,-0.70,-117.3,614.5,-6.3,285,9290,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,995,3353
$GC,9320,-0.70,-117.3,616.9,-7.6,285,9324,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2409,3353
$GC,9646,-0.70,-117.3,638.4,-6.6,291,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3353
$GC,9949,-0.70,-117.3,657.5,-6.3,296,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3353
$GC,10253,-0.70,-117.3,675.5,-5.9,301,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3353
$GC,10555,-0.70,-117.3,690.8,-5.0,306,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3352
$GC,10860,-0.74,-117.3,704.4,-4.4,311,10864,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,994,3352
$GC,10899,-0.79,-117.3,706.2,-4.6,311,10904,0.12,2.35,0.00,0.000,6,0.089,0.064,3053,2406,3352
$GC,11220,-0.79,-117.3,722.7,-5.1,317,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3352
$GC,11524,-0.79,-117.3,739.5,-5.5,322,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3352
$GC,11826,-0.79,-117.3,758.8,-6.4,327,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3352
$GC,12130,-0.79,-117.3,779.5,-6.9,332,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3352
$GC,12432,-0.79,-117.3,800.7,-7.1,337,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3351
$GC,12736,-0.79,-117.3,821.0,-6.6,342,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2405,3351
$GC,13040,-0.79,-117.3,840.3,-6.3,347,13044,0.00,2.47,0.00,0.000,4,0.000,0.071,3053,994,3351
$GC,13084,-0.74,-117.3,843.5,-7.4,347,13089,0.00,2.33,0.00,0.000,6,0.000,0.064,3053,2408,3351
$GC,13401,-0.69,-117.3,864.2,-6.5,353,13402,0.15,0.00,0.00,0.000,6,0.146,0.000,3094,2408,3351
$GC,13703,-0.74,-117.3,879.9,-5.1,358,13708,0.00,2.45,0.00,0.000,4,0.000,0.072,3094,992,3351
$GC,13732,-0.79,-117.3,881.5,-5.6,358,13736,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2409,3351
$GC,14064,-0.85,-117.3,897.0,-4.6,364,14066,0.15,0.00,0.00,0.000,6,0.084,0.000,3037,2409,3351
$GC,14367,-0.80,-117.3,915.6,-6.3,369,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2409,3351
$GC,14671,-0.74,-117.3,936.1,-6.8,374,14676,0.15,2.47,0.00,0.000,4,0.114,0.072,3091,992,3351
$GC,14710,-0.78,-117.3,938.7,-6.5,374,14714,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2400,3351
$GC,15031,-0.78,-117.3,957.5,-5.9,380,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3351
$GC,15334,-0.78,-117.3,975.0,-5.8,385,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3351
$STATE,15634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15634,begin apogee
$GC,15642,-0.22,0.0,993.2,6.0,390,15757,0.52,0.00,108.57,1.487,6,0.138,0.000,3246,2197,2876
$STATE,15757,end apogee,CONTROL_FINISHED_OK
$STATE,15758,begin climb
$GC,15760,0.67,117.3,998.6,0.0,392,15884,0.85,2.88,113.88,1.434,4,0.090,0.077,3526,3622,2396
$GC,15924,0.24,117.3,997.9,6.3,394,15929,0.55,2.67,0.00,0.000,6,0.181,0.061,3397,2203,2395
$GC,16251,0.35,159.0,985.2,3.8,400,16292,0.00,0.00,38.55,1.422,6,0.000,0.000,3397,2203,2227
$GC,16555,0.45,159.6,970.5,5.0,405,16557,0.20,0.00,0.00,0.000,6,0.078,0.000,3475,2203,2224
$GC,16858,0.33,159.6,947.9,7.6,410,16860,0.17,0.00,0.00,0.000,6,0.146,0.000,3426,2203,2223
$GC,17160,0.33,159.6,928.7,6.3,415,17164,0.00,2.53,0.00,0.000,4,0.000,0.077,3435,776,2223
$GC,17198,0.33,159.6,926.2,5.9,415,17202,0.00,2.33,0.00,0.000,6,0.000,0.062,3435,2206,2223
$GC,17518,0.33,159.6,905.5,6.5,421,17523,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,3615,2223
$GC,17547,0.33,159.6,903.5,6.5,421,17551,0.00,2.40,0.00,0.000,6,0.000,0.063,3436,2185,2223
$GC,17880,0.33,159.6,882.3,6.4,427,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2185,2223
$GC,18182,0.33,159.6,863.4,6.3,432,18183,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2185,2222
$GC,18485,0.33,159.6,845.4,5.9,437,18486,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2185,2222
$GC,18789,0.33,159.6,828.4,5.6,442,18790,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2184,2222
$GC,19091,0.33,159.6,811.9,5.4,447,19095,0.00,2.50,0.00,0.000,4,0.000,0.080,3435,3608,2222
$GC,19142,0.27,159.6,809.0,5.7,447,19146,0.00,2.40,0.00,0.000,6,0.000,0.063,3435,2197,2221
$GC,19452,0.28,162.1,793.6,4.9,452,19456,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,3609,2222
$GC,19503,0.22,162.1,790.7,5.6,452,19507,0.17,2.30,0.00,0.000,6,0.172,0.063,3391,2200,2222
$GC,19813,0.41,205.6,778.9,3.8,457,19858,0.17,0.00,42.28,1.350,6,0.083,0.000,3458,2200,2037
$GC,20116,0.45,205.6,759.5,6.7,462,20120,0.00,2.47,0.00,0.000,4,0.000,0.081,3458,3611,2032
$GC,20152,0.39,205.6,756.7,8.1,462,20156,0.00,2.45,0.00,0.000,6,0.000,0.061,3462,2194,2032
$GC,20478,0.39,205.6,730.3,8.1,468,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2194,2031
$GC,20781,0.39,205.6,706.9,7.7,473,20785,0.00,2.47,0.00,0.000,4,0.000,0.077,3462,780,2031
$GC,20826,0.39,205.6,703.4,6.8,473,20830,0.00,2.30,0.00,0.000,6,0.000,0.062,3462,2200,2031
$GC,21141,0.39,205.6,682.2,6.7,479,21143,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2200,2030
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$GC,28126,0.59,224.1,242.7,5.4,609,28131,0.12,2.30,0.00,0.000,6,0.086,0.061,3516,2204,1960
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$STATE,31604,end climb,SURFACE_DEPTH_REACHED
$STATE,31604,begin surface coast
$FINISH,2.8,1.025559
$STATE,31682,end surface coast,CONTROL_FINISHED_OK
$STATE,31682,begin surface
$SM_CCo,31703,235.00,0.795,1,0,395,608.59
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$IRIDIUM_FIX,4933.03,-14511.96,050598,171707
$TT8_MAMPS,0.026845
$HUMID,2025
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$TCM_TEMP,15.50
$XPDR_PINGS,939
$24V_AH,21.3,85.621
$10V_AH,10.4,58.469
$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
$DEVICE_SECS,29.800,211.375,421.525,235.000,0.000,140.411,308.459,235.331,234.750,0.000,0.000,42.315,1711.761,27068.334,830.497,2245.953,1194.125,33.371,1952.540,0.000,2193.111,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47474,803
$CAP_FILE_SIZE,183765,0
$CFSIZE,260165632,224755712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090209,022736,4955.075,-14509.275,42,1.5,48,18.4