version: 66.03
glider: 120
mission: 9
dive: 528
start: 3 15 109 17 54 22
data:
$ID,120
$MISSION,9
$DIVE,528
$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,275
$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,-29095.484
$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,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
$GPS1,174707,5016.205,-14432.384,30,1.9,30,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-65.9
$GPS2,175326,5016.153,-14432.305,16,1.6,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,0.147
$KALMAN_X,-44403.5,251.0,325.6,93971.2,-2358.0
$KALMAN_Y,114593.4,-408.1,44.7,-90753.3,-1035.1
$MHEAD_RNG_PITCHd_Wd,15.4,9455,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-5.93,0.000,2,0.000,0.000,134,2404,1370
$GC,37,-0.67,-117.3,3.1,-0.0,1,159,12.32,2.45,-103.40,0.000,4,0.239,0.081,3093,982,3355
$GC,333,-0.48,-117.3,26.4,-8.6,27,340,0.22,2.33,0.00,0.000,6,0.160,0.061,3156,2400,3356
$GC,664,-0.48,-117.3,50.5,-3.9,58,668,0.00,2.40,0.00,0.000,4,0.000,0.081,3151,3816,3356
$GC,705,-0.53,-117.3,53.4,-6.5,61,709,0.00,2.25,0.00,0.000,6,0.000,0.053,3151,2398,3356
$GC,1036,-0.53,-117.3,74.9,-7.1,92,1041,0.00,2.38,0.00,0.000,4,0.000,0.070,3151,990,3356
$GC,1070,-0.57,-117.3,77.8,-8.1,94,1077,0.00,2.33,0.00,0.000,6,0.000,0.061,3151,2408,3356
$GC,1398,-0.57,-117.3,102.7,-7.7,112,1402,0.00,2.40,0.00,0.000,4,0.000,0.069,3151,991,3356
$GC,1443,-0.57,-117.3,106.5,-9.1,114,1447,0.00,2.33,0.00,0.000,6,0.000,0.061,3151,2401,3356
$GC,1765,-0.64,-117.3,129.2,-6.7,130,1770,0.12,2.38,0.00,0.000,4,0.084,0.078,3100,3813,3356
$GC,1800,-0.64,-117.3,132.3,-9.1,131,1806,0.00,2.28,0.00,0.000,6,0.000,0.053,3100,2389,3356
$GC,2116,-0.64,-117.3,155.2,-6.9,146,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3356
$GC,2421,-0.64,-117.3,179.6,-8.1,156,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3356
$GC,2728,-0.64,-117.3,203.4,-7.6,166,2732,0.00,2.35,0.00,0.000,4,0.000,0.069,3100,991,3356
$GC,2772,-0.64,-117.3,206.9,-7.9,167,2777,0.00,2.33,0.00,0.000,6,0.000,0.060,3100,2405,3356
$GC,3098,-0.64,-117.3,229.3,-6.6,178,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,3403,-0.64,-117.3,248.4,-5.9,188,3407,0.00,2.38,0.00,0.000,4,0.000,0.069,3100,990,3356
$GC,3453,-0.64,-117.3,251.4,-5.6,189,3457,0.00,2.33,0.00,0.000,6,0.000,0.060,3100,2400,3356
$GC,3772,-0.64,-117.3,270.7,-6.2,200,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,4078,-0.64,-117.3,290.3,-6.5,210,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,4412,-0.64,-117.3,314.6,-7.4,218,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,4715,-0.64,-117.3,335.8,-6.9,223,4719,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3805,3356
$GC,4760,-0.64,-117.3,339.0,-7.0,223,4764,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2389,3356
$GC,5076,-0.64,-117.3,358.4,-6.1,229,5080,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,994,3356
$GC,5109,-0.68,-117.3,360.4,-5.8,229,5114,0.00,2.33,0.00,0.000,6,0.000,0.061,3100,2401,3356
$GC,5436,-0.68,-117.3,377.4,-5.2,235,5440,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3812,3356
$GC,5471,-0.68,-117.3,379.4,-5.8,235,5475,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2389,3356
$GC,5798,-0.68,-117.3,398.5,-5.9,241,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3356
$GC,6101,-0.68,-117.3,417.8,-6.5,246,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3356
$GC,6404,-0.68,-117.3,437.7,-6.6,251,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3356
$GC,6707,-0.68,-117.3,456.9,-6.3,256,6711,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,988,3356
$GC,6735,-0.73,-117.3,458.6,-6.3,256,6739,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2409,3356
$GC,7068,-0.78,-117.3,479.2,-6.1,262,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,7371,-0.78,-117.3,498.1,-6.3,267,7375,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3811,3355
$GC,7411,-0.82,-117.3,500.9,-7.5,267,7415,0.15,2.28,0.00,0.000,6,0.086,0.055,3044,2398,3355
$GC,7732,-0.73,-117.3,526.2,-7.9,273,7737,0.12,2.40,0.00,0.000,4,0.100,0.071,3081,984,3355
$GC,7776,-0.73,-117.3,529.7,-7.8,273,7780,0.00,2.38,0.00,0.000,6,0.000,0.064,3081,2412,3355
$GC,8092,-0.73,-117.3,551.8,-7.0,279,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2412,3355
$GC,8396,-0.73,-117.3,572.7,-6.9,284,8400,0.00,2.40,0.00,0.000,4,0.000,0.071,3081,996,3355
$GC,8424,-0.73,-117.3,574.8,-6.7,284,8428,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2406,3355
$GC,8762,-0.73,-117.3,597.4,-6.6,290,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3355
$GC,9065,-0.73,-117.3,617.3,-6.6,295,9069,0.00,2.40,0.00,0.000,4,0.000,0.071,3081,989,3355
$GC,9105,-0.73,-117.3,620.0,-7.4,295,9110,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2401,3355
$GC,9427,-0.73,-117.3,641.0,-6.5,301,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,9730,-0.73,-117.3,661.9,-7.0,306,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,10033,-0.73,-117.3,683.4,-7.1,311,10037,0.00,2.40,0.00,0.000,4,0.000,0.071,3081,993,3354
$GC,10067,-0.73,-117.3,686.1,-8.0,311,10071,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2403,3354
$GC,10394,-0.73,-117.3,710.0,-7.3,317,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3354
$GC,10697,-0.73,-117.3,730.7,-6.8,322,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3353
$GC,11000,-0.73,-117.3,750.7,-6.6,327,11004,0.00,2.40,0.00,0.000,4,0.000,0.071,3081,992,3354
$GC,11033,-0.73,-117.3,752.9,-6.4,327,11037,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2400,3354
$GC,11360,-0.73,-117.3,772.2,-5.8,333,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3354
$GC,11662,-0.73,-117.3,788.7,-5.4,338,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,11966,-0.73,-117.3,804.5,-5.2,343,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,12269,-0.73,-117.3,820.8,-5.4,348,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,12572,-0.73,-117.3,837.3,-5.4,353,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3353
$GC,12875,-0.73,-117.3,853.8,-5.5,358,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3353
$GC,13178,-0.73,-117.3,871.2,-5.8,363,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,13481,-0.73,-117.3,888.5,-5.7,368,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,13784,-0.73,-117.3,904.4,-5.2,373,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,14088,-0.73,-117.3,920.2,-5.2,378,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,14390,-0.73,-117.3,937.1,-5.6,383,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,14694,-0.73,-117.3,954.7,-5.8,388,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3353
$GC,14996,-0.73,-117.3,972.0,-5.6,393,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3353
$GC,15299,-0.73,-117.3,989.1,-5.7,398,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3352
$STATE,15357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15357,begin apogee
$GC,15365,-0.22,0.0,992.4,5.6,399,15480,0.55,0.00,108.55,1.489,6,0.142,0.000,3247,2202,2875
$STATE,15480,end apogee,CONTROL_FINISHED_OK
$STATE,15481,begin climb
$GC,15484,0.67,117.3,997.1,0.0,401,15606,0.90,2.75,114.75,1.433,4,0.095,0.078,3533,785,2395
$GC,15667,0.33,117.3,995.1,6.7,404,15673,0.43,2.50,0.00,0.000,6,0.176,0.061,3426,2200,2394
$GC,16034,0.34,125.7,977.0,4.8,410,16048,0.00,2.42,8.43,1.242,4,0.000,0.081,3426,3611,2363
$GC,16104,0.25,125.7,973.3,6.5,411,16109,0.15,2.30,0.00,0.000,6,0.176,0.063,3398,2201,2362
$GC,16471,0.33,134.6,956.1,4.7,417,16483,0.00,0.00,9.60,1.285,6,0.000,0.000,3398,2201,2326
$GC,16774,0.40,134.6,940.5,5.1,422,16776,0.15,0.00,0.00,0.000,6,0.082,0.000,3458,2201,2326
$GC,17076,0.30,134.6,920.9,6.6,427,17078,0.15,0.00,0.00,0.000,6,0.146,0.000,3417,2201,2325
$GC,17380,0.30,134.6,904.0,5.5,432,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2201,2325
$GC,17682,0.30,134.6,887.9,5.3,437,17687,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,780,2325
$GC,17710,0.30,134.6,886.4,5.2,437,17714,0.00,2.33,0.00,0.000,6,0.000,0.062,3421,2203,2325
$GC,18049,0.30,134.6,868.8,5.1,443,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2325
$GC,18353,0.31,138.2,854.0,4.9,448,18362,0.00,2.38,4.72,1.011,4,0.000,0.082,3421,3614,2312
$GC,18408,0.31,138.2,851.0,5.4,448,18414,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2187,2312
$GC,18718,0.33,157.6,837.1,4.4,454,18739,0.00,0.00,18.98,1.351,6,0.000,0.000,3421,2186,2233
$GC,19022,0.38,165.6,822.8,4.8,459,19032,0.00,0.00,8.52,1.216,6,0.000,0.000,3421,2187,2201
$GC,19325,0.44,165.6,807.8,5.0,464,19330,0.10,2.45,0.00,0.000,4,0.093,0.081,3462,3612,2199
$GC,19381,0.29,165.6,804.0,6.9,464,19388,0.17,2.33,0.00,0.000,6,0.170,0.064,3418,2202,2199
$GC,19692,0.36,166.6,788.4,5.0,470,19694,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2202,2199
$GC,19996,0.43,166.6,773.0,5.1,475,20000,0.12,2.42,0.00,0.000,4,0.086,0.078,3465,777,2199
$GC,20029,0.38,166.6,770.8,5.3,475,20033,0.00,2.35,0.00,0.000,6,0.000,0.063,3465,2208,2199
$GC,20356,0.31,166.6,750.6,6.1,481,20361,0.15,2.38,0.00,0.000,4,0.143,0.080,3415,3619,2199
$GC,20384,0.31,166.6,748.9,5.7,481,20388,0.00,2.33,0.00,0.000,6,0.000,0.062,3421,2195,2199
$GC,20717,0.39,182.3,733.6,4.6,487,20736,0.00,0.00,16.42,1.284,6,0.000,0.000,3421,2196,2131
$GC,21089,0.48,187.2,715.4,4.9,493,21097,0.15,0.00,5.88,1.055,6,0.087,0.000,3479,2196,2112
$GC,21392,0.48,187.2,697.6,5.9,498,21393,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2196,2111
$GC,21694,0.48,187.2,679.6,5.9,503,21695,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2196,2111
$GC,21997,0.48,187.2,662.0,5.9,508,22001,0.00,2.42,0.00,0.000,4,0.000,0.080,3479,791,2111
$GC,22042,0.42,187.2,658.9,6.5,508,22046,0.00,2.33,0.00,0.000,6,0.000,0.063,3479,2202,2111
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$STATE,32833,end climb,SURFACE_DEPTH_REACHED
$STATE,32833,begin surface coast
$FINISH,1.9,1.025713
$STATE,33000,end surface coast,CONTROL_FINISHED_OK
$STATE,33000,begin surface
$SM_CCo,33083,0.00,0.000,0,0,1631,304.91
$SM_GC,2.71,9.55,0.00,0.00,0.064,0.000,0.000,142,2410,1631,-9.88,0.28,304.91
$IRIDIUM_FIX,4953.05,-14433.21,090698,080820
$TT8_MAMPS,0.026845
$HUMID,2102
$INTERNAL_PRESSURE,9.01645
$TCM_TEMP,15.50
$XPDR_PINGS,986
$24V_AH,21.1,103.354
$10V_AH,10.4,71.135
$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
$DEVICE_SECS,27.475,200.025,396.950,0.000,0.000,25.654,28.767,170.608,246.500,0.000,0.000,18.757,1784.227,27982.697,585.040,2305.625,792.338,33.378,1737.047,0.000,2279.809,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,657.164,633.109,1453.426,879.652,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50708,855
$CAP_FILE_SIZE,180835,0
$CFSIZE,260165632,217661440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,030725,5019.209,-14428.878,61,1.2,61,18.7