version: 66.03
glider: 120
mission: 9
dive: 4
start: 8 30 108 21 18 59
data:
$ID,120
$MISSION,9
$DIVE,4
$D_SURF,2
$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,330
$T_MISSION,360
$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,150
$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,350
$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,-17744.578
$T_RSLEEP,12
$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
$PITCH_ADJ_DBAND,0
$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,19
$R_STBD_OVSHOOT,22
$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,20
$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
$GPS1,211421,5006.111,-14449.128,12,1.9,12,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.0
$GPS2,211807,5006.113,-14449.123,16,1.5,32,18.5
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.126
$KALMAN_X,1093.7,530.9,356.7,-1265.4,269.9
$KALMAN_Y,42.8,5.8,-6.5,1000.3,92.2
$MHEAD_RNG_PITCHd_Wd,298.0,3330,-28.2,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.31,-71.0,0.0,0.0,0,72,0.00,0.00,-52.60,0.000,2,0.000,0.000,134,2405,2936
$GC,74,-1.35,-100.8,4.2,-7.2,5,98,12.10,2.38,-6.30,0.000,4,0.286,0.084,2873,981,3289
$GC,244,-1.35,-100.8,52.7,-24.1,20,248,0.00,2.28,0.00,0.000,6,0.000,0.061,2869,2401,3290
$GC,561,-1.35,-100.8,131.3,-24.1,40,565,0.00,2.28,0.00,0.000,4,0.000,0.069,2869,987,3292
$GC,593,-1.35,-100.8,139.0,-22.1,41,600,0.00,2.28,0.00,0.000,6,0.000,0.061,2869,2396,3292
$GC,906,-1.35,-100.8,201.7,-20.3,53,910,0.00,2.28,0.00,0.000,4,0.000,0.071,2869,984,3291
$GC,948,-1.35,-100.8,210.7,-20.6,54,953,0.00,2.30,0.00,0.000,6,0.000,0.062,2869,2404,3292
$GC,1272,-1.35,-100.8,274.8,-19.7,65,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2404,3291
$GC,1607,-1.35,-100.8,342.2,-20.1,73,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2405,3290
$GC,1910,-1.35,-100.8,402.5,-19.8,78,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2405,3289
$GC,2213,-1.35,-100.8,459.9,-18.8,83,2217,0.00,2.30,0.00,0.000,4,0.000,0.077,2868,978,3288
$GC,2290,-1.35,-100.8,474.7,-18.8,84,2295,0.00,2.30,0.00,0.000,6,0.000,0.065,2869,2397,3288
$GC,2650,-1.35,-100.8,541.6,-18.6,90,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2400,3286
$GC,2953,-1.35,-100.8,598.0,-18.6,95,2957,0.00,2.30,0.00,0.000,4,0.000,0.081,2868,978,3286
$GC,2991,-1.35,-100.8,605.3,-19.0,95,2996,0.00,2.30,0.00,0.000,6,0.000,0.067,2868,2397,3286
$GC,3323,-1.35,-100.8,665.7,-18.3,101,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2398,3285
$GC,3626,-1.35,-100.8,721.1,-18.2,106,3630,0.00,2.30,0.00,0.000,4,0.000,0.081,2868,988,3284
$GC,3668,-1.35,-100.8,729.0,-18.7,106,3673,0.00,2.30,0.00,0.000,6,0.000,0.070,2868,2399,3284
$GC,3989,-1.35,-100.8,785.3,-17.6,112,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2399,3284
$GC,4292,-1.35,-100.8,836.6,-16.9,117,4296,0.00,2.30,0.00,0.000,4,0.000,0.086,2868,3819,3283
$GC,4313,-1.35,-100.8,840.5,-18.2,117,4318,0.00,2.30,0.00,0.000,6,0.000,0.071,2868,2397,3283
$GC,4656,-1.35,-100.8,899.7,-17.3,123,4660,0.00,2.30,0.00,0.000,4,0.000,0.087,2868,986,3282
$GC,4704,-1.35,-100.8,908.3,-16.8,123,4709,0.00,2.33,0.00,0.000,6,0.000,0.074,2868,2402,3282
$GC,5025,-1.35,-100.8,962.0,-16.8,129,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2402,3281
$STATE,5206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5206,begin apogee
$GC,5210,-0.22,0.0,992.2,16.5,132,5297,1.33,0.00,83.95,1.509,6,0.208,0.000,3238,2190,2876
$STATE,5298,end apogee,CONTROL_FINISHED_OK
$STATE,5298,begin climb
$GC,5299,1.35,100.8,994.7,0.0,133,5395,1.60,2.58,86.95,1.457,4,0.118,0.088,3749,792,2464
$GC,5405,1.43,161.9,995.4,4.3,134,5465,0.00,2.47,53.30,1.424,6,0.000,0.067,3749,2200,2216
$GC,5786,1.43,161.9,930.8,18.0,141,5791,0.00,2.42,0.00,0.000,4,0.000,0.091,3749,794,2212
$GC,6037,1.43,161.9,885.9,18.1,144,6042,0.00,2.35,0.00,0.000,6,0.000,0.068,3750,2201,2212
$GC,6352,1.43,161.9,832.3,17.0,150,6356,0.00,2.40,0.00,0.000,4,0.000,0.091,3749,786,2212
$GC,6603,1.43,161.9,790.0,17.1,153,6608,0.00,2.35,0.00,0.000,6,0.000,0.070,3749,2206,2211
$GC,6924,1.43,161.9,737.9,16.3,159,6928,0.00,2.38,0.00,0.000,4,0.000,0.092,3750,794,2210
$GC,7113,1.43,161.9,706.0,17.6,161,7120,0.00,2.33,0.00,0.000,6,0.000,0.069,3749,2210,2210
$GC,7422,1.43,161.9,653.9,17.0,167,7426,0.00,2.38,0.00,0.000,4,0.000,0.092,3749,792,2210
$GC,7611,1.43,161.9,622.1,16.8,169,7618,0.00,2.30,0.00,0.000,6,0.000,0.069,3749,2201,2210
$GC,7920,1.43,161.9,572.9,15.9,175,7924,0.00,2.35,0.00,0.000,4,0.000,0.092,3750,794,2210
$GC,8125,1.43,161.9,542.0,14.5,178,8130,0.00,2.30,0.00,0.000,6,0.000,0.069,3749,2201,2210
$GC,8486,1.43,161.9,489.4,14.6,184,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3750,2201,2209
$GC,8789,1.43,161.9,443.7,15.2,189,8792,0.00,2.35,0.00,0.000,4,0.000,0.091,3750,794,2209
$GC,9045,1.43,161.9,402.9,15.7,192,9050,0.00,2.30,0.00,0.000,6,0.000,0.068,3750,2202,2209
$GC,9360,1.43,161.9,353.1,15.8,198,9364,0.00,2.35,0.00,0.000,4,0.000,0.091,3750,792,2209
$GC,9550,1.43,161.9,324.0,15.6,200,9557,0.00,2.30,0.00,0.000,6,0.000,0.067,3750,2206,2209
$GC,9860,1.43,161.9,280.1,13.9,208,9864,0.00,2.35,0.00,0.000,4,0.000,0.091,3750,794,2209
$GC,9965,1.43,161.9,265.4,13.7,211,9970,0.00,2.28,0.00,0.000,6,0.000,0.067,3750,2200,2209
$GC,10295,1.43,161.9,221.3,13.5,222,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,3750,2200,2209
$GC,10601,1.43,161.9,181.6,12.6,232,10605,0.00,2.35,0.00,0.000,4,0.000,0.089,3750,784,2209
$GC,10857,1.43,161.9,149.4,13.5,239,10865,0.00,2.30,0.00,0.000,6,0.000,0.067,3750,2200,2209
$GC,11173,1.47,195.6,118.9,6.8,255,11205,0.12,2.40,25.70,0.953,4,0.097,0.090,3803,793,2076
$GC,11457,1.47,195.6,89.3,10.8,268,11462,0.00,2.30,0.00,0.000,6,0.000,0.069,3803,2202,2075
$GC,11780,1.47,201.1,54.4,9.5,294,11792,0.00,2.38,5.53,0.765,4,0.000,0.089,3803,791,2055
$GC,12043,1.58,286.5,34.6,2.0,317,12117,0.00,2.33,66.85,0.882,6,0.000,0.066,3803,2207,1707
$STATE,12292,end climb,SURFACE_DEPTH_REACHED
$STATE,12292,begin surface coast
$FINISH,0.6,1.009339
$STATE,12304,end surface coast,CONTROL_FINISHED_OK
$STATE,12304,begin surface
$SM_CCo,12321,47.50,0.830,0,0,1449,350.04
$SM_GC,2.49,0.00,0.00,47.50,0.000,0.000,0.830,149,2408,1449,-9.90,0.23,350.04
$IRIDIUM_FIX,4946.36,-14448.39,241197,212159
$TT8_MAMPS,0.026845
$HUMID,2319
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,14.60
$XPDR_PINGS,484
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.4,4.955
$10V_AH,10.6,1.583
$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,25.925,94.100,322.275,47.500,0.000,0.000,0.000,0.000,121.250,0.000,0.000,32.711,823.158,9652.948,448.846,1468.803,63.721,32.350,1164.160,0.000,1423.941,0.000,2.484
$DEVICE_MAMPS,286.091,92.040,1508.689,829.894,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,259.318,247.457,581.988,138.997,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19086,342
$CAP_FILE_SIZE,106683,0
$CFSIZE,260165632,258158592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310808,004637,5007.449,-14450.539,44,1.1,56,18.5