version: 66.03
glider: 120
mission: 9
dive: 6
start: 8 31 108 5 48 33
data:
$ID,120
$MISSION,9
$DIVE,6
$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,-17790.523
$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,0.039999999
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,054328,5009.006,-14453.421,31,2.6,50,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.8
$GPS2,054740,5009.040,-14453.384,9,3.0,28,18.5
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.221,0.114
$KALMAN_X,4033.8,-421.7,96.2,-8055.5,1682.6
$KALMAN_Y,817.6,89.2,80.2,5475.4,441.9
$MHEAD_RNG_PITCHd_Wd,278.8,31184,-19.8,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.04,-146.6,0.0,0.0,0,63,0.00,0.00,-43.10,0.000,2,0.000,0.000,150,2397,2515
$GC,65,-1.04,-146.6,3.4,-6.2,4,109,13.20,2.42,-21.77,0.000,4,0.298,0.095,2971,989,3476
$GC,327,-0.87,-146.6,55.8,-17.8,27,335,0.20,2.38,0.00,0.000,6,0.193,0.071,3028,2402,3478
$GC,658,-0.82,-146.6,104.0,-13.9,51,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2402,3479
$GC,967,-0.82,-146.6,142.5,-11.7,66,971,0.00,2.35,0.00,0.000,4,0.000,0.078,3028,981,3480
$GC,1038,-0.82,-146.6,150.9,-11.6,69,1043,0.00,2.35,0.00,0.000,6,0.000,0.071,3028,2395,3480
$GC,1356,-0.82,-146.6,188.5,-12.3,80,1360,0.00,2.33,0.00,0.000,4,0.000,0.079,3028,986,3481
$GC,1438,-0.82,-146.6,199.0,-12.8,82,1443,0.00,2.35,0.00,0.000,6,0.000,0.070,3028,2408,3480
$GC,1756,-0.82,-146.6,236.6,-12.0,93,1760,0.00,2.35,0.00,0.000,4,0.000,0.081,3028,981,3480
$GC,1939,-0.82,-146.6,258.6,-11.8,98,1944,0.00,2.33,0.00,0.000,6,0.000,0.071,3028,2393,3480
$GC,2257,-0.82,-146.6,295.3,-11.6,109,2261,0.00,2.33,0.00,0.000,4,0.000,0.081,3029,980,3480
$GC,2323,-0.82,-146.6,303.0,-11.8,111,2328,0.00,2.35,0.00,0.000,6,0.000,0.071,3028,2404,3480
$GC,2689,-0.82,-146.6,343.8,-11.1,117,2692,0.00,2.33,0.00,0.000,4,0.000,0.081,3028,987,3480
$GC,2756,-0.89,-146.6,351.3,-10.6,118,2760,0.00,2.33,0.00,0.000,6,0.000,0.073,3028,2412,3480
$GC,3120,-0.95,-146.6,391.7,-11.0,124,3124,0.00,2.30,0.00,0.000,4,0.000,0.092,3027,3810,3479
$GC,3141,-1.00,-146.6,394.1,-10.8,124,3146,0.00,2.30,0.00,0.000,6,0.000,0.069,3027,2391,3479
$GC,3490,-1.06,-146.6,431.0,-10.7,130,3492,0.15,0.00,0.00,0.000,6,0.081,0.000,2968,2391,3478
$GC,3793,-0.97,-146.6,474.2,-14.4,135,3798,0.15,2.28,0.00,0.000,4,0.192,0.082,3010,992,3478
$GC,3814,-0.97,-146.6,477.2,-14.0,135,3819,0.00,2.30,0.00,0.000,6,0.000,0.071,3004,2395,3478
$GC,4163,-0.97,-146.6,520.1,-12.4,141,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2394,3478
$GC,4466,-0.97,-146.6,558.4,-12.7,146,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2395,3478
$GC,4769,-0.97,-146.6,597.6,-12.9,151,4773,0.00,2.33,0.00,0.000,4,0.000,0.089,3004,3817,3478
$GC,4819,-0.97,-146.6,604.3,-13.7,151,4823,0.00,2.28,0.00,0.000,6,0.000,0.072,3004,2400,3478
$GC,5133,-0.97,-146.6,643.8,-12.4,157,5137,0.00,2.35,0.00,0.000,4,0.000,0.091,3003,3819,3478
$GC,5175,-0.97,-146.6,649.4,-12.7,157,5180,0.00,2.30,0.00,0.000,6,0.000,0.071,3004,2405,3477
$GC,5496,-0.97,-146.6,688.6,-12.2,163,5500,0.00,2.33,0.00,0.000,4,0.000,0.091,3004,3807,3477
$GC,5538,-0.97,-146.6,694.0,-12.8,163,5543,0.00,2.30,0.00,0.000,6,0.000,0.072,3004,2397,3477
$GC,5859,-0.97,-146.6,732.5,-12.1,169,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2398,3477
$GC,6162,-0.97,-146.6,767.4,-11.4,174,6167,0.00,2.35,0.00,0.000,4,0.000,0.092,3004,3813,3477
$GC,6201,-0.97,-146.6,771.9,-11.3,174,6205,0.00,2.28,0.00,0.000,6,0.000,0.073,3003,2397,3477
$GC,6521,-0.97,-146.6,807.5,-11.1,180,6524,0.00,2.35,0.00,0.000,4,0.000,0.093,3003,3817,3477
$GC,6558,-0.97,-146.6,811.8,-11.5,180,6563,0.00,2.30,0.00,0.000,6,0.000,0.073,3003,2403,3477
$GC,6890,-1.01,-146.6,846.9,-10.5,186,6894,0.00,2.35,0.00,0.000,4,0.000,0.093,3004,3814,3477
$GC,6928,-1.01,-146.6,851.1,-10.9,186,6932,0.00,2.30,0.00,0.000,6,0.000,0.073,3003,2404,3476
$GC,7255,-1.06,-146.6,884.1,-10.2,192,7259,0.00,2.35,0.00,0.000,4,0.000,0.093,3004,3817,3476
$GC,7286,-1.06,-146.6,887.7,-11.4,192,7291,0.00,2.33,0.00,0.000,6,0.000,0.074,3004,2396,3476
$GC,7619,-1.10,-146.6,922.7,-10.6,198,7624,0.12,2.35,0.00,0.000,4,0.091,0.091,2951,3813,3476
$GC,7645,-1.01,-146.6,926.4,-14.3,198,7650,0.10,2.30,0.00,0.000,6,0.189,0.072,2980,2399,3475
$GC,7982,-1.01,-146.6,968.5,-12.5,204,7986,0.00,2.35,0.00,0.000,4,0.000,0.093,2977,3816,3476
$GC,8019,-0.97,-146.6,973.5,-13.0,204,8024,0.00,2.33,0.00,0.000,6,0.000,0.074,2977,2395,3475
$STATE,8168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8168,begin apogee
$GC,8172,-0.22,0.0,992.7,12.9,207,8302,0.93,0.00,126.43,1.505,6,0.188,0.000,3244,2201,2876
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8304,1.04,146.6,999.0,0.0,209,8440,1.30,2.65,127.85,1.452,4,0.118,0.090,3654,789,2277
$GC,8467,0.66,146.6,997.6,11.6,211,8473,0.47,2.53,0.00,0.000,6,0.225,0.076,3532,2194,2276
$GC,8794,0.65,172.5,968.5,8.8,217,8819,0.00,0.00,22.95,1.392,6,0.000,0.000,3532,2194,2172
$GC,9097,0.66,180.0,939.3,9.7,222,9111,0.00,2.53,7.82,1.216,4,0.000,0.094,3532,789,2142
$GC,9132,0.66,184.0,935.6,9.8,222,9143,0.00,2.42,5.57,1.072,6,0.000,0.073,3532,2196,2125
$GC,9464,0.66,184.0,899.9,10.9,228,9468,0.00,2.42,0.00,0.000,4,0.000,0.093,3533,792,2124
$GC,9500,0.66,184.0,895.6,10.7,228,9506,0.00,2.40,0.00,0.000,6,0.000,0.073,3532,2206,2124
$GC,9827,0.66,184.0,858.9,11.2,234,9831,0.00,2.42,0.00,0.000,4,0.000,0.092,3532,787,2123
$GC,9869,0.66,184.0,853.8,12.0,234,9874,0.00,2.38,0.00,0.000,6,0.000,0.072,3533,2204,2123
$GC,10190,0.66,184.0,817.6,11.4,240,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2204,2123
$GC,10494,0.66,184.0,783.9,11.1,245,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2204,2123
$GC,10797,0.66,184.0,751.1,10.8,250,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2204,2122
$GC,11100,0.66,184.0,718.6,10.8,255,11104,0.00,2.40,0.00,0.000,4,0.000,0.092,3533,780,2122
$GC,11142,0.66,184.0,713.9,10.8,255,11147,0.00,2.35,0.00,0.000,6,0.000,0.071,3532,2200,2122
$GC,11463,0.66,184.0,680.3,10.4,261,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2200,2122
$GC,11766,0.66,184.0,649.6,10.0,266,11770,0.00,2.38,0.00,0.000,4,0.000,0.091,3532,778,2122
$GC,11816,0.66,185.2,644.7,9.9,266,11820,0.00,2.33,0.00,0.000,6,0.000,0.071,3533,2211,2122
$GC,12130,0.68,198.3,615.1,9.4,272,12149,0.00,2.40,12.57,1.214,4,0.000,0.087,3532,3618,2066
$GC,12177,0.63,198.3,610.2,10.6,272,12181,0.00,2.38,0.00,0.000,6,0.000,0.078,3532,2201,2065
$GC,12498,0.70,218.6,580.9,9.1,278,12518,0.00,0.00,18.00,1.220,6,0.000,0.000,3532,2202,1984
$GC,12801,0.79,230.4,552.4,9.5,283,12820,0.12,2.47,11.40,1.152,4,0.097,0.091,3586,790,1935
$GC,12852,0.74,230.4,546.1,12.2,283,12858,0.10,2.38,0.00,0.000,6,0.192,0.071,3559,2199,1934
$GC,13168,0.74,230.4,509.0,11.8,289,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2199,1933
$GC,13471,0.74,230.4,473.8,11.6,294,13475,0.00,2.40,0.00,0.000,4,0.000,0.091,3559,782,1933
$GC,13532,0.74,230.4,466.7,12.3,295,13536,0.00,2.35,0.00,0.000,6,0.000,0.071,3559,2212,1933
$GC,13896,0.74,230.4,425.1,11.3,301,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2212,1933
$GC,14199,0.74,230.4,390.6,11.4,306,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2211,1933
$GC,14502,0.74,230.4,356.3,11.3,311,14506,0.00,2.38,0.00,0.000,4,0.000,0.091,3559,789,1933
$GC,14562,0.74,230.4,349.4,11.3,311,14570,0.00,2.33,0.00,0.000,6,0.000,0.068,3559,2204,1933
$GC,14872,0.74,230.4,315.7,10.9,317,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2204,1933
$GC,15176,0.74,230.4,283.3,10.7,324,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2204,1933
$GC,15483,0.74,230.4,250.5,10.7,334,15487,0.00,2.30,0.00,0.000,4,0.000,0.087,3559,3609,1933
$GC,15510,0.74,230.4,247.2,12.3,335,15514,0.00,2.33,0.00,0.000,6,0.000,0.079,3559,2188,1933
$GC,15844,0.79,230.4,210.4,10.7,346,15849,0.00,2.33,0.00,0.000,4,0.000,0.090,3559,780,1933
$GC,15916,0.85,234.2,202.9,9.8,348,15926,0.00,2.33,4.47,0.764,6,0.000,0.067,3559,2221,1920
$GC,16244,0.92,234.2,169.2,10.1,359,16249,0.15,2.40,0.00,0.000,4,0.086,0.087,3626,784,1920
$GC,16276,0.80,234.2,165.6,11.7,360,16281,0.17,2.33,0.00,0.000,6,0.206,0.068,3578,2203,1920
$GC,16592,0.80,234.2,132.9,10.1,373,16596,0.00,2.35,0.00,0.000,4,0.000,0.088,3586,789,1920
$GC,16848,0.84,265.5,109.7,8.6,384,16879,0.00,2.30,25.95,0.947,6,0.000,0.068,3586,2199,1792
$GC,17207,0.93,271.5,78.5,9.7,402,17219,0.00,2.40,6.03,0.793,4,0.000,0.087,3585,781,1768
$GC,17242,1.02,273.7,74.8,9.9,405,17247,0.17,2.35,0.00,0.000,6,0.081,0.068,3653,2210,1768
$GC,17567,0.95,273.7,32.3,12.6,435,17572,0.12,2.33,0.00,0.000,4,0.199,0.084,3625,3614,1766
$GC,17655,0.90,273.7,23.5,11.2,442,17662,0.00,2.35,0.00,0.000,6,0.000,0.077,3626,2204,1765
$STATE,17925,end climb,SURFACE_DEPTH_REACHED
$STATE,17925,begin surface coast
$FINISH,0.5,1.015361
$STATE,17958,end surface coast,CONTROL_FINISHED_OK
$STATE,17959,begin surface
$SM_CCo,17975,60.78,0.849,0,0,1449,350.04
$SM_GC,1.73,0.00,0.00,60.78,0.000,0.000,0.849,148,2401,1449,-9.90,0.03,350.04
$IRIDIUM_FIX,4949.70,-14453.88,251197,000033
$TT8_MAMPS,0.026845
$HUMID,2220
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,15.90
$XPDR_PINGS,624
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.2,5.329
$10V_AH,10.6,1.740
$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,27.425,156.175,369.050,60.775,0.000,30.255,28.111,101.807,156.250,0.000,0.000,29.818,1102.029,14772.317,560.572,1606.320,254.522,33.348,1374.180,0.000,1562.953,0.000,2.482
$DEVICE_MAMPS,298.363,95.108,1504.854,849.069,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,360.627,347.328,801.425,164.518,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28619,471
$CAP_FILE_SIZE,119206,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310808,105037,5010.659,-14456.655,44,1.0,55,18.5