version: 66.03
glider: 120
mission: 9
dive: 382
start: 1 19 109 11 38 47
data:
$ID,120
$MISSION,9
$DIVE,382
$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,-25745.193
$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,20
$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
$GPS1,113206,5015.794,-14501.731,35,0.9,35,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-73.8
$GPS2,113750,5015.790,-14501.734,12,1.5,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.146,0.101
$KALMAN_X,17465.9,-150.8,231.9,-31820.6,668.4
$KALMAN_Y,278564.1,200.6,267.5,-260076.7,76.9
$MHEAD_RNG_PITCHd_Wd,286.2,15459,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.32,0.000,2,0.000,0.000,135,2410,1920
$GC,40,-0.67,-117.3,3.9,-0.0,1,115,13.82,0.00,-59.15,0.000,6,0.278,0.000,3095,2410,3356
$GC,433,-0.47,-117.3,40.1,-12.0,38,438,0.20,2.45,0.00,0.000,4,0.159,0.068,3158,992,3358
$GC,489,-0.51,-117.3,45.4,-8.2,42,495,0.00,2.35,0.00,0.000,6,0.000,0.062,3155,2399,3358
$GC,816,-0.51,-117.3,69.0,-6.7,73,817,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3358
$GC,1128,-0.51,-117.3,90.6,-7.0,96,1132,0.00,2.42,0.00,0.000,4,0.000,0.068,3155,988,3358
$GC,1169,-0.51,-117.3,93.7,-7.6,98,1173,0.00,2.38,0.00,0.000,6,0.000,0.061,3155,2407,3358
$GC,1496,-0.56,-117.3,117.4,-7.5,114,1500,0.00,2.35,0.00,0.000,4,0.000,0.080,3155,3808,3358
$GC,1551,-0.66,-117.3,121.4,-6.9,116,1558,0.15,2.25,0.00,0.000,6,0.081,0.053,3098,2397,3358
$GC,1868,-0.66,-117.3,147.5,-7.9,132,1872,0.00,2.38,0.00,0.000,4,0.000,0.067,3098,991,3358
$GC,2013,-0.66,-117.3,159.4,-7.8,137,2017,0.00,2.28,0.00,0.000,6,0.000,0.061,3098,2399,3359
$GC,2337,-0.66,-117.3,183.2,-7.1,148,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3359
$GC,2643,-0.66,-117.3,204.3,-7.1,158,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3359
$GC,2949,-0.66,-117.3,224.9,-6.6,168,2953,0.00,2.40,0.00,0.000,4,0.000,0.068,3098,995,3359
$GC,2978,-0.66,-117.3,226.8,-6.8,169,2982,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2401,3359
$GC,3314,-0.66,-117.3,248.5,-6.4,180,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3359
$GC,3619,-0.66,-117.3,267.7,-6.2,190,3624,0.00,2.38,0.00,0.000,4,0.000,0.081,3098,3815,3359
$GC,3664,-0.66,-117.3,270.8,-7.1,191,3668,0.00,2.28,0.00,0.000,6,0.000,0.054,3098,2392,3358
$GC,3982,-0.66,-117.3,289.9,-5.9,202,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3359
$GC,4288,-0.66,-117.3,307.5,-5.7,210,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3359
$GC,4590,-0.66,-117.3,326.2,-6.2,215,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3359
$GC,4893,-0.66,-117.3,345.1,-6.3,220,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3358
$GC,5196,-0.66,-117.3,365.4,-6.7,225,5200,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,992,3358
$GC,5235,-0.66,-117.3,368.2,-7.3,225,5240,0.00,2.35,0.00,0.000,6,0.000,0.061,3098,2403,3358
$GC,5556,-0.66,-117.3,388.9,-6.4,231,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3358
$GC,5859,-0.66,-117.3,406.7,-5.7,236,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3358
$GC,6163,-0.66,-117.3,424.6,-6.0,241,6167,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,992,3357
$GC,6197,-0.70,-117.3,426.9,-6.7,241,6201,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2410,3357
$GC,6529,-0.70,-117.3,449.8,-7.0,247,6533,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,995,3357
$GC,6568,-0.75,-117.3,452.7,-7.2,247,6572,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2409,3357
$GC,6889,-0.75,-117.3,475.5,-7.1,253,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7192,-0.75,-117.3,496.0,-6.7,258,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7495,-0.75,-117.3,515.5,-6.4,263,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7798,-0.75,-117.3,532.8,-5.7,268,7802,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,992,3357
$GC,7825,-0.79,-117.3,534.6,-5.9,268,7830,0.12,2.33,0.00,0.000,6,0.091,0.064,3052,2406,3357
$GC,8158,-0.73,-117.3,555.7,-6.4,274,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2406,3357
$GC,8460,-0.67,-117.3,575.9,-6.7,279,8465,0.15,2.40,0.00,0.000,4,0.114,0.071,3104,992,3356
$GC,8499,-0.72,-117.3,578.4,-5.9,279,8503,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2409,3356
$GC,8819,-0.72,-117.3,596.1,-5.5,285,8823,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,989,3356
$GC,8847,-0.72,-117.3,597.7,-5.4,285,8851,0.00,2.30,0.00,0.000,6,0.000,0.063,3101,2403,3356
$GC,9179,-0.72,-117.3,615.4,-5.3,291,9183,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,985,3356
$GC,9218,-0.76,-117.3,617.7,-6.3,291,9222,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2412,3356
$GC,9539,-0.76,-117.3,635.4,-5.5,297,9543,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,994,3356
$GC,9566,-0.81,-117.3,637.1,-6.6,297,9571,0.12,2.30,0.00,0.000,6,0.087,0.064,3053,2403,3355
$GC,9898,-0.81,-117.3,658.3,-6.4,303,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2403,3355
$GC,10201,-0.76,-117.3,678.4,-6.6,308,10205,0.00,2.35,0.00,0.000,4,0.000,0.072,3053,991,3355
$GC,10235,-0.71,-117.3,681.0,-7.7,308,10240,0.12,2.30,0.00,0.000,6,0.145,0.063,3085,2404,3355
$GC,10561,-0.71,-117.3,701.3,-6.2,314,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,10865,-0.71,-117.3,719.5,-6.1,319,10869,0.00,2.33,0.00,0.000,4,0.000,0.072,3086,994,3355
$GC,10897,-0.71,-117.3,721.8,-6.5,319,10901,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2403,3355
$GC,11224,-0.71,-117.3,740.8,-5.8,325,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,11527,-0.71,-117.3,758.3,-5.7,330,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,11830,-0.71,-117.3,776.0,-5.9,335,11834,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,987,3355
$GC,11880,-0.71,-117.3,779.5,-6.9,335,11884,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2411,3355
$GC,12191,-0.71,-117.3,799.3,-6.5,340,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3355
$GC,12493,-0.71,-117.3,819.8,-6.8,345,12497,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,989,3354
$GC,12532,-0.71,-117.3,822.9,-8.1,345,12536,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2412,3354
$GC,12853,-0.71,-117.3,845.1,-6.9,351,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3354
$GC,13157,-0.71,-117.3,865.5,-6.7,356,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3354
$GC,13459,-0.71,-117.3,885.3,-6.5,361,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3354
$GC,13763,-0.71,-117.3,904.5,-6.3,366,13767,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,992,3354
$GC,13807,-0.71,-117.3,907.4,-6.8,366,13811,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2413,3354
$GC,14123,-0.71,-117.3,926.0,-5.9,372,14127,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,988,3354
$GC,14157,-0.71,-117.3,928.2,-6.2,372,14161,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2406,3354
$GC,14483,-0.71,-117.3,947.2,-5.8,378,14487,0.00,2.35,0.00,0.000,4,0.000,0.074,3086,995,3354
$GC,14515,-0.71,-117.3,949.3,-6.0,378,14519,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2402,3354
$GC,14842,-0.71,-117.3,968.7,-6.0,384,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,15145,-0.71,-117.3,985.9,-5.6,389,15149,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,992,3353
$GC,15195,-0.75,-117.3,988.9,-6.1,389,15199,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2399,3353
$STATE,15259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15259,begin apogee
$GC,15266,-0.22,0.0,992.6,5.8,390,15382,0.52,0.00,108.50,1.491,6,0.143,0.000,3244,2200,2876
$STATE,15383,end apogee,CONTROL_FINISHED_OK
$STATE,15383,begin climb
$GC,15385,0.67,117.3,996.9,0.0,392,15509,0.88,2.67,113.07,1.438,4,0.094,0.077,3533,797,2396
$GC,15560,0.33,117.3,993.9,7.2,394,15566,0.43,2.45,0.00,0.000,6,0.176,0.061,3425,2203,2394
$GC,15876,0.33,117.3,976.3,5.6,400,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2393
$GC,16179,0.33,117.3,959.1,5.6,405,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2393
$GC,16482,0.33,117.3,941.8,5.7,410,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2393
$GC,16785,0.33,117.3,924.6,5.7,415,16786,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2393
$GC,17089,0.33,117.3,908.8,5.2,420,17090,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2392
$GC,17391,0.35,131.8,894.8,4.6,425,17407,0.00,0.00,13.62,1.352,6,0.000,0.000,3426,2203,2338
$GC,17694,0.37,149.6,881.1,4.5,430,17719,0.00,2.45,17.35,1.366,4,0.000,0.081,3425,3616,2265
$GC,17761,0.32,149.6,877.9,5.1,431,17765,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2204,2265
$GC,18132,0.35,174.2,861.6,4.3,437,18157,0.00,0.00,23.35,1.374,6,0.000,0.000,3425,2204,2165
$GC,18436,0.41,184.7,847.4,4.7,442,18452,0.00,2.40,10.80,1.275,4,0.000,0.081,3426,3611,2122
$GC,18498,0.41,184.7,843.9,6.2,443,18502,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2194,2121
$GC,18870,0.48,184.7,824.8,5.2,449,18872,0.15,0.00,0.00,0.000,6,0.087,0.000,3487,2194,2120
$GC,19174,0.37,184.7,801.2,7.9,454,19178,0.15,2.38,0.00,0.000,4,0.143,0.077,3449,784,2119
$GC,19213,0.37,184.7,798.1,7.8,454,19217,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2203,2119
$GC,19534,0.37,184.7,773.8,7.7,460,19535,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2119
$GC,19836,0.37,184.7,750.3,7.8,465,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2120
$GC,20140,0.37,184.7,728.2,7.2,470,20141,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2119
$GC,20443,0.37,184.7,707.4,6.9,475,20444,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2119
$GC,20747,0.37,184.7,687.4,6.6,480,20748,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2119
$GC,21049,0.37,184.7,667.6,6.5,485,21053,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3611,2119
$GC,21093,0.32,184.7,664.6,6.2,485,21097,0.00,2.35,0.00,0.000,6,0.000,0.063,3449,2194,2119
$GC,21408,0.32,184.7,646.4,5.7,491,21409,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2119
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$STATE,31836,end climb,SURFACE_DEPTH_REACHED
$STATE,31836,begin surface coast
$FINISH,2.9,1.016842
$STATE,31954,end surface coast,CONTROL_FINISHED_OK
$STATE,31954,begin surface
$SM_CCo,31975,28.30,0.839,0,0,1653,300.00
$SM_GC,3.60,0.00,0.00,28.30,0.000,0.000,0.839,138,2409,1653,-9.94,0.25,300.00
$IRIDIUM_FIX,4959.75,-14227.32,150498,020248
$TT8_MAMPS,0.026845
$HUMID,2094
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$TCM_TEMP,15.70
$XPDR_PINGS,983
$24V_AH,21.5,75.286
$10V_AH,10.5,51.136
$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
$DEVICE_SECS,27.875,207.425,358.525,28.300,0.000,24.276,27.298,155.279,245.750,0.000,0.000,12.688,1773.815,27044.965,558.230,2307.051,657.345,33.383,1706.184,0.000,2281.011,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.057,623.423,1422.245,860.864,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47467,837
$CAP_FILE_SIZE,180067,0
$CFSIZE,260165632,228954112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190109,203330,5017.856,-14507.082,40,1.9,40,18.5