version: 66.03
glider: 120
mission: 9
dive: 415
start: 1 31 109 20 34 27
data:
$ID,120
$MISSION,9
$DIVE,415
$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,-26516.027
$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,17
$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
$GPS1,202630,4954.134,-14429.427,77,0.9,83,18.5
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-74.3
$GPS2,203332,4954.158,-14429.396,17,1.2,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.150,0.096
$KALMAN_X,-6747.9,124.3,-20.8,60250.3,164.1
$KALMAN_Y,23031.3,221.0,-427.9,-40092.3,1794.7
$MHEAD_RNG_PITCHd_Wd,284.1,35533,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,39,0.00,0.00,-11.38,0.000,2,0.000,0.000,135,2400,2031
$GC,43,-0.67,-117.3,3.8,-0.0,1,111,14.07,2.42,-48.35,0.000,4,0.284,0.084,3093,985,3355
$GC,276,-0.48,-117.3,27.9,-13.3,22,281,0.22,2.35,0.00,0.000,6,0.156,0.064,3157,2408,3358
$GC,601,-0.48,-117.3,51.3,-9.8,52,602,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2408,3358
$GC,922,-0.48,-117.3,77.5,-6.8,82,926,0.00,2.38,0.00,0.000,4,0.000,0.067,3157,983,3358
$GC,962,-0.54,-117.3,80.7,-8.1,85,966,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2410,3358
$GC,1289,-0.54,-117.3,104.4,-6.9,101,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,3358
$GC,1599,-0.78,-117.3,124.8,-6.5,116,1604,0.22,2.45,0.00,0.000,4,0.081,0.066,3066,988,3358
$GC,1626,-0.78,-117.3,127.2,-8.1,117,1630,0.00,2.30,0.00,0.000,6,0.000,0.061,3066,2404,3358
$GC,1953,-0.85,-117.3,154.3,-8.6,132,1957,0.00,2.40,0.00,0.000,4,0.000,0.066,3066,986,3358
$GC,2060,-0.70,-117.3,164.4,-9.4,135,2064,0.00,2.30,0.00,0.000,6,0.000,0.061,3066,2399,3358
$GC,2389,-0.56,-117.3,194.0,-8.6,146,2394,0.20,2.42,0.00,0.000,4,0.153,0.066,3130,993,3359
$GC,2456,-0.64,-117.3,199.0,-7.2,148,2460,0.00,2.33,0.00,0.000,6,0.000,0.060,3128,2408,3359
$GC,2787,-0.70,-117.3,219.3,-5.9,159,2789,0.10,0.00,0.00,0.000,6,0.091,0.000,3086,2409,3359
$GC,3092,-0.70,-117.3,240.0,-7.0,169,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3359
$GC,3398,-0.70,-117.3,262.1,-7.1,179,3402,0.00,2.45,0.00,0.000,4,0.000,0.067,3086,984,3359
$GC,3461,-0.70,-117.3,266.9,-7.6,181,3466,0.00,2.38,0.00,0.000,6,0.000,0.061,3086,2408,3359
$GC,3797,-0.70,-117.3,291.2,-7.1,192,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3359
$GC,4132,-0.70,-117.3,314.0,-6.7,200,4136,0.00,2.42,0.00,0.000,4,0.000,0.068,3086,993,3358
$GC,4195,-0.70,-117.3,318.4,-6.9,201,4199,0.00,2.30,0.00,0.000,6,0.000,0.061,3086,2400,3359
$GC,4561,-0.70,-117.3,342.1,-6.4,207,4565,0.00,2.38,0.00,0.000,4,0.000,0.080,3086,3813,3358
$GC,4594,-0.70,-117.3,344.3,-6.5,207,4598,0.00,2.30,0.00,0.000,6,0.000,0.054,3085,2393,3358
$GC,4920,-0.70,-117.3,363.9,-6.0,213,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3358
$GC,5224,-0.70,-117.3,382.8,-6.3,218,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3358
$GC,5527,-0.70,-117.3,403.4,-6.8,223,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3358
$GC,5830,-0.70,-117.3,424.5,-7.0,228,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3358
$GC,6133,-0.70,-117.3,444.4,-6.5,233,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3357
$GC,6436,-0.70,-117.3,464.2,-6.5,238,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3357
$GC,6739,-0.70,-117.3,483.6,-6.4,243,6743,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,995,3356
$GC,6778,-0.70,-117.3,486.4,-7.0,243,6782,0.00,2.33,0.00,0.000,6,0.000,0.062,3085,2412,3356
$GC,7099,-0.70,-117.3,506.2,-6.2,249,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3356
$GC,7402,-0.70,-117.3,526.1,-6.6,254,7406,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,989,3356
$GC,7447,-0.70,-117.3,529.3,-7.0,254,7451,0.00,2.33,0.00,0.000,6,0.000,0.062,3085,2398,3356
$GC,7762,-0.70,-117.3,550.2,-6.6,260,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,8065,-0.70,-117.3,569.8,-6.5,265,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,8368,-0.70,-117.3,589.4,-6.4,270,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,8671,-0.70,-117.3,609.1,-6.5,275,8675,0.00,2.40,0.00,0.000,4,0.000,0.070,3085,991,3356
$GC,8704,-0.70,-117.3,611.3,-6.5,275,8708,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2401,3355
$GC,9030,-0.70,-117.3,631.5,-6.2,281,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,9333,-0.70,-117.3,650.0,-6.1,286,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,9637,-0.70,-117.3,669.0,-6.3,291,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,9940,-0.70,-117.3,688.2,-6.4,296,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,10242,-0.70,-117.3,708.1,-6.7,301,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,10546,-0.70,-117.3,728.1,-6.5,306,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,10849,-0.70,-117.3,745.9,-5.8,311,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11152,-0.70,-117.3,763.0,-5.7,316,11156,0.00,2.45,0.00,0.000,4,0.000,0.083,3085,3811,3354
$GC,11190,-0.70,-117.3,765.3,-6.0,316,11195,0.00,2.33,0.00,0.000,6,0.000,0.056,3085,2404,3355
$GC,11511,-0.70,-117.3,783.4,-5.7,322,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,11814,-0.70,-117.3,801.2,-5.9,327,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,12118,-0.70,-117.3,819.3,-5.9,332,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,12421,-0.74,-117.3,836.7,-5.7,337,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,12724,-0.74,-117.3,852.6,-5.1,342,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3354
$GC,13027,-0.74,-117.3,866.5,-4.6,347,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,13330,-0.74,-117.3,880.6,-4.7,352,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,13633,-0.74,-117.3,897.2,-5.5,357,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,13937,-0.78,-117.3,916.1,-6.3,362,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14239,-0.82,-117.3,936.2,-6.7,367,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,14543,-0.86,-117.3,955.5,-6.3,372,14544,0.15,0.00,0.00,0.000,6,0.092,0.000,3028,2404,3353
$GC,14846,-0.78,-117.3,978.3,-7.6,377,14848,0.12,0.00,0.00,0.000,6,0.109,0.000,3062,2401,3353
$STATE,15024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15024,begin apogee
$GC,15032,-0.22,0.0,990.8,6.9,380,15147,0.60,0.00,108.20,1.486,6,0.150,0.000,3243,2190,2876
$STATE,15148,end apogee,CONTROL_FINISHED_OK
$STATE,15148,begin climb
$GC,15151,0.67,117.3,995.6,0.0,382,15268,0.88,0.00,112.70,1.438,6,0.087,0.000,3532,2190,2396
$GC,15575,0.34,117.3,974.0,7.8,388,15577,0.35,0.00,0.00,0.000,6,0.166,0.000,3434,2190,2394
$GC,15876,0.30,117.3,956.3,5.7,393,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2190,2393
$GC,16179,0.25,117.3,938.3,6.0,398,16184,0.12,2.42,0.00,0.000,4,0.180,0.077,3411,792,2393
$GC,16223,0.25,117.3,935.7,5.6,398,16227,0.00,2.30,0.00,0.000,6,0.000,0.062,3411,2203,2393
$GC,16539,0.25,117.3,919.6,5.2,404,16540,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2203,2393
$GC,16842,0.27,137.0,905.8,4.4,409,16862,0.00,0.00,18.08,1.384,6,0.000,0.000,3411,2203,2317
$GC,17146,0.34,157.4,892.5,4.4,414,17167,0.00,0.00,19.60,1.378,6,0.000,0.000,3411,2203,2234
$GC,17449,0.44,178.0,879.1,4.4,419,17472,0.15,0.00,19.83,1.365,6,0.084,0.000,3473,2203,2150
$GC,17752,0.36,178.0,858.9,6.8,424,17754,0.15,0.00,0.00,0.000,6,0.139,0.000,3431,2203,2148
$GC,18054,0.36,178.0,841.5,5.7,429,18058,0.00,2.45,0.00,0.000,4,0.000,0.078,3435,788,2147
$GC,18098,0.40,178.0,838.9,6.4,429,18103,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2203,2147
$GC,18414,0.40,178.0,820.3,5.9,435,18415,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2147
$GC,18717,0.40,178.0,802.8,5.8,440,18721,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,793,2146
$GC,18750,0.45,178.0,800.9,5.8,440,18754,0.00,2.28,0.00,0.000,6,0.000,0.062,3435,2197,2147
$GC,19077,0.45,178.0,782.9,5.5,446,19078,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2146
$GC,19379,0.45,178.0,766.1,5.6,451,19383,0.00,2.35,0.00,0.000,4,0.000,0.079,3435,3615,2146
$GC,19424,0.45,178.0,763.1,6.4,451,19428,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2190,2146
$GC,19739,0.45,178.0,745.6,5.6,457,19740,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2190,2146
$GC,20043,0.45,178.0,728.5,5.6,462,20047,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,790,2146
$GC,20076,0.50,178.0,726.5,5.1,462,20081,0.12,2.30,0.00,0.000,6,0.091,0.061,3488,2213,2146
$GC,20403,0.40,178.0,703.0,7.3,468,20405,0.15,0.00,0.00,0.000,6,0.144,0.000,3447,2213,2146
$GC,20705,0.40,178.0,684.0,6.2,473,20706,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2212,2146
$GC,21009,0.40,178.0,663.9,6.7,478,21010,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2213,2146
$GC,21311,0.40,178.0,644.1,6.5,483,21316,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,783,2146
$GC,21361,0.40,178.0,640.8,6.7,483,21365,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2199,2146
$GC,21671,0.40,178.0,621.6,6.2,488,21673,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2146
$GC,21975,0.40,178.0,603.4,6.0,493,21976,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2146
$GC,22277,0.40,178.0,584.6,6.2,498,22281,0.00,2.42,0.00,0.000,4,0.000,0.077,3449,783,2146
$GC,22340,0.40,178.0,580.8,6.5,499,22344,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2209,2146
$GC,22706,0.40,178.0,559.0,5.9,505,22710,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,3615,2146
$GC,22746,0.34,178.0,556.4,6.7,505,22750,0.00,2.35,0.00,0.000,6,0.000,0.062,3449,2201,2146
$GC,23066,0.34,178.0,538.1,5.7,511,23070,0.00,2.42,0.00,0.000,4,0.000,0.077,3449,793,2145
$GC,23139,0.38,178.0,534.1,5.5,512,23143,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2210,2145
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$STATE,31658,end climb,SURFACE_DEPTH_REACHED
$STATE,31661,begin surface coast
$FINISH,2.7,1.013616
$STATE,31745,end surface coast,CONTROL_FINISHED_OK
$STATE,31745,begin surface
$SM_CCo,31826,0.00,0.000,0,0,1708,286.76
$SM_GC,3.98,9.48,0.00,0.00,0.071,0.000,0.000,144,2408,1708,-9.86,0.23,286.76
$IRIDIUM_FIX,4939.69,-14428.13,270498,121241
$TT8_MAMPS,0.026078
$HUMID,2093
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.70
$XPDR_PINGS,945
$24V_AH,21.4,81.609
$10V_AH,10.5,55.602
$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
$DEVICE_SECS,28.575,161.600,372.100,0.000,0.000,30.830,25.050,225.486,236.250,0.000,0.000,17.904,1708.782,27105.135,501.265,2204.902,718.471,33.364,1571.488,0.000,2174.857,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,626.222,608.211,1393.731,841.851,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47469,820
$CAP_FILE_SIZE,169439,0
$CFSIZE,260165632,226418688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010209,052607,4956.366,-14434.509,36,1.7,36,18.5