version: 66.03
glider: 120
mission: 9
dive: 455
start: 2 16 109 1 11 39
data:
$ID,120
$MISSION,9
$DIVE,455
$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,-27475.762
$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
$GPS1,010407,4959.176,-14431.239,29,1.1,29,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-68.4
$GPS2,011044,4959.172,-14431.271,14,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.000,-0.178
$KALMAN_X,-10313.7,-248.9,-87.5,62044.3,775.0
$KALMAN_Y,48436.2,-422.9,138.6,-56124.8,2741.6
$MHEAD_RNG_PITCHd_Wd,161.6,9711,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.07,0.000,2,0.000,0.000,139,2411,1840
$GC,41,-0.67,-117.3,3.7,-0.0,1,116,13.90,0.00,-58.30,0.000,6,0.279,0.000,3097,2411,3356
$GC,435,-0.51,-117.3,44.1,-9.5,38,437,0.17,0.00,0.00,0.000,6,0.167,0.000,3146,2411,3359
$GC,753,-0.51,-117.3,68.9,-6.5,68,754,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2411,3358
$GC,1077,-0.51,-117.3,93.7,-8.2,91,1081,0.00,2.40,0.00,0.000,4,0.000,0.069,3146,994,3359
$GC,1121,-0.51,-117.3,97.6,-8.9,93,1125,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2398,3358
$GC,1442,-0.51,-117.3,121.0,-6.9,109,1447,0.00,2.38,0.00,0.000,4,0.000,0.067,3141,992,3359
$GC,1487,-0.56,-117.3,124.3,-6.7,111,1491,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2406,3358
$GC,1809,-0.60,-117.3,144.3,-5.6,127,1813,0.00,2.35,0.00,0.000,4,0.000,0.068,3141,982,3358
$GC,1837,-0.60,-117.3,145.9,-5.6,128,1841,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2402,3359
$GC,2162,-0.68,-117.3,164.4,-6.0,140,2164,0.12,0.00,0.00,0.000,6,0.083,0.000,3091,2402,3358
$GC,2468,-0.68,-117.3,186.6,-7.2,150,2472,0.00,2.38,0.00,0.000,4,0.000,0.079,3088,3814,3359
$GC,2504,-0.62,-117.3,189.4,-8.4,151,2508,0.00,2.25,0.00,0.000,6,0.000,0.054,3088,2398,3359
$GC,2845,-0.62,-117.3,214.4,-7.1,162,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3359
$GC,3151,-0.62,-117.3,234.6,-6.7,172,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3359
$GC,3457,-0.62,-117.3,255.9,-7.0,182,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3359
$GC,3764,-0.62,-117.3,277.8,-7.1,192,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3359
$GC,4069,-0.62,-117.3,298.8,-6.7,202,4073,0.00,2.42,0.00,0.000,4,0.000,0.081,3088,3816,3358
$GC,4114,-0.62,-117.3,302.0,-7.4,203,4118,0.00,2.28,0.00,0.000,6,0.000,0.054,3088,2393,3358
$GC,4436,-0.62,-117.3,323.1,-6.6,209,4440,0.00,2.40,0.00,0.000,4,0.000,0.080,3088,3807,3359
$GC,4480,-0.62,-117.3,326.6,-7.3,209,4484,0.10,2.25,0.00,0.000,6,0.104,0.054,3114,2390,3358
$GC,4795,-0.62,-117.3,347.1,-6.5,215,4799,0.00,2.33,0.00,0.000,4,0.000,0.071,3114,987,3358
$GC,4834,-0.67,-117.3,349.7,-7.5,215,4838,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2398,3359
$GC,5155,-0.67,-117.3,368.4,-5.7,221,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,5457,-0.67,-117.3,386.3,-5.9,226,5462,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,5491,-0.72,-117.3,388.5,-6.3,226,5495,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2411,3358
$GC,5819,-0.76,-117.3,408.2,-6.0,232,5821,0.12,0.00,0.00,0.000,6,0.088,0.000,3063,2411,3357
$GC,6121,-0.72,-117.3,428.7,-6.7,237,6126,0.00,2.38,0.00,0.000,4,0.000,0.071,3063,989,3357
$GC,6161,-0.65,-117.3,431.6,-7.7,237,6165,0.15,2.33,0.00,0.000,6,0.141,0.063,3102,2408,3357
$GC,6481,-0.65,-117.3,450.4,-5.8,243,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2408,3357
$GC,6785,-0.65,-117.3,468.1,-5.8,248,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2408,3357
$GC,7088,-0.65,-117.3,484.7,-5.5,253,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2408,3357
$GC,7391,-0.65,-117.3,501.3,-5.6,258,7395,0.00,2.40,0.00,0.000,4,0.000,0.071,3103,989,3356
$GC,7418,-0.65,-117.3,503.1,-6.6,258,7422,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2404,3356
$GC,7750,-0.65,-117.3,522.0,-5.7,264,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,8053,-0.65,-117.3,538.1,-5.2,269,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,8356,-0.65,-117.3,555.3,-5.7,274,8360,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,987,3356
$GC,8390,-0.70,-117.3,557.5,-6.6,274,8394,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2405,3356
$GC,8723,-0.70,-117.3,576.0,-5.5,280,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,9026,-0.70,-117.3,591.3,-5.0,285,9030,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,987,3356
$GC,9054,-0.70,-117.3,592.8,-5.8,285,9058,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2408,3356
$GC,9386,-0.70,-117.3,608.5,-4.8,291,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3356
$GC,9689,-0.70,-117.3,624.3,-5.3,296,9693,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,988,3355
$GC,9717,-0.74,-117.3,625.9,-6.1,296,9721,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2407,3355
$GC,10050,-0.74,-117.3,645.2,-5.9,302,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,10353,-0.74,-117.3,663.6,-6.1,307,10357,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,987,3355
$GC,10393,-0.79,-117.3,666.3,-7.1,307,10397,0.12,2.33,0.00,0.000,6,0.088,0.063,3054,2406,3355
$GC,10713,-0.79,-117.3,689.5,-7.3,313,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2407,3355
$GC,11017,-0.79,-117.3,711.2,-7.1,318,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2406,3355
$GC,11319,-0.79,-117.3,732.7,-7.0,323,11323,0.00,2.35,0.00,0.000,4,0.000,0.073,3054,997,3354
$GC,11348,-0.75,-117.3,734.8,-7.6,323,11352,0.00,2.30,0.00,0.000,6,0.000,0.064,3054,2399,3355
$GC,11680,-0.69,-117.3,758.3,-7.0,329,11682,0.15,0.00,0.00,0.000,6,0.150,0.000,3094,2399,3355
$GC,11983,-0.69,-117.3,775.7,-5.7,334,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3354
$GC,12286,-0.69,-117.3,792.9,-5.7,339,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3355
$GC,12590,-0.73,-117.3,809.8,-5.6,344,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3355
$GC,12892,-0.73,-117.3,827.4,-5.8,349,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3354
$GC,13195,-0.73,-117.3,844.5,-5.6,354,13200,0.00,2.38,0.00,0.000,4,0.000,0.072,3094,997,3354
$GC,13240,-0.78,-117.3,847.3,-5.7,354,13244,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2400,3354
$GC,13557,-0.83,-117.3,864.8,-5.5,360,13562,0.15,2.38,0.00,0.000,4,0.085,0.081,3030,3808,3354
$GC,13613,-0.70,-117.3,868.9,-7.8,360,13620,0.20,2.25,0.00,0.000,6,0.139,0.057,3085,2401,3353
$GC,13923,-0.70,-117.3,886.5,-5.6,366,13927,0.00,2.35,0.00,0.000,4,0.000,0.074,3086,990,3354
$GC,13956,-0.70,-117.3,888.3,-5.4,366,13960,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2404,3354
$GC,14289,-0.70,-117.3,906.3,-5.4,372,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,14592,-0.70,-117.3,921.8,-5.2,377,14596,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,992,3353
$GC,14630,-0.70,-117.3,924.0,-5.8,377,14634,0.00,2.35,0.00,0.000,6,0.000,0.066,3085,2406,3353
$GC,14951,-0.70,-117.3,941.0,-5.3,383,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,15254,-0.70,-117.3,957.9,-5.6,388,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,15557,-0.70,-117.3,975.0,-5.6,393,15561,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,15584,-0.70,-117.3,976.7,-6.0,393,15588,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2405,3353
$STATE,15858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15858,begin apogee
$GC,15866,-0.22,0.0,991.8,5.5,398,15981,0.52,0.00,108.95,1.485,6,0.139,0.000,3244,2192,2875
$STATE,15982,end apogee,CONTROL_FINISHED_OK
$STATE,15982,begin climb
$GC,15985,0.67,117.3,996.4,0.0,400,16109,0.88,2.67,113.30,1.434,4,0.092,0.079,3532,797,2397
$GC,16199,0.35,117.3,991.3,7.6,403,16204,0.38,2.42,0.00,0.000,6,0.175,0.061,3435,2206,2395
$GC,16543,0.29,117.3,973.0,5.3,409,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2394
$GC,16846,0.24,117.3,956.2,5.6,414,16851,0.15,2.40,0.00,0.000,4,0.183,0.077,3395,783,2393
$GC,16886,0.36,129.3,954.1,4.7,414,16908,0.12,2.33,11.60,1.325,6,0.091,0.063,3445,2212,2349
$GC,17211,0.30,129.3,934.7,6.1,420,17215,0.00,2.33,0.00,0.000,4,0.000,0.082,3444,3608,2348
$GC,17250,0.16,129.3,931.9,6.8,420,17255,0.30,2.30,0.00,0.000,6,0.172,0.064,3369,2192,2348
$GC,17572,0.37,154.1,917.8,4.3,426,17602,0.17,2.42,23.40,1.400,4,0.084,0.081,3439,790,2247
$GC,17653,0.37,154.1,913.3,5.1,427,17657,0.00,2.33,0.00,0.000,6,0.000,0.063,3439,2201,2246
$GC,18001,0.37,154.1,893.0,5.9,433,18003,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2201,2245
$GC,18305,0.37,154.1,876.3,5.5,438,18309,0.00,2.40,0.00,0.000,4,0.000,0.078,3446,782,2245
$GC,18338,0.37,154.1,874.4,5.3,438,18342,0.00,2.33,0.00,0.000,6,0.000,0.064,3447,2208,2245
$GC,18664,0.37,154.1,857.1,5.3,444,18669,0.00,2.35,0.00,0.000,4,0.000,0.082,3446,3618,2245
$GC,18693,0.27,154.1,855.5,6.0,444,18698,0.17,2.30,0.00,0.000,6,0.170,0.064,3404,2194,2244
$GC,19026,0.41,193.7,842.3,3.9,450,19064,0.15,0.00,36.28,1.384,6,0.085,0.000,3464,2195,2086
$GC,19328,0.41,193.7,824.7,6.0,455,19329,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2082
$GC,19631,0.41,193.7,804.4,6.7,460,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2195,2081
$GC,19935,0.41,193.7,781.9,7.5,465,19936,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2195,2081
$GC,20238,0.41,193.7,758.2,7.8,470,20239,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2081
$GC,20540,0.41,193.7,735.3,7.5,475,20542,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2195,2080
$GC,20844,0.41,193.7,714.9,6.7,480,20845,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2195,2080
$GC,21147,0.41,193.7,695.2,6.5,485,21151,0.00,2.45,0.00,0.000,4,0.000,0.082,3464,3619,2080
$GC,21186,0.32,193.7,692.4,7.2,485,21191,0.15,2.35,0.00,0.000,6,0.166,0.064,3425,2189,2080
$GC,21508,0.42,193.7,674.6,5.5,491,21512,0.00,2.38,0.00,0.000,4,0.000,0.079,3425,785,2080
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$STATE,32522,end climb,SURFACE_DEPTH_REACHED
$STATE,32522,begin surface coast
$FINISH,5.9,1.025605
$STATE,32535,end surface coast,CONTROL_FINISHED_OK
$STATE,32535,begin surface
$SM_CCo,32620,0.00,0.000,0,0,1558,323.31
$SM_GC,3.67,10.12,0.00,0.00,0.091,0.000,0.000,143,2403,1558,-9.86,0.08,323.31
$IRIDIUM_FIX,4946.36,-14426.18,120598,151507
$TT8_MAMPS,0.026845
$HUMID,2086
$INTERNAL_PRESSURE,9.01645
$TCM_TEMP,15.90
$XPDR_PINGS,1017
$24V_AH,21.4,89.307
$10V_AH,10.5,61.098
$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
$DEVICE_SECS,31.175,230.350,405.750,0.000,0.000,31.115,27.930,181.482,254.250,0.000,0.000,14.610,1848.889,27358.693,576.129,2458.709,762.087,33.370,1806.996,0.000,2425.537,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,658.410,636.018,1463.239,884.272,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50502,861
$CAP_FILE_SIZE,194426,0
$CFSIZE,260165632,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160209,101654,4956.373,-14430.807,40,1.9,57,18.5