version: 66.03
glider: 120
mission: 9
dive: 543
start: 3 21 109 10 52 33
data:
$ID,120
$MISSION,9
$DIVE,543
$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,-29384.59
$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
$GPS1,103637,5006.401,-14450.204,39,1.3,39,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-71.2
$GPS2,105138,5006.450,-14450.231,15,1.5,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,0.087
$KALMAN_X,-50589.0,127.3,-22.4,79321.7,-1078.7
$KALMAN_Y,112959.6,-60.3,195.2,-107589.6,-1495.9
$MHEAD_RNG_PITCHd_Wd,346.4,2113,-27.3,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.22,-25.5,0.0,0.0,0,50,0.00,0.00,-20.30,0.000,2,0.000,0.000,133,2414,2239
$GC,54,-1.23,-36.7,3.3,-3.5,2,102,13.02,2.45,-28.83,0.000,4,0.281,0.082,2913,987,3027
$GC,200,-1.07,-36.7,20.6,-16.5,14,207,0.28,2.35,0.00,0.000,6,0.209,0.065,2971,2409,3029
$GC,529,-1.07,-36.7,73.8,-14.7,45,533,0.00,2.40,0.00,0.000,4,0.000,0.068,2971,991,3029
$GC,579,-1.07,-36.7,82.3,-16.1,48,583,0.00,2.35,0.00,0.000,6,0.000,0.064,2963,2405,3029
$GC,896,-1.07,-36.7,133.9,-15.8,63,900,0.00,2.38,0.00,0.000,4,0.000,0.081,2963,3809,3029
$GC,1027,-1.11,-36.7,152.8,-13.9,69,1031,0.00,2.28,0.00,0.000,6,0.000,0.055,2963,2386,3029
$GC,1369,-1.19,-36.7,193.3,-11.9,80,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2386,3030
$GC,1675,-1.27,-36.7,229.4,-11.6,90,1677,0.17,0.00,0.00,0.000,6,0.077,0.000,2894,2387,3030
$GC,1981,-1.18,-36.7,273.7,-14.8,100,1983,0.17,0.00,0.00,0.000,6,0.196,0.000,2935,2386,3030
$GC,2316,-1.18,-36.7,317.2,-13.0,109,2320,0.00,2.38,0.00,0.000,4,0.000,0.070,2934,984,3030
$GC,2343,-1.18,-36.7,321.0,-13.3,109,2348,0.00,2.35,0.00,0.000,6,0.000,0.064,2929,2401,3030
$GC,2677,-1.18,-36.7,363.6,-12.9,115,2681,0.00,2.40,0.00,0.000,4,0.000,0.068,2930,983,3030
$GC,2727,-1.18,-36.7,370.5,-12.7,115,2731,0.00,2.35,0.00,0.000,6,0.000,0.063,2921,2400,3030
$GC,3037,-1.18,-36.7,412.2,-13.6,120,3041,0.00,2.38,0.00,0.000,4,0.000,0.069,2921,994,3030
$GC,3066,-1.18,-36.7,416.4,-14.6,120,3070,0.00,2.33,0.00,0.000,6,0.000,0.064,2921,2399,3030
$GC,3404,-1.18,-36.7,460.8,-13.2,126,3409,0.00,2.38,0.00,0.000,4,0.000,0.070,2921,995,3030
$GC,3455,-1.18,-36.7,467.5,-12.6,126,3459,0.00,2.35,0.00,0.000,6,0.000,0.065,2921,2402,3030
$GC,3765,-1.18,-36.7,505.9,-12.5,131,3769,0.00,2.40,0.00,0.000,4,0.000,0.081,2921,3818,3029
$GC,3849,-1.18,-36.7,516.0,-11.5,132,3854,0.00,2.28,0.00,0.000,6,0.000,0.056,2921,2402,3029
$GC,4193,-1.18,-36.7,554.6,-11.2,138,4197,0.00,2.42,0.00,0.000,4,0.000,0.082,2921,3816,3029
$GC,4227,-1.18,-36.7,558.7,-12.3,138,4231,0.00,2.28,0.00,0.000,6,0.000,0.057,2921,2399,3029
$GC,4554,-1.18,-36.7,596.2,-11.5,144,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2399,3029
$GC,4856,-1.18,-36.7,630.3,-11.2,149,4861,0.00,2.42,0.00,0.000,4,0.000,0.082,2921,3809,3029
$GC,4901,-1.18,-36.7,635.6,-11.8,149,4906,0.00,2.28,0.00,0.000,6,0.000,0.057,2920,2394,3029
$GC,5217,-1.18,-36.7,670.3,-11.0,155,5221,0.00,2.35,0.00,0.000,4,0.000,0.072,2921,990,3029
$GC,5257,-1.18,-36.7,674.8,-10.5,155,5261,0.00,2.38,0.00,0.000,6,0.000,0.065,2921,2412,3028
$GC,5578,-1.18,-36.7,709.3,-10.8,161,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2411,3028
$GC,5881,-1.18,-36.7,741.3,-10.6,166,5885,0.00,2.42,0.00,0.000,4,0.000,0.071,2921,986,3028
$GC,5917,-1.18,-36.7,745.1,-10.6,166,5921,0.00,2.38,0.00,0.000,6,0.000,0.066,2921,2400,3028
$GC,6245,-1.18,-36.7,779.2,-10.4,172,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2400,3028
$GC,6547,-1.22,-36.7,812.8,-11.1,177,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2400,3028
$GC,6850,-1.26,-36.7,846.9,-11.3,182,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2400,3028
$GC,7154,-1.31,-36.7,880.9,-11.2,187,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2400,3028
$GC,7457,-1.36,-36.7,914.1,-10.9,192,7462,0.12,2.45,0.00,0.000,4,0.091,0.083,2868,3812,3027
$GC,7541,-1.22,-36.7,925.3,-13.7,193,7546,0.22,2.30,0.00,0.000,6,0.205,0.059,2920,2397,3027
$GC,7885,-1.27,-36.7,963.3,-10.9,199,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2397,3027
$STATE,8185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8185,begin apogee
$GC,8194,-0.22,0.0,996.1,10.8,204,8232,1.17,0.00,35.15,1.481,6,0.179,0.000,3238,2200,2876
$STATE,8233,end apogee,CONTROL_FINISHED_OK
$STATE,8233,begin climb
$GC,8236,1.23,36.7,996.1,0.0,204,8278,1.40,2.50,34.88,1.443,4,0.093,0.076,3723,784,2725
$GC,8379,1.07,113.4,1001.2,-5.1,206,8456,0.25,2.35,70.38,1.460,6,0.229,0.062,3666,2206,2413
$GC,8795,1.00,113.4,968.4,10.7,213,8799,0.00,2.35,0.00,0.000,4,0.000,0.080,3666,3613,2411
$GC,8881,0.85,113.4,958.2,12.5,214,8886,0.30,2.33,0.00,0.000,6,0.218,0.065,3596,2195,2411
$GC,9226,0.96,113.4,926.3,9.2,220,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,2196,2410
$GC,9528,1.07,113.4,898.5,9.1,225,9530,0.20,0.00,0.00,0.000,6,0.084,0.000,3668,2195,2410
$GC,9831,1.01,113.4,866.6,10.5,230,9835,0.00,2.40,0.00,0.000,4,0.000,0.081,3670,789,2410
$GC,9934,0.94,113.4,855.6,11.2,231,9938,0.20,2.33,0.00,0.000,6,0.214,0.062,3624,2211,2409
$GC,10261,0.99,113.4,825.6,9.0,237,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2210,2409
$GC,10564,1.04,113.4,799.9,8.4,242,10568,0.00,2.45,0.00,0.000,4,0.000,0.077,3633,785,2409
$GC,10699,1.04,113.4,788.3,8.6,244,10703,0.00,2.33,0.00,0.000,6,0.000,0.062,3633,2198,2409
$GC,11060,1.04,113.4,758.0,8.5,250,11064,0.00,2.45,0.00,0.000,4,0.000,0.077,3641,783,2409
$GC,11178,1.04,113.4,747.9,8.4,251,11182,0.00,2.35,0.00,0.000,6,0.000,0.064,3641,2206,2409
$GC,11489,1.04,113.4,722.5,8.1,256,11493,0.00,2.45,0.00,0.000,4,0.000,0.077,3648,778,2409
$GC,11665,1.04,113.4,707.7,7.9,258,11669,0.00,2.35,0.00,0.000,6,0.000,0.062,3646,2207,2409
$GC,11986,1.04,113.4,682.7,7.8,264,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2207,2409
$GC,12289,1.04,113.4,659.5,7.6,269,12293,0.00,2.45,0.00,0.000,4,0.000,0.077,3654,780,2409
$GC,12479,1.04,113.4,642.7,9.1,271,12485,0.00,2.35,0.00,0.000,6,0.000,0.064,3654,2206,2408
$GC,12790,1.04,113.4,616.3,8.4,277,12794,0.00,2.38,0.00,0.000,4,0.000,0.081,3654,3618,2409
$GC,12835,0.92,113.4,612.2,9.0,277,12840,0.17,2.35,0.00,0.000,6,0.224,0.066,3616,2189,2409
$GC,13151,1.01,113.4,587.8,7.7,283,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2190,2408
$GC,13454,1.09,113.4,563.2,8.2,288,13459,0.15,2.38,0.00,0.000,4,0.087,0.076,3683,777,2409
$GC,13522,1.01,113.4,556.6,9.9,289,13527,0.17,2.35,0.00,0.000,6,0.205,0.062,3642,2202,2409
$GC,13883,1.01,113.4,525.6,8.5,295,13887,0.00,2.38,0.00,0.000,4,0.000,0.079,3643,3619,2409
$GC,14066,0.93,113.4,509.9,8.4,297,14071,0.15,2.33,0.00,0.000,6,0.208,0.062,3619,2188,2409
$GC,14382,1.02,113.4,487.7,6.9,303,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,2189,2408
$GC,14686,1.10,113.4,467.3,6.7,308,14687,0.15,0.00,0.00,0.000,6,0.087,0.000,3674,2189,2408
$GC,14988,1.05,113.4,444.1,7.7,313,14992,0.00,2.42,0.00,0.000,4,0.000,0.077,3685,794,2409
$GC,15218,0.98,113.4,426.0,7.7,316,15223,0.20,2.35,0.00,0.000,6,0.201,0.064,3637,2213,2408
$GC,15551,0.98,113.4,403.2,6.8,322,15555,0.00,2.35,0.00,0.000,4,0.000,0.077,3632,3611,2409
$GC,15781,0.98,113.4,386.0,7.8,325,15785,0.00,2.33,0.00,0.000,6,0.000,0.061,3641,2199,2408
$GC,16119,0.98,113.4,362.6,7.0,331,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2199,2408
$GC,16422,0.98,113.4,343.1,6.3,336,16426,0.00,2.45,0.00,0.000,4,0.000,0.078,3642,783,2409
$GC,16679,0.98,113.4,327.1,5.4,339,16685,0.00,2.35,0.00,0.000,6,0.000,0.062,3642,2213,2408
$GC,16989,0.98,113.4,309.5,5.7,345,16994,0.00,2.47,0.00,0.000,4,0.000,0.075,3653,785,2409
$GC,17120,0.98,113.4,301.9,5.3,347,17124,0.00,2.35,0.00,0.000,6,0.000,0.062,3653,2210,2409
$GC,17465,0.98,113.4,283.4,5.3,357,17469,0.00,2.38,0.00,0.000,4,0.000,0.079,3652,3615,2409
$GC,17561,0.89,113.4,277.8,6.5,359,17569,0.20,2.35,0.00,0.000,6,0.216,0.064,3609,2191,2409
$GC,17875,1.03,121.9,264.7,3.9,370,17890,0.12,2.50,8.07,0.928,4,0.094,0.077,3655,3606,2379
$GC,17943,0.95,121.9,260.9,5.8,372,17948,0.17,2.35,0.00,0.000,6,0.215,0.061,3627,2191,2378
$GC,18279,1.04,121.9,243.0,5.4,383,18283,0.00,2.42,0.00,0.000,4,0.000,0.075,3636,787,2379
$GC,18537,1.12,121.9,228.7,5.6,390,18544,0.12,2.33,0.00,0.000,6,0.090,0.061,3677,2207,2378
$GC,18851,1.12,121.9,210.7,5.5,401,18855,0.00,2.47,0.00,0.000,4,0.000,0.075,3687,782,2378
$GC,19055,1.06,121.9,199.6,5.9,407,19059,0.00,2.35,0.00,0.000,6,0.000,0.062,3687,2204,2379
$GC,19398,1.01,123.2,182.6,4.8,418,19400,0.17,0.00,0.00,0.000,6,0.206,0.000,3644,2204,2378
$GC,19703,1.07,123.2,166.8,5.2,428,19707,0.00,2.42,0.00,0.000,4,0.000,0.077,3644,3614,2379
$GC,19961,1.07,125.9,152.0,4.7,435,19973,0.00,2.38,5.38,0.775,6,0.000,0.060,3653,2191,2362
$GC,20283,1.13,139.1,140.3,3.3,450,20304,0.00,2.53,12.43,0.909,4,0.000,0.077,3653,3611,2308
$GC,20557,1.14,145.1,129.0,4.2,462,20573,0.00,2.38,6.60,0.811,6,0.000,0.063,3654,2202,2284
$GC,20884,1.29,184.2,122.1,-0.1,478,20927,0.20,2.53,33.25,0.920,4,0.077,0.077,3736,787,2124
$GC,21181,1.23,184.2,103.2,9.8,491,21185,0.00,2.33,0.00,0.000,6,0.000,0.061,3736,2210,2121
$GC,21506,1.18,184.2,74.8,8.1,510,21510,0.15,2.45,0.00,0.000,4,0.219,0.071,3706,787,2121
$GC,21763,1.18,184.2,55.4,9.3,532,21769,0.00,2.30,0.00,0.000,6,0.000,0.060,3706,2206,2121
$GC,22094,1.19,192.2,38.5,3.9,563,22106,0.00,2.53,7.57,0.788,4,0.000,0.075,3711,781,2092
$GC,22360,1.19,192.2,18.5,10.9,586,22367,0.00,2.30,0.00,0.000,6,0.000,0.061,3711,2198,2091
$STATE,22481,end climb,SURFACE_DEPTH_REACHED
$STATE,22481,begin surface coast
$FINISH,1.8,1.013200
$STATE,22546,end surface coast,CONTROL_FINISHED_OK
$STATE,22546,begin surface
$SM_CCo,22569,67.60,0.836,0,0,1753,275.23
$SM_GC,3.78,0.00,0.00,67.60,0.000,0.000,0.836,144,2410,1753,-9.91,0.28,275.23
$IRIDIUM_FIX,4946.36,-14451.14,150698,101039
$TT8_MAMPS,0.026845
$HUMID,2086
$INTERNAL_PRESSURE,9.01645
$TCM_TEMP,15.50
$XPDR_PINGS,895
$24V_AH,22.4,106.267
$10V_AH,10.4,73.174
$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,29.975,172.050,213.700,67.600,0.000,94.976,100.466,403.802,223.750,0.000,0.000,15.408,1460.652,18152.879,415.794,2411.615,1086.874,33.371,1562.809,0.000,2368.704,0.000,0.465
$DEVICE_MAMPS,280.722,82.836,1481.077,836.030,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,462.056,441.841,1026.750,620.439,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34877,604
$CAP_FILE_SIZE,160258,0
$CFSIZE,260165632,216559616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,171207,5008.498,-14449.787,94,0.9,94,18.5