version: 66.03
glider: 120
mission: 9
dive: 544
start: 3 21 109 17 19 20
data:
$ID,120
$MISSION,9
$DIVE,544
$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,-29402.047
$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,18
$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
$GPS1,171207,5008.498,-14449.787,94,0.9,94,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-75.8
$GPS2,171826,5008.463,-14449.776,14,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,0.144
$KALMAN_X,-50265.1,230.3,-147.6,79551.1,-521.6
$KALMAN_Y,113043.4,352.2,46.2,-104227.1,-1602.2
$MHEAD_RNG_PITCHd_Wd,305.6,35016,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-10.82,0.000,2,0.000,0.000,135,2410,2015
$GC,42,-0.67,-117.3,3.2,-0.0,1,117,13.88,2.45,-53.42,0.000,4,0.278,0.079,3096,988,3355
$GC,164,-0.53,-117.3,9.9,-8.1,12,169,0.17,2.35,0.00,0.000,6,0.156,0.064,3144,2406,3356
$GC,490,-0.53,-117.3,34.1,-7.8,42,491,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2405,3357
$GC,808,-0.53,-117.3,55.6,-7.4,72,809,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2405,3357
$GC,1137,-0.53,-117.3,82.3,-7.9,102,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2406,3357
$GC,1447,-0.53,-117.3,109.0,-8.5,117,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2406,3357
$GC,1755,-0.53,-117.3,133.3,-6.8,132,1759,0.00,2.40,0.00,0.000,4,0.000,0.081,3138,3818,3357
$GC,1791,-0.64,-117.3,135.7,-7.1,133,1795,0.00,2.33,0.00,0.000,6,0.000,0.053,3138,2393,3357
$GC,2107,-0.89,-117.3,157.4,-6.0,146,2112,0.28,2.50,0.00,0.000,4,0.083,0.077,3032,3812,3357
$GC,2175,-0.63,-117.3,163.5,-10.8,148,2180,0.28,2.33,0.00,0.000,6,0.152,0.054,3108,2393,3357
$GC,2505,-0.63,-117.3,185.4,-6.2,159,2509,0.00,2.50,0.00,0.000,4,0.000,0.080,3108,3816,3357
$GC,2539,-0.63,-117.3,187.8,-6.9,160,2543,0.00,2.33,0.00,0.000,6,0.000,0.052,3108,2394,3357
$GC,2868,-0.63,-117.3,209.5,-6.7,171,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,3175,-0.63,-117.3,230.0,-6.5,181,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,3482,-0.63,-117.3,249.3,-6.3,191,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,3787,-0.63,-117.3,268.5,-6.2,201,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,4093,-0.63,-117.3,289.2,-7.3,211,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,4428,-0.63,-117.3,313.1,-7.1,219,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,4732,-0.63,-117.3,331.7,-6.1,224,4736,0.00,2.50,0.00,0.000,4,0.000,0.081,3108,3806,3357
$GC,4777,-0.69,-117.3,334.6,-6.1,224,4781,0.00,2.33,0.00,0.000,6,0.000,0.054,3108,2392,3357
$GC,5092,-0.69,-117.3,353.0,-5.8,230,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2392,3357
$GC,5396,-0.69,-117.3,370.6,-5.8,235,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3357
$GC,5700,-0.69,-117.3,387.6,-5.5,240,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3357
$GC,6002,-0.73,-117.3,403.6,-5.3,245,6006,0.00,2.50,0.00,0.000,4,0.000,0.081,3108,3806,3357
$GC,6047,-0.81,-117.3,406.1,-5.6,245,6052,0.17,2.33,0.00,0.000,6,0.078,0.054,3044,2392,3357
$GC,6363,-0.72,-117.3,429.2,-7.5,251,6365,0.15,0.00,0.00,0.000,6,0.106,0.000,3088,2392,3357
$GC,6666,-0.72,-117.3,449.9,-6.8,256,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2392,3357
$GC,6969,-0.72,-117.3,471.0,-6.9,261,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2392,3357
$GC,7272,-0.72,-117.3,491.1,-6.7,266,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2392,3357
$GC,7575,-0.72,-117.3,511.6,-6.8,271,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2392,3356
$GC,7878,-0.72,-117.3,533.0,-7.1,276,7882,0.00,2.42,0.00,0.000,4,0.000,0.071,3088,993,3356
$GC,7929,-0.72,-117.3,536.9,-7.7,276,7933,0.00,2.35,0.00,0.000,6,0.000,0.063,3086,2409,3356
$GC,8239,-0.72,-117.3,558.9,-7.1,281,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3356
$GC,8542,-0.72,-117.3,578.6,-6.4,286,8546,0.00,2.45,0.00,0.000,4,0.000,0.083,3085,3811,3356
$GC,8582,-0.72,-117.3,581.1,-6.2,286,8586,0.00,2.33,0.00,0.000,6,0.000,0.054,3086,2398,3355
$GC,8904,-0.72,-117.3,600.3,-6.0,292,8908,0.00,2.42,0.00,0.000,4,0.000,0.071,3085,994,3355
$GC,8938,-0.72,-117.3,602.6,-6.5,292,8942,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2410,3355
$GC,9266,-0.72,-117.3,622.1,-5.8,298,9270,0.00,2.40,0.00,0.000,4,0.000,0.083,3085,3817,3355
$GC,9301,-0.72,-117.3,624.1,-6.2,298,9305,0.00,2.33,0.00,0.000,6,0.000,0.055,3085,2389,3355
$GC,9628,-0.72,-117.3,642.8,-5.7,304,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,3355
$GC,9931,-0.72,-117.3,660.0,-5.7,309,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,10234,-0.72,-117.3,678.7,-6.2,314,10238,0.00,2.55,0.00,0.000,4,0.000,0.083,3085,3808,3355
$GC,10272,-0.72,-117.3,681.4,-6.9,314,10277,0.00,2.35,0.00,0.000,6,0.000,0.055,3085,2395,3355
$GC,10595,-0.72,-117.3,700.8,-6.0,320,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3355
$GC,10897,-0.72,-117.3,717.8,-5.6,325,10901,0.00,2.53,0.00,0.000,4,0.000,0.083,3085,3807,3354
$GC,10941,-0.72,-117.3,720.2,-5.5,325,10945,0.00,2.35,0.00,0.000,6,0.000,0.055,3085,2390,3354
$GC,11258,-0.72,-117.3,736.9,-5.3,331,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3354
$GC,11560,-0.72,-117.3,754.0,-5.7,336,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3354
$GC,11864,-0.72,-117.3,772.2,-6.1,341,11868,0.00,2.53,0.00,0.000,4,0.000,0.083,3085,3806,3354
$GC,11899,-0.72,-117.3,774.3,-6.2,341,11903,0.00,2.35,0.00,0.000,6,0.000,0.056,3085,2395,3354
$GC,12226,-0.72,-117.3,794.2,-6.1,347,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3354
$GC,12529,-0.72,-117.3,812.8,-6.1,352,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3354
$GC,12831,-0.72,-117.3,831.2,-6.1,357,12836,0.00,2.50,0.00,0.000,4,0.000,0.084,3086,3805,3354
$GC,12871,-0.72,-117.3,833.8,-6.1,357,12875,0.00,2.35,0.00,0.000,6,0.000,0.056,3086,2391,3354
$GC,13192,-0.72,-117.3,853.8,-6.3,363,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3354
$GC,13496,-0.72,-117.3,872.3,-6.1,368,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3353
$GC,13799,-0.72,-117.3,890.3,-5.9,373,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3354
$GC,14101,-0.72,-117.3,907.9,-5.8,378,14106,0.00,2.53,0.00,0.000,4,0.000,0.084,3085,3807,3353
$GC,14129,-0.72,-117.3,909.6,-6.3,378,14133,0.00,2.35,0.00,0.000,6,0.000,0.057,3085,2401,3353
$GC,14463,-0.72,-117.3,929.1,-5.8,384,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,14765,-0.72,-117.3,946.6,-5.7,389,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3353
$GC,15069,-0.72,-117.3,963.3,-5.5,394,15073,0.00,2.55,0.00,0.000,4,0.000,0.084,3086,3813,3353
$GC,15108,-0.77,-117.3,965.7,-5.8,394,15113,0.00,2.38,0.00,0.000,6,0.000,0.056,3085,2395,3353
$GC,15431,-0.95,-117.3,985.5,-6.3,400,15436,0.20,2.53,0.00,0.000,4,0.087,0.082,3005,3810,3353
$STATE,15491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15491,begin apogee
$GC,15502,-0.22,0.0,990.5,7.9,401,15614,0.82,0.00,108.20,1.487,6,0.156,0.000,3242,2191,2876
$STATE,15615,end apogee,CONTROL_FINISHED_OK
$STATE,15615,begin climb
$GC,15618,0.67,117.3,994.8,0.0,403,15742,0.88,2.72,115.00,1.428,4,0.088,0.076,3533,795,2396
$GC,15998,0.34,117.3,976.9,7.6,408,16003,0.38,2.33,0.00,0.000,6,0.173,0.062,3430,2212,2393
$GC,16315,0.30,117.3,960.0,5.2,414,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2211,2392
$GC,16617,0.26,117.3,944.5,5.1,419,16621,0.00,2.35,0.00,0.000,4,0.000,0.081,3428,3616,2392
$GC,16663,0.15,117.3,941.9,5.6,419,16667,0.25,2.33,0.00,0.000,6,0.173,0.061,3370,2200,2392
$GC,16979,0.36,168.5,930.6,3.5,425,17031,0.15,2.50,45.78,1.432,4,0.081,0.078,3436,786,2188
$GC,17054,0.36,168.5,926.5,6.1,426,17058,0.00,2.35,0.00,0.000,6,0.000,0.061,3435,2199,2187
$GC,17403,0.36,168.5,906.1,5.9,432,17407,0.00,2.38,0.00,0.000,4,0.000,0.081,3435,3611,2184
$GC,17448,0.29,168.5,903.0,7.3,432,17453,0.00,2.33,0.00,0.000,6,0.000,0.063,3435,2191,2184
$GC,17764,0.29,168.5,885.2,5.6,438,17768,0.00,2.35,0.00,0.000,4,0.000,0.080,3435,790,2183
$GC,17819,0.29,168.5,882.1,5.9,438,17826,0.00,2.30,0.00,0.000,6,0.000,0.061,3435,2204,2183
$GC,18131,0.29,168.5,866.3,5.1,444,18132,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2183
$GC,18433,0.29,168.5,850.8,5.1,449,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2183
$GC,18736,0.29,168.5,835.5,5.0,454,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2183
$GC,19039,0.29,168.5,820.3,5.1,459,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2183
$GC,19342,0.29,168.5,802.7,5.9,464,19346,0.00,2.45,0.00,0.000,4,0.000,0.078,3435,792,2183
$GC,19376,0.29,168.5,800.5,6.8,464,19380,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2213,2183
$GC,19703,0.29,168.5,780.9,6.1,470,19704,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2212,2183
$GC,20006,0.29,168.5,761.8,6.3,475,20007,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2212,2182
$GC,20309,0.29,168.5,743.4,6.1,480,20313,0.00,2.47,0.00,0.000,4,0.000,0.078,3435,791,2182
$GC,20350,0.34,168.5,740.9,5.8,480,20354,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2211,2183
$GC,20671,0.34,168.5,721.7,6.0,486,20675,0.00,2.35,0.00,0.000,4,0.000,0.081,3435,3608,2182
$GC,20706,0.34,168.5,719.3,6.5,486,20710,0.00,2.35,0.00,0.000,6,0.000,0.062,3435,2199,2182
$GC,21034,0.34,168.5,701.7,5.3,492,21039,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,789,2182
$GC,21069,0.40,173.6,699.8,4.9,492,21079,0.00,2.33,5.15,0.998,6,0.000,0.061,3435,2208,2168
$GC,21395,0.40,173.6,682.6,5.2,498,21396,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2168
$GC,21699,0.40,173.6,666.4,5.4,503,21700,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2168
$GC,22003,0.44,179.6,651.5,4.8,508,22012,0.00,0.00,7.25,1.102,6,0.000,0.000,3436,2208,2143
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$GC,23517,0.48,202.3,567.2,6.1,533,23522,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,783,2047
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$STATE,32790,end climb,SURFACE_DEPTH_REACHED
$STATE,32790,begin surface coast
$FINISH,1.9,1.012021
$STATE,32951,end surface coast,CONTROL_FINISHED_OK
$STATE,32954,begin surface
$SM_CCo,32976,24.17,0.840,0,0,1754,275.23
$SM_GC,3.57,0.00,0.00,24.17,0.000,0.000,0.840,140,2405,1754,-9.93,0.14,275.23
$IRIDIUM_FIX,4949.70,-14453.88,150698,101029
$TT8_MAMPS,0.027612
$HUMID,2119
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,14.10
$XPDR_PINGS,1032
$24V_AH,21.0,106.450
$10V_AH,10.4,73.313
$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,28.475,177.900,340.275,24.175,0.000,24.700,27.958,173.045,258.000,0.000,0.000,16.826,1804.402,27958.623,526.619,2294.072,790.607,33.378,1635.401,0.000,2273.967,0.000,0.466
$DEVICE_MAMPS,277.654,84.370,1487.213,839.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,676.502,648.909,1489.266,900.707,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50548,876
$CAP_FILE_SIZE,174324,0
$CFSIZE,260165632,216449024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,023036,5011.737,-14453.477,32,2.0,32,18.5