version: 66.03
glider: 120
mission: 9
dive: 641
start: 4 27 109 11 17 54
data:
$ID,120
$MISSION,9
$DIVE,641
$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,-31368.75
$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,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
$GPS1,111007,4958.498,-14511.407,28,1.3,28,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-76.6
$GPS2,111658,4958.501,-14511.443,11,2.4,30,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.178
$KALMAN_X,-104302.9,57.8,-42.3,107899.1,-499.1
$KALMAN_Y,152104.2,-315.8,-244.7,-160761.0,4167.8
$MHEAD_RNG_PITCHd_Wd,159.2,8336,-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,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.02,0.000,2,0.000,0.000,138,2414,2478
$GC,63,-0.67,-117.3,3.2,-5.6,3,107,13.45,2.53,-22.92,0.000,4,0.272,0.091,3097,992,3357
$GC,214,-0.52,-117.3,17.9,-9.5,16,219,0.17,2.38,0.00,0.000,6,0.156,0.063,3145,2401,3358
$GC,540,-0.52,-117.3,44.4,-7.4,46,544,0.00,2.42,0.00,0.000,4,0.000,0.081,3138,3812,3358
$GC,569,-0.52,-117.3,46.9,-8.5,48,573,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2393,3358
$GC,897,-0.52,-117.3,72.2,-8.1,78,903,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2393,3358
$GC,1228,-0.52,-117.3,98.2,-7.8,99,1232,0.00,2.58,0.00,0.000,4,0.000,0.078,3138,3809,3358
$GC,1273,-0.52,-117.3,101.9,-7.6,101,1277,0.00,2.33,0.00,0.000,6,0.000,0.052,3138,2396,3358
$GC,1595,-0.52,-117.3,124.3,-6.6,117,1599,0.00,2.45,0.00,0.000,4,0.000,0.067,3138,994,3358
$GC,1637,-0.52,-117.3,127.3,-7.0,119,1641,0.00,2.40,0.00,0.000,6,0.000,0.059,3138,2405,3359
$GC,1965,-0.57,-117.3,147.9,-6.5,135,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3359
$GC,2282,-0.63,-117.3,166.8,-5.7,146,2286,0.00,2.45,0.00,0.000,4,0.000,0.067,3138,993,3359
$GC,2328,-0.72,-117.3,169.6,-6.2,147,2333,0.15,2.42,0.00,0.000,6,0.078,0.060,3084,2412,3359
$GC,2653,-0.72,-117.3,188.5,-5.6,158,2657,0.00,2.42,0.00,0.000,4,0.000,0.079,3084,3814,3359
$GC,2683,-0.67,-117.3,190.4,-6.7,159,2687,0.00,2.30,0.00,0.000,6,0.000,0.052,3084,2397,3359
$GC,3020,-0.67,-117.3,213.2,-7.2,170,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3358
$GC,3325,-0.67,-117.3,235.1,-7.1,180,3329,0.00,2.47,0.00,0.000,4,0.000,0.067,3084,989,3359
$GC,3364,-0.67,-117.3,238.2,-8.2,181,3368,0.00,2.42,0.00,0.000,6,0.000,0.060,3084,2411,3358
$GC,3689,-0.62,-117.3,261.7,-7.0,192,3694,0.12,2.53,0.00,0.000,4,0.138,0.067,3118,988,3359
$GC,3719,-0.62,-117.3,263.6,-6.8,193,3723,0.00,2.42,0.00,0.000,6,0.000,0.060,3115,2406,3359
$GC,4055,-0.62,-117.3,283.2,-5.7,204,4059,0.00,2.47,0.00,0.000,4,0.000,0.067,3115,993,3359
$GC,4089,-0.67,-117.3,285.2,-6.2,205,4093,0.00,2.42,0.00,0.000,6,0.000,0.060,3114,2413,3359
$GC,4450,-0.67,-117.3,304.9,-5.5,216,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3359
$GC,4752,-0.67,-117.3,321.5,-5.4,221,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3359
$GC,5056,-0.67,-117.3,337.8,-5.4,226,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3359
$GC,5359,-0.71,-117.3,353.6,-5.2,231,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2412,3359
$GC,5663,-0.76,-117.3,370.2,-5.5,236,5668,0.12,2.58,0.00,0.000,4,0.088,0.068,3067,986,3358
$GC,5747,-0.71,-117.3,376.3,-7.3,237,5752,0.00,2.45,0.00,0.000,6,0.000,0.061,3066,2401,3358
$GC,6092,-0.64,-117.3,400.7,-7.1,243,6097,0.15,2.50,0.00,0.000,4,0.138,0.068,3118,993,3358
$GC,6121,-0.69,-117.3,402.7,-6.4,243,6126,0.00,2.42,0.00,0.000,6,0.000,0.060,3114,2409,3359
$GC,6455,-0.74,-117.3,422.2,-5.9,249,6457,0.12,0.00,0.00,0.000,6,0.088,0.000,3062,2408,3358
$GC,6758,-0.74,-117.3,442.0,-6.5,254,6762,0.00,2.47,0.00,0.000,4,0.000,0.080,3062,3819,3358
$GC,6804,-0.66,-117.3,445.3,-7.6,254,6809,0.15,2.33,0.00,0.000,6,0.104,0.054,3104,2395,3358
$GC,7120,-0.66,-117.3,461.3,-5.0,260,7124,0.00,2.50,0.00,0.000,4,0.000,0.070,3104,986,3358
$GC,7165,-0.66,-117.3,464.0,-5.8,260,7169,0.00,2.42,0.00,0.000,6,0.000,0.061,3100,2401,3358
$GC,7481,-0.66,-117.3,480.7,-5.3,266,7485,0.00,2.50,0.00,0.000,4,0.000,0.070,3100,990,3358
$GC,7517,-0.66,-117.3,482.7,-6.1,266,7521,0.00,2.45,0.00,0.000,6,0.000,0.061,3100,2411,3358
$GC,7844,-0.66,-117.3,503.2,-6.4,272,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3358
$GC,8147,-0.66,-117.3,524.9,-7.2,277,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3358
$GC,8450,-0.66,-117.3,546.5,-7.0,282,8455,0.00,2.50,0.00,0.000,4,0.000,0.070,3100,992,3357
$GC,8492,-0.70,-117.3,549.4,-6.6,282,8496,0.00,2.45,0.00,0.000,6,0.000,0.062,3100,2410,3357
$GC,8814,-0.70,-117.3,570.3,-6.5,288,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3358
$GC,9116,-0.70,-117.3,590.5,-6.7,293,9121,0.00,2.50,0.00,0.000,4,0.000,0.071,3100,988,3357
$GC,9151,-0.74,-117.3,593.0,-7.6,293,9155,0.00,2.45,0.00,0.000,6,0.000,0.062,3100,2411,3357
$GC,9478,-0.74,-117.3,615.1,-6.8,299,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3357
$GC,9781,-0.74,-117.3,634.6,-6.3,304,9785,0.00,2.53,0.00,0.000,4,0.000,0.070,3100,988,3357
$GC,9826,-0.80,-117.3,637.5,-6.5,304,9831,0.12,2.45,0.00,0.000,6,0.087,0.062,3054,2406,3356
$GC,10142,-0.80,-117.3,658.2,-6.6,310,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,10446,-0.80,-117.3,677.5,-6.3,315,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,10748,-0.80,-117.3,696.2,-6.1,320,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,11051,-0.80,-117.3,715.5,-6.4,325,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,11354,-0.80,-117.3,736.0,-6.9,330,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,11658,-0.80,-117.3,757.2,-6.9,335,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2404,3356
$GC,11960,-0.80,-117.3,777.3,-6.6,340,11964,0.00,2.55,0.00,0.000,4,0.000,0.071,3054,994,3356
$GC,11994,-0.80,-117.3,779.6,-6.5,340,11998,0.00,2.45,0.00,0.000,6,0.000,0.063,3053,2406,3356
$GC,12321,-0.74,-117.3,800.0,-6.2,346,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2406,3356
$GC,12625,-0.69,-117.3,818.5,-6.1,351,12627,0.15,0.00,0.00,0.000,6,0.142,0.000,3095,2405,3356
$GC,12928,-0.73,-117.3,834.1,-5.1,356,12932,0.00,2.58,0.00,0.000,4,0.000,0.070,3095,988,3355
$GC,12951,-0.79,-117.3,835.4,-5.1,356,12955,0.00,2.45,0.00,0.000,6,0.000,0.064,3095,2407,3355
$GC,13290,-0.84,-117.3,853.0,-5.2,362,13295,0.15,2.55,0.00,0.000,4,0.084,0.070,3037,993,3355
$GC,13313,-0.84,-117.3,854.6,-6.1,362,13318,0.00,2.45,0.00,0.000,6,0.000,0.063,3037,2406,3355
$GC,13653,-0.75,-117.3,877.8,-6.9,368,13655,0.12,0.00,0.00,0.000,6,0.150,0.000,3071,2405,3355
$GC,13956,-0.75,-117.3,895.6,-5.9,373,13960,0.00,2.53,0.00,0.000,4,0.000,0.071,3071,990,3355
$GC,13991,-0.75,-117.3,897.8,-5.7,373,13995,0.00,2.45,0.00,0.000,6,0.000,0.064,3071,2400,3355
$GC,14318,-0.75,-117.3,915.7,-5.4,379,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3355
$GC,14621,-0.75,-117.3,933.0,-5.7,384,14625,0.00,2.50,0.00,0.000,4,0.000,0.071,3071,988,3354
$GC,14649,-0.75,-117.3,934.8,-6.0,384,14653,0.00,2.45,0.00,0.000,6,0.000,0.064,3071,2400,3354
$GC,14982,-0.75,-117.3,954.7,-6.1,390,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3354
$GC,15284,-0.75,-117.3,974.4,-6.6,395,15289,0.00,2.53,0.00,0.000,4,0.000,0.084,3071,3815,3354
$GC,15313,-0.75,-117.3,976.5,-7.0,395,15317,0.00,2.35,0.00,0.000,6,0.000,0.057,3072,2393,3354
$STATE,15520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15520,begin apogee
$GC,15529,-0.22,0.0,990.2,6.5,399,15643,0.57,0.00,108.43,1.491,6,0.137,0.000,3243,2195,2875
$STATE,15644,end apogee,CONTROL_FINISHED_OK
$STATE,15644,begin climb
$GC,15649,0.67,117.3,995.3,0.0,401,15773,0.88,2.83,115.15,1.442,4,0.087,0.074,3533,793,2396
$GC,15807,0.32,130.9,996.4,4.6,403,15828,0.45,2.67,14.82,1.304,6,0.166,0.059,3426,2202,2342
$GC,16141,0.34,151.8,981.9,4.4,409,16165,0.00,2.42,19.88,1.386,4,0.000,0.081,3426,3621,2256
$GC,16212,0.28,151.8,978.1,6.0,410,16215,0.00,2.30,0.00,0.000,6,0.000,0.061,3432,2200,2256
$GC,16574,0.28,151.8,959.1,5.3,416,16575,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2200,2255
$GC,16876,0.28,151.8,942.9,5.4,421,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2200,2254
$GC,17179,0.28,151.8,925.6,5.7,426,17180,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2200,2254
$GC,17482,0.28,151.8,906.8,6.2,431,17486,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2254
$GC,17527,0.28,151.8,903.9,6.2,431,17531,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2203,2254
$GC,17843,0.28,151.8,884.4,6.2,437,17847,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3610,2253
$GC,17882,0.18,151.8,881.6,6.3,437,17887,0.22,2.30,0.00,0.000,6,0.166,0.061,3378,2198,2253
$GC,18205,0.40,182.2,867.9,4.1,443,18239,0.17,2.50,28.00,1.396,4,0.083,0.077,3449,791,2132
$GC,18271,0.40,182.2,864.3,5.5,444,18275,0.00,2.40,0.00,0.000,6,0.000,0.061,3449,2211,2131
$GC,18637,0.40,182.2,843.8,5.5,450,18641,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,3617,2129
$GC,18666,0.33,182.2,842.0,6.5,450,18670,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2198,2129
$GC,19000,0.33,182.2,823.9,5.4,456,19004,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,788,2129
$GC,19063,0.33,182.2,820.5,5.2,457,19067,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2209,2129
$GC,19436,0.33,182.2,800.0,5.6,463,19440,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,3618,2129
$GC,19471,0.25,182.2,797.7,7.5,463,19476,0.20,2.33,0.00,0.000,6,0.166,0.061,3398,2192,2129
$GC,19799,0.41,191.0,782.1,4.7,469,19813,0.15,2.45,8.77,1.213,4,0.081,0.078,3463,789,2096
$GC,19868,0.41,191.0,777.7,6.5,470,19872,0.00,2.38,0.00,0.000,6,0.000,0.061,3463,2210,2096
$GC,20235,0.41,191.0,751.9,7.0,476,20236,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2209,2095
$GC,20537,0.41,191.0,730.7,7.0,481,20538,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2209,2095
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$STATE,31865,end climb,SURFACE_DEPTH_REACHED
$STATE,31865,begin surface coast
$FINISH,1.0,1.009945
$STATE,32047,end surface coast,CONTROL_FINISHED_OK
$STATE,32047,begin surface
$SM_CCo,32071,10.43,0.804,0,0,1754,275.23
$SM_GC,3.54,0.00,0.00,10.43,0.000,0.000,0.804,144,2405,1754,-9.92,0.14,275.23
$IRIDIUM_FIX,4943.02,-14507.06,220798,020207
$TT8_MAMPS,0.026845
$HUMID,2138
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$TCM_TEMP,15.60
$XPDR_PINGS,1003
$24V_AH,20.8,125.075
$10V_AH,10.3,86.756
$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
$DEVICE_SECS,29.575,249.750,362.475,10.425,0.000,25.916,27.590,175.513,250.750,0.000,0.000,34.465,1834.776,26784.893,539.373,2418.871,906.918,33.381,1748.121,0.000,2370.610,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.334,624.947,1436.511,868.421,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50648,845
$CAP_FILE_SIZE,193697,0
$CFSIZE,260165632,208842752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270409,201424,4955.242,-14511.725,46,1.7,64,18.4