version: 66.03
glider: 120
mission: 9
dive: 671
start: 5 8 109 18 58 51
data:
$ID,120
$MISSION,9
$DIVE,671
$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,-31969.084
$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,22
$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
$GPS1,184437,5008.081,-14450.878,69,0.9,69,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-76.8
$GPS2,185756,5008.073,-14450.891,16,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,0.148
$KALMAN_X,-126362.7,48.7,-338.1,154706.6,525.0
$KALMAN_Y,141675.9,175.9,340.6,-133697.9,-2605.6
$MHEAD_RNG_PITCHd_Wd,307.7,34540,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.67,-117.3,0.0,0.0,0,72,0.00,0.00,-39.70,0.000,2,0.000,0.000,142,2404,2786
$GC,77,-0.67,-117.3,4.0,-6.9,4,110,14.48,2.53,-11.00,0.000,4,0.275,0.081,3096,977,3357
$GC,196,-0.51,-117.3,23.4,-11.3,14,203,0.20,2.38,0.00,0.000,6,0.147,0.062,3151,2396,3359
$GC,527,-0.51,-117.3,48.6,-7.6,45,533,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2395,3359
$GC,854,-0.51,-117.3,72.4,-7.2,76,855,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2395,3359
$GC,1167,-0.51,-117.3,94.0,-7.0,96,1171,0.00,2.53,0.00,0.000,4,0.000,0.081,3151,3810,3360
$GC,1212,-0.60,-117.3,97.2,-6.5,98,1217,0.00,2.40,0.00,0.000,6,0.000,0.050,3151,2391,3360
$GC,1535,-0.64,-117.3,118.7,-6.9,114,1540,0.12,2.50,0.00,0.000,4,0.081,0.066,3101,982,3360
$GC,1577,-0.57,-117.3,122.2,-9.3,116,1582,0.12,2.42,0.00,0.000,6,0.128,0.058,3131,2412,3360
$GC,1905,-0.57,-117.3,145.5,-6.2,132,1909,0.00,2.53,0.00,0.000,4,0.000,0.065,3131,991,3360
$GC,1948,-0.61,-117.3,148.0,-6.4,134,1952,0.00,2.40,0.00,0.000,6,0.000,0.059,3131,2398,3360
$GC,2264,-0.65,-117.3,164.9,-5.3,145,2268,0.00,2.55,0.00,0.000,4,0.000,0.077,3126,3812,3360
$GC,2304,-0.73,-117.3,167.4,-5.9,146,2309,0.15,2.35,0.00,0.000,6,0.076,0.051,3072,2400,3360
$GC,2629,-0.66,-117.3,192.6,-8.4,157,2634,0.12,2.50,0.00,0.000,4,0.092,0.066,3108,992,3360
$GC,2715,-0.66,-117.3,200.2,-8.4,159,2720,0.00,2.40,0.00,0.000,6,0.000,0.060,3108,2399,3360
$GC,3029,-0.66,-117.3,223.6,-7.0,169,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3360
$GC,3335,-0.66,-117.3,244.2,-6.7,179,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2398,3360
$GC,3642,-0.66,-117.3,264.3,-6.5,189,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3360
$GC,3948,-0.66,-117.3,284.4,-6.6,199,3952,0.00,2.60,0.00,0.000,4,0.000,0.067,3108,984,3360
$GC,3987,-0.66,-117.3,287.1,-6.9,200,3991,0.00,2.42,0.00,0.000,6,0.000,0.059,3108,2401,3360
$GC,4343,-0.66,-117.3,308.5,-5.8,210,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3360
$GC,4645,-0.66,-117.3,324.8,-5.3,215,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3360
$GC,4948,-0.66,-117.3,341.1,-5.4,220,4952,0.00,2.47,0.00,0.000,4,0.000,0.069,3107,989,3360
$GC,5005,-0.71,-117.3,344.8,-6.5,220,5012,0.00,2.42,0.00,0.000,6,0.000,0.061,3108,2408,3360
$GC,5316,-0.71,-117.3,363.7,-6.1,226,5320,0.00,2.47,0.00,0.000,4,0.000,0.081,3108,3812,3359
$GC,5352,-0.76,-117.3,365.8,-6.4,226,5357,0.12,2.33,0.00,0.000,6,0.079,0.052,3064,2396,3359
$GC,5679,-0.71,-117.3,387.1,-6.5,232,5684,0.00,2.47,0.00,0.000,4,0.000,0.069,3064,985,3359
$GC,5714,-0.66,-117.3,389.6,-6.6,232,5719,0.15,2.42,0.00,0.000,6,0.124,0.060,3101,2401,3359
$GC,6042,-0.66,-117.3,407.8,-5.5,238,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3359
$GC,6344,-0.66,-117.3,425.5,-5.8,243,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3359
$GC,6648,-0.66,-117.3,444.0,-6.1,248,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3359
$GC,6950,-0.66,-117.3,463.6,-6.4,253,6955,0.00,2.58,0.00,0.000,4,0.000,0.068,3102,992,3358
$GC,6985,-0.66,-117.3,466.0,-7.1,253,6990,0.00,2.45,0.00,0.000,6,0.000,0.061,3102,2407,3358
$GC,7313,-0.66,-117.3,486.4,-6.2,259,7317,0.00,2.50,0.00,0.000,4,0.000,0.068,3102,993,3358
$GC,7346,-0.66,-117.3,488.6,-6.7,259,7350,0.00,2.42,0.00,0.000,6,0.000,0.060,3102,2406,3358
$GC,7674,-0.66,-117.3,506.9,-5.5,265,7678,0.00,2.47,0.00,0.000,4,0.000,0.068,3102,994,3358
$GC,7708,-0.66,-117.3,508.8,-5.6,265,7712,0.00,2.42,0.00,0.000,6,0.000,0.061,3101,2405,3358
$GC,8035,-0.66,-117.3,526.0,-5.2,271,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2404,3358
$GC,8339,-0.66,-117.3,541.0,-4.9,276,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2404,3358
$GC,8642,-0.66,-117.3,555.2,-4.7,281,8646,0.00,2.50,0.00,0.000,4,0.000,0.071,3102,988,3358
$GC,8688,-0.72,-117.3,557.3,-4.9,281,8693,0.00,2.42,0.00,0.000,6,0.000,0.061,3101,2400,3358
$GC,9005,-0.72,-117.3,571.5,-4.5,287,9010,0.00,2.50,0.00,0.000,4,0.000,0.081,3101,3807,3358
$GC,9041,-0.79,-117.3,573.3,-4.6,287,9045,0.12,2.33,0.00,0.000,6,0.080,0.053,3057,2400,3357
$GC,9369,-0.79,-117.3,592.5,-6.0,293,9373,0.00,2.47,0.00,0.000,4,0.000,0.068,3057,994,3357
$GC,9408,-0.79,-117.3,595.3,-7.2,293,9412,0.00,2.42,0.00,0.000,6,0.000,0.061,3057,2401,3357
$GC,9730,-0.71,-117.3,618.4,-7.3,299,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2400,3357
$GC,10033,-0.64,-117.3,641.6,-7.7,304,10038,0.15,2.53,0.00,0.000,4,0.136,0.068,3105,993,3357
$GC,10062,-0.64,-117.3,643.7,-7.2,304,10066,0.00,2.45,0.00,0.000,6,0.000,0.061,3105,2410,3357
$GC,10395,-0.71,-117.3,668.6,-8.2,310,10399,0.00,2.47,0.00,0.000,4,0.000,0.081,3103,3816,3356
$GC,10441,-0.80,-117.3,671.7,-6.7,310,10446,0.15,2.35,0.00,0.000,6,0.076,0.054,3051,2393,3356
$GC,10758,-0.80,-117.3,695.2,-7.5,316,10762,0.00,2.53,0.00,0.000,4,0.000,0.070,3051,989,3356
$GC,10814,-0.75,-117.3,699.7,-8.2,316,10820,0.00,2.42,0.00,0.000,6,0.000,0.061,3050,2401,3356
$GC,11125,-0.67,-117.3,723.5,-7.7,322,11127,0.17,0.00,0.00,0.000,6,0.137,0.000,3098,2401,3356
$GC,11430,-0.73,-117.3,741.7,-5.9,327,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3356
$GC,11732,-0.78,-117.3,758.7,-5.6,332,11733,0.12,0.00,0.00,0.000,6,0.084,0.000,3052,2400,3356
$GC,12034,-0.78,-117.3,777.2,-6.1,337,12035,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3356
$GC,12338,-0.78,-117.3,794.1,-5.5,342,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3356
$GC,12640,-0.78,-117.3,811.0,-5.6,347,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3357
$GC,12944,-0.78,-117.3,829.2,-6.1,352,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3356
$GC,13247,-0.78,-117.3,848.5,-6.4,357,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3356
$GC,13550,-0.78,-117.3,867.6,-6.3,362,13554,0.00,2.55,0.00,0.000,4,0.000,0.081,3052,3818,3356
$GC,13583,-0.78,-117.3,870.1,-7.2,362,13588,0.00,2.42,0.00,0.000,6,0.000,0.054,3052,2397,3355
$GC,13912,-0.78,-117.3,889.6,-5.9,368,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3356
$GC,14214,-0.78,-117.3,906.6,-5.6,373,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3355
$GC,14517,-0.78,-117.3,923.8,-5.6,378,14518,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3355
$GC,14820,-0.78,-117.3,940.9,-5.7,383,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3355
$GC,15123,-0.78,-117.3,958.1,-5.6,388,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3355
$GC,15427,-0.78,-117.3,975.2,-5.6,393,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2398,3355
$STATE,15726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15726,begin apogee
$GC,15735,-0.22,0.0,992.7,5.8,398,15848,0.65,0.00,108.35,1.489,6,0.125,0.000,3243,2199,2875
$STATE,15849,end apogee,CONTROL_FINISHED_OK
$STATE,15849,begin climb
$GC,15853,0.67,117.3,996.9,0.0,400,15977,0.90,3.00,115.88,1.443,4,0.084,0.074,3532,791,2396
$GC,16103,0.33,117.3,990.1,8.0,403,16108,0.45,2.60,0.00,0.000,6,0.169,0.059,3429,2206,2393
$GC,16416,0.31,131.4,975.5,4.6,408,16435,0.00,2.53,13.12,1.344,4,0.000,0.077,3436,791,2340
$GC,16466,0.34,155.3,973.0,4.3,408,16496,0.00,2.38,23.05,1.394,6,0.000,0.060,3436,2212,2241
$GC,16853,0.34,155.3,953.2,5.0,415,16857,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,780,2239
$GC,16905,0.35,166.2,950.7,4.7,415,16920,0.00,2.35,10.68,1.314,6,0.000,0.060,3436,2205,2199
$GC,17282,0.36,169.0,932.2,4.9,422,17291,0.00,2.45,4.12,0.934,4,0.000,0.078,3436,781,2187
$GC,17326,0.36,169.0,929.9,5.6,422,17330,0.00,2.35,0.00,0.000,6,0.000,0.058,3436,2203,2186
$GC,17648,0.36,169.0,913.8,5.0,428,17652,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,785,2186
$GC,17693,0.39,197.3,911.7,4.2,428,17727,0.00,2.35,26.77,1.414,6,0.000,0.059,3436,2199,2071
$GC,18078,0.39,197.3,891.4,5.4,435,18079,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2067
$GC,18382,0.39,197.3,873.3,5.9,440,18386,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,780,2066
$GC,18433,0.45,197.3,870.1,6.4,440,18437,0.00,2.38,0.00,0.000,6,0.000,0.058,3436,2211,2066
$GC,18744,0.45,197.3,850.3,6.5,445,18748,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,789,2066
$GC,18795,0.50,197.3,846.8,7.3,445,18799,0.12,2.38,0.00,0.000,6,0.088,0.059,3490,2208,2065
$GC,19107,0.37,197.3,819.5,8.9,450,19111,0.15,2.50,0.00,0.000,4,0.146,0.075,3449,779,2066
$GC,19152,0.37,197.3,815.7,7.5,450,19156,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2203,2066
$GC,19474,0.37,197.3,792.3,7.3,456,19477,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,791,2065
$GC,19531,0.37,197.3,788.2,7.1,456,19536,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2204,2065
$GC,19842,0.37,197.3,765.6,7.3,461,19846,0.00,2.50,0.00,0.000,4,0.000,0.076,3449,778,2065
$GC,19898,0.37,197.3,761.5,7.0,461,19905,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2200,2065
$GC,20209,0.37,197.3,739.7,7.0,467,20213,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,782,2065
$GC,20283,0.37,197.3,734.4,7.4,468,20287,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2204,2064
$GC,20638,0.37,197.3,709.9,6.8,474,20642,0.00,2.50,0.00,0.000,4,0.000,0.076,3449,776,2065
$GC,20712,0.42,197.3,704.9,5.5,475,20716,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2199,2065
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$STATE,31691,end climb,SURFACE_DEPTH_REACHED
$STATE,31691,begin surface coast
$FINISH,0.7,1.012394
$STATE,31810,end surface coast,CONTROL_FINISHED_OK
$STATE,31810,begin surface
$SM_CCo,31835,9.35,0.792,0,0,1754,275.23
$SM_GC,3.76,0.00,0.00,9.35,0.000,0.000,0.792,136,2406,1754,-9.94,0.17,275.23
$IRIDIUM_FIX,4949.70,-14449.20,020898,191924
$TT8_MAMPS,0.026845
$HUMID,2135
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.60
$XPDR_PINGS,1055
$24V_AH,20.6,130.729
$10V_AH,10.3,90.886
$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
$DEVICE_SECS,30.100,260.575,359.325,9.350,0.000,78.744,93.488,325.217,263.750,0.000,0.000,16.215,1862.763,26442.475,541.976,2585.746,1201.944,33.377,1832.945,0.000,2542.443,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,641.946,618.558,1433.584,865.716,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50733,843
$CAP_FILE_SIZE,202500,0
$CFSIZE,260165632,206520320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,035136,5011.125,-14454.696,71,1.1,76,18.5