version: 66.03
glider: 120
mission: 9
dive: 672
start: 5 9 109 3 59 6
data:
$ID,120
$MISSION,9
$DIVE,672
$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,-31984.018
$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,20
$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
$GPS1,035136,5011.125,-14454.696,71,1.1,76,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.8
$GPS2,035808,5011.095,-14454.704,14,1.5,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,0.138
$KALMAN_X,-126906.5,-253.7,-165.3,150853.2,638.7
$KALMAN_Y,141576.5,345.6,136.4,-127973.8,-2042.9
$MHEAD_RNG_PITCHd_Wd,302.3,27426,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-39.85,0.000,2,0.000,0.000,136,2406,2796
$GC,73,-0.67,-117.3,4.0,-6.6,4,105,14.48,2.55,-10.85,0.000,4,0.272,0.092,3095,3798,3357
$GC,136,-0.48,-117.3,16.6,-11.9,10,141,0.22,2.35,0.00,0.000,6,0.154,0.053,3156,2385,3359
$GC,462,-0.48,-117.3,41.7,-7.7,40,466,0.00,2.45,0.00,0.000,4,0.000,0.067,3156,992,3360
$GC,497,-0.48,-117.3,44.5,-8.2,42,503,0.00,2.35,0.00,0.000,6,0.000,0.059,3155,2399,3359
$GC,825,-0.48,-117.3,67.7,-7.1,73,829,0.00,2.45,0.00,0.000,4,0.000,0.080,3155,3815,3359
$GC,859,-0.56,-117.3,70.4,-7.3,75,865,0.00,2.30,0.00,0.000,6,0.000,0.052,3154,2391,3360
$GC,1191,-0.61,-117.3,92.9,-6.5,98,1196,0.10,2.42,0.00,0.000,4,0.087,0.067,3113,981,3359
$GC,1225,-0.61,-117.3,95.6,-8.1,99,1232,0.00,2.40,0.00,0.000,6,0.000,0.058,3113,2406,3360
$GC,1543,-0.56,-117.3,120.0,-7.5,115,1547,0.00,2.45,0.00,0.000,4,0.000,0.077,3113,3811,3360
$GC,1577,-0.51,-117.3,122.8,-7.5,116,1584,0.15,2.30,0.00,0.000,6,0.113,0.052,3152,2397,3360
$GC,1895,-0.60,-117.3,138.6,-4.6,132,1899,0.00,2.42,0.00,0.000,4,0.000,0.067,3152,988,3360
$GC,1938,-0.70,-117.3,140.8,-5.8,134,1943,0.20,2.40,0.00,0.000,6,0.070,0.058,3082,2400,3360
$GC,2264,-0.70,-117.3,164.7,-7.6,147,2268,0.00,2.47,0.00,0.000,4,0.000,0.077,3082,3816,3360
$GC,2323,-0.63,-117.3,169.4,-8.6,148,2330,0.12,2.30,0.00,0.000,6,0.107,0.052,3114,2401,3360
$GC,2638,-0.63,-117.3,191.7,-7.0,159,2642,0.00,2.42,0.00,0.000,4,0.000,0.067,3115,996,3360
$GC,2667,-0.63,-117.3,194.0,-7.6,160,2672,0.00,2.40,0.00,0.000,6,0.000,0.059,3113,2404,3360
$GC,3004,-0.63,-117.3,216.3,-6.5,171,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3360
$GC,3310,-0.63,-117.3,235.4,-6.0,181,3314,0.00,2.53,0.00,0.000,4,0.000,0.067,3114,987,3360
$GC,3350,-0.63,-117.3,238.1,-6.5,182,3354,0.00,2.42,0.00,0.000,6,0.000,0.059,3113,2404,3360
$GC,3674,-0.63,-117.3,257.6,-6.1,193,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3360
$GC,3981,-0.63,-117.3,276.7,-6.3,203,3985,0.00,2.47,0.00,0.000,4,0.000,0.067,3113,990,3360
$GC,4039,-0.63,-117.3,280.7,-7.4,204,4045,0.00,2.42,0.00,0.000,6,0.000,0.060,3113,2409,3360
$GC,4353,-0.63,-117.3,301.4,-6.6,215,4357,0.00,2.47,0.00,0.000,4,0.000,0.081,3113,3818,3360
$GC,4382,-0.68,-117.3,303.3,-6.6,215,4386,0.00,2.33,0.00,0.000,6,0.000,0.052,3113,2400,3360
$GC,4720,-0.68,-117.3,323.5,-5.9,221,4724,0.00,2.45,0.00,0.000,4,0.000,0.068,3113,981,3360
$GC,4756,-0.72,-117.3,325.7,-6.0,221,4760,0.00,2.42,0.00,0.000,6,0.000,0.058,3113,2405,3360
$GC,5088,-0.72,-117.3,346.2,-6.3,227,5093,0.00,2.47,0.00,0.000,4,0.000,0.080,3113,3806,3360
$GC,5117,-0.78,-117.3,348.1,-6.7,227,5122,0.15,2.33,0.00,0.000,6,0.075,0.052,3059,2394,3360
$GC,5451,-0.71,-117.3,373.2,-7.7,233,5456,0.00,2.45,0.00,0.000,4,0.000,0.069,3059,981,3360
$GC,5531,-0.64,-117.3,379.5,-7.3,234,5536,0.17,2.42,0.00,0.000,6,0.127,0.059,3104,2405,3360
$GC,5881,-0.64,-117.3,398.7,-5.3,240,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3360
$GC,6185,-0.64,-117.3,415.4,-5.5,245,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,6487,-0.64,-117.3,433.6,-6.0,250,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3360
$GC,6790,-0.64,-117.3,452.9,-6.4,255,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,7093,-0.64,-117.3,472.2,-6.4,260,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,7396,-0.64,-117.3,491.3,-6.3,265,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,7700,-0.64,-117.3,510.2,-6.3,270,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,8002,-0.64,-117.3,530.2,-6.6,275,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,8305,-0.64,-117.3,549.9,-6.5,280,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3358
$GC,8609,-0.69,-117.3,567.8,-5.8,285,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3358
$GC,8912,-0.73,-117.3,583.5,-5.2,290,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3358
$GC,9216,-0.77,-117.3,598.6,-5.0,295,9221,0.12,2.58,0.00,0.000,4,0.082,0.068,3056,994,3358
$GC,9256,-0.72,-117.3,601.2,-6.4,295,9261,0.12,2.45,0.00,0.000,6,0.122,0.061,3086,2405,3358
$GC,9578,-0.72,-117.3,619.8,-5.8,301,9582,0.00,2.50,0.00,0.000,4,0.000,0.071,3086,983,3358
$GC,9607,-0.72,-117.3,621.6,-6.3,301,9611,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2407,3357
$GC,9940,-0.72,-117.3,641.9,-6.1,307,9944,0.00,2.50,0.00,0.000,4,0.000,0.070,3086,983,3358
$GC,9973,-0.72,-117.3,644.3,-6.4,307,9977,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2407,3358
$GC,10301,-0.72,-117.3,664.7,-6.3,313,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3358
$GC,10605,-0.72,-117.3,683.8,-6.3,318,10609,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,993,3357
$GC,10644,-0.72,-117.3,686.7,-7.2,318,10648,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2400,3357
$GC,10965,-0.72,-117.3,708.7,-6.9,324,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,11269,-0.72,-117.3,729.2,-6.7,329,11273,0.00,2.50,0.00,0.000,4,0.000,0.070,3086,993,3357
$GC,11297,-0.72,-117.3,731.3,-7.0,329,11302,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2403,3357
$GC,11631,-0.72,-117.3,752.3,-6.2,335,11635,0.00,2.50,0.00,0.000,4,0.000,0.081,3086,3810,3357
$GC,11676,-0.76,-117.3,755.1,-6.8,335,11680,0.00,2.35,0.00,0.000,6,0.000,0.054,3086,2389,3357
$GC,11994,-0.92,-117.3,775.6,-6.7,341,11999,0.15,2.55,0.00,0.000,4,0.084,0.079,3024,3815,3356
$GC,12157,-0.77,-117.3,788.6,-8.4,343,12162,0.15,2.35,0.00,0.000,6,0.117,0.055,3061,2395,3356
$GC,12491,-0.71,-117.3,811.6,-6.9,349,12495,0.00,2.47,0.00,0.000,4,0.000,0.071,3062,983,3356
$GC,12526,-0.65,-117.3,814.3,-7.1,349,12531,0.17,2.45,0.00,0.000,6,0.142,0.062,3103,2401,3356
$GC,12854,-0.78,-117.3,833.0,-5.7,355,12858,0.12,2.50,0.00,0.000,4,0.082,0.070,3066,994,3356
$GC,12900,-0.89,-117.3,836.3,-7.4,355,12905,0.12,2.42,0.00,0.000,6,0.080,0.061,3024,2402,3356
$GC,13216,-0.96,-117.3,860.5,-7.7,361,13221,0.00,2.50,0.00,0.000,4,0.000,0.071,3025,991,3356
$GC,13273,-0.89,-117.3,864.9,-7.7,361,13280,0.00,2.42,0.00,0.000,6,0.000,0.061,3025,2401,3356
$GC,13585,-0.77,-117.3,888.9,-7.8,367,13590,0.15,2.53,0.00,0.000,4,0.140,0.081,3071,3812,3356
$GC,13664,-0.77,-117.3,894.7,-7.7,368,13668,0.00,2.35,0.00,0.000,6,0.000,0.054,3071,2393,3356
$GC,14014,-0.77,-117.3,917.2,-6.5,374,14017,0.00,2.45,0.00,0.000,4,0.000,0.072,3070,992,3356
$GC,14065,-0.77,-117.3,920.7,-6.9,374,14070,0.00,2.42,0.00,0.000,6,0.000,0.062,3071,2398,3356
$GC,14387,-0.77,-117.3,940.9,-6.2,380,14391,0.00,2.50,0.00,0.000,4,0.000,0.071,3070,987,3356
$GC,14410,-0.77,-117.3,942.4,-6.0,380,14415,0.00,2.45,0.00,0.000,6,0.000,0.062,3071,2401,3356
$GC,14755,-0.77,-117.3,963.2,-6.1,386,14756,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3356
$GC,15059,-0.77,-117.3,982.4,-6.3,391,15063,0.00,2.50,0.00,0.000,4,0.000,0.071,3071,991,3355
$GC,15093,-0.77,-117.3,984.7,-6.3,391,15097,0.00,2.45,0.00,0.000,6,0.000,0.062,3071,2402,3355
$STATE,15174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15174,begin apogee
$GC,15183,-0.22,0.0,990.1,6.3,393,15297,0.60,0.00,108.88,1.486,6,0.134,0.000,3245,2198,2876
$STATE,15297,end apogee,CONTROL_FINISHED_OK
$STATE,15297,begin climb
$GC,15301,0.67,117.3,995.1,0.0,395,15426,0.90,2.83,116.68,1.440,4,0.081,0.074,3533,792,2395
$GC,15456,0.31,117.3,995.8,5.3,397,15461,0.50,2.72,0.00,0.000,6,0.169,0.057,3426,2206,2394
$GC,15796,0.35,149.7,981.8,4.1,403,15831,0.00,2.47,29.38,1.417,4,0.000,0.077,3426,3635,2264
$GC,15872,0.27,149.7,977.9,5.8,404,15876,0.00,2.35,0.00,0.000,6,0.000,0.059,3435,2200,2264
$GC,16234,0.28,151.0,959.9,5.0,410,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2263
$GC,16537,0.29,159.5,945.3,4.8,415,16549,0.00,0.00,10.00,1.306,6,0.000,0.000,3435,2201,2225
$GC,16841,0.29,162.3,930.4,4.9,420,16847,0.00,0.00,4.05,0.926,6,0.000,0.000,3435,2201,2214
$GC,17143,0.29,162.3,915.0,5.1,425,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2201,2213
$GC,17446,0.29,162.3,897.6,5.8,430,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2213
$GC,17749,0.29,162.3,878.1,6.5,435,17753,0.00,2.58,0.00,0.000,4,0.000,0.076,3436,786,2213
$GC,17783,0.29,162.3,875.7,6.4,435,17788,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2215,2213
$GC,18111,0.29,162.3,853.9,6.6,441,18112,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2212
$GC,18414,0.29,162.3,834.5,6.4,446,18418,0.00,2.47,0.00,0.000,4,0.000,0.078,3436,3611,2212
$GC,18450,0.23,162.3,832.1,7.0,446,18455,0.17,2.38,0.00,0.000,6,0.173,0.060,3396,2200,2212
$GC,18779,0.35,162.3,815.7,5.0,452,18781,0.10,0.00,0.00,0.000,6,0.088,0.000,3434,2201,2212
$GC,19081,0.42,162.3,798.9,5.6,457,19082,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2201,2212
$GC,19385,0.49,162.3,782.4,5.4,462,19386,0.12,0.00,0.00,0.000,6,0.095,0.000,3490,2201,2212
$GC,19688,0.34,162.3,759.5,7.7,467,19690,0.22,0.00,0.00,0.000,6,0.140,0.000,3429,2201,2212
$GC,19990,0.34,162.3,741.1,6.0,472,19991,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2212
$GC,20293,0.34,162.3,723.1,5.9,477,20295,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2211
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$STATE,31589,end climb,SURFACE_DEPTH_REACHED
$STATE,31589,begin surface coast
$FINISH,0.8,1.016980
$STATE,31711,end surface coast,CONTROL_FINISHED_OK
$STATE,31711,begin surface
$SM_CCo,31794,0.00,0.000,0,0,1697,289.45
$SM_GC,1.82,9.55,0.00,0.00,0.059,0.000,0.000,139,2404,1697,-9.87,0.11,289.45
$IRIDIUM_FIX,4949.70,-14451.14,020898,191925
$TT8_MAMPS,0.026845
$HUMID,2154
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.50
$XPDR_PINGS,1024
$24V_AH,20.6,130.920
$10V_AH,10.3,91.026
$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
$DEVICE_SECS,30.975,255.325,385.900,0.000,0.000,26.023,27.840,166.479,256.000,0.000,0.000,14.303,1831.193,26347.225,564.745,2510.844,918.716,33.383,1824.035,0.000,2479.165,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,635.430,609.513,1406.118,851.027,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47645,827
$CAP_FILE_SIZE,195855,0
$CFSIZE,260165632,206450688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,125024,5013.321,-14459.044,27,1.3,44,18.5