version: 66.03
glider: 120
mission: 9
dive: 215
start: 11 17 108 1 17 16
data:
$ID,120
$MISSION,9
$DIVE,215
$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,300
$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,-22145.66
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,011111,5014.285,-14459.308,31,1.0,32,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.3
$GPS2,011621,5014.316,-14459.278,10,1.2,10,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,0.125
$KALMAN_X,39050.0,244.8,272.0,-50934.4,-1161.8
$KALMAN_Y,159308.9,161.8,-181.5,-143063.1,148.9
$MHEAD_RNG_PITCHd_Wd,296.1,19434,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.67,0.000,2,0.000,0.000,139,2402,2437
$GC,57,-0.67,-117.3,3.6,-6.9,3,101,14.05,2.47,-23.73,0.000,4,0.289,0.094,3094,3812,3355
$GC,227,-0.40,-117.3,24.3,-13.1,18,232,0.32,2.35,0.00,0.000,6,0.170,0.054,3183,2387,3357
$GC,552,-0.44,-117.3,49.9,-6.8,48,553,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2387,3358
$GC,870,-0.53,-117.3,72.3,-6.7,78,875,0.12,2.35,0.00,0.000,4,0.083,0.067,3136,992,3359
$GC,935,-0.53,-117.3,77.5,-7.9,83,942,0.00,2.35,0.00,0.000,6,0.000,0.061,3135,2401,3359
$GC,1263,-0.47,-117.3,103.4,-8.1,101,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2400,3360
$GC,1572,-0.47,-117.3,128.2,-8.0,116,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2401,3360
$GC,1881,-0.47,-117.3,151.0,-7.0,131,1885,0.00,2.38,0.00,0.000,4,0.000,0.068,3136,994,3359
$GC,1926,-0.52,-117.3,154.2,-7.3,132,1930,0.00,2.33,0.00,0.000,6,0.000,0.061,3135,2412,3360
$GC,2243,-0.52,-117.3,176.3,-6.9,143,2247,0.00,2.38,0.00,0.000,4,0.000,0.081,3135,3813,3360
$GC,2276,-0.58,-117.3,178.6,-7.2,144,2280,0.00,2.30,0.00,0.000,6,0.000,0.054,3136,2401,3360
$GC,2612,-0.62,-117.3,201.2,-6.8,155,2616,0.00,2.35,0.00,0.000,4,0.000,0.070,3135,994,3360
$GC,2640,-0.67,-117.3,203.1,-7.5,156,2645,0.12,2.30,0.00,0.000,6,0.084,0.062,3089,2411,3360
$GC,2975,-0.62,-117.3,227.7,-7.4,167,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2411,3359
$GC,3281,-0.56,-117.3,252.2,-8.2,177,3283,0.15,0.00,0.00,0.000,6,0.127,0.000,3131,2411,3359
$GC,3586,-0.56,-117.3,275.1,-7.4,187,3591,0.00,2.42,0.00,0.000,4,0.000,0.071,3131,986,3359
$GC,3619,-0.60,-117.3,277.6,-7.2,188,3623,0.00,2.35,0.00,0.000,6,0.000,0.064,3128,2412,3359
$GC,3954,-0.60,-117.3,300.5,-6.7,199,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2413,3358
$GC,4257,-0.60,-117.3,319.7,-6.3,204,4261,0.00,2.35,0.00,0.000,4,0.000,0.072,3128,987,3358
$GC,4300,-0.67,-117.3,322.5,-6.3,204,4304,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2401,3358
$GC,4622,-0.67,-117.3,340.6,-5.6,210,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3358
$GC,4925,-0.71,-117.3,357.6,-5.6,215,4927,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2401,3357
$GC,5228,-0.66,-117.3,377.3,-6.6,220,5232,0.00,2.35,0.00,0.000,4,0.000,0.082,3076,3812,3357
$GC,5260,-0.58,-117.3,379.7,-7.6,220,5265,0.17,2.30,0.00,0.000,6,0.126,0.057,3125,2401,3357
$GC,5586,-0.58,-117.3,397.1,-5.3,226,5590,0.00,2.38,0.00,0.000,4,0.000,0.072,3126,993,3357
$GC,5613,-0.58,-117.3,398.7,-5.8,226,5617,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2404,3357
$GC,5951,-0.63,-117.3,416.0,-5.1,232,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3357
$GC,6255,-0.68,-117.3,431.2,-5.1,237,6259,0.00,2.35,0.00,0.000,4,0.000,0.073,3126,985,3357
$GC,6295,-0.74,-117.3,433.2,-5.6,237,6300,0.15,2.33,0.00,0.000,6,0.086,0.064,3072,2411,3356
$GC,6615,-0.67,-117.3,453.8,-6.5,243,6619,0.00,2.33,0.00,0.000,4,0.000,0.083,3072,3809,3356
$GC,6654,-0.56,-117.3,456.7,-7.6,243,6659,0.22,2.28,0.00,0.000,6,0.152,0.058,3135,2399,3356
$GC,6975,-0.64,-117.3,473.1,-5.1,249,6979,0.00,2.35,0.00,0.000,4,0.000,0.072,3135,995,3356
$GC,6996,-0.75,-117.3,474.4,-5.5,249,7001,0.20,2.30,0.00,0.000,6,0.086,0.064,3064,2408,3356
$GC,7333,-0.82,-117.3,498.8,-7.3,255,7337,0.00,2.35,0.00,0.000,4,0.000,0.083,3059,3806,3356
$GC,7428,-0.69,-117.3,506.0,-7.6,256,7433,0.12,2.30,0.00,0.000,6,0.161,0.058,3090,2393,3356
$GC,7760,-0.63,-117.3,527.4,-6.4,262,7764,0.00,2.38,0.00,0.000,4,0.000,0.074,3090,988,3356
$GC,7803,-0.63,-117.3,530.3,-6.2,262,7807,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2397,3356
$GC,8125,-0.57,-117.3,549.3,-5.9,268,8127,0.17,0.00,0.00,0.000,6,0.170,0.000,3133,2397,3356
$GC,8428,-0.70,-117.3,561.5,-4.0,273,8433,0.12,2.40,0.00,0.000,4,0.092,0.073,3094,986,3355
$GC,8478,-0.83,-117.3,564.1,-4.8,273,8482,0.15,2.30,0.00,0.000,6,0.091,0.065,3040,2401,3355
$GC,8787,-0.83,-117.3,583.5,-6.4,278,8791,0.00,2.35,0.00,0.000,4,0.000,0.084,3040,3813,3355
$GC,8849,-0.61,-117.3,587.8,-7.7,279,8854,0.28,2.28,0.00,0.000,6,0.167,0.059,3115,2399,3355
$GC,9214,-0.61,-117.3,606.3,-5.1,285,9218,0.00,2.38,0.00,0.000,4,0.000,0.073,3116,991,3355
$GC,9252,-0.66,-117.3,608.5,-5.9,285,9256,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2405,3355
$GC,9573,-0.71,-117.3,626.2,-5.6,291,9577,0.00,2.35,0.00,0.000,4,0.000,0.084,3114,3813,3355
$GC,9605,-0.77,-117.3,628.1,-5.4,291,9610,0.15,2.30,0.00,0.000,6,0.087,0.058,3058,2398,3354
$GC,9932,-0.65,-117.3,652.9,-7.8,297,9936,0.15,2.38,0.00,0.000,4,0.163,0.073,3106,994,3354
$GC,10014,-0.65,-117.3,658.9,-7.1,298,10018,0.00,2.33,0.00,0.000,6,0.000,0.066,3106,2399,3354
$GC,10363,-0.65,-117.3,680.2,-6.2,304,10367,0.00,2.38,0.00,0.000,4,0.000,0.074,3106,995,3354
$GC,10395,-0.65,-117.3,682.4,-6.6,304,10399,0.00,2.30,0.00,0.000,6,0.000,0.066,3106,2402,3354
$GC,10727,-0.65,-117.3,701.8,-5.8,310,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3354
$GC,11030,-0.65,-117.3,719.3,-5.8,315,11034,0.00,2.40,0.00,0.000,4,0.000,0.074,3106,989,3354
$GC,11057,-0.65,-117.3,721.1,-6.5,315,11061,0.00,2.35,0.00,0.000,6,0.000,0.067,3106,2397,3354
$GC,11395,-0.65,-117.3,740.5,-5.7,321,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2398,3354
$GC,11698,-0.65,-117.3,758.0,-5.8,326,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2398,3354
$GC,12001,-0.65,-117.3,775.2,-5.6,331,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3354
$GC,12304,-0.65,-117.3,791.3,-5.2,336,12308,0.00,2.40,0.00,0.000,4,0.000,0.074,3106,994,3353
$GC,12347,-0.69,-117.3,793.9,-6.5,336,12351,0.00,2.35,0.00,0.000,6,0.000,0.067,3106,2405,3353
$GC,12669,-0.73,-117.3,811.3,-5.6,342,12673,0.00,2.42,0.00,0.000,4,0.000,0.074,3106,987,3353
$GC,12695,-0.73,-117.3,812.8,-5.2,342,12699,0.00,2.35,0.00,0.000,6,0.000,0.067,3107,2399,3353
$GC,13033,-0.79,-117.3,830.9,-5.4,348,13038,0.12,2.40,0.00,0.000,4,0.090,0.074,3060,986,3353
$GC,13060,-0.73,-117.3,832.9,-7.9,348,13064,0.00,2.33,0.00,0.000,6,0.000,0.067,3059,2406,3353
$GC,13392,-0.63,-117.3,858.2,-7.7,354,13397,0.15,2.40,0.00,0.000,4,0.173,0.074,3107,991,3353
$GC,13430,-0.68,-117.3,860.8,-6.4,354,13434,0.00,2.33,0.00,0.000,6,0.000,0.067,3107,2412,3353
$GC,13757,-0.73,-117.3,879.2,-5.6,360,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2412,3353
$GC,14060,-0.79,-117.3,895.8,-5.5,365,14065,0.15,2.45,0.00,0.000,4,0.090,0.074,3045,988,3352
$GC,14098,-0.66,-117.3,898.6,-7.2,365,14103,0.22,2.35,0.00,0.000,6,0.167,0.067,3105,2412,3352
$GC,14419,-0.70,-117.3,915.0,-5.1,371,14423,0.00,2.38,0.00,0.000,4,0.000,0.075,3105,985,3352
$GC,14451,-0.75,-117.3,916.9,-5.5,371,14455,0.00,2.33,0.00,0.000,6,0.000,0.066,3101,2410,3353
$GC,14784,-0.79,-117.3,933.8,-5.1,377,14785,0.12,0.00,0.00,0.000,6,0.094,0.000,3054,2410,3352
$GC,15087,-0.74,-117.3,951.7,-5.9,382,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2409,3352
$GC,15389,-0.69,-117.3,969.6,-5.9,387,15394,0.12,2.38,0.00,0.000,4,0.119,0.086,3086,3810,3352
$GC,15421,-0.69,-117.3,971.5,-5.4,387,15426,0.00,2.33,0.00,0.000,6,0.000,0.061,3086,2399,3352
$GC,15753,-0.69,-117.3,989.0,-5.2,393,15755,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$STATE,15812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15813,begin apogee
$GC,15818,-0.22,0.0,992.3,5.3,394,15925,0.52,0.00,103.97,1.501,6,0.152,0.000,3242,2192,2877
$STATE,15926,end apogee,CONTROL_FINISHED_OK
$STATE,15926,begin climb
$GC,15928,0.67,117.3,993.8,0.0,395,16044,0.88,2.70,109.03,1.449,4,0.091,0.079,3533,792,2397
$GC,16111,0.31,117.3,989.9,7.4,398,16117,0.45,2.47,0.00,0.000,6,0.186,0.062,3421,2196,2394
$GC,16422,0.27,117.3,971.2,5.8,403,16426,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,3610,2394
$GC,16477,0.15,117.3,967.8,6.8,403,16484,0.20,2.40,0.00,0.000,6,0.179,0.064,3372,2201,2393
$GC,16787,0.28,137.8,953.9,4.4,409,16808,0.12,0.00,18.62,1.397,6,0.089,0.000,3417,2201,2314
$GC,17090,0.33,137.8,937.4,5.5,414,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2201,2313
$GC,17393,0.38,137.8,921.0,5.4,419,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2201,2313
$GC,17696,0.43,138.4,905.9,5.0,424,17698,0.12,0.00,0.00,0.000,6,0.105,0.000,3467,2200,2312
$GC,17999,0.29,138.4,886.9,6.3,429,18004,0.17,2.45,0.00,0.000,4,0.154,0.078,3423,781,2312
$GC,18043,0.31,154.9,884.4,4.5,429,18064,0.00,2.35,16.23,1.374,6,0.000,0.065,3422,2208,2244
$GC,18424,0.32,162.3,865.8,4.8,436,18438,0.00,2.50,7.97,1.232,4,0.000,0.081,3423,791,2214
$GC,18461,0.32,162.3,863.9,5.2,436,18465,0.00,2.38,0.00,0.000,6,0.000,0.064,3423,2205,2214
$GC,18793,0.32,162.3,847.6,5.0,442,18794,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2213
$GC,19096,0.32,162.3,831.1,5.5,447,19100,0.00,2.45,0.00,0.000,4,0.000,0.081,3423,786,2213
$GC,19140,0.32,162.3,828.6,5.3,447,19144,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2201,2213
$GC,19461,0.32,162.3,810.2,5.6,453,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2213
$GC,19764,0.32,162.3,792.9,5.7,458,19768,0.00,2.40,0.00,0.000,4,0.000,0.081,3423,791,2212
$GC,19807,0.36,162.3,790.4,5.9,458,19811,0.00,2.33,0.00,0.000,6,0.000,0.065,3423,2208,2213
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$STATE,33023,end climb,SURFACE_DEPTH_REACHED
$STATE,33023,begin surface coast
$FINISH,1.4,1.020349
$STATE,33152,end surface coast,CONTROL_FINISHED_OK
$STATE,33153,begin surface
$SM_CCo,33171,17.08,0.831,0,0,1653,300.00
$SM_GC,3.72,0.00,0.00,17.08,0.000,0.000,0.831,149,2404,1653,-9.90,0.14,300.00
$IRIDIUM_FIX,4949.70,-14033.64,100298,161649
$TT8_MAMPS,0.026078
$HUMID,2130
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$TCM_TEMP,15.10
$XPDR_PINGS,1028
$24V_AH,22.1,43.864
$10V_AH,10.6,28.683
$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
$DEVICE_SECS,31.350,227.900,358.200,17.075,0.000,29.060,26.401,144.711,257.000,0.000,0.000,10.298,1869.032,28108.699,538.649,2452.573,525.723,33.371,1759.818,0.000,2427.076,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50711,855
$CAP_FILE_SIZE,197295,0
$CFSIZE,260165632,241864704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171108,103208,5017.067,-14502.931,66,0.9,66,18.5