version: 66.03
glider: 120
mission: 9
dive: 368
start: 1 14 109 4 1 29
data:
$ID,120
$MISSION,9
$DIVE,368
$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,-25486.561
$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,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
$GPS1,035437,5009.080,-14428.138,63,1.2,63,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-71.9
$GPS2,040032,5009.083,-14428.108,18,1.4,18,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.047,-0.172
$KALMAN_X,17977.4,-470.8,-142.8,8323.5,1500.4
$KALMAN_Y,267580.6,45.6,-540.5,-260541.3,2138.6
$MHEAD_RNG_PITCHd_Wd,176.6,27989,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.40,0.000,2,0.000,0.000,132,2415,1928
$GC,39,-0.67,-117.3,4.0,-0.0,1,120,13.93,2.53,-55.90,0.000,4,0.282,0.084,3094,987,3356
$GC,144,-0.48,-117.3,10.0,-11.5,11,149,0.22,2.33,0.00,0.000,6,0.153,0.063,3158,2403,3357
$GC,469,-0.48,-117.3,30.6,-5.8,41,470,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2403,3358
$GC,788,-0.48,-117.3,53.7,-8.1,71,792,0.00,2.38,0.00,0.000,4,0.000,0.069,3158,984,3358
$GC,817,-0.52,-117.3,56.2,-8.9,73,821,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2401,3358
$GC,1154,-0.52,-117.3,82.4,-8.1,103,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3358
$GC,1461,-0.56,-117.3,105.8,-6.9,118,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3358
$GC,1771,-0.62,-117.3,123.9,-5.8,133,1772,0.12,0.00,0.00,0.000,6,0.085,0.000,3104,2402,3359
$GC,2080,-0.62,-117.3,144.4,-6.5,148,2084,0.00,2.38,0.00,0.000,4,0.000,0.068,3104,990,3358
$GC,2112,-0.62,-117.3,146.7,-6.9,149,2119,0.00,2.33,0.00,0.000,6,0.000,0.061,3103,2410,3358
$GC,2426,-0.62,-117.3,169.2,-7.4,161,2430,0.00,2.35,0.00,0.000,4,0.000,0.069,3104,991,3359
$GC,2459,-0.62,-117.3,171.7,-7.3,162,2463,0.00,2.28,0.00,0.000,6,0.000,0.061,3104,2401,3358
$GC,2788,-0.62,-117.3,195.1,-7.3,173,2792,0.00,2.33,0.00,0.000,4,0.000,0.079,3099,3810,3358
$GC,2850,-0.62,-117.3,199.7,-7.3,175,2854,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2386,3358
$GC,3186,-0.62,-117.3,221.4,-6.5,186,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2387,3359
$GC,3492,-0.62,-117.3,241.9,-6.8,196,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2387,3358
$GC,3798,-0.62,-117.3,263.1,-6.9,206,3802,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,987,3358
$GC,3842,-0.62,-117.3,266.5,-7.3,207,3846,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2406,3359
$GC,4161,-0.62,-117.3,289.0,-7.1,218,4165,0.00,2.38,0.00,0.000,4,0.000,0.070,3099,990,3358
$GC,4189,-0.62,-117.3,290.9,-6.9,219,4193,0.00,2.33,0.00,0.000,6,0.000,0.061,3099,2413,3359
$GC,4524,-0.62,-117.3,312.3,-6.3,227,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2413,3358
$GC,4826,-0.62,-117.3,331.9,-6.6,232,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2413,3359
$GC,5129,-0.62,-117.3,352.4,-6.7,237,5133,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,986,3358
$GC,5174,-0.66,-117.3,355.6,-6.8,237,5178,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2407,3358
$GC,5489,-0.66,-117.3,376.5,-6.6,243,5493,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,995,3358
$GC,5521,-0.66,-117.3,378.8,-6.9,243,5525,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2413,3358
$GC,5848,-0.66,-117.3,400.0,-6.6,249,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2413,3358
$GC,6151,-0.66,-117.3,420.0,-6.6,254,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2413,3358
$GC,6455,-0.80,-117.3,441.8,-7.4,259,6459,0.12,2.38,0.00,0.000,4,0.096,0.071,3054,996,3358
$GC,6482,-0.84,-117.3,444.1,-8.1,259,6486,0.00,2.28,0.00,0.000,6,0.000,0.063,3054,2409,3357
$GC,6821,-0.92,-117.3,471.8,-8.3,265,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2409,3358
$GC,7123,-1.00,-117.3,496.1,-8.0,270,7128,0.15,2.38,0.00,0.000,4,0.088,0.081,2992,3818,3357
$GC,7381,-0.69,-117.3,524.8,-11.2,273,7388,0.35,2.28,0.00,0.000,6,0.173,0.058,3086,2402,3357
$GC,7690,-0.69,-117.3,545.1,-6.4,279,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2403,3357
$GC,7993,-0.69,-117.3,563.2,-5.9,284,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3356
$GC,8296,-0.69,-117.3,580.8,-5.8,289,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3357
$GC,8600,-0.69,-117.3,599.7,-6.3,294,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3357
$GC,8902,-0.69,-117.3,621.5,-7.2,299,8906,0.00,2.38,0.00,0.000,4,0.000,0.072,3087,993,3356
$GC,8935,-0.69,-117.3,624.3,-7.7,299,8940,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2403,3356
$GC,9262,-0.69,-117.3,648.4,-7.4,305,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3356
$GC,9565,-0.69,-117.3,669.4,-6.9,310,9569,0.00,2.38,0.00,0.000,4,0.000,0.072,3085,982,3355
$GC,9610,-0.69,-117.3,672.5,-6.8,310,9614,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2406,3355
$GC,9925,-0.69,-117.3,691.5,-6.0,316,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3355
$GC,10228,-0.69,-117.3,709.3,-5.8,321,10232,0.00,2.35,0.00,0.000,4,0.000,0.073,3085,986,3355
$GC,10261,-0.69,-117.3,711.4,-6.0,321,10265,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2400,3355
$GC,10587,-0.69,-117.3,729.8,-5.7,327,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,10890,-0.69,-117.3,747.0,-5.8,332,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,11194,-0.69,-117.3,765.4,-6.0,337,11198,0.00,2.38,0.00,0.000,4,0.000,0.073,3084,986,3354
$GC,11233,-0.69,-117.3,767.9,-6.9,337,11237,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2406,3354
$GC,11553,-0.69,-117.3,786.8,-5.9,343,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3354
$GC,11856,-0.69,-117.3,806.0,-6.3,348,11860,0.00,2.38,0.00,0.000,4,0.000,0.073,3085,988,3354
$GC,11888,-0.69,-117.3,808.2,-6.5,348,11893,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2412,3354
$GC,12215,-0.69,-117.3,828.8,-6.3,354,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3354
$GC,12518,-0.69,-117.3,846.1,-5.7,359,12519,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3354
$GC,12821,-0.69,-117.3,862.8,-5.5,364,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3354
$GC,13124,-0.69,-117.3,879.4,-5.4,369,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3354
$GC,13427,-0.69,-117.3,896.1,-5.5,374,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3354
$GC,13731,-0.69,-117.3,912.6,-5.5,379,13735,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,991,3354
$GC,13763,-0.69,-117.3,914.7,-6.2,379,13767,0.00,2.33,0.00,0.000,6,0.000,0.066,3085,2403,3354
$GC,14090,-0.69,-117.3,933.0,-5.7,385,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14393,-0.69,-117.3,950.6,-5.8,390,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14697,-0.69,-117.3,969.2,-6.1,395,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14999,-0.69,-117.3,988.0,-6.2,400,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$STATE,15057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15057,begin apogee
$GC,15063,-0.22,0.0,991.7,6.2,401,15179,0.52,0.00,108.28,1.486,6,0.142,0.000,3244,2192,2877
$STATE,15180,end apogee,CONTROL_FINISHED_OK
$STATE,15180,begin climb
$GC,15182,0.67,117.3,996.9,0.0,403,15300,0.90,0.00,114.00,1.437,6,0.094,0.000,3530,2192,2397
$GC,15603,0.35,117.3,978.9,6.8,410,15608,0.32,2.50,0.00,0.000,4,0.166,0.078,3428,3609,2393
$GC,15648,0.26,129.5,976.3,4.7,410,15666,0.12,2.38,11.93,1.311,6,0.189,0.061,3408,2198,2348
$GC,15969,0.35,161.1,963.3,4.1,416,16003,0.00,2.53,29.33,1.415,4,0.000,0.081,3408,3618,2219
$GC,16037,0.35,161.1,959.8,5.7,417,16041,0.00,2.40,0.00,0.000,6,0.000,0.063,3408,2193,2217
$GC,16398,0.43,161.1,942.1,5.0,423,16400,0.15,0.00,0.00,0.000,6,0.087,0.000,3465,2193,2216
$GC,16702,0.35,161.1,922.6,6.5,428,16706,0.12,2.40,0.00,0.000,4,0.145,0.079,3428,3610,2216
$GC,16770,0.30,161.1,918.1,6.4,429,16774,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2193,2216
$GC,17130,0.30,161.1,896.7,6.0,435,17134,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,3616,2216
$GC,17175,0.22,161.1,893.6,7.3,435,17180,0.17,2.30,0.00,0.000,6,0.178,0.064,3392,2200,2215
$GC,17491,0.37,170.8,878.6,4.7,441,17503,0.15,0.00,9.98,1.287,6,0.091,0.000,3448,2199,2179
$GC,17793,0.37,170.8,860.8,6.0,446,17798,0.00,2.40,0.00,0.000,4,0.000,0.081,3448,3609,2177
$GC,17827,0.29,170.8,858.5,7.0,446,17832,0.15,2.33,0.00,0.000,6,0.173,0.064,3411,2188,2177
$GC,18160,0.38,170.8,841.0,5.1,452,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2188,2177
$GC,18463,0.47,175.8,826.3,4.9,457,18472,0.17,0.00,6.05,1.118,6,0.084,0.000,3478,2188,2159
$GC,18766,0.38,175.8,806.1,6.8,462,18771,0.15,2.42,0.00,0.000,4,0.146,0.079,3436,3608,2158
$GC,18806,0.33,175.8,803.3,6.3,462,18810,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2200,2158
$GC,19127,0.33,175.8,785.7,5.4,468,19131,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,789,2158
$GC,19166,0.38,175.8,783.5,5.1,468,19170,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2212,2158
$GC,19487,0.38,175.8,766.8,5.2,474,19491,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3618,2158
$GC,19542,0.34,175.8,763.4,5.5,474,19549,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2191,2158
$GC,19852,0.34,175.8,745.1,5.9,480,19853,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2158
$GC,20155,0.34,175.8,726.1,6.3,485,20156,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2157
$GC,20458,0.34,175.8,706.5,6.5,490,20462,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,3619,2157
$GC,20509,0.29,175.8,702.9,7.7,490,20513,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2191,2157
$GC,20818,0.29,175.8,684.1,6.1,495,20819,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2157
$GC,21121,0.29,175.8,667.0,5.5,500,21122,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2157
$GC,21425,0.29,177.1,651.9,5.0,505,21429,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3613,2157
$GC,21463,0.29,177.1,649.6,5.6,505,21467,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2197,2157
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$STATE,31780,end climb,SURFACE_DEPTH_REACHED
$STATE,31780,begin surface coast
$FINISH,2.8,1.006957
$STATE,31935,end surface coast,CONTROL_FINISHED_OK
$STATE,31935,begin surface
$SM_CCo,31958,26.58,0.832,0,0,1653,300.00
$SM_GC,3.77,0.00,0.00,26.58,0.000,0.000,0.832,140,2415,1653,-9.93,0.42,300.00
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$TT8_MAMPS,0.026845
$HUMID,2082
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,14.40
$XPDR_PINGS,1030
$24V_AH,21.6,72.640
$10V_AH,10.5,49.231
$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
$DEVICE_SECS,29.550,230.175,364.550,26.575,0.000,29.828,27.790,161.797,257.500,0.000,0.000,18.253,1842.208,26812.203,599.219,2421.367,662.263,33.381,1792.981,0.000,2392.154,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,662.880,628.885,1449.521,877.120,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50641,853
$CAP_FILE_SIZE,191339,0
$CFSIZE,260165632,230043648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140109,125630,5006.005,-14428.653,71,1.6,76,18.6