version: 66.03
glider: 120
mission: 9
dive: 409
start: 1 29 109 13 58 23
data:
$ID,120
$MISSION,9
$DIVE,409
$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,-26347.799
$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,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
$GPS1,134237,5012.996,-14427.856,108,1.2,108,18.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.83
$_SM_ANGLEo,-69.6
$GPS2,135727,5013.130,-14427.795,15,1.4,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.177
$KALMAN_X,-8415.5,-47.4,241.6,63726.6,263.4
$KALMAN_Y,17932.4,-420.3,89.1,275.8,3961.4
$MHEAD_RNG_PITCHd_Wd,165.2,35492,-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,-117.2,0.0,0.0,0,36,0.00,0.00,-11.10,0.000,2,0.000,0.000,134,2408,1950
$GC,40,-0.67,-117.3,3.9,-0.0,1,118,14.00,2.55,-58.08,0.000,4,0.281,0.092,3093,3812,3356
$GC,149,-0.50,-117.3,9.4,-11.6,11,154,0.22,2.35,0.00,0.000,6,0.157,0.053,3156,2397,3357
$GC,475,-0.50,-117.3,31.7,-7.0,41,479,0.00,2.42,0.00,0.000,4,0.000,0.069,3159,987,3358
$GC,504,-0.50,-117.3,33.0,-4.7,43,508,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2403,3358
$GC,835,-0.50,-117.3,56.2,-8.5,74,836,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2403,3358
$GC,1154,-0.50,-117.3,80.5,-7.7,104,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2403,3358
$GC,1462,-0.50,-117.3,103.3,-7.1,119,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3358
$GC,1772,-0.57,-117.3,123.1,-6.0,134,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3359
$GC,2082,-0.65,-117.3,143.0,-7.4,149,2087,0.15,2.42,0.00,0.000,4,0.081,0.066,3096,991,3358
$GC,2132,-0.65,-117.3,147.7,-9.3,151,2136,0.00,2.33,0.00,0.000,6,0.000,0.060,3096,2403,3358
$GC,2456,-0.60,-117.3,175.1,-8.3,162,2460,0.00,2.40,0.00,0.000,4,0.000,0.078,3096,3805,3358
$GC,2586,-0.60,-117.3,185.9,-8.3,166,2590,0.00,2.33,0.00,0.000,6,0.000,0.053,3096,2393,3358
$GC,2921,-0.60,-117.3,208.4,-6.3,177,2925,0.00,2.40,0.00,0.000,4,0.000,0.067,3096,988,3358
$GC,2942,-0.60,-117.3,210.0,-6.7,177,2949,0.00,2.30,0.00,0.000,6,0.000,0.060,3096,2409,3358
$GC,3256,-0.60,-117.3,229.1,-6.0,188,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2408,3358
$GC,3561,-0.60,-117.3,247.3,-6.2,198,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2409,3358
$GC,3867,-0.60,-117.3,266.9,-6.4,208,3871,0.00,2.42,0.00,0.000,4,0.000,0.067,3096,984,3358
$GC,3917,-0.60,-117.3,270.3,-6.3,209,3922,0.00,2.33,0.00,0.000,6,0.000,0.061,3096,2412,3358
$GC,4237,-0.60,-117.3,291.1,-6.5,220,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2411,3358
$GC,4571,-0.60,-117.3,312.8,-6.4,228,4575,0.00,2.42,0.00,0.000,4,0.000,0.068,3096,984,3358
$GC,4598,-0.60,-117.3,314.6,-6.6,228,4602,0.00,2.33,0.00,0.000,6,0.000,0.061,3096,2411,3358
$GC,4930,-0.60,-117.3,336.1,-6.5,234,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2411,3358
$GC,5233,-0.60,-117.3,355.8,-6.5,239,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2411,3358
$GC,5536,-0.60,-117.3,376.4,-6.8,244,5540,0.00,2.35,0.00,0.000,4,0.000,0.081,3096,3812,3357
$GC,5586,-0.60,-117.3,380.1,-7.4,244,5590,0.00,2.28,0.00,0.000,6,0.000,0.054,3096,2396,3357
$GC,5896,-0.60,-117.3,400.4,-6.6,249,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3357
$GC,6198,-0.60,-117.3,418.8,-6.0,254,6202,0.00,2.40,0.00,0.000,4,0.000,0.070,3096,987,3357
$GC,6237,-0.60,-117.3,421.3,-6.5,254,6241,0.00,2.30,0.00,0.000,6,0.000,0.062,3096,2403,3357
$GC,6558,-0.60,-117.3,439.2,-5.5,260,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2403,3357
$GC,6861,-0.60,-117.3,455.2,-5.3,265,6865,0.00,2.35,0.00,0.000,4,0.000,0.070,3096,987,3357
$GC,6906,-0.60,-117.3,457.6,-5.4,265,6910,0.00,2.30,0.00,0.000,6,0.000,0.061,3096,2405,3357
$GC,7221,-0.60,-117.3,475.4,-5.7,271,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3356
$GC,7524,-0.60,-117.3,493.5,-6.0,276,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3356
$GC,7827,-0.60,-117.3,512.2,-6.1,281,7831,0.00,2.35,0.00,0.000,4,0.000,0.071,3096,985,3356
$GC,7873,-0.65,-117.3,515.2,-6.7,281,7877,0.00,2.30,0.00,0.000,6,0.000,0.062,3096,2399,3356
$GC,8188,-0.65,-117.3,534.1,-6.0,287,8192,0.00,2.35,0.00,0.000,4,0.000,0.081,3096,3811,3356
$GC,8215,-0.65,-117.3,535.7,-6.0,287,8219,0.00,2.25,0.00,0.000,6,0.000,0.055,3096,2389,3356
$GC,8553,-0.65,-117.3,555.3,-5.7,293,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2389,3355
$GC,8856,-0.65,-117.3,572.9,-5.8,298,8861,0.00,2.38,0.00,0.000,4,0.000,0.071,3096,984,3355
$GC,8890,-0.70,-117.3,575.0,-6.0,298,8894,0.00,2.30,0.00,0.000,6,0.000,0.061,3096,2401,3355
$GC,9216,-0.70,-117.3,593.6,-5.6,304,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,9519,-0.70,-117.3,609.9,-5.4,309,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,9823,-0.70,-117.3,626.6,-5.5,314,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,10126,-0.74,-117.3,643.7,-5.6,319,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,10428,-0.74,-117.3,661.7,-5.9,324,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,10732,-0.74,-117.3,678.9,-5.7,329,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,11035,-0.78,-117.3,695.9,-5.6,334,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3355
$GC,11338,-0.83,-117.3,712.0,-5.3,339,11340,0.12,0.00,0.00,0.000,6,0.093,0.000,3048,2401,3354
$GC,11641,-0.77,-117.3,732.6,-6.9,344,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2401,3354
$GC,11944,-0.72,-117.3,753.9,-7.1,349,11949,0.12,2.40,0.00,0.000,4,0.106,0.072,3083,994,3353
$GC,11977,-0.72,-117.3,756.2,-7.4,349,11981,0.00,2.35,0.00,0.000,6,0.000,0.065,3083,2407,3354
$GC,12303,-0.72,-117.3,777.8,-6.7,355,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3354
$GC,12606,-0.72,-117.3,799.3,-7.1,360,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3353
$GC,12910,-0.72,-117.3,822.1,-7.5,365,12914,0.00,2.42,0.00,0.000,4,0.000,0.073,3083,992,3353
$GC,12937,-0.72,-117.3,824.4,-8.4,365,12941,0.00,2.33,0.00,0.000,6,0.000,0.065,3084,2400,3353
$GC,13275,-0.72,-117.3,850.5,-7.7,371,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3353
$GC,13578,-0.72,-117.3,872.6,-7.2,376,13582,0.00,2.40,0.00,0.000,4,0.000,0.072,3084,986,3353
$GC,13605,-0.72,-117.3,874.6,-7.3,376,13609,0.00,2.33,0.00,0.000,6,0.000,0.064,3083,2400,3353
$GC,13938,-0.72,-117.3,894.9,-5.9,382,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3353
$GC,14240,-0.72,-117.3,911.8,-5.6,387,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3353
$GC,14544,-0.72,-117.3,929.1,-5.7,392,14545,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3353
$GC,14847,-0.72,-117.3,946.3,-5.7,397,14851,0.00,2.40,0.00,0.000,4,0.000,0.074,3083,995,3353
$GC,14880,-0.72,-117.3,948.5,-6.2,397,14884,0.00,2.33,0.00,0.000,6,0.000,0.065,3083,2406,3353
$GC,15207,-0.72,-117.3,967.9,-6.0,403,15208,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2405,3352
$GC,15509,-0.72,-117.3,987.1,-6.3,408,15511,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2406,3352
$STATE,15567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15567,begin apogee
$GC,15574,-0.22,0.0,990.9,6.4,409,15690,0.52,0.00,108.30,1.488,6,0.143,0.000,3243,2195,2876
$STATE,15691,end apogee,CONTROL_FINISHED_OK
$STATE,15691,begin climb
$GC,15694,0.67,117.3,996.2,0.0,411,15816,0.88,0.00,113.72,1.437,6,0.095,0.000,3527,2195,2396
$GC,16120,0.36,117.3,979.7,6.5,418,16122,0.32,0.00,0.00,0.000,6,0.161,0.000,3436,2195,2394
$GC,16422,0.34,143.4,966.4,4.3,423,16448,0.00,0.00,24.15,1.408,6,0.000,0.000,3436,2195,2290
$GC,16726,0.34,147.9,951.9,4.9,428,16734,0.00,0.00,5.72,1.110,6,0.000,0.000,3436,2195,2273
$GC,17028,0.34,147.9,936.2,5.3,433,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2272
$GC,17331,0.34,147.9,919.6,5.5,438,17332,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2271
$GC,17634,0.34,147.9,901.5,6.0,443,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2271
$GC,17937,0.34,147.9,884.3,5.7,448,17939,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2271
$GC,18241,0.34,147.9,868.4,5.2,453,18242,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2271
$GC,18544,0.35,151.1,853.5,4.9,458,18550,0.00,0.00,4.45,0.978,6,0.000,0.000,3436,2195,2259
$GC,18847,0.35,151.1,838.3,5.0,463,18848,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2259
$GC,19149,0.35,151.1,822.8,5.1,468,19151,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2259
$GC,19453,0.35,151.1,806.9,5.2,473,19454,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2195,2259
$GC,19757,0.35,153.4,791.9,4.9,478,19758,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2258
$GC,20059,0.35,153.4,776.2,5.2,483,20060,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2258
$GC,20362,0.35,153.4,760.4,5.3,488,20366,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,781,2259
$GC,20400,0.36,157.3,758.4,4.9,488,20415,0.00,2.33,7.30,1.156,6,0.000,0.062,3436,2213,2234
$GC,20725,0.36,157.3,741.1,5.4,494,20729,0.00,2.33,0.00,0.000,4,0.000,0.080,3436,3611,2233
$GC,20765,0.29,157.3,738.5,5.6,494,20769,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2199,2233
$GC,21085,0.29,157.3,720.8,5.5,500,21087,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2233
$GC,21388,0.29,157.3,704.8,5.3,505,21393,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,788,2233
$GC,21428,0.29,159.2,702.9,4.9,505,21432,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2204,2233
$GC,21749,0.29,161.7,687.0,4.9,511,21759,0.00,2.35,5.72,1.039,4,0.000,0.078,3436,3616,2215
$GC,21793,0.24,161.7,684.5,5.1,511,21798,0.15,2.33,0.00,0.000,6,0.178,0.063,3399,2198,2214
$GC,22109,0.41,188.3,671.1,4.2,517,22136,0.15,0.00,24.90,1.267,6,0.087,0.000,3456,2198,2108
$GC,22412,0.46,188.3,654.5,5.6,522,22416,0.00,2.42,0.00,0.000,4,0.000,0.081,3456,3613,2104
$GC,22447,0.41,188.3,652.1,7.0,522,22451,0.00,2.33,0.00,0.000,6,0.000,0.062,3463,2195,2104
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$STATE,32606,end climb,SURFACE_DEPTH_REACHED
$STATE,32606,begin surface coast
$FINISH,2.6,1.025520
$STATE,32745,end surface coast,CONTROL_FINISHED_OK
$STATE,32745,begin surface
$SM_CCo,32767,19.45,0.830,0,0,1754,275.23
$SM_GC,5.50,0.00,0.00,19.45,0.000,0.000,0.830,141,2408,1754,-9.92,0.23,275.23
$IRIDIUM_FIX,4953.05,-14413.68,250498,141424
$TT8_MAMPS,0.026845
$HUMID,2107
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$TCM_TEMP,14.50
$XPDR_PINGS,961
$24V_AH,21.6,80.443
$10V_AH,10.5,54.794
$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
$DEVICE_SECS,28.150,179.500,351.375,19.450,0.000,82.356,93.079,444.738,240.250,0.000,0.000,15.911,1757.622,28107.295,558.026,2157.447,1091.245,33.373,1611.001,0.000,2140.240,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,653.090,633.676,1453.202,878.747,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50743,855
$CAP_FILE_SIZE,182246,0
$CFSIZE,260165632,226869248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,230629,5009.692,-14427.874,38,2.8,57,18.6