version: 66.03
glider: 120
mission: 9
dive: 590
start: 4 8 109 3 6 43
data:
$ID,120
$MISSION,9
$DIVE,590
$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,-30337.424
$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,22
$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
$GPS1,025857,5015.748,-14503.022,56,4.6,75,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-75.0
$GPS2,030549,5015.754,-14503.012,16,1.9,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,0.134
$KALMAN_X,-80352.1,-8.5,5.1,94007.1,-749.5
$KALMAN_Y,134068.2,170.4,133.3,-111646.8,-403.7
$MHEAD_RNG_PITCHd_Wd,300.5,14357,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-30.40,0.000,2,0.000,0.000,142,2409,2499
$GC,62,-0.67,-117.3,3.7,-5.7,3,106,13.98,2.42,-22.33,0.000,4,0.284,0.083,3096,990,3357
$GC,187,-0.51,-117.3,17.2,-11.3,14,192,0.20,2.35,0.00,0.000,6,0.149,0.063,3152,2408,3359
$GC,517,-0.51,-117.3,41.0,-7.1,44,521,0.00,2.38,0.00,0.000,4,0.000,0.081,3143,3807,3359
$GC,557,-0.51,-117.3,44.4,-7.8,47,562,0.00,2.28,0.00,0.000,6,0.000,0.054,3147,2394,3359
$GC,886,-0.51,-117.3,67.8,-6.9,77,891,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2395,3359
$GC,1208,-0.51,-117.3,90.6,-7.4,101,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2394,3359
$GC,1517,-0.51,-117.3,113.6,-7.3,116,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2394,3359
$GC,1826,-0.57,-117.3,136.5,-6.9,131,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2394,3359
$GC,2147,-0.67,-117.3,156.9,-6.4,145,2152,0.15,2.38,0.00,0.000,4,0.080,0.069,3092,991,3359
$GC,2169,-0.67,-117.3,158.9,-7.7,145,2176,0.00,2.35,0.00,0.000,6,0.000,0.060,3092,2411,3359
$GC,2483,-0.67,-117.3,182.5,-7.3,156,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2410,3359
$GC,2790,-0.67,-117.3,204.6,-6.9,166,2794,0.00,2.42,0.00,0.000,4,0.000,0.068,3092,992,3359
$GC,2823,-0.67,-117.3,206.9,-6.6,167,2827,0.00,2.35,0.00,0.000,6,0.000,0.061,3092,2403,3359
$GC,3153,-0.67,-117.3,227.8,-6.5,178,3157,0.00,2.40,0.00,0.000,4,0.000,0.079,3089,3815,3359
$GC,3237,-0.67,-117.3,234.2,-7.6,180,3241,0.00,2.28,0.00,0.000,6,0.000,0.054,3089,2401,3359
$GC,3551,-0.67,-117.3,256.6,-7.0,190,3555,0.00,2.38,0.00,0.000,4,0.000,0.070,3089,993,3359
$GC,3586,-0.67,-117.3,259.2,-7.2,191,3590,0.00,2.35,0.00,0.000,6,0.000,0.061,3089,2410,3359
$GC,3927,-0.67,-117.3,283.0,-7.1,202,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2409,3359
$GC,4264,-0.67,-117.3,306.0,-6.8,212,4268,0.00,2.42,0.00,0.000,4,0.000,0.069,3088,993,3359
$GC,4292,-0.67,-117.3,307.9,-6.3,212,4296,0.00,2.35,0.00,0.000,6,0.000,0.061,3089,2400,3359
$GC,4630,-0.67,-117.3,329.6,-6.4,218,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,4933,-0.67,-117.3,349.8,-6.7,223,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,5237,-0.67,-117.3,371.7,-7.3,228,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,5539,-0.67,-117.3,394.4,-7.5,233,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,5843,-0.67,-117.3,417.1,-7.5,238,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,6146,-0.67,-117.3,440.8,-7.8,243,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,6449,-0.67,-117.3,463.0,-7.2,248,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3359
$GC,6753,-0.67,-117.3,483.4,-6.7,253,6757,0.00,2.45,0.00,0.000,4,0.000,0.071,3089,985,3358
$GC,6788,-0.67,-117.3,485.8,-7.0,253,6792,0.00,2.38,0.00,0.000,6,0.000,0.062,3089,2400,3359
$GC,7115,-0.67,-117.3,506.5,-6.3,259,7119,0.00,2.42,0.00,0.000,4,0.000,0.082,3086,3816,3359
$GC,7160,-0.67,-117.3,509.5,-6.7,259,7164,0.00,2.30,0.00,0.000,6,0.000,0.054,3086,2393,3358
$GC,7477,-0.67,-117.3,528.3,-5.9,265,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,7779,-0.67,-117.3,544.5,-5.3,270,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,8082,-0.67,-117.3,560.2,-5.2,275,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3359
$GC,8385,-0.67,-117.3,575.1,-4.9,280,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,8688,-0.67,-117.3,590.8,-5.2,285,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,8992,-0.67,-117.3,606.8,-5.3,290,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,9294,-0.67,-117.3,625.6,-6.3,295,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,9597,-0.67,-117.3,646.2,-6.8,300,9601,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,989,3357
$GC,9631,-0.71,-117.3,648.7,-7.9,300,9635,0.00,2.38,0.00,0.000,6,0.000,0.062,3086,2403,3357
$GC,9958,-0.71,-117.3,672.7,-7.4,306,9962,0.00,2.42,0.00,0.000,4,0.000,0.082,3086,3816,3357
$GC,9986,-0.71,-117.3,674.9,-8.0,306,9990,0.00,2.30,0.00,0.000,6,0.000,0.055,3086,2394,3357
$GC,10318,-0.71,-117.3,698.5,-7.0,312,10322,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,994,3357
$GC,10364,-0.77,-117.3,701.8,-7.4,312,10368,0.00,2.38,0.00,0.000,6,0.000,0.062,3086,2408,3357
$GC,10680,-0.77,-117.3,722.4,-6.5,318,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3357
$GC,10982,-0.77,-117.3,740.5,-5.9,323,10987,0.00,2.42,0.00,0.000,4,0.000,0.083,3086,3818,3357
$GC,11016,-0.77,-117.3,742.6,-6.2,323,11020,0.00,2.30,0.00,0.000,6,0.000,0.056,3085,2398,3357
$GC,11343,-0.77,-117.3,759.5,-5.0,329,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,11648,-0.77,-117.3,773.4,-4.4,334,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3357
$GC,11950,-0.77,-117.3,785.8,-4.1,339,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3357
$GC,12253,-0.77,-117.3,799.1,-4.3,344,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,12556,-0.77,-117.3,813.7,-4.9,349,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,12860,-0.81,-117.3,829.7,-5.3,354,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,13162,-0.85,-117.3,847.1,-5.8,359,13164,0.12,0.00,0.00,0.000,6,0.093,0.000,3037,2399,3356
$GC,13466,-0.79,-117.3,870.7,-7.9,364,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2399,3356
$GC,13769,-0.73,-117.3,894.3,-7.7,369,13771,0.15,0.00,0.00,0.000,6,0.109,0.000,3080,2397,3356
$GC,14072,-0.73,-117.3,913.9,-6.4,374,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,14374,-0.73,-117.3,931.8,-5.9,379,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,14678,-0.73,-117.3,949.0,-5.6,384,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,14980,-0.73,-117.3,966.0,-5.6,389,14982,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,15284,-0.73,-117.3,982.3,-5.3,394,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3356
$STATE,15462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15462,begin apogee
$GC,15471,-0.22,0.0,991.6,5.2,397,15585,0.55,0.00,108.38,1.491,6,0.143,0.000,3245,2200,2875
$STATE,15586,end apogee,CONTROL_FINISHED_OK
$STATE,15586,begin climb
$GC,15589,0.67,117.3,995.3,0.0,399,15713,0.85,2.75,114.20,1.435,4,0.087,0.077,3533,792,2397
$GC,15759,0.32,117.3,992.7,6.8,401,15765,0.43,2.53,0.00,0.000,6,0.170,0.060,3427,2196,2395
$GC,16081,0.32,117.3,975.3,5.4,407,16082,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2196,2393
$GC,16385,0.33,124.8,960.7,4.8,412,16394,0.00,0.00,7.53,1.223,6,0.000,0.000,3427,2196,2367
$GC,16688,0.35,140.9,946.9,4.5,417,16706,0.00,0.00,16.00,1.378,6,0.000,0.000,3427,2196,2302
$GC,16992,0.36,148.5,932.4,4.8,422,17006,0.00,2.42,8.50,1.260,4,0.000,0.078,3436,799,2270
$GC,17047,0.36,148.5,929.5,5.2,422,17051,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2215,2270
$GC,17357,0.36,148.5,913.6,5.1,427,17361,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3615,2269
$GC,17415,0.31,148.5,910.3,5.5,427,17421,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2199,2269
$GC,17726,0.31,148.5,893.9,5.3,433,17730,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,784,2269
$GC,17776,0.31,148.5,891.0,6.0,433,17780,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2211,2269
$GC,18087,0.31,148.5,873.4,5.7,438,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2269
$GC,18391,0.31,148.5,855.6,5.9,443,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2269
$GC,18693,0.31,148.5,839.5,5.2,448,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2269
$GC,18996,0.31,153.9,824.8,4.8,453,19007,0.00,2.45,6.38,1.140,4,0.000,0.078,3436,777,2248
$GC,19053,0.32,164.4,822.0,4.7,453,19069,0.00,2.35,11.07,1.275,6,0.000,0.062,3436,2206,2205
$GC,19426,0.32,164.4,803.3,5.1,460,19430,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,790,2204
$GC,19454,0.32,164.4,801.8,5.5,460,19458,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2203,2203
$GC,19793,0.33,169.7,785.5,4.8,466,19801,0.00,0.00,6.25,1.116,6,0.000,0.000,3436,2202,2183
$GC,20096,0.33,169.7,769.8,5.2,471,20100,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3613,2182
$GC,20124,0.33,169.7,768.0,5.9,471,20128,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2199,2182
$GC,20463,0.33,169.7,749.5,5.6,477,20467,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,789,2182
$GC,20504,0.37,169.7,747.1,6.4,477,20508,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2197,2182
$GC,20825,0.37,169.7,728.8,5.7,483,20830,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,787,2182
$GC,20861,0.37,169.7,726.8,5.0,483,20865,0.00,2.35,0.00,0.000,6,0.000,0.061,3435,2206,2182
$GC,21188,0.37,169.7,709.3,5.4,489,21189,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2182
$GC,21491,0.37,169.7,694.0,5.1,494,21495,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,790,2182
$GC,21548,0.43,171.3,691.2,5.0,494,21555,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2208,2182
$GC,21859,0.44,182.9,676.6,4.7,500,21878,0.00,2.47,13.30,1.230,4,0.000,0.079,3436,795,2129
$GC,21927,0.54,211.5,673.6,4.2,501,21962,0.15,2.33,26.95,1.264,6,0.086,0.061,3495,2206,2012
$GC,22296,0.44,211.5,646.9,7.5,507,22298,0.12,0.00,0.00,0.000,6,0.147,0.000,3462,2206,2008
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$STATE,32683,end climb,SURFACE_DEPTH_REACHED
$STATE,32683,begin surface coast
$FINISH,1.4,1.013701
$STATE,32778,end surface coast,CONTROL_FINISHED_OK
$STATE,32779,begin surface
$SM_CCo,32861,0.00,0.000,0,0,1753,275.23
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$IRIDIUM_FIX,4956.40,-14500.20,020798,171730
$TT8_MAMPS,0.026845
$HUMID,2126
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,13.90
$XPDR_PINGS,986
$24V_AH,21.0,115.438
$10V_AH,10.4,79.705
$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
$DEVICE_SECS,27.475,191.175,373.425,0.000,0.000,24.101,27.566,170.985,246.500,0.000,0.000,33.565,1775.855,27855.158,518.266,2274.478,835.576,33.378,1639.315,0.000,2234.066,0.000,0.465
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$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,50698,856
$CAP_FILE_SIZE,176177,0
$CFSIZE,260165632,212828160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,121537,5018.588,-14507.454,33,1.1,33,18.5