version: 66.03
glider: 120
mission: 9
dive: 605
start: 4 13 109 19 49 18
data:
$ID,120
$MISSION,9
$DIVE,605
$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,-30639.533
$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,20
$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
$GPS1,194136,5000.625,-14458.494,37,1.3,42,18.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.4
$GPS2,194820,5000.668,-14458.515,16,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,0.097
$KALMAN_X,-91158.0,-174.4,178.3,110152.9,-3277.8
$KALMAN_Y,145503.4,-415.2,-83.2,-150193.8,-214.8
$MHEAD_RNG_PITCHd_Wd,38.3,15573,-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,-30.17,0.000,2,0.000,0.000,136,2397,2218
$GC,62,-0.67,-117.3,3.3,-5.1,3,127,13.52,2.47,-41.10,0.000,4,0.274,0.091,3085,3808,3356
$GC,358,-0.50,-117.3,30.5,-11.2,29,365,0.25,2.28,0.00,0.000,6,0.147,0.054,3156,2390,3358
$GC,687,-0.50,-117.3,53.2,-7.1,60,691,0.00,2.38,0.00,0.000,4,0.000,0.071,3156,983,3358
$GC,723,-0.50,-117.3,56.0,-7.1,63,727,0.00,2.38,0.00,0.000,6,0.000,0.061,3155,2408,3358
$GC,1052,-0.50,-117.3,80.4,-7.4,93,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2408,3358
$GC,1358,-0.50,-117.3,105.1,-8.2,108,1362,0.00,2.40,0.00,0.000,4,0.000,0.081,3155,3815,3358
$GC,1409,-0.58,-117.3,109.3,-8.0,110,1413,0.00,2.28,0.00,0.000,6,0.000,0.053,3154,2398,3358
$GC,1727,-0.64,-117.3,132.2,-6.7,125,1732,0.15,2.40,0.00,0.000,4,0.081,0.068,3091,983,3358
$GC,1755,-0.64,-117.3,134.7,-8.5,126,1759,0.00,2.38,0.00,0.000,6,0.000,0.060,3091,2410,3358
$GC,2071,-0.57,-117.3,158.9,-7.0,139,2075,0.12,2.40,0.00,0.000,4,0.130,0.079,3123,3816,3358
$GC,2161,-0.64,-117.3,163.8,-5.4,141,2168,0.00,2.30,0.00,0.000,6,0.000,0.054,3123,2401,3358
$GC,2475,-0.87,-117.3,186.8,-8.3,152,2480,0.22,2.42,0.00,0.000,4,0.082,0.077,3034,3812,3358
$GC,2661,-0.67,-117.3,206.9,-11.7,157,2666,0.22,2.28,0.00,0.000,6,0.147,0.054,3096,2388,3358
$GC,2975,-0.63,-117.3,233.6,-8.4,167,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3358
$GC,3281,-0.58,-117.3,258.5,-7.9,177,3283,0.12,0.00,0.00,0.000,6,0.163,0.000,3130,2389,3359
$GC,3588,-0.65,-117.3,277.3,-5.9,187,3592,0.00,2.38,0.00,0.000,4,0.000,0.070,3131,991,3358
$GC,3622,-0.73,-117.3,279.3,-6.0,188,3627,0.15,2.35,0.00,0.000,6,0.079,0.059,3073,2402,3358
$GC,3952,-0.73,-117.3,301.8,-6.8,199,3956,0.00,2.40,0.00,0.000,4,0.000,0.080,3073,3806,3358
$GC,3992,-0.67,-117.3,304.7,-7.1,199,3996,0.00,2.28,0.00,0.000,6,0.000,0.054,3073,2397,3358
$GC,4314,-0.63,-117.3,328.7,-7.5,205,4315,0.15,0.00,0.00,0.000,6,0.109,0.000,3117,2396,3358
$GC,4617,-0.67,-117.3,348.5,-6.5,210,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2395,3358
$GC,4920,-0.72,-117.3,366.8,-6.0,215,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2395,3358
$GC,5224,-0.77,-117.3,384.3,-5.7,220,5225,0.15,0.00,0.00,0.000,6,0.077,0.000,3058,2396,3357
$GC,5526,-0.71,-117.3,405.8,-7.2,225,5531,0.10,2.42,0.00,0.000,4,0.092,0.070,3091,986,3358
$GC,5554,-0.71,-117.3,408.0,-7.2,225,5558,0.00,2.38,0.00,0.000,6,0.000,0.061,3086,2403,3358
$GC,5893,-0.67,-117.3,430.0,-6.4,231,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3358
$GC,6196,-0.67,-117.3,449.0,-6.4,236,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3358
$GC,6499,-0.67,-117.3,468.9,-6.6,241,6503,0.00,2.45,0.00,0.000,4,0.000,0.069,3085,985,3358
$GC,6538,-0.67,-117.3,471.8,-7.2,241,6542,0.00,2.38,0.00,0.000,6,0.000,0.062,3086,2399,3358
$GC,6859,-0.67,-117.3,493.6,-6.9,247,6863,0.00,2.42,0.00,0.000,4,0.000,0.070,3085,995,3358
$GC,6894,-0.67,-117.3,496.4,-7.5,247,6898,0.00,2.38,0.00,0.000,6,0.000,0.062,3085,2402,3358
$GC,7221,-0.67,-117.3,519.9,-7.2,253,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3358
$GC,7524,-0.67,-117.3,540.0,-6.6,258,7528,0.00,2.45,0.00,0.000,4,0.000,0.070,3086,984,3357
$GC,7559,-0.67,-117.3,542.4,-6.8,258,7563,0.00,2.40,0.00,0.000,6,0.000,0.062,3085,2406,3357
$GC,7887,-0.67,-117.3,562.5,-6.1,264,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3357
$GC,8189,-0.67,-117.3,581.5,-6.3,269,8193,0.00,2.42,0.00,0.000,4,0.000,0.082,3085,3812,3357
$GC,8217,-0.67,-117.3,583.4,-7.2,269,8221,0.00,2.30,0.00,0.000,6,0.000,0.054,3085,2393,3357
$GC,8549,-0.67,-117.3,604.8,-6.5,275,8554,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,995,3357
$GC,8595,-0.67,-117.3,607.8,-6.6,275,8600,0.00,2.38,0.00,0.000,6,0.000,0.063,3085,2401,3356
$GC,8911,-0.67,-117.3,627.4,-6.2,281,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,9214,-0.67,-117.3,645.9,-6.0,286,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,9518,-0.67,-117.3,663.5,-5.8,291,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,9821,-0.67,-117.3,681.8,-6.1,296,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,10124,-0.67,-117.3,700.8,-6.2,301,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,10427,-0.67,-117.3,720.0,-6.3,306,10431,0.00,2.45,0.00,0.000,4,0.000,0.071,3085,989,3356
$GC,10455,-0.67,-117.3,722.0,-7.3,306,10459,0.00,2.38,0.00,0.000,6,0.000,0.064,3085,2402,3356
$GC,10787,-0.67,-117.3,742.9,-6.3,312,10792,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3816,3356
$GC,10828,-0.67,-117.3,745.7,-7.1,312,10832,0.00,2.30,0.00,0.000,6,0.000,0.055,3085,2400,3356
$GC,11149,-0.67,-117.3,765.7,-6.3,318,11153,0.00,2.42,0.00,0.000,4,0.000,0.072,3085,990,3356
$GC,11194,-0.67,-117.3,769.0,-6.1,318,11199,0.00,2.40,0.00,0.000,6,0.000,0.063,3085,2406,3356
$GC,11511,-0.67,-117.3,788.6,-6.2,324,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3356
$GC,11813,-0.67,-117.3,805.9,-5.8,329,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3356
$GC,12117,-0.67,-117.3,823.3,-5.7,334,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3356
$GC,12420,-0.67,-117.3,840.4,-5.6,339,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3356
$GC,12723,-0.67,-117.3,857.5,-5.7,344,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3356
$GC,13027,-0.67,-117.3,874.8,-5.7,349,13031,0.00,2.45,0.00,0.000,4,0.000,0.072,3085,995,3355
$GC,13066,-0.67,-117.3,877.3,-6.2,349,13070,0.00,2.40,0.00,0.000,6,0.000,0.064,3086,2406,3355
$GC,13387,-0.67,-117.3,896.0,-5.9,355,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3355
$GC,13690,-0.67,-117.3,913.7,-5.9,360,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3355
$GC,13994,-0.67,-117.3,933.2,-6.5,365,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3354
$GC,14297,-0.67,-117.3,952.4,-6.3,370,14301,0.00,2.45,0.00,0.000,4,0.000,0.073,3085,995,3355
$GC,14325,-0.67,-117.3,954.3,-7.4,370,14329,0.00,2.40,0.00,0.000,6,0.000,0.065,3085,2402,3355
$GC,14665,-0.67,-117.3,975.5,-6.3,376,14666,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$STATE,14904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14904,begin apogee
$GC,14913,-0.22,0.0,990.8,6.3,380,15025,0.52,0.00,107.75,1.497,6,0.136,0.000,3243,2200,2876
$STATE,15026,end apogee,CONTROL_FINISHED_OK
$STATE,15026,begin climb
$GC,15030,0.67,117.3,996.5,0.0,382,15152,0.85,0.00,114.03,1.445,6,0.084,0.000,3526,2200,2397
$GC,15460,0.36,117.3,978.9,6.9,389,15465,0.30,2.40,0.00,0.000,4,0.166,0.077,3447,785,2394
$GC,15528,0.28,117.3,974.7,5.5,390,15533,0.15,2.33,0.00,0.000,6,0.155,0.061,3408,2200,2393
$GC,15889,0.29,124.9,957.5,4.8,396,15898,0.00,0.00,7.72,1.231,6,0.000,0.000,3409,2200,2366
$GC,16192,0.29,124.9,942.0,5.1,401,16193,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2199,2365
$GC,16496,0.30,132.0,927.2,4.8,406,16506,0.00,0.00,7.97,1.243,6,0.000,0.000,3408,2200,2338
$GC,16798,0.32,145.2,913.3,4.6,411,16814,0.00,0.00,13.27,1.351,6,0.000,0.000,3409,2199,2284
$GC,17102,0.39,163.6,899.7,4.5,416,17127,0.12,2.47,17.85,1.378,4,0.084,0.079,3462,796,2209
$GC,17162,0.33,163.6,896.4,5.3,416,17169,0.15,2.33,0.00,0.000,6,0.136,0.061,3422,2205,2208
$GC,17474,0.37,163.8,880.7,5.0,422,17478,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,3609,2207
$GC,17518,0.37,163.8,878.0,5.4,422,17522,0.00,2.30,0.00,0.000,6,0.000,0.062,3422,2190,2207
$GC,17836,0.41,163.8,861.6,5.2,428,17840,0.00,2.40,0.00,0.000,4,0.000,0.079,3422,781,2207
$GC,17875,0.48,163.8,859.4,5.2,428,17880,0.15,2.35,0.00,0.000,6,0.084,0.061,3482,2205,2207
$GC,18197,0.36,163.8,837.8,6.8,434,18199,0.17,0.00,0.00,0.000,6,0.145,0.000,3434,2205,2207
$GC,18500,0.36,163.8,820.4,5.7,439,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2207
$GC,18802,0.36,163.8,802.4,5.9,444,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,19106,0.36,163.8,784.1,6.0,449,19107,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,19409,0.36,163.8,765.3,6.2,454,19410,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,19712,0.36,163.8,745.8,6.5,459,19713,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,20016,0.36,163.8,726.1,6.5,464,20017,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,20318,0.36,163.8,707.2,6.3,469,20319,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,20621,0.36,163.8,689.4,5.9,474,20622,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,20924,0.36,163.8,672.8,5.5,479,20926,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2205,2206
$GC,21227,0.36,163.8,657.1,5.1,484,21231,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,784,2207
$GC,21267,0.41,163.8,655.0,5.3,484,21271,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2201,2206
$GC,21589,0.41,168.8,639.1,4.9,490,21597,0.00,0.00,5.82,1.023,6,0.000,0.000,3436,2200,2188
$GC,21893,0.43,182.8,625.1,4.6,495,21908,0.00,0.00,14.12,1.211,6,0.000,0.000,3436,2200,2130
$GC,22196,0.50,204.5,611.9,4.4,500,22219,0.12,0.00,20.60,1.232,6,0.086,0.000,3490,2200,2041
$GC,22500,0.42,204.5,593.0,6.3,505,22504,0.12,2.42,0.00,0.000,4,0.137,0.076,3463,789,2038
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$STATE,32196,end climb,SURFACE_DEPTH_REACHED
$STATE,32196,begin surface coast
$FINISH,1.5,1.025694
$STATE,32405,end surface coast,CONTROL_FINISHED_OK
$STATE,32408,begin surface
$SM_CCo,32431,12.80,0.821,0,0,1754,275.23
$SM_GC,4.01,0.00,0.00,12.80,0.000,0.000,0.821,133,2414,1754,-9.95,0.40,275.23
$IRIDIUM_FIX,4943.02,-14459.66,080798,101055
$TT8_MAMPS,0.026845
$HUMID,2125
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$TCM_TEMP,15.60
$XPDR_PINGS,1003
$24V_AH,21.0,118.332
$10V_AH,10.4,81.778
$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
$DEVICE_SECS,27.925,205.300,359.675,12.800,0.000,28.361,29.726,181.591,250.750,0.000,0.000,16.591,1799.441,27282.756,555.312,2341.573,861.441,33.380,1710.013,0.000,2306.376,0.000,0.466
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$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,50694,855
$CAP_FILE_SIZE,180856,0
$CFSIZE,260165632,211656704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140409,045206,5002.132,-14455.240,80,1.1,80,18.5