version: 66.04
glider: 147
mission: 3
dive: 80
start: 1 31 109 17 25 41
data:
$ID,147
$MISSION,3
$DIVE,80
$D_SURF,2
$D_FLARE,3
$D_TGT,730
$D_ABORT,810
$D_NO_BLEED,500
$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,270
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52633
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2130
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,440
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19554.037
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1880
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2540
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.10227
$PRESSURE_SLOPE,0.00011648
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042839935
$SEABIRD_T_H,0.00062826771
$SEABIRD_T_I,2.331103e-05
$SEABIRD_T_J,2.4629044e-06
$SEABIRD_C_G,-9.8388109
$SEABIRD_C_H,1.1014243
$SEABIRD_C_I,-0.00163139
$SEABIRD_C_J,0.00020565242
$GPS1,171937,2225.459,-15815.395,31,1.3,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-65.8
$GPS2,172444,2225.434,-15815.388,12,1.3,12,10.0
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT11
$TGT_LATLONG,2237.000,-15817.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.043,0.227
$KALMAN_X,-7540.1,-56.8,409.2,8893.5,-1043.0
$KALMAN_Y,66067.9,-311.7,312.8,53960.9,-990.8
$MHEAD_RNG_PITCHd_Wd,0.7,21598,-17.6,-9.012
$D_GRID,730
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,88,0.00,0.00,-71.05,0.000,2,0.000,0.000,472,1916,2261
$GC,91,-1.25,-121.7,3.2,-2.5,9,140,12.43,2.12,-29.70,0.000,4,0.160,0.041,2761,3259,3035
$GC,242,-1.05,-121.7,19.0,-14.7,33,251,0.20,2.25,0.00,0.000,6,0.096,0.030,2805,1878,3038
$GC,512,-0.89,-121.7,57.3,-13.4,64,517,0.17,2.33,0.00,0.000,4,0.100,0.047,2843,475,3038
$GC,542,-0.77,-121.7,61.5,-13.3,66,547,0.12,2.15,0.00,0.000,6,0.098,0.021,2869,1871,3038
$GC,811,-0.77,-121.7,89.4,-10.6,91,818,0.00,2.33,0.00,0.000,4,0.000,0.049,2869,470,3039
$GC,883,-0.77,-121.7,98.3,-13.3,97,887,0.00,2.20,0.00,0.000,6,0.000,0.021,2869,1880,3039
$GC,1149,-0.77,-121.7,126.6,-9.7,121,1153,0.00,2.22,0.00,0.000,4,0.000,0.031,2869,3281,3039
$GC,1189,-0.84,-121.7,130.6,-8.6,124,1193,0.00,2.25,0.00,0.000,6,0.000,0.032,2869,1873,3040
$GC,1454,-0.84,-121.7,152.9,-7.5,148,1458,0.00,2.33,0.00,0.000,4,0.000,0.051,2869,477,3040
$GC,1586,-0.88,-121.7,162.9,-7.0,159,1590,0.00,2.20,0.00,0.000,6,0.000,0.022,2869,1889,3040
$GC,1849,-0.93,-121.7,180.3,-6.8,183,1854,0.15,2.22,0.00,0.000,4,0.044,0.031,2817,3283,3040
$GC,1903,-0.90,-121.7,185.3,-9.4,187,1910,0.12,2.25,0.00,0.000,6,0.088,0.031,2842,1879,3040
$GC,2173,-0.90,-121.7,206.6,-7.8,207,2177,0.00,2.35,0.00,0.000,4,0.000,0.051,2842,470,3040
$GC,2249,-0.90,-121.7,214.1,-9.6,208,2256,0.00,2.22,0.00,0.000,6,0.000,0.023,2842,1868,3040
$GC,2501,-0.90,-121.7,237.5,-9.9,215,2505,0.00,2.30,0.00,0.000,4,0.000,0.041,2842,3284,3040
$GC,2586,-0.95,-121.7,245.7,-9.5,217,2590,0.00,2.25,0.00,0.000,6,0.000,0.034,2842,1877,3040
$GC,2875,-0.99,-121.7,266.7,-6.8,224,2879,0.00,2.38,0.00,0.000,4,0.000,0.059,2842,474,3040
$GC,2936,-1.03,-121.7,271.1,-7.3,225,2940,0.12,2.22,0.00,0.000,6,0.050,0.025,2795,1883,3039
$GC,3197,-0.98,-121.7,290.9,-7.7,232,3202,0.15,2.30,0.00,0.000,4,0.087,0.043,2827,3285,3039
$GC,3264,-1.02,-121.7,295.7,-6.4,233,3268,0.00,2.30,0.00,0.000,6,0.000,0.038,2827,1877,3039
$GC,3526,-1.02,-121.7,312.9,-6.7,240,3530,0.00,2.40,0.00,0.000,4,0.000,0.066,2827,474,3039
$GC,3610,-1.02,-121.7,319.4,-7.9,242,3614,0.00,2.25,0.00,0.000,6,0.000,0.029,2827,1877,3038
$GC,3893,-1.02,-121.7,339.1,-7.0,249,3897,0.00,2.40,0.00,0.000,4,0.000,0.061,2827,474,3037
$GC,4009,-1.02,-121.7,348.7,-7.9,251,4013,0.00,2.25,0.00,0.000,6,0.000,0.029,2827,1880,3036
$GC,4265,-1.02,-121.7,366.9,-7.0,258,4269,0.00,2.42,0.00,0.000,4,0.000,0.062,2827,468,3035
$GC,4292,-1.02,-121.7,368.9,-7.4,258,4296,0.00,2.28,0.00,0.000,6,0.000,0.029,2827,1880,3035
$GC,4548,-1.05,-121.7,387.2,-7.1,265,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1881,3034
$GC,4792,-1.09,-121.7,404.7,-7.3,271,4793,0.12,0.00,0.00,0.000,6,0.051,0.000,2784,1880,3032
$GC,5035,-1.03,-121.7,426.3,-8.8,277,5040,0.15,2.45,0.00,0.000,4,0.090,0.067,2815,472,3031
$GC,5079,-1.03,-121.7,430.0,-8.2,278,5084,0.00,2.30,0.00,0.000,6,0.000,0.035,2815,1883,3030
$GC,5357,-1.03,-121.7,448.3,-6.1,285,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1884,3030
$GC,5601,-1.03,-121.7,463.4,-6.1,291,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1884,3028
$GC,5844,-1.03,-121.7,478.7,-6.4,297,5849,0.00,2.50,-0.08,0.000,4,0.000,0.087,2814,470,3047
$GC,5916,-1.03,-121.7,484.5,-8.5,298,5920,0.00,2.33,0.00,0.000,6,0.000,0.038,2815,1883,3047
$GC,6172,-1.06,-121.7,504.0,-7.8,305,6176,0.00,2.50,0.00,0.000,4,0.000,0.077,2815,473,3046
$GC,6242,-1.06,-121.7,510.7,-9.8,306,6247,0.00,2.35,0.00,0.000,6,0.000,0.040,2814,1892,3046
$GC,6501,-1.10,-121.7,530.9,-7.7,313,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1892,3044
$GC,6742,-1.13,-121.7,547.3,-6.5,319,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1892,3044
$GC,6988,-1.17,-121.7,563.0,-6.5,325,6993,0.15,2.55,0.00,0.000,4,0.050,0.085,2769,478,3042
$GC,7032,-1.08,-121.7,566.9,-9.0,326,7037,0.17,2.38,0.00,0.000,6,0.092,0.057,2804,1883,3042
$GC,7309,-1.08,-121.7,585.5,-6.5,333,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1883,3041
$GC,7554,-1.08,-121.7,601.9,-6.8,339,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1883,3040
$GC,7797,-1.08,-121.7,619.1,-7.0,345,7801,0.00,2.60,0.00,0.000,4,0.000,0.101,2804,478,3038
$GC,7818,-1.08,-121.7,620.8,-7.9,345,7822,0.00,2.42,0.00,0.000,6,0.000,0.061,2804,1881,3039
$GC,8080,-1.08,-121.7,640.1,-7.5,352,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1882,3037
$GC,8323,-1.08,-121.7,659.1,-7.8,358,8327,0.00,2.67,0.00,0.000,4,0.000,0.115,2804,475,3036
$GC,8349,-1.08,-121.7,661.7,-9.1,358,8354,0.00,2.55,0.00,0.000,6,0.000,0.084,2804,1878,3036
$GC,8614,-1.11,-121.7,682.2,-7.8,365,8618,0.00,2.70,0.00,0.000,4,0.000,0.123,2804,480,3034
$GC,8653,-1.11,-121.7,685.8,-8.7,366,8657,0.00,2.58,0.00,0.000,6,0.000,0.094,2804,1884,3034
$GC,8935,-1.11,-121.7,706.4,-7.0,373,8940,0.00,2.83,0.00,0.000,4,0.000,0.143,2804,3297,3034
$GC,8975,-1.16,-121.7,709.1,-7.1,374,8980,0.00,2.65,0.00,0.000,6,0.000,0.114,2804,1894,3034
$GC,9259,-1.19,-121.7,726.8,-6.0,381,9264,0.10,2.90,0.00,0.000,4,0.065,0.150,2771,466,3033
$STATE,9301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9301,begin apogee
$GC,9309,-0.31,0.0,730.2,7.8,382,9417,0.90,0.00,104.30,1.101,6,0.089,0.000,2965,1820,2540
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9418,begin climb
$GC,9420,1.25,121.7,731.8,0.0,384,9540,1.52,0.00,110.95,1.061,6,0.052,0.000,3314,1820,2044
$GC,9749,1.13,121.7,698.6,12.0,393,9751,0.15,0.00,0.00,0.000,6,0.114,0.000,3286,1820,2034
$GC,9993,1.09,121.7,672.0,10.8,399,9997,0.00,2.75,0.00,0.000,4,0.000,0.120,3286,407,2031
$GC,10014,1.00,121.7,669.5,11.3,399,10019,0.15,2.58,0.00,0.000,6,0.114,0.085,3258,1825,2031
$GC,10268,1.00,121.7,644.8,9.5,406,10273,0.00,2.70,0.00,0.000,4,0.000,0.110,3258,406,2029
$GC,10307,0.95,121.7,640.7,10.7,407,10312,0.00,2.50,0.00,0.000,6,0.000,0.068,3257,1825,2029
$GC,10590,0.95,121.7,613.7,9.5,414,10595,0.00,2.60,0.00,0.000,4,0.000,0.095,3258,3234,2027
$GC,10623,1.00,123.5,610.6,8.9,414,10630,0.00,2.53,0.00,0.000,6,0.000,0.074,3258,1812,2027
$GC,10873,1.02,136.3,589.0,8.4,421,10897,0.00,2.70,13.50,0.819,4,0.000,0.104,3258,413,1984
$GC,10930,1.02,136.3,583.6,10.2,422,10935,0.00,2.42,0.00,0.000,6,0.000,0.051,3258,1826,1983
$GC,11204,1.07,151.0,560.4,8.3,429,11220,0.00,0.00,14.65,0.946,6,0.000,0.000,3258,1827,1924
$GC,11447,1.13,168.1,540.7,8.2,435,11477,0.12,2.62,18.88,0.867,4,0.059,0.084,3293,403,1854
$GC,11522,1.05,168.1,532.2,12.1,436,11527,0.12,2.40,0.00,0.000,6,0.114,0.038,3270,1831,1852
$GC,11771,1.06,177.5,509.8,8.5,442,11785,0.00,2.47,9.20,0.864,4,0.000,0.064,3270,3236,1815
$GC,11798,1.10,182.9,507.5,8.7,442,11809,0.00,2.42,6.47,0.781,6,0.000,0.051,3270,1808,1794
$GC,12052,1.14,182.9,483.8,9.3,448,12057,0.00,2.58,0.00,0.000,4,0.000,0.094,3270,406,1789
$GC,12107,1.14,182.9,477.8,11.4,449,12112,0.00,2.35,0.00,0.000,6,0.000,0.035,3270,1829,1789
$GC,12380,1.18,182.9,451.7,9.5,456,12385,0.12,2.53,0.00,0.000,4,0.059,0.071,3305,402,1788
$GC,12429,1.08,182.9,445.5,13.1,457,12434,0.15,2.33,0.00,0.000,6,0.112,0.031,3277,1828,1787
$GC,12701,1.12,182.9,416.9,10.6,464,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1828,1787
$GC,12945,1.16,182.9,391.2,10.5,470,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1829,1786
$GC,13189,1.21,182.9,367.4,9.8,476,13191,0.12,0.00,0.00,0.000,6,0.058,0.000,3313,1829,1786
$GC,13433,1.17,182.9,340.8,10.9,482,13437,0.00,2.35,0.00,0.000,4,0.000,0.054,3314,3226,1786
$GC,13477,1.17,182.9,335.9,10.4,483,13481,0.00,2.35,0.00,0.000,6,0.000,0.044,3314,1816,1785
$GC,13760,1.17,182.9,305.5,10.8,490,13764,0.00,2.47,0.00,0.000,4,0.000,0.075,3314,411,1785
$GC,13854,1.11,182.9,293.2,13.4,492,13859,0.17,2.28,0.00,0.000,6,0.107,0.027,3280,1832,1785
$GC,14126,1.17,182.9,266.4,9.8,499,14130,0.00,2.28,0.00,0.000,4,0.000,0.041,3280,3221,1784
$GC,14141,1.23,182.9,264.7,9.6,499,14146,0.12,2.33,0.00,0.000,6,0.054,0.040,3319,1814,1784
$GC,14413,1.23,182.9,233.0,11.1,506,14417,0.00,2.45,0.00,0.000,4,0.000,0.069,3319,406,1784
$GC,14436,1.18,182.9,230.7,10.2,506,14441,0.12,2.25,0.00,0.000,6,0.113,0.025,3295,1824,1784
$GC,14691,1.26,201.6,209.5,8.1,513,14712,0.00,2.45,15.90,0.703,4,0.000,0.057,3295,414,1717
$GC,14733,1.26,201.6,205.7,9.7,514,14737,0.00,2.25,0.00,0.000,6,0.000,0.024,3295,1819,1715
$GC,14996,1.37,232.5,184.8,7.5,533,15032,0.17,2.33,27.67,0.689,4,0.047,0.037,3347,3218,1591
$GC,15044,1.32,232.5,180.4,10.5,537,15048,0.00,2.30,0.00,0.000,6,0.000,0.037,3347,1818,1590
$GC,15304,1.32,232.5,151.8,11.8,561,15307,0.00,2.28,0.00,0.000,4,0.000,0.033,3347,3222,1586
$GC,15319,1.32,232.5,149.8,12.2,562,15326,0.00,2.33,0.00,0.000,6,0.000,0.034,3346,1819,1585
$GC,15583,1.32,232.5,120.8,10.2,587,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1819,1585
$GC,15837,1.32,232.5,91.3,12.5,611,15841,0.00,2.40,0.00,0.000,4,0.000,0.062,3347,414,1585
$GC,15864,1.28,232.5,87.2,14.5,613,15871,0.15,2.22,0.00,0.000,6,0.100,0.022,3318,1829,1584
$GC,16129,1.36,232.5,60.5,9.5,638,16133,0.00,2.40,0.00,0.000,4,0.000,0.052,3317,409,1584
$GC,16261,1.41,232.5,45.3,10.7,649,16270,0.08,2.25,0.00,0.000,6,0.111,0.023,3351,1822,1584
$GC,16528,1.41,232.5,15.9,12.0,685,16536,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1823,1586
$STATE,16656,end climb,SURFACE_DEPTH_REACHED
$STATE,16656,begin surface coast
$FINISH,1.5,1.014004
$STATE,16674,end surface coast,CONTROL_FINISHED_OK
$STATE,16674,begin surface
$SM_CCo,16695,170.50,0.506,0,0,745,440.07
$SM_GC,1.93,0.00,0.00,170.50,0.000,0.000,0.506,469,1916,745,-11.83,1.02,440.07
$IRIDIUM_FIX,2213.68,-15814.08,270498,121205
$TT8_MAMPS,0.027612
$HUMID,1672
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.60
$XPDR_PINGS,338
$24V_AH,23.7,17.960
$10V_AH,10.2,11.797
$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,Compass2
$DEVICE_SECS,30.275,187.525,321.525,170.500,0.000,22.300,27.669,151.190,101.250,0.000,0.000,13.740,1527.132,12198.801,670.245,2321.844,457.808,33.367,1658.128,0.000,2274.918,0.000,106.922,0.000
$DEVICE_MAMPS,159.536,150.332,1100.645,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,511.254,305.927,474.990,462.560,976.629,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53907,711
$CAP_FILE_SIZE,154251,0
$CFSIZE,260165632,254734336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,3,0
$GPS,310109,220806,2226.053,-15815.401,36,1.8,41,10.0