version: 66.04
glider: 147
mission: 3
dive: 84
start: 2 1 109 13 6 47
data:
$ID,147
$MISSION,3
$DIVE,84
$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,420
$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,-19626.982
$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,1860
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,66
$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
$GPS1,130037,2229.439,-15816.936,37,1.1,37,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-67.9
$GPS2,130550,2229.403,-15816.917,13,1.1,13,10.0
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT11
$TGT_LATLONG,2237.000,-15817.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.001,0.231
$KALMAN_X,-10456.6,-119.0,-243.4,9886.3,-53.0
$KALMAN_Y,59131.2,54.5,-353.8,68531.1,-197.1
$MHEAD_RNG_PITCHd_Wd,350.3,14070,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.6,0.0,0.0,0,88,0.00,0.00,-71.35,0.000,2,0.000,0.000,470,1891,2345
$GC,91,-1.25,-121.7,3.2,-2.7,9,133,12.25,2.20,-23.67,0.000,4,0.153,0.041,2762,3242,3037
$GC,228,-1.05,-121.7,20.3,-16.4,31,238,0.20,2.28,0.00,0.000,6,0.093,0.032,2806,1853,3039
$GC,503,-0.90,-121.7,57.9,-14.0,62,508,0.17,2.33,0.00,0.000,4,0.100,0.046,2844,453,3039
$GC,546,-0.83,-121.7,64.5,-13.5,65,553,0.00,2.17,0.00,0.000,6,0.000,0.021,2844,1836,3040
$GC,808,-0.76,-121.7,97.0,-12.3,90,813,0.12,2.33,0.00,0.000,4,0.097,0.050,2870,451,3040
$GC,829,-0.72,-121.7,99.9,-13.1,91,839,0.00,2.20,0.00,0.000,6,0.000,0.021,2870,1868,3040
$GC,1091,-0.72,-121.7,127.8,-10.4,116,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1869,3039
$GC,1345,-0.72,-121.7,150.8,-7.3,140,1349,0.00,2.35,0.00,0.000,4,0.000,0.050,2870,456,3040
$GC,1370,-0.72,-121.7,152.5,-7.8,142,1374,0.00,2.17,0.00,0.000,6,0.000,0.021,2870,1860,3040
$GC,1635,-0.76,-121.7,171.8,-8.2,166,1639,0.00,2.35,0.00,0.000,4,0.000,0.051,2870,459,3041
$GC,1746,-0.81,-121.7,183.1,-8.8,175,1753,0.00,2.17,0.00,0.000,6,0.000,0.022,2870,1855,3041
$GC,2027,-0.88,-121.7,202.9,-6.7,199,2031,0.00,2.25,0.00,0.000,4,0.000,0.035,2870,3262,3042
$GC,2055,-0.95,-121.7,205.0,-7.3,199,2060,0.17,2.25,0.00,0.000,6,0.041,0.031,2809,1858,3042
$GC,2305,-0.89,-121.7,226.9,-9.0,205,2309,0.17,2.35,0.00,0.000,4,0.084,0.053,2849,457,3042
$GC,2331,-0.89,-121.7,229.4,-9.2,205,2335,0.00,2.22,0.00,0.000,6,0.000,0.022,2849,1854,3042
$GC,2587,-0.94,-121.7,248.9,-7.4,212,2592,0.00,2.38,0.00,0.000,4,0.000,0.054,2849,451,3042
$GC,2654,-0.98,-121.7,254.3,-7.5,213,2659,0.10,2.22,0.00,0.000,6,0.057,0.025,2806,1853,3042
$GC,2909,-0.94,-121.7,277.1,-9.2,220,2914,0.15,2.33,0.00,0.000,4,0.083,0.044,2837,3267,3042
$GC,2976,-1.00,-121.7,282.2,-7.1,221,2980,0.00,2.30,0.00,0.000,6,0.000,0.037,2837,1854,3042
$GC,3231,-1.04,-121.7,298.6,-6.2,228,3236,0.12,2.40,0.00,0.000,4,0.049,0.063,2791,452,3042
$GC,3308,-0.96,-121.7,305.4,-9.1,229,3315,0.17,2.25,0.00,0.000,6,0.084,0.028,2827,1862,3042
$GC,3559,-0.96,-121.7,321.0,-6.1,236,3563,0.00,2.33,0.00,0.000,4,0.000,0.048,2827,3265,3042
$GC,3631,-1.02,-121.7,325.7,-7.0,237,3635,0.00,2.30,0.00,0.000,6,0.000,0.040,2827,1864,3041
$GC,3886,-1.02,-121.7,342.7,-6.9,244,3890,0.00,2.45,0.00,0.000,4,0.000,0.070,2827,450,3040
$GC,3907,-1.02,-121.7,344.5,-8.0,244,3911,0.00,2.28,0.00,0.000,6,0.000,0.031,2827,1864,3040
$GC,4169,-1.06,-121.7,365.9,-8.6,251,4173,0.00,2.42,0.00,0.000,4,0.000,0.064,2827,453,3039
$GC,4207,-1.06,-121.7,369.6,-9.5,251,4213,0.00,2.30,0.00,0.000,6,0.000,0.030,2827,1862,3038
$GC,4458,-1.09,-121.7,389.6,-7.8,258,4460,0.12,0.00,0.00,0.000,6,0.051,0.000,2784,1862,3037
$GC,4701,-1.03,-121.7,411.3,-9.1,264,4706,0.15,2.45,0.00,0.000,4,0.088,0.067,2815,453,3036
$GC,4761,-1.03,-121.7,417.2,-9.5,265,4765,0.00,2.30,0.00,0.000,6,0.000,0.034,2815,1849,3036
$GC,5028,-1.03,-121.7,440.1,-8.5,272,5032,0.00,2.42,0.00,0.000,4,0.000,0.070,2815,455,3033
$GC,5077,-1.03,-121.7,444.9,-9.8,273,5082,0.00,2.33,0.00,0.000,6,0.000,0.041,2815,1861,3033
$GC,5356,-1.03,-121.7,467.3,-7.8,280,5360,0.00,2.42,0.00,0.000,4,0.000,0.074,2815,3268,3031
$GC,5424,-1.07,-121.7,472.2,-7.6,281,5428,0.00,2.35,0.00,0.000,6,0.000,0.048,2815,1862,3031
$GC,5679,-1.07,-121.7,489.4,-6.7,288,5683,0.00,2.38,0.00,0.000,4,0.000,0.056,2815,3265,3030
$GC,5712,-1.11,-121.7,491.7,-6.8,288,5718,0.00,2.38,0.00,0.000,6,0.000,0.051,2815,1856,3029
$GC,5961,-1.11,-121.7,509.8,-7.4,295,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1856,3028
$GC,6206,-1.14,-121.7,528.8,-7.8,301,6210,0.12,2.42,0.00,0.000,4,0.054,0.063,2774,3265,3027
$GC,6245,-1.09,-121.7,532.4,-9.4,302,6250,0.12,2.40,0.00,0.000,6,0.095,0.061,2798,1855,3027
$GC,6528,-1.09,-121.7,556.0,-8.5,309,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1855,3025
$GC,6772,-1.09,-121.7,574.6,-7.5,315,6776,0.00,2.47,0.00,0.000,4,0.000,0.074,2798,3263,3024
$GC,6799,-1.09,-121.7,576.7,-7.7,315,6803,0.00,2.42,0.00,0.000,6,0.000,0.067,2798,1859,3024
$GC,7054,-1.09,-121.7,594.5,-6.9,322,7058,0.00,2.47,0.00,0.000,4,0.000,0.077,2798,3261,3023
$GC,7076,-1.09,-121.7,596.0,-7.0,322,7080,0.00,2.42,0.00,0.000,6,0.000,0.071,2798,1862,3023
$GC,7343,-1.09,-121.7,611.8,-5.7,329,7347,0.00,2.65,0.00,0.000,4,0.000,0.111,2798,448,3022
$GC,7364,-1.09,-121.7,613.1,-6.1,329,7368,0.00,2.40,0.00,0.000,6,0.000,0.057,2798,1851,3021
$GC,7625,-1.09,-121.7,627.1,-5.4,336,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1852,3020
$GC,7869,-1.09,-121.7,641.7,-6.1,342,7873,0.00,2.65,0.00,0.000,4,0.000,0.107,2798,441,3019
$GC,7889,-1.09,-121.7,643.3,-7.5,342,7894,0.00,2.47,0.00,0.000,6,0.000,0.072,2798,1859,3019
$GC,8151,-1.09,-121.7,661.5,-7.1,349,8155,0.00,2.70,0.00,0.000,4,0.000,0.115,2798,442,3018
$GC,8177,-1.09,-121.7,663.8,-8.7,349,8182,0.00,2.55,0.00,0.000,6,0.000,0.081,2798,1865,3018
$GC,8427,-1.09,-121.7,683.7,-8.1,355,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1865,3017
$GC,8671,-1.09,-121.7,702.5,-7.6,361,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1865,3016
$GC,8914,-1.09,-121.7,719.1,-6.8,367,8919,0.00,2.83,0.00,0.000,4,0.000,0.145,2798,3272,3015
$GC,8959,-1.14,-121.7,722.1,-6.5,368,8963,0.00,2.70,0.00,0.000,6,0.000,0.119,2798,1864,3015
$STATE,9112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9112,begin apogee
$GC,9117,-0.31,0.0,731.6,6.1,372,9221,0.80,0.00,100.53,1.099,6,0.077,0.000,2972,1792,2540
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9222,begin climb
$GC,9224,1.25,121.7,732.8,0.0,374,9336,1.48,0.00,107.82,1.073,6,0.049,0.000,3311,1792,2044
$GC,9588,1.15,121.7,696.7,11.6,383,9592,0.00,2.80,0.00,0.000,4,0.000,0.121,3311,3218,2034
$GC,9614,1.06,121.7,693.4,11.8,383,9620,0.20,2.70,0.00,0.000,6,0.108,0.107,3272,1797,2032
$GC,9864,1.06,121.7,669.4,9.4,389,9868,0.00,2.78,0.00,0.000,4,0.000,0.127,3272,388,2030
$GC,9879,1.02,121.7,667.6,9.4,389,9883,0.00,2.55,0.00,0.000,6,0.000,0.082,3272,1804,2030
$GC,10140,1.02,121.7,643.0,9.4,396,10144,0.00,2.70,0.00,0.000,4,0.000,0.109,3272,384,2028
$GC,10166,0.95,121.7,640.3,10.0,396,10171,0.12,2.50,0.00,0.000,6,0.117,0.066,3250,1802,2029
$GC,10417,1.03,152.5,621.4,7.5,402,10458,0.00,2.75,28.00,0.950,4,0.000,0.102,3249,387,1918
$GC,10486,1.04,157.3,615.5,8.8,403,10497,0.00,2.47,5.97,0.795,6,0.000,0.057,3249,1804,1898
$GC,10741,1.12,179.6,595.1,7.9,409,10772,0.15,0.00,23.35,0.916,6,0.053,0.000,3291,1804,1807
$GC,10984,1.12,179.6,570.1,10.6,415,10989,0.00,2.50,0.00,0.000,4,0.000,0.081,3291,3214,1801
$GC,11011,1.12,179.6,567.0,10.8,415,11016,0.00,2.47,0.00,0.000,6,0.000,0.063,3291,1803,1801
$GC,11267,1.12,179.6,540.3,10.7,422,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1803,1799
$GC,11510,1.12,179.6,513.9,10.8,428,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1802,1798
$GC,11754,1.12,179.6,487.0,11.0,434,11758,0.00,2.38,0.00,0.000,4,0.000,0.050,3291,3217,1797
$GC,11799,1.15,179.6,481.9,11.7,435,11803,0.00,2.40,0.00,0.000,6,0.000,0.051,3291,1793,1797
$GC,12081,1.15,179.6,450.2,11.2,442,12086,0.00,2.55,0.00,0.000,4,0.000,0.088,3291,388,1796
$GC,12131,1.09,179.6,444.1,11.8,443,12135,0.00,2.33,0.00,0.000,6,0.000,0.031,3291,1819,1796
$GC,12403,1.09,179.6,413.4,11.3,450,12407,0.00,2.50,0.00,0.000,4,0.000,0.067,3291,391,1795
$GC,12446,1.03,179.6,407.9,12.6,451,12451,0.12,2.28,0.00,0.000,6,0.113,0.028,3268,1801,1795
$GC,12730,1.09,179.6,380.2,9.2,458,12731,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1801,1795
$GC,12974,1.17,190.9,359.5,8.4,464,12989,0.12,2.47,9.12,0.779,4,0.057,0.062,3306,389,1761
$GC,13022,1.10,190.9,354.0,12.0,465,13027,0.12,2.30,0.00,0.000,6,0.114,0.027,3283,1808,1760
$GC,13306,1.15,190.9,323.9,11.0,472,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1808,1758
$GC,13549,1.19,190.9,297.7,10.7,478,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1808,1758
$GC,13793,1.26,202.7,276.0,8.4,484,13812,0.12,2.55,11.50,0.744,4,0.055,0.061,3322,382,1713
$GC,13880,1.19,202.7,267.2,9.5,486,13885,0.12,2.30,0.00,0.000,6,0.114,0.028,3299,1808,1711
$GC,14163,1.20,209.6,243.0,8.7,493,14177,0.00,2.40,7.50,0.664,4,0.000,0.053,3299,3203,1685
$GC,14200,1.25,209.6,239.2,10.1,493,14207,0.00,2.33,0.00,0.000,6,0.000,0.041,3299,1796,1684
$GC,14451,1.30,209.6,212.8,10.9,500,14455,0.10,2.45,0.00,0.000,4,0.061,0.067,3333,387,1682
$GC,14551,1.24,209.6,197.9,15.1,503,14556,0.12,2.25,0.00,0.000,6,0.111,0.026,3309,1802,1682
$GC,14819,1.29,220.0,166.9,8.5,528,14831,0.00,0.00,10.18,0.634,6,0.000,0.000,3309,1803,1643
$GC,15084,1.35,220.0,142.9,9.2,553,15089,0.10,2.38,0.00,0.000,4,0.059,0.054,3345,391,1639
$GC,15163,1.31,220.0,133.7,11.3,560,15167,0.00,2.25,0.00,0.000,6,0.000,0.025,3345,1811,1639
$GC,15423,1.31,220.0,108.4,10.1,584,15424,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1812,1639
$GC,15678,1.31,220.0,80.3,11.7,608,15682,0.00,2.40,0.00,0.000,4,0.000,0.052,3345,389,1639
$GC,15719,1.25,220.0,75.5,13.6,611,15724,0.15,2.22,0.00,0.000,6,0.101,0.023,3315,1802,1640
$GC,15984,1.31,220.0,48.3,10.3,635,15988,0.00,2.38,0.00,0.000,4,0.000,0.051,3315,389,1640
$GC,16003,1.36,220.0,46.1,10.4,636,16007,0.00,2.22,0.00,0.000,6,0.000,0.022,3315,1805,1641
$GC,16270,1.42,220.0,19.8,10.1,669,16279,0.15,0.00,0.00,0.000,6,0.048,0.000,3365,1806,1641
$STATE,16409,end climb,SURFACE_DEPTH_REACHED
$STATE,16409,begin surface coast
$FINISH,1.7,1.023925
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16429,begin surface
$SM_CCo,16449,164.65,0.506,0,0,826,420.20
$SM_GC,2.15,0.00,0.00,164.65,0.000,0.000,0.506,468,1895,826,-11.83,0.99,420.20
$IRIDIUM_FIX,2218.34,-15818.41,280498,080821
$TT8_MAMPS,0.027612
$HUMID,1667
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.50
$XPDR_PINGS,331
$ALTIM_BOTTOM_PING,100.5,10.3
$24V_AH,23.7,18.507
$10V_AH,10.2,12.259
$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,30.150,187.925,303.975,164.650,0.000,26.147,27.763,150.106,83.750,0.000,0.000,14.826,1459.764,12195.909,627.519,2193.734,455.347,33.394,1596.040,0.000,2179.741,0.000,9.850,0.000
$DEVICE_MAMPS,152.633,152.633,1099.111,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,504.036,300.363,465.492,450.518,949.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50694,697
$CAP_FILE_SIZE,146766,0
$CFSIZE,260165632,254464000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,010209,174500,2230.635,-15817.229,34,1.2,40,10.0