version: 66.04
glider: 147
mission: 3
dive: 114
start: 2 7 109 9 14 33
data:
$ID,147
$MISSION,3
$DIVE,114
$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,400
$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,-20123.566
$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,1830
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,090737,2250.877,-15756.729,30,1.4,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.1
$GPS2,091337,2250.883,-15756.707,9,2.0,13,10.1
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT14
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.218,-0.075
$KALMAN_X,-7158.0,-22.0,74.7,41028.8,-482.2
$KALMAN_Y,20663.4,-340.2,-138.3,146966.7,-4.4
$MHEAD_RNG_PITCHd_Wd,99.0,14200,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,91,0.00,0.00,-72.10,0.000,2,0.000,0.000,472,1868,2464
$GC,93,-1.25,-121.7,3.3,-2.8,9,134,12.60,0.00,-19.20,0.000,6,0.164,0.000,2762,1868,3037
$GC,397,-1.00,-121.7,44.4,-14.9,53,401,0.25,2.15,0.00,0.000,4,0.100,0.027,2815,3217,3039
$GC,428,-0.89,-121.7,49.1,-12.3,55,436,0.10,2.28,0.00,0.000,6,0.089,0.029,2841,1818,3039
$GC,693,-0.82,-121.7,76.6,-10.3,80,698,0.10,2.22,0.00,0.000,4,0.103,0.028,2861,3211,3039
$GC,712,-0.78,-121.7,78.7,-10.4,81,716,0.00,2.20,0.00,0.000,6,0.000,0.028,2861,1831,3039
$GC,976,-0.78,-121.7,103.7,-9.9,105,980,0.00,2.17,0.00,0.000,4,0.000,0.029,2861,3206,3039
$GC,1000,-0.78,-121.7,106.1,-9.5,107,1004,0.00,2.20,0.00,0.000,6,0.000,0.029,2861,1829,3039
$GC,1266,-0.78,-121.7,132.4,-10.1,131,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1828,3039
$GC,1548,-0.78,-121.7,156.1,-7.1,156,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1828,3039
$GC,1848,-0.81,-121.7,177.9,-7.8,181,1852,0.00,2.35,0.00,0.000,4,0.000,0.051,2861,421,3040
$GC,1874,-0.84,-121.7,180.2,-8.0,182,1878,0.00,2.15,0.00,0.000,6,0.000,0.021,2861,1809,3040
$GC,2158,-0.88,-121.7,203.4,-7.7,204,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1810,3041
$GC,2405,-0.93,-121.7,222.4,-7.7,210,2409,0.12,2.33,0.00,0.000,4,0.049,0.053,2813,426,3041
$GC,2431,-0.87,-121.7,225.1,-9.9,210,2436,0.17,2.20,0.00,0.000,6,0.087,0.021,2848,1844,3041
$GC,2689,-0.91,-121.7,242.4,-6.4,217,2692,0.00,2.22,0.00,0.000,4,0.000,0.038,2848,3220,3041
$GC,2812,-0.97,-121.7,252.7,-8.5,219,2816,0.00,2.22,0.00,0.000,6,0.000,0.035,2848,1835,3041
$GC,3074,-1.02,-121.7,274.6,-8.6,226,3079,0.12,2.40,0.00,0.000,4,0.051,0.060,2799,416,3041
$GC,3096,-0.97,-121.7,277.4,-9.3,226,3100,0.12,2.22,0.00,0.000,6,0.094,0.025,2825,1824,3041
$GC,3356,-0.97,-121.7,296.0,-6.5,233,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1825,3041
$GC,3601,-0.97,-121.7,310.6,-6.0,239,3605,0.00,2.40,0.00,0.000,4,0.000,0.059,2825,416,3041
$GC,3634,-0.94,-121.7,313.1,-7.7,239,3640,0.00,2.25,0.00,0.000,6,0.000,0.027,2825,1827,3041
$GC,3884,-0.94,-121.7,332.0,-7.8,246,3888,0.00,2.40,0.00,0.000,4,0.000,0.060,2825,421,3040
$GC,3905,-0.94,-121.7,333.9,-8.5,246,3909,0.00,2.28,0.00,0.000,6,0.000,0.028,2825,1822,3040
$GC,4167,-0.94,-121.7,354.1,-7.6,253,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1822,3039
$GC,4411,-0.94,-121.7,373.1,-8.0,259,4415,0.00,2.38,0.00,0.000,4,0.000,0.054,2825,3237,3038
$GC,4451,-0.98,-121.7,376.5,-8.4,260,4455,0.00,2.33,0.00,0.000,6,0.000,0.041,2825,1822,3037
$GC,4734,-0.98,-121.7,398.6,-7.5,267,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1821,3037
$GC,4978,-0.98,-121.7,413.5,-6.0,273,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1820,3034
$GC,5221,-0.98,-121.7,425.6,-4.8,279,5225,0.00,2.35,0.00,0.000,4,0.000,0.047,2825,3229,3033
$GC,5255,-1.03,-121.7,427.4,-5.3,279,5261,0.00,2.33,0.00,0.000,6,0.000,0.045,2825,1833,3033
$GC,5504,-1.03,-121.7,443.0,-6.5,286,5508,0.00,2.33,0.00,0.000,4,0.000,0.053,2825,3232,3031
$GC,5548,-1.09,-121.7,446.5,-7.8,287,5552,0.00,2.35,0.00,0.000,6,0.000,0.047,2825,1828,3031
$GC,5826,-1.12,-121.7,468.7,-8.0,294,5830,0.12,2.35,0.00,0.000,4,0.052,0.048,2782,3234,3030
$GC,5858,-1.08,-121.7,471.8,-9.2,294,5865,0.12,2.35,0.00,0.000,6,0.091,0.049,2807,1832,3030
$GC,6109,-1.08,-121.7,491.1,-7.4,301,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1832,3029
$GC,6352,-1.08,-121.7,507.8,-6.9,307,6356,0.00,2.38,0.00,0.000,4,0.000,0.058,2807,3236,3028
$GC,6379,-1.08,-121.7,509.6,-6.8,307,6383,0.00,2.38,0.00,0.000,6,0.000,0.052,2807,1831,3028
$GC,6640,-1.08,-121.7,528.7,-7.5,314,6644,0.00,2.58,0.00,0.000,4,0.000,0.096,2807,416,3027
$GC,6688,-1.08,-121.7,533.1,-9.4,315,6693,0.00,2.38,0.00,0.000,6,0.000,0.046,2807,1818,3027
$GC,6967,-1.08,-121.7,555.0,-7.7,322,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1818,3025
$GC,7210,-1.08,-121.7,573.1,-7.4,328,7214,0.00,2.55,0.00,0.000,4,0.000,0.087,2807,3246,3025
$GC,7232,-1.08,-121.7,574.8,-7.4,328,7236,0.00,2.45,0.00,0.000,6,0.000,0.063,2807,1828,3024
$GC,7493,-1.08,-121.7,593.0,-6.9,335,7497,0.00,2.50,0.00,0.000,4,0.000,0.078,2807,3244,3023
$GC,7537,-1.12,-121.7,596.1,-7.4,336,7541,0.00,2.47,0.00,0.000,6,0.000,0.071,2807,1830,3023
$GC,7814,-1.12,-121.7,614.8,-6.9,343,7818,0.00,2.53,0.00,0.000,4,0.000,0.091,2807,3239,3021
$GC,7880,-1.16,-121.7,619.7,-7.4,344,7885,0.00,2.50,0.00,0.000,6,0.000,0.083,2807,1831,3021
$GC,8146,-1.16,-121.7,637.6,-6.7,351,8150,0.00,2.58,0.00,0.000,4,0.000,0.096,2807,3240,3020
$GC,8173,-1.19,-121.7,639.5,-7.5,351,8178,0.12,2.55,0.00,0.000,6,0.053,0.085,2765,1827,3019
$GC,8423,-1.12,-121.7,659.7,-8.3,357,8425,0.15,0.00,0.00,0.000,6,0.092,0.000,2796,1827,3018
$GC,8667,-1.12,-121.7,677.0,-7.1,363,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1826,3018
$GC,8911,-1.12,-121.7,694.8,-7.3,369,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1826,3017
$GC,9156,-1.12,-121.7,713.2,-7.6,375,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1826,3016
$STATE,9396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9396,begin apogee
$GC,9402,-0.31,0.0,731.1,7.4,381,9505,0.80,0.00,100.22,1.105,6,0.077,0.000,2970,1762,2540
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9508,1.25,121.7,733.5,0.0,383,9624,1.48,3.03,107.65,1.081,4,0.048,0.152,3310,344,2042
$GC,9648,1.08,121.7,724.4,11.9,386,9653,0.17,2.78,0.00,0.000,6,0.114,0.120,3278,1757,2039
$GC,9914,1.08,121.7,697.2,10.1,393,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1758,2033
$GC,10157,1.08,121.7,673.1,9.7,399,10162,0.00,2.78,0.00,0.000,4,0.000,0.122,3278,348,2031
$GC,10196,0.98,121.7,669.0,11.1,400,10202,0.12,2.60,0.00,0.000,6,0.118,0.083,3255,1769,2030
$GC,10480,1.00,137.6,645.6,8.2,407,10505,0.00,2.78,15.10,0.872,4,0.000,0.110,3254,345,1978
$GC,10572,1.00,137.6,637.2,9.7,409,10576,0.00,2.53,0.00,0.000,6,0.000,0.071,3255,1761,1976
$GC,10845,1.08,162.3,615.5,7.8,416,10874,0.00,2.67,23.38,1.006,4,0.000,0.089,3254,3178,1877
$GC,10897,1.17,190.3,611.4,7.6,417,10937,0.17,2.55,27.92,0.942,6,0.048,0.077,3302,1756,1763
$GC,11216,1.13,190.3,576.5,11.0,425,11220,0.00,2.50,0.00,0.000,4,0.000,0.064,3302,3175,1755
$GC,11232,1.08,190.3,574.4,11.2,425,11237,0.12,2.47,0.00,0.000,6,0.112,0.061,3279,1759,1754
$GC,11493,1.08,190.3,547.8,10.3,432,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1759,1753
$GC,11736,1.08,190.3,524.2,9.6,438,11740,0.00,2.60,0.00,0.000,4,0.000,0.093,3279,340,1751
$GC,11796,1.05,190.3,517.5,11.2,439,11800,0.00,2.40,0.00,0.000,6,0.000,0.040,3278,1775,1751
$GC,12063,1.05,190.3,491.3,9.6,446,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1775,1750
$GC,12306,1.05,190.3,467.2,9.7,452,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1776,1749
$GC,12550,1.05,190.3,443.5,9.8,458,12554,0.00,2.53,0.00,0.000,4,0.000,0.068,3279,338,1749
$GC,12565,1.05,190.3,441.8,9.8,458,12569,0.00,2.35,0.00,0.000,6,0.000,0.030,3279,1762,1749
$GC,12832,1.08,190.3,414.4,10.3,465,12836,0.00,2.38,0.00,0.000,4,0.000,0.059,3278,3165,1748
$GC,12860,1.14,190.3,411.6,10.8,465,12864,0.00,2.38,0.00,0.000,6,0.000,0.044,3279,1750,1748
$GC,13121,1.18,190.3,384.5,10.5,472,13125,0.00,2.47,0.00,0.000,4,0.000,0.076,3278,348,1748
$GC,13142,1.18,190.3,381.8,12.1,472,13146,0.00,2.30,0.00,0.000,6,0.000,0.028,3278,1779,1747
$GC,13403,1.22,190.3,356.5,9.5,479,13408,0.12,2.30,0.00,0.000,4,0.053,0.045,3318,3161,1747
$GC,13429,1.22,190.3,353.5,11.5,479,13434,0.00,2.35,0.00,0.000,6,0.000,0.042,3318,1750,1747
$GC,13685,1.19,190.3,324.0,11.4,486,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1750,1747
$GC,13929,1.19,190.3,296.2,11.3,492,13933,0.00,2.45,0.00,0.000,4,0.000,0.072,3317,353,1747
$GC,13989,1.11,190.3,289.0,11.5,493,13993,0.17,2.25,0.00,0.000,6,0.107,0.025,3284,1762,1746
$GC,14256,1.19,208.7,266.7,8.1,500,14272,0.00,0.00,14.43,0.744,6,0.000,0.000,3284,1764,1689
$GC,14500,1.27,229.1,247.3,8.0,506,14522,0.15,0.00,19.33,0.736,6,0.049,0.000,3329,1764,1606
$GC,14743,1.27,229.1,220.7,11.3,512,14747,0.00,2.30,0.00,0.000,4,0.000,0.040,3329,3160,1601
$GC,14798,1.32,229.1,214.3,11.4,513,14802,0.00,2.33,0.00,0.000,6,0.000,0.038,3329,1755,1601
$GC,15069,1.32,229.1,181.4,12.4,527,15073,0.00,2.42,0.00,0.000,4,0.000,0.065,3329,351,1600
$GC,15113,1.26,229.1,175.1,12.2,529,15127,0.00,2.28,0.00,0.000,6,0.000,0.025,3329,1762,1599
$GC,15404,1.26,229.1,142.8,11.7,554,15408,0.00,2.40,0.00,0.000,4,0.000,0.055,3329,349,1599
$GC,15447,1.26,229.1,137.3,13.5,556,15451,0.00,2.22,0.00,0.000,6,0.000,0.024,3329,1766,1598
$GC,15750,1.26,229.1,105.0,9.8,581,15755,0.00,2.40,0.00,0.000,4,0.000,0.054,3329,353,1599
$GC,15795,1.26,229.1,99.1,11.3,583,15809,0.00,2.25,0.00,0.000,6,0.000,0.023,3329,1758,1599
$GC,16105,1.26,229.1,67.9,10.4,608,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1760,1599
$GC,16373,1.26,229.1,38.8,10.3,633,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1760,1600
$GC,16633,1.29,234.9,13.1,8.7,673,16649,0.00,2.33,5.97,0.438,4,0.000,0.038,3329,3161,1581
$GC,16658,1.29,234.9,10.4,9.6,676,16666,0.00,2.30,0.00,0.000,6,0.000,0.034,3329,1761,1581
$STATE,16727,end climb,SURFACE_DEPTH_REACHED
$STATE,16727,begin surface coast
$FINISH,1.6,1.023638
$STATE,16740,end surface coast,CONTROL_FINISHED_OK
$STATE,16740,begin surface
$SM_CCo,16760,137.07,0.514,0,0,908,400.08
$SM_GC,2.16,0.00,0.00,137.07,0.000,0.000,0.514,471,1883,908,-11.82,1.50,400.08
$IRIDIUM_FIX,2241.69,-15757.16,040598,040427
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.40
$XPDR_PINGS,395
$24V_AH,23.7,22.572
$10V_AH,10.2,15.844
$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,29.325,168.150,314.000,137.075,0.000,27.973,26.871,175.107,115.250,0.000,0.000,14.889,1459.714,11386.161,605.327,3280.437,515.343,33.363,1557.853,0.000,2928.456,0.000,104.115,0.000
$DEVICE_MAMPS,164.138,151.866,1105.247,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.290,298.312,1676.392,913.318,1404.917,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50839,690
$CAP_FILE_SIZE,187231,60
$CFSIZE,260165632,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070209,135725,2249.703,-15755.102,36,1.4,36,10.1