version: 66.04
glider: 147
mission: 3
dive: 53
start: 1 26 109 10 21 55
data:
$ID,147
$MISSION,3
$DIVE,53
$D_SURF,2
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,260
$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,460
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19108.441
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3020
$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,1980
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,29
$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
$GPS1,101306,2200.967,-15828.005,35,1.4,35,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.5
$GPS2,102101,2200.979,-15827.985,9,1.7,14,9.9
$SPEED_LIMITS,0.155,0.231
$TGT_NAME,WPT9
$TGT_LATLONG,2208.700,-15817.800
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.187,0.136
$KALMAN_X,34725.9,-253.9,60.5,-54544.7,118.7
$KALMAN_Y,59655.0,-156.6,536.9,14694.0,354.4
$MHEAD_RNG_PITCHd_Wd,44.1,22576,-17.5,-8.974
$D_GRID,700
$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,14,-1.24,-121.7,0.0,0.0,0,96,0.00,0.00,-79.22,0.000,2,0.000,0.000,473,1994,2374
$GC,99,-1.24,-121.7,3.1,-2.7,10,140,12.02,2.28,-21.08,0.000,4,0.147,0.044,2741,3394,3037
$GC,175,-0.96,-121.7,13.4,-19.1,21,183,0.25,2.33,0.00,0.000,6,0.097,0.031,2805,1966,3039
$GC,448,-0.77,-121.7,56.2,-16.2,56,453,0.20,2.33,0.00,0.000,4,0.102,0.047,2847,564,3039
$GC,566,-0.67,-121.7,73.3,-13.8,66,571,0.12,2.25,0.00,0.000,6,0.097,0.023,2873,1997,3039
$GC,830,-0.67,-121.7,100.8,-9.8,90,834,0.00,2.38,0.00,0.000,4,0.000,0.050,2873,576,3039
$GC,926,-0.67,-121.7,110.2,-8.7,98,930,0.00,2.20,0.00,0.000,6,0.000,0.022,2873,1985,3039
$GC,1188,-0.67,-121.7,130.9,-7.4,122,1192,0.00,2.38,0.00,0.000,4,0.000,0.051,2873,565,3039
$GC,1275,-0.78,-121.7,137.5,-6.2,129,1282,0.10,2.22,0.00,0.000,6,0.054,0.024,2830,1984,3040
$GC,1539,-0.67,-121.7,166.1,-19.1,154,1544,0.20,2.28,0.00,0.000,4,0.085,0.041,2875,3385,3041
$GC,1692,-0.77,-121.7,181.4,-7.3,167,1696,0.00,2.25,0.00,0.000,6,0.000,0.037,2875,1970,3041
$GC,1955,-0.84,-121.7,200.8,-8.3,191,1957,0.17,0.00,0.00,0.000,6,0.041,0.000,2815,1970,3041
$GC,2198,-0.81,-121.7,225.0,-9.6,197,2203,0.12,2.35,0.00,0.000,4,0.091,0.055,2841,573,3040
$GC,2298,-0.81,-121.7,234.2,-9.0,199,2302,0.00,2.22,0.00,0.000,6,0.000,0.026,2842,1981,3040
$GC,2571,-0.85,-121.7,254.3,-6.7,206,2575,0.00,2.38,0.00,0.000,4,0.000,0.054,2841,572,3041
$GC,2671,-0.88,-121.7,261.8,-7.3,208,2675,0.00,2.22,0.00,0.000,6,0.000,0.026,2842,1977,3040
$GC,2937,-0.92,-121.7,277.3,-5.9,215,2941,0.00,2.38,0.00,0.000,4,0.000,0.056,2842,575,3040
$GC,2959,-0.92,-121.7,279.0,-7.4,215,2963,0.00,2.25,0.00,0.000,6,0.000,0.027,2841,1970,3040
$GC,3222,-0.96,-121.7,300.3,-8.5,222,3227,0.15,2.38,0.00,0.000,4,0.047,0.058,2791,577,3039
$GC,3271,-0.87,-121.7,305.7,-10.8,223,3276,0.20,2.25,0.00,0.000,6,0.090,0.029,2831,1983,3039
$GC,3544,-0.91,-121.7,331.4,-9.1,230,3548,0.00,2.40,0.00,0.000,4,0.000,0.061,2831,582,3038
$GC,3650,-0.91,-121.7,340.1,-8.1,232,3654,0.00,2.25,0.00,0.000,6,0.000,0.031,2831,1978,3038
$GC,3911,-0.95,-121.7,356.9,-6.2,239,3915,0.00,2.40,0.00,0.000,4,0.000,0.061,2831,578,3037
$GC,3972,-0.99,-121.7,361.4,-7.4,240,3977,0.12,2.28,0.00,0.000,6,0.053,0.031,2788,1988,3036
$GC,4241,-0.94,-121.7,382.5,-8.0,247,4245,0.12,2.38,0.00,0.000,4,0.094,0.062,2813,3385,3035
$GC,4280,-0.98,-121.7,385.7,-7.1,248,4284,0.00,2.30,0.00,0.000,6,0.000,0.043,2814,1987,3034
$GC,4563,-0.98,-121.7,404.4,-6.5,255,4567,0.00,2.47,0.00,0.000,4,0.000,0.077,2813,574,3032
$GC,4707,-0.98,-121.7,415.7,-8.1,258,4711,0.00,2.30,0.00,0.000,6,0.000,0.034,2813,1991,3031
$GC,4980,-0.98,-121.7,433.9,-6.6,265,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1991,3030
$GC,5226,-0.98,-121.7,450.2,-6.7,271,5230,0.00,2.47,0.00,0.000,4,0.000,0.072,2814,574,3029
$GC,5310,-0.98,-121.7,457.3,-8.5,273,5314,0.00,2.30,0.00,0.000,6,0.000,0.037,2813,1981,3028
$GC,5593,-0.98,-121.7,477.0,-6.8,280,5595,0.00,0.00,-0.08,0.000,6,0.000,0.000,2813,1981,3047
$GC,5837,-0.98,-121.7,492.8,-6.3,286,5841,0.00,2.45,0.00,0.000,4,0.000,0.073,2813,3392,3047
$GC,5858,-1.02,-121.7,494.1,-5.8,286,5863,0.00,2.38,0.00,0.000,6,0.000,0.049,2813,1973,3046
$GC,6114,-1.05,-121.7,507.9,-5.4,293,6119,0.10,2.53,0.00,0.000,4,0.064,0.092,2780,572,3045
$GC,6209,-0.99,-121.7,515.2,-8.3,295,6214,0.10,2.35,0.00,0.000,6,0.105,0.044,2799,1982,3044
$GC,6481,-0.99,-121.7,531.8,-5.9,302,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1982,3043
$GC,6724,-0.99,-121.7,545.8,-5.6,308,6728,0.00,2.53,0.00,0.000,4,0.000,0.084,2799,567,3041
$GC,6757,-0.96,-121.7,547.8,-6.4,308,6761,0.00,2.38,0.00,0.000,6,0.000,0.047,2799,1984,3041
$GC,7007,-0.96,-121.7,561.4,-5.3,314,7011,0.00,2.55,0.00,0.000,4,0.000,0.087,2799,570,3040
$GC,7062,-0.96,-121.7,565.1,-6.5,315,7066,0.00,2.38,0.00,0.000,6,0.000,0.051,2799,1978,3040
$GC,7329,-0.96,-121.7,580.3,-5.7,322,7333,0.00,2.55,0.00,0.000,4,0.000,0.091,2799,574,3039
$GC,7367,-0.96,-121.7,582.9,-7.2,323,7372,0.00,2.38,0.00,0.000,6,0.000,0.054,2799,1981,3038
$GC,7653,-0.96,-121.7,601.1,-6.4,330,7658,0.00,2.58,0.00,0.000,4,0.000,0.097,2799,575,3037
$GC,7725,-0.96,-121.7,606.8,-7.7,331,7729,0.00,2.42,0.00,0.000,6,0.000,0.062,2799,1980,3037
$GC,7981,-0.96,-121.7,625.4,-7.4,338,7985,0.00,2.62,0.00,0.000,4,0.000,0.104,2799,572,3035
$GC,8047,-0.96,-121.7,631.1,-8.9,339,8052,0.00,2.47,0.00,0.000,6,0.000,0.072,2799,1978,3035
$GC,8305,-0.96,-121.7,650.2,-7.4,346,8309,0.00,2.67,0.00,0.000,4,0.000,0.114,2799,574,3034
$GC,8365,-0.96,-121.7,655.6,-8.8,347,8370,0.00,2.53,0.00,0.000,6,0.000,0.081,2799,1985,3033
$GC,8626,-0.96,-121.7,674.5,-7.2,354,8631,0.00,2.72,0.00,0.000,4,0.000,0.123,2799,576,3033
$GC,8731,-0.96,-121.7,683.4,-8.4,356,8736,0.00,2.58,0.00,0.000,6,0.000,0.093,2799,1980,3032
$STATE,8991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8991,begin apogee
$GC,8996,-0.31,0.0,702.0,7.1,363,9103,0.70,0.00,103.93,1.085,6,0.081,0.000,2950,1980,2540
$STATE,9104,end apogee,CONTROL_FINISHED_OK
$STATE,9104,begin climb
$GC,9106,1.24,121.7,704.4,0.0,365,9222,1.50,2.92,107.95,1.055,4,0.057,0.142,3288,3400,2044
$GC,9235,1.19,121.7,697.7,9.2,368,9239,0.00,2.70,0.00,0.000,6,0.000,0.109,3288,1998,2041
$GC,9512,1.13,121.7,671.2,9.4,375,9517,0.10,2.80,0.00,0.000,4,0.121,0.127,3269,579,2033
$GC,9596,1.06,121.7,662.9,10.5,377,9601,0.00,2.58,0.00,0.000,6,0.000,0.088,3269,1991,2032
$GC,9880,1.08,134.2,639.0,8.4,384,9895,0.00,2.75,10.48,0.933,4,0.000,0.109,3270,574,1991
$GC,9979,1.01,134.2,629.4,9.8,386,9984,0.15,2.53,0.00,0.000,6,0.113,0.071,3242,2000,1989
$GC,10246,1.11,160.0,608.9,7.7,393,10275,0.00,2.72,24.30,0.997,4,0.000,0.100,3241,573,1886
$GC,10338,1.11,160.0,600.5,10.2,395,10342,0.00,2.47,0.00,0.000,6,0.000,0.056,3241,1999,1883
$GC,10615,1.18,160.0,574.7,9.3,402,10620,0.15,2.62,0.00,0.000,4,0.056,0.089,3282,572,1880
$GC,10732,1.11,160.0,560.9,11.5,404,10736,0.00,2.42,0.00,0.000,6,0.000,0.048,3282,1997,1880
$GC,10981,1.11,160.0,534.4,10.5,410,10985,0.00,2.58,0.00,0.000,4,0.000,0.082,3282,572,1879
$GC,11065,1.05,160.0,524.8,11.6,411,11072,0.17,2.38,0.00,0.000,6,0.109,0.042,3248,1994,1878
$GC,11315,1.15,184.0,504.8,7.8,418,11349,0.00,2.60,23.42,0.887,4,0.000,0.077,3248,582,1788
$GC,11406,1.18,184.0,496.6,9.1,420,11411,0.12,2.35,0.00,0.000,6,0.061,0.037,3282,1993,1785
$GC,11689,1.18,184.0,470.1,9.2,427,11693,0.00,2.50,0.00,0.000,4,0.000,0.071,3282,572,1782
$GC,11716,1.15,184.0,467.3,11.0,427,11720,0.00,2.35,0.00,0.000,6,0.000,0.035,3282,1995,1782
$GC,11976,1.15,184.0,442.8,9.3,434,11981,0.00,2.50,0.00,0.000,4,0.000,0.070,3282,574,1781
$GC,12062,1.15,184.0,433.7,11.4,436,12066,0.00,2.33,0.00,0.000,6,0.000,0.040,3282,1995,1781
$GC,12345,1.15,184.0,406.9,9.1,443,12349,0.00,2.47,0.00,0.000,4,0.000,0.066,3282,573,1780
$GC,12467,1.15,184.0,393.6,11.0,445,12473,0.00,2.33,0.00,0.000,6,0.000,0.031,3282,2000,1780
$GC,12717,1.18,184.0,370.5,9.2,452,12722,0.00,2.47,0.00,0.000,4,0.000,0.063,3282,570,1779
$GC,12755,1.18,184.0,366.7,10.1,452,12762,0.00,2.33,0.00,0.000,6,0.000,0.030,3282,1984,1779
$GC,13006,1.21,184.0,342.1,10.1,459,13010,0.00,2.45,0.00,0.000,4,0.000,0.062,3282,571,1779
$GC,13067,1.21,184.0,334.7,12.1,460,13071,0.00,2.33,0.00,0.000,6,0.000,0.029,3282,1990,1778
$GC,13334,1.26,184.0,305.1,10.9,467,13338,0.00,2.45,0.00,0.000,4,0.000,0.061,3282,570,1778
$GC,13400,1.26,184.0,297.5,11.6,468,13405,0.00,2.33,0.00,0.000,6,0.000,0.029,3282,2014,1778
$GC,13662,1.31,184.0,271.2,10.0,475,13667,0.10,2.47,0.00,0.000,4,0.062,0.059,3314,572,1778
$GC,13792,1.25,184.0,255.3,12.0,478,13797,0.12,2.28,0.00,0.000,6,0.114,0.028,3291,1991,1777
$GC,14075,1.29,184.0,228.5,9.1,485,14079,0.00,2.42,0.00,0.000,4,0.000,0.058,3291,572,1777
$GC,14152,1.29,184.0,221.0,9.4,486,14158,0.00,2.28,0.00,0.000,6,0.000,0.028,3291,1995,1777
$GC,14402,1.37,198.3,200.5,8.3,493,14422,0.12,2.53,11.95,0.683,4,0.055,0.058,3329,568,1731
$GC,14605,1.33,198.3,177.3,12.0,508,14609,0.00,2.28,0.00,0.000,6,0.000,0.028,3329,1988,1728
$GC,14869,1.33,198.3,151.2,9.1,532,14873,0.00,2.30,0.00,0.000,4,0.000,0.042,3329,3404,1727
$GC,14885,1.33,198.3,149.2,9.9,533,14889,0.00,2.33,0.00,0.000,6,0.000,0.036,3329,1972,1727
$GC,15148,1.33,198.3,123.8,9.9,557,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1971,1727
$GC,15403,1.36,221.8,103.4,7.8,581,15430,0.00,2.42,21.45,0.604,4,0.000,0.060,3330,588,1634
$GC,15584,1.36,221.8,85.6,10.1,597,15589,0.00,2.22,0.00,0.000,6,0.000,0.024,3330,1999,1630
$GC,15849,1.44,247.8,63.6,7.7,621,15877,0.00,2.47,22.80,0.559,4,0.000,0.052,3330,584,1528
$GC,15946,1.48,247.8,54.0,11.2,629,15950,0.00,2.22,0.00,0.000,6,0.000,0.023,3330,1995,1525
$GC,16209,1.53,247.8,30.3,9.3,653,16214,0.10,2.38,0.00,0.000,4,0.060,0.050,3366,583,1523
$GC,16266,1.46,247.8,24.2,11.4,662,16273,0.10,2.25,0.00,0.000,6,0.093,0.024,3341,1986,1523
$STATE,16449,end climb,SURFACE_DEPTH_REACHED
$STATE,16449,begin surface coast
$FINISH,1.6,1.023601
$STATE,16467,end surface coast,CONTROL_FINISHED_OK
$STATE,16467,begin surface
$SM_CCo,16487,174.35,0.504,0,0,662,460.18
$SM_GC,2.06,0.00,0.00,174.35,0.000,0.000,0.504,474,1988,662,-11.71,0.25,460.18
$IRIDIUM_FIX,2150.42,-15827.88,220498,050513
$TT8_MAMPS,0.027612
$HUMID,1642
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,359
$24V_AH,23.7,13.957
$10V_AH,10.2,8.622
$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,29.400,208.000,326.275,174.350,0.000,28.888,26.320,269.500,105.500,0.000,0.000,15.770,1563.629,11710.502,641.305,2606.130,596.012,33.361,1770.185,0.000,2546.601,0.000,99.463,0.000
$DEVICE_MAMPS,147.264,141.895,1085.305,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,504.097,299.400,466.099,457.209,962.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53793,698
$CAP_FILE_SIZE,165836,0
$CFSIZE,260165632,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,260109,150055,2202.356,-15827.429,40,0.9,40,9.9