version: 66.04
glider: 147
mission: 3
dive: 54
start: 1 26 109 15 10 14
data:
$ID,147
$MISSION,3
$DIVE,54
$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,-19123.486
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,150055,2202.356,-15827.429,40,0.9,40,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.4
$GPS2,150920,2202.428,-15827.491,12,1.0,12,9.9
$SPEED_LIMITS,0.155,0.231
$TGT_NAME,WPT9
$TGT_LATLONG,2208.700,-15817.800
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.230,0.024
$KALMAN_X,32505.5,304.7,-356.7,-51611.1,-973.9
$KALMAN_Y,61003.6,-146.1,-255.7,16808.7,1434.5
$MHEAD_RNG_PITCHd_Wd,74.0,20281,-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,15,-1.24,-121.7,0.0,0.0,0,96,0.00,0.00,-79.40,0.000,2,0.000,0.000,474,1989,2358
$GC,99,-1.24,-121.7,3.1,-2.8,10,140,12.18,2.22,-21.65,0.000,4,0.153,0.042,2739,3395,3037
$GC,187,-0.96,-121.7,14.1,-15.8,23,196,0.32,2.30,0.00,0.000,6,0.104,0.029,2807,1975,3039
$GC,457,-0.77,-121.7,56.2,-15.0,56,465,0.22,0.00,0.00,0.000,6,0.100,0.000,2851,1974,3039
$GC,720,-0.72,-121.7,87.1,-10.8,81,724,0.00,2.30,0.00,0.000,4,0.000,0.049,2851,579,3039
$GC,813,-0.66,-121.7,97.0,-10.7,89,818,0.12,2.20,0.00,0.000,6,0.099,0.021,2877,1995,3040
$GC,1080,-0.66,-121.7,120.6,-8.8,113,1084,0.00,2.38,0.00,0.000,4,0.000,0.051,2877,575,3039
$GC,1180,-0.70,-121.7,130.2,-8.4,121,1186,0.00,2.20,0.00,0.000,6,0.000,0.022,2877,1988,3039
$GC,1442,-0.77,-121.7,148.1,-7.4,146,1444,0.10,0.00,0.00,0.000,6,0.057,0.000,2833,1990,3040
$GC,1697,-0.74,-121.7,171.5,-8.6,170,1698,0.12,0.00,0.00,0.000,6,0.091,0.000,2860,1990,3040
$GC,1951,-0.79,-121.7,190.2,-6.4,194,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1990,3040
$GC,2202,-0.84,-121.7,205.7,-6.1,212,2207,0.10,2.38,0.00,0.000,4,0.058,0.052,2820,576,3040
$GC,2308,-0.81,-121.7,215.6,-10.6,214,2312,0.10,2.20,0.00,0.000,6,0.098,0.025,2840,1971,3040
$GC,2574,-0.81,-121.7,233.2,-6.2,221,2578,0.00,2.35,0.00,0.000,4,0.000,0.055,2840,582,3040
$GC,2640,-0.81,-121.7,237.4,-7.0,222,2644,0.00,2.22,0.00,0.000,6,0.000,0.026,2840,1987,3040
$GC,2902,-0.84,-121.7,251.2,-5.3,229,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1988,3040
$GC,3145,-0.88,-121.7,266.7,-6.7,235,3149,0.00,2.40,0.00,0.000,4,0.000,0.058,2840,573,3039
$GC,3245,-0.88,-121.7,275.0,-6.0,237,3249,0.00,2.25,0.00,0.000,6,0.000,0.028,2840,1981,3039
$GC,3517,-0.88,-121.7,294.8,-7.1,244,3521,0.00,2.38,0.00,0.000,4,0.000,0.058,2840,583,3037
$GC,3605,-0.88,-121.7,300.8,-6.8,246,3609,0.00,2.22,0.00,0.000,6,0.000,0.028,2840,1978,3037
$GC,3889,-0.92,-121.7,317.4,-6.0,253,3894,0.00,2.40,0.00,0.000,4,0.000,0.061,2840,574,3036
$GC,3974,-0.97,-121.7,323.6,-7.6,255,3979,0.15,2.25,0.00,0.000,6,0.048,0.028,2790,1982,3035
$GC,4257,-0.91,-121.7,347.8,-8.8,262,4262,0.15,2.40,0.00,0.000,4,0.091,0.061,2820,583,3034
$GC,4341,-0.91,-121.7,354.9,-8.2,264,4346,0.00,2.25,0.00,0.000,6,0.000,0.031,2820,1980,3033
$GC,4625,-0.91,-121.7,373.0,-6.2,271,4629,0.00,2.40,0.00,0.000,4,0.000,0.063,2820,584,3032
$GC,4685,-0.91,-121.7,377.1,-6.5,272,4689,0.00,2.28,0.00,0.000,6,0.000,0.032,2820,1974,3032
$GC,4952,-0.91,-121.7,389.8,-4.3,279,4960,0.00,2.40,0.00,0.000,4,0.000,0.061,2820,3396,3030
$GC,4976,-0.91,-121.7,390.8,-3.8,279,4980,0.00,2.30,0.00,0.000,6,0.000,0.041,2820,1989,3030
$GC,5244,-0.91,-121.7,401.9,-4.4,286,5248,0.00,2.47,0.00,0.000,4,0.000,0.076,2820,574,3030
$GC,5338,-0.91,-121.7,407.7,-6.5,288,5342,0.00,2.28,0.00,0.000,6,0.000,0.034,2820,1983,3029
$GC,5616,-0.91,-121.7,425.9,-6.9,295,5620,0.00,2.45,0.00,0.000,4,0.000,0.067,2820,572,3028
$GC,5704,-0.91,-121.7,433.5,-8.8,297,5709,0.00,2.30,-0.08,0.000,6,0.000,0.034,2820,1989,3046
$GC,5988,-0.94,-121.7,456.8,-8.3,304,5992,0.00,2.47,0.00,0.000,4,0.000,0.072,2820,572,3046
$GC,6070,-0.94,-121.7,464.7,-10.1,305,6077,0.00,2.33,0.00,0.000,6,0.000,0.035,2820,1976,3046
$GC,6321,-0.98,-121.7,485.4,-8.1,312,6325,0.00,2.42,0.00,0.000,4,0.000,0.067,2820,3389,3044
$GC,6343,-1.02,-121.7,487.1,-7.6,312,6348,0.10,2.35,0.00,0.000,6,0.060,0.047,2785,1978,3044
$GC,6598,-0.99,-121.7,509.6,-8.7,319,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1976,3043
$GC,6842,-0.95,-121.7,529.1,-7.9,325,6847,0.12,2.55,0.00,0.000,4,0.097,0.095,2811,573,3042
$GC,6875,-0.95,-121.7,531.8,-8.3,325,6881,0.00,2.35,0.00,0.000,6,0.000,0.044,2810,1984,3042
$GC,7124,-0.95,-121.7,549.9,-7.2,332,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1984,3041
$GC,7368,-0.95,-121.7,566.3,-6.6,338,7372,0.00,2.55,0.00,0.000,4,0.000,0.088,2810,572,3039
$GC,7400,-0.95,-121.7,568.8,-7.6,338,7404,0.00,2.38,0.00,0.000,6,0.000,0.053,2811,1980,3040
$GC,7656,-0.98,-121.7,586.0,-6.6,345,7661,0.00,2.55,0.00,0.000,4,0.000,0.093,2810,574,3038
$GC,7723,-0.98,-121.7,591.0,-7.7,346,7727,0.00,2.40,0.00,0.000,6,0.000,0.057,2810,1978,3038
$GC,7985,-1.02,-121.7,606.6,-5.9,353,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1978,3037
$GC,8229,-1.06,-121.7,620.6,-5.7,359,8233,0.00,2.62,0.00,0.000,4,0.000,0.103,2810,568,3035
$GC,8278,-1.06,-121.7,623.9,-6.9,360,8282,0.00,2.47,0.00,0.000,6,0.000,0.071,2810,1984,3035
$GC,8558,-1.10,-121.7,641.2,-6.3,367,8563,0.15,2.65,0.00,0.000,4,0.051,0.110,2766,573,3034
$GC,8649,-1.01,-121.7,649.5,-9.5,369,8654,0.15,2.50,0.00,0.000,6,0.097,0.084,2796,1978,3033
$GC,8933,-1.01,-121.7,670.9,-7.5,376,8938,0.00,2.70,0.00,0.000,4,0.000,0.121,2796,574,3033
$GC,9032,-1.01,-121.7,679.8,-9.3,378,9038,0.00,2.60,0.00,0.000,6,0.000,0.092,2796,1980,3032
$STATE,9303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9303,begin apogee
$GC,9308,-0.31,0.0,700.9,7.7,385,9415,0.73,0.00,103.68,1.084,6,0.082,0.000,2951,1980,2540
$STATE,9416,end apogee,CONTROL_FINISHED_OK
$STATE,9416,begin climb
$GC,9418,1.24,121.7,703.8,0.0,387,9534,1.50,2.92,107.70,1.056,4,0.057,0.143,3290,3402,2044
$GC,9578,1.24,121.7,694.9,9.5,390,9585,0.00,2.70,0.00,0.000,6,0.000,0.110,3290,1991,2038
$GC,9829,1.19,121.7,671.8,9.4,397,9833,0.00,2.80,0.00,0.000,4,0.000,0.129,3290,575,2033
$GC,9918,1.08,121.7,662.1,10.5,399,9923,0.17,2.60,0.00,0.000,6,0.113,0.084,3257,1998,2032
$GC,10195,1.08,128.9,637.9,8.6,406,10206,0.00,2.72,5.50,0.787,4,0.000,0.108,3256,574,2014
$GC,10306,1.05,128.9,626.8,9.8,408,10311,0.00,2.50,0.00,0.000,6,0.000,0.067,3256,1992,2013
$GC,10562,1.10,138.1,604.7,8.5,415,10577,0.00,2.67,9.90,0.917,4,0.000,0.104,3257,575,1977
$GC,10655,1.10,138.1,596.1,9.1,417,10659,0.00,2.45,0.00,0.000,6,0.000,0.054,3256,1998,1974
$GC,10933,1.18,172.7,575.5,7.3,424,10978,0.00,2.65,34.70,0.956,4,0.000,0.088,3256,574,1834
$GC,11052,1.18,172.7,565.0,9.6,426,11056,0.00,2.42,0.00,0.000,6,0.000,0.047,3257,1995,1829
$GC,11308,1.25,187.7,543.9,8.2,433,11328,0.15,2.62,13.20,0.927,4,0.055,0.082,3298,579,1773
$GC,11361,1.17,187.7,538.0,11.9,434,11366,0.12,2.38,0.00,0.000,6,0.117,0.041,3275,1991,1771
$GC,11633,1.17,187.7,511.8,9.4,441,11637,0.00,2.55,0.00,0.000,4,0.000,0.077,3275,569,1768
$GC,11671,1.17,187.7,507.4,11.5,442,11675,0.00,2.38,0.00,0.000,6,0.000,0.038,3275,1994,1768
$GC,11954,1.17,187.7,477.9,10.6,449,11958,0.00,2.53,0.00,0.000,4,0.000,0.072,3275,573,1766
$GC,12048,1.17,187.7,465.9,12.8,451,12052,0.00,2.35,0.00,0.000,6,0.000,0.035,3275,1999,1766
$GC,12326,1.20,187.7,432.2,12.2,458,12330,0.00,2.50,0.00,0.000,4,0.000,0.067,3275,572,1765
$GC,12436,1.20,187.7,417.3,12.4,460,12441,0.00,2.35,0.00,0.000,6,0.000,0.039,3275,1993,1765
$GC,12698,1.25,187.7,386.9,11.3,467,12703,0.00,2.47,0.00,0.000,4,0.000,0.063,3275,571,1764
$GC,12748,1.25,187.7,381.1,12.1,468,12752,0.00,2.33,0.00,0.000,6,0.000,0.031,3275,2000,1764
$GC,13026,1.30,187.7,352.5,10.4,475,13031,0.12,2.47,0.00,0.000,4,0.060,0.061,3310,568,1763
$GC,13121,1.23,187.7,340.1,13.0,477,13125,0.00,2.33,0.00,0.000,6,0.000,0.030,3310,2001,1763
$GC,13392,1.23,187.7,308.4,11.7,484,13397,0.10,2.45,0.00,0.000,4,0.117,0.059,3291,567,1763
$GC,13491,1.23,187.7,296.6,11.9,486,13496,0.00,2.33,0.00,0.000,6,0.000,0.029,3291,2009,1762
$GC,13770,1.23,187.7,268.5,9.9,493,13774,0.00,2.47,0.00,0.000,4,0.000,0.058,3291,566,1762
$GC,13824,1.23,187.7,262.7,10.7,494,13828,0.00,2.30,0.00,0.000,6,0.000,0.028,3291,2000,1762
$GC,14097,1.27,187.7,236.1,9.6,501,14101,0.00,2.47,0.00,0.000,4,0.000,0.060,3291,562,1762
$GC,14280,1.27,187.7,218.4,9.7,505,14284,0.00,2.33,0.00,0.000,6,0.000,0.028,3291,1991,1762
$GC,14540,1.37,204.9,197.5,8.1,513,14560,0.12,0.00,14.52,0.691,6,0.057,0.000,3331,1993,1703
$GC,14815,1.37,204.9,171.5,9.6,539,14819,0.00,2.42,0.00,0.000,4,0.000,0.055,3331,563,1700
$GC,14859,1.32,204.9,167.0,10.3,542,14866,0.12,2.28,0.00,0.000,6,0.111,0.025,3307,1994,1699
$GC,15126,1.40,218.3,144.7,8.3,567,15144,0.00,0.00,12.55,0.621,6,0.000,0.000,3307,1995,1650
$GC,15401,1.53,255.5,121.0,7.1,593,15440,0.20,2.47,32.97,0.621,4,0.044,0.053,3369,560,1497
$GC,15618,1.46,255.5,93.4,12.2,612,15627,0.12,2.30,0.00,0.000,6,0.094,0.024,3340,1990,1493
$GC,15883,1.51,255.5,59.7,15.2,637,15887,0.00,2.40,0.00,0.000,4,0.000,0.050,3340,559,1491
$GC,15969,1.51,255.5,46.9,14.3,644,15973,0.00,2.28,0.00,0.000,6,0.000,0.024,3340,1998,1491
$GC,16236,1.51,255.5,13.7,10.7,681,16245,0.00,2.42,0.00,0.000,4,0.000,0.052,3340,572,1491
$GC,16334,1.51,255.5,2.5,11.6,698,16342,0.00,2.25,0.00,0.000,6,0.000,0.022,3340,1986,1490
$STATE,16349,end climb,SURFACE_DEPTH_REACHED
$STATE,16349,begin surface coast
$FINISH,1.5,1.013070
$STATE,16372,end surface coast,CONTROL_FINISHED_OK
$STATE,16372,begin surface
$SM_CCo,16392,167.60,0.504,0,0,664,460.18
$SM_GC,1.94,0.00,0.00,167.60,0.000,0.000,0.504,472,1989,664,-11.72,0.25,460.18
$IRIDIUM_FIX,2155.06,-15830.04,220498,101014
$TT8_MAMPS,0.027612
$HUMID,1659
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.80
$XPDR_PINGS,367
$24V_AH,23.7,14.107
$10V_AH,10.2,8.742
$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,29.475,188.950,334.725,167.600,0.000,28.867,38.916,288.679,107.500,0.000,0.000,14.414,1537.338,11656.366,646.461,2570.534,635.363,33.357,1767.362,0.000,2518.973,0.000,99.463,0.000
$DEVICE_MAMPS,152.633,143.429,1083.771,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,509.329,304.892,476.622,445.408,939.390,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54090,704
$CAP_FILE_SIZE,160592,0
$CFSIZE,260165632,256516096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,260109,194731,2203.427,-15826.741,38,1.0,38,9.9