version: 66.04
glider: 147
mission: 3
dive: 56
start: 1 27 109 0 54 56
data:
$ID,147
$MISSION,3
$DIVE,56
$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,-19150.939
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$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,1960
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,004600,2203.958,-15825.379,39,0.9,39,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.4
$GPS2,005402,2203.912,-15825.323,11,1.5,11,9.9
$SPEED_LIMITS,0.155,0.231
$TGT_NAME,WPT9
$TGT_LATLONG,2208.700,-15817.800
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.219,0.072
$KALMAN_X,29151.4,-464.9,326.6,-44441.6,-1991.4
$KALMAN_Y,62824.1,87.2,219.8,17036.0,-151.0
$MHEAD_RNG_PITCHd_Wd,61.9,15659,-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,-79.25,0.000,2,0.000,0.000,475,1994,2327
$GC,99,-1.24,-121.7,3.0,-2.6,10,141,11.88,2.17,-23.60,0.000,4,0.146,0.042,2720,3375,3038
$GC,391,-0.95,-121.7,51.8,-18.3,50,396,0.35,2.30,0.00,0.000,6,0.105,0.031,2789,1943,3040
$GC,653,-0.76,-121.7,88.9,-11.8,74,657,0.17,2.30,0.00,0.000,4,0.104,0.046,2827,556,3039
$GC,747,-0.67,-121.7,98.6,-10.3,82,752,0.12,2.22,0.00,0.000,6,0.111,0.023,2850,1985,3039
$GC,1008,-0.64,-121.7,121.5,-9.3,106,1012,0.00,2.38,0.00,0.000,4,0.000,0.050,2850,558,3039
$GC,1028,-0.60,-121.7,123.0,-8.5,107,1032,0.00,2.17,0.00,0.000,6,0.000,0.021,2851,1962,3039
$GC,1294,-0.60,-121.7,144.2,-8.0,131,1298,0.00,2.35,0.00,0.000,4,0.000,0.051,2851,558,3040
$GC,1369,-0.60,-121.7,150.5,-8.0,137,1372,0.00,2.17,0.00,0.000,6,0.000,0.023,2851,1960,3040
$GC,1636,-0.60,-121.7,172.6,-8.4,162,1640,0.00,2.35,0.00,0.000,4,0.000,0.051,2850,558,3040
$GC,1792,-0.60,-121.7,187.8,-9.0,175,1799,0.00,2.22,0.00,0.000,6,0.000,0.025,2850,1956,3040
$GC,2070,-0.63,-121.7,209.5,-7.6,193,2075,0.00,2.35,0.00,0.000,4,0.000,0.053,2850,549,3040
$GC,2153,-0.67,-121.7,216.6,-8.2,194,2159,0.00,2.22,0.00,0.000,6,0.000,0.026,2850,1955,3040
$GC,2403,-0.72,-121.7,232.6,-5.9,201,2407,0.00,2.38,0.00,0.000,4,0.000,0.055,2850,550,3040
$GC,2424,-0.75,-121.7,234.1,-6.8,201,2428,0.00,2.22,0.00,0.000,6,0.000,0.025,2850,1959,3040
$GC,2682,-0.81,-121.7,250.2,-6.3,208,2687,0.12,2.38,0.00,0.000,4,0.050,0.055,2804,558,3040
$GC,2766,-0.74,-121.7,258.0,-9.8,210,2771,0.15,2.22,0.00,0.000,6,0.091,0.026,2834,1962,3040
$GC,3050,-0.74,-121.7,281.3,-8.1,217,3054,0.00,2.40,0.00,0.000,4,0.000,0.058,2834,554,3040
$GC,3133,-0.74,-121.7,288.9,-9.4,219,3137,0.00,2.22,0.00,0.000,6,0.000,0.028,2834,1954,3039
$GC,3423,-0.74,-121.7,312.9,-8.4,226,3427,0.00,2.35,0.00,0.000,4,0.000,0.052,2834,3371,3038
$GC,3490,-0.80,-121.7,319.0,-8.8,227,3494,0.00,2.28,0.00,0.000,6,0.000,0.038,2834,1962,3037
$GC,3751,-0.85,-121.7,339.8,-7.8,234,3756,0.00,2.42,0.00,0.000,4,0.000,0.070,2834,551,3036
$GC,3841,-0.85,-121.7,347.4,-9.0,236,3845,0.00,2.25,0.00,0.000,6,0.000,0.032,2834,1966,3036
$GC,4130,-0.89,-121.7,368.9,-7.3,243,4135,0.15,2.42,0.00,0.000,4,0.048,0.063,2786,557,3034
$GC,4148,-0.89,-121.7,370.3,-7.3,243,4152,0.00,2.25,0.00,0.000,6,0.000,0.031,2786,1958,3034
$GC,4411,-0.84,-121.7,392.2,-8.3,250,4416,0.15,2.42,0.00,0.000,4,0.094,0.064,2816,557,3032
$GC,4444,-0.84,-121.7,395.3,-8.4,250,4450,0.00,2.28,0.00,0.000,6,0.000,0.032,2816,1962,3032
$GC,4694,-0.84,-121.7,413.3,-7.2,257,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1962,3031
$GC,4938,-0.84,-121.7,430.0,-6.8,263,4942,0.00,2.45,0.00,0.000,4,0.000,0.070,2816,559,3030
$GC,5009,-0.84,-121.7,435.2,-7.3,264,5014,0.00,2.28,0.00,0.000,6,0.000,0.035,2816,1966,3029
$GC,5265,-0.84,-121.7,450.0,-5.6,271,5273,0.00,2.47,0.00,0.000,4,0.000,0.073,2816,557,3028
$GC,5323,-0.84,-121.7,453.4,-6.4,272,5327,0.00,2.30,0.00,0.000,6,0.000,0.035,2816,1961,3027
$GC,5601,-0.84,-121.7,468.5,-5.4,279,5606,0.00,2.47,-0.08,0.000,4,0.000,0.091,2816,558,3046
$GC,5673,-0.84,-121.7,473.3,-7.4,280,5677,0.00,2.30,0.00,0.000,6,0.000,0.036,2816,1963,3046
$GC,5928,-0.84,-121.7,489.0,-6.1,287,5933,0.00,2.50,0.00,0.000,4,0.000,0.077,2816,554,3045
$GC,5961,-0.84,-121.7,491.2,-6.7,287,5967,0.00,2.33,0.00,0.000,6,0.000,0.038,2816,1964,3045
$GC,6212,-0.88,-121.7,505.3,-5.7,294,6216,0.00,2.50,0.00,0.000,4,0.000,0.079,2816,557,3043
$GC,6234,-0.88,-121.7,506.7,-5.8,294,6238,0.00,2.33,0.00,0.000,6,0.000,0.038,2816,1970,3043
$GC,6491,-0.88,-121.7,521.1,-5.7,301,6495,0.00,2.50,0.00,0.000,4,0.000,0.080,2816,561,3042
$GC,6541,-0.88,-121.7,524.6,-6.8,302,6545,0.00,2.33,0.00,0.000,6,0.000,0.044,2816,1965,3042
$GC,6820,-0.91,-121.7,541.8,-6.4,309,6824,0.00,2.53,0.00,0.000,4,0.000,0.083,2816,556,3041
$GC,6859,-0.91,-121.7,544.7,-7.9,310,6863,0.00,2.35,0.00,0.000,6,0.000,0.045,2816,1964,3041
$GC,7142,-0.96,-121.7,564.5,-7.0,317,7147,0.12,2.53,0.00,0.000,4,0.057,0.087,2777,560,3039
$GC,7197,-0.88,-121.7,569.8,-10.3,318,7203,0.15,2.35,0.00,0.000,6,0.097,0.049,2806,1958,3039
$GC,7470,-0.88,-121.7,590.3,-7.2,325,7474,0.00,2.55,0.00,0.000,4,0.000,0.094,2806,561,3037
$GC,7519,-0.88,-121.7,594.3,-7.5,326,7523,0.00,2.40,0.00,0.000,6,0.000,0.058,2806,1963,3037
$GC,7797,-0.88,-121.7,612.9,-6.4,333,7802,0.00,2.60,0.00,0.000,4,0.000,0.106,2806,3375,3036
$GC,7837,-0.93,-121.7,615.5,-6.7,334,7841,0.00,2.45,0.00,0.000,6,0.000,0.078,2806,1973,3035
$GC,8126,-0.97,-121.7,633.2,-6.0,341,8130,0.00,2.70,0.00,0.000,4,0.000,0.118,2806,549,3034
$GC,8158,-0.97,-121.7,635.3,-6.9,341,8164,0.00,2.50,0.00,0.000,6,0.000,0.076,2806,1965,3034
$GC,8409,-1.00,-121.7,650.8,-6.2,348,8414,0.12,2.70,0.00,0.000,4,0.057,0.115,2768,549,3034
$GC,8453,-0.91,-121.7,654.5,-7.9,349,8458,0.15,2.53,0.00,0.000,6,0.098,0.079,2797,1965,3033
$GC,8731,-0.91,-121.7,674.7,-7.3,356,8736,0.00,2.75,0.00,0.000,4,0.000,0.124,2797,550,3033
$GC,8787,-0.91,-121.7,679.4,-8.4,357,8791,0.00,2.60,0.00,0.000,6,0.000,0.095,2797,1962,3032
$GC,9052,-0.91,-121.7,699.0,-7.3,364,9057,0.00,2.80,0.00,0.000,4,0.000,0.135,2797,551,3032
$STATE,9066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9066,begin apogee
$GC,9074,-0.31,0.0,700.3,7.7,364,9180,0.60,0.00,103.60,1.088,6,0.089,0.000,2927,1970,2540
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9183,1.24,121.7,704.5,0.0,367,9298,1.52,0.00,107.88,1.063,6,0.061,0.000,3268,1970,2043
$GC,9549,1.26,137.1,679.9,8.2,376,9569,0.00,2.85,13.50,0.970,4,0.000,0.124,3268,565,1980
$GC,9653,1.20,137.1,669.6,10.5,378,9658,0.00,2.58,0.00,0.000,6,0.000,0.084,3268,1973,1977
$GC,9920,1.21,146.4,646.4,8.5,385,9934,0.00,2.75,8.98,0.913,4,0.000,0.112,3268,558,1943
$GC,10013,1.16,146.4,636.7,10.3,387,10017,0.00,2.53,0.00,0.000,6,0.000,0.073,3268,1969,1941
$GC,10291,1.16,146.4,610.4,9.6,394,10295,0.00,2.65,0.00,0.000,4,0.000,0.100,3268,556,1939
$GC,10323,1.11,146.4,606.9,11.3,394,10330,0.12,2.47,0.00,0.000,6,0.116,0.058,3245,1981,1939
$GC,10573,1.18,150.6,584.9,8.8,401,10583,0.00,2.62,4.68,0.716,4,0.000,0.092,3245,559,1926
$GC,10638,1.18,150.6,578.5,10.3,402,10643,0.00,2.45,0.00,0.000,6,0.000,0.051,3245,1971,1926
$GC,10900,1.25,155.0,555.9,8.8,409,10911,0.12,2.60,5.82,0.798,4,0.059,0.085,3280,554,1907
$GC,10985,1.19,155.0,545.9,12.3,411,10990,0.12,2.40,0.00,0.000,6,0.117,0.044,3258,1978,1906
$GC,11268,1.24,155.0,518.7,9.5,418,11273,0.00,2.55,0.00,0.000,4,0.000,0.080,3257,558,1904
$GC,11340,1.24,155.0,511.2,10.9,419,11344,0.00,2.35,0.00,0.000,6,0.000,0.035,3257,1981,1904
$GC,11596,1.30,165.6,489.7,8.5,426,11613,0.10,2.58,10.98,0.894,4,0.067,0.074,3286,555,1864
$GC,11691,1.23,165.6,479.4,10.9,428,11695,0.00,2.35,0.00,0.000,6,0.000,0.037,3286,1975,1863
$GC,11969,1.24,171.9,454.0,8.7,435,11983,0.00,2.58,7.05,0.805,4,0.000,0.070,3286,557,1838
$GC,12084,1.19,171.9,442.7,9.8,437,12089,0.15,2.33,0.00,0.000,6,0.110,0.033,3258,1973,1837
$GC,12345,1.31,208.7,423.7,7.1,444,12387,0.12,2.58,33.25,0.907,4,0.059,0.067,3294,560,1688
$GC,12461,1.26,208.7,412.0,11.3,446,12465,0.00,2.33,0.00,0.000,6,0.000,0.031,3294,1976,1684
$GC,12716,1.26,208.7,386.3,10.0,453,12720,0.00,2.47,0.00,0.000,4,0.000,0.063,3294,557,1680
$GC,12755,1.21,208.7,381.9,11.1,454,12760,0.15,2.30,0.00,0.000,6,0.110,0.029,3265,1973,1680
$GC,13039,1.29,216.6,356.7,8.6,461,13053,0.00,2.55,7.18,0.741,4,0.000,0.061,3265,550,1656
$GC,13076,1.32,216.6,353.1,10.5,461,13083,0.10,2.33,0.00,0.000,6,0.066,0.028,3295,1974,1655
$GC,13325,1.32,216.6,327.2,10.6,468,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1975,1653
$GC,13569,1.32,216.6,300.4,11.0,474,13573,0.00,2.45,0.00,0.000,4,0.000,0.061,3295,552,1653
$GC,13646,1.32,216.6,291.8,10.8,475,13652,0.00,2.30,0.00,0.000,6,0.000,0.028,3295,1977,1653
$GC,13896,1.32,216.6,267.4,9.7,482,13900,0.00,2.45,0.00,0.000,4,0.000,0.058,3295,548,1652
$GC,13990,1.32,216.6,257.2,11.3,484,13994,0.00,2.33,0.00,0.000,6,0.000,0.028,3295,1971,1651
$GC,14268,1.36,216.6,230.7,9.3,491,14272,0.00,2.42,0.00,0.000,4,0.000,0.059,3295,552,1651
$GC,14295,1.36,216.6,227.7,10.5,491,14299,0.00,2.30,0.00,0.000,6,0.000,0.026,3295,1967,1651
$GC,14557,1.42,216.6,201.3,10.4,498,14561,0.00,2.42,0.00,0.000,4,0.000,0.058,3295,548,1651
$GC,14699,1.42,216.6,187.1,9.1,508,14703,0.00,2.28,0.00,0.000,6,0.000,0.026,3295,1977,1651
$GC,14963,1.50,223.0,165.7,8.7,532,14976,0.12,2.50,6.57,0.578,4,0.055,0.054,3335,544,1629
$GC,15095,1.43,223.0,149.7,12.4,543,15102,0.08,2.30,0.00,0.000,6,0.102,0.026,3317,1969,1629
$GC,15357,1.48,223.0,123.2,10.1,568,15361,0.00,2.40,0.00,0.000,4,0.000,0.054,3316,545,1628
$GC,15491,1.48,223.0,108.0,9.9,579,15497,0.00,2.30,0.00,0.000,6,0.000,0.025,3316,1974,1628
$GC,15754,1.58,242.7,84.2,8.0,604,15775,0.12,0.00,18.23,0.578,6,0.054,0.000,3358,1976,1550
$GC,16031,1.58,242.7,56.5,10.5,630,16035,0.00,2.40,0.00,0.000,4,0.000,0.054,3359,552,1546
$GC,16085,1.53,242.7,49.5,10.7,634,16094,0.10,2.28,0.00,0.000,6,0.091,0.023,3334,1977,1546
$GC,16351,1.58,242.7,26.0,10.3,662,16360,0.00,2.42,0.00,0.000,4,0.000,0.054,3334,546,1545
$GC,16459,1.58,242.7,15.2,11.0,681,16468,0.00,2.28,0.00,0.000,6,0.000,0.031,3334,1966,1545
$STATE,16588,end climb,SURFACE_DEPTH_REACHED
$STATE,16588,begin surface coast
$FINISH,1.2,1.013751
$STATE,16607,end surface coast,CONTROL_FINISHED_OK
$STATE,16608,begin surface
$SM_CCo,16627,178.60,0.503,0,0,663,460.18
$SM_GC,1.74,0.00,0.00,178.60,0.000,0.000,0.503,474,1968,663,-11.62,0.23,460.18
$IRIDIUM_FIX,2152.74,-15824.87,220498,202041
$TT8_MAMPS,0.027612
$HUMID,1634
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,350
$24V_AH,23.7,14.425
$10V_AH,10.2,8.992
$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,28.975,222.475,327.700,178.600,0.000,28.533,30.127,274.529,103.250,0.000,0.000,12.573,1563.229,11852.289,668.089,2577.786,607.239,33.362,1804.525,0.000,2519.408,0.000,99.469,0.000
$DEVICE_MAMPS,146.497,134.992,1087.606,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,504.401,303.867,470.367,459.142,968.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,54168,707
$CAP_FILE_SIZE,168891,0
$CFSIZE,260165632,256360448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270109,053624,2204.333,-15825.041,26,1.2,43,9.9