version: 66.04
glider: 147
mission: 3
dive: 76
start: 1 30 109 21 24 34
data:
$ID,147
$MISSION,3
$DIVE,76
$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,440
$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,-19477.227
$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,1880
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,70
$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
$GPS1,211437,2219.859,-15815.999,28,1.1,29,10.0
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-65.3
$GPS2,212338,2219.867,-15816.064,12,1.5,12,10.0
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT11
$TGT_LATLONG,2237.000,-15817.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.025,0.230
$KALMAN_X,-5453.7,123.2,-370.3,6239.0,-601.5
$KALMAN_Y,70159.3,410.5,-514.3,39659.5,38.6
$MHEAD_RNG_PITCHd_Wd,356.3,31770,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,100,0.00,0.00,-81.45,0.000,2,0.000,0.000,471,1932,2506
$GC,102,-1.25,-121.7,3.6,-3.4,10,136,12.15,2.12,-15.30,0.000,4,0.149,0.044,2762,3260,3035
$GC,270,-1.04,-121.7,28.1,-15.4,38,279,0.20,2.25,0.00,0.000,6,0.096,0.029,2807,1873,3037
$GC,544,-0.90,-121.7,69.3,-14.1,64,549,0.17,2.20,0.00,0.000,4,0.102,0.028,2845,3261,3037
$GC,591,-0.90,-121.7,75.2,-10.2,68,601,0.00,2.25,0.00,0.000,6,0.000,0.029,2844,1877,3038
$GC,858,-0.84,-121.7,102.2,-10.4,93,862,0.00,2.33,0.00,0.000,4,0.000,0.056,2845,478,3038
$GC,911,-0.78,-121.7,108.1,-10.7,97,916,0.12,2.15,0.00,0.000,6,0.097,0.021,2870,1874,3038
$GC,1174,-0.78,-121.7,128.5,-6.8,121,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1875,3038
$GC,1428,-0.78,-121.7,142.7,-5.9,145,1432,0.00,2.33,0.00,0.000,4,0.000,0.050,2870,470,3039
$GC,1467,-0.78,-121.7,146.0,-8.0,148,1476,0.00,2.20,0.00,0.000,6,0.000,0.021,2870,1873,3039
$GC,1730,-0.84,-121.7,167.2,-7.2,173,1733,0.00,2.22,0.00,0.000,4,0.000,0.031,2870,3272,3039
$GC,1801,-0.93,-121.7,171.9,-6.4,179,1808,0.15,2.22,0.00,0.000,6,0.044,0.035,2817,1880,3040
$GC,2064,-0.87,-121.7,192.6,-8.4,204,2068,0.15,2.33,0.00,0.000,4,0.088,0.051,2848,474,3040
$GC,2225,-0.87,-121.7,204.7,-5.7,213,2229,0.00,2.20,0.00,0.000,6,0.000,0.022,2848,1879,3040
$GC,2480,-0.87,-121.7,217.8,-5.4,220,2484,0.00,2.35,0.00,0.000,4,0.000,0.053,2848,479,3040
$GC,2508,-0.87,-121.7,220.1,-8.6,220,2512,0.00,2.20,0.00,0.000,6,0.000,0.024,2848,1877,3040
$GC,2761,-0.91,-121.7,241.6,-8.7,226,2765,0.00,2.30,0.00,0.000,4,0.000,0.042,2848,3291,3040
$GC,2805,-0.98,-121.7,245.4,-8.0,227,2809,0.00,2.28,0.00,0.000,6,0.000,0.035,2848,1882,3040
$GC,3083,-1.03,-121.7,266.7,-7.6,234,3085,0.15,0.00,0.00,0.000,6,0.045,0.000,2794,1881,3040
$GC,3327,-0.97,-121.7,290.0,-9.7,240,3335,0.15,2.40,0.00,0.000,4,0.086,0.060,2826,470,3040
$GC,3458,-0.97,-121.7,299.4,-6.5,242,3465,0.00,2.25,0.00,0.000,6,0.000,0.026,2826,1880,3039
$GC,3708,-0.97,-121.7,314.6,-6.2,249,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1881,3038
$GC,3953,-0.97,-121.7,330.5,-6.5,255,3957,0.00,2.40,0.00,0.000,4,0.000,0.061,2826,476,3037
$GC,3985,-0.97,-121.7,333.3,-8.5,255,3991,0.00,2.25,0.00,0.000,6,0.000,0.029,2826,1876,3037
$GC,4235,-0.97,-121.7,353.8,-8.2,262,4239,0.00,2.35,0.00,0.000,4,0.000,0.051,2826,3287,3036
$GC,4290,-1.02,-121.7,358.6,-8.5,263,4294,0.00,2.30,0.00,0.000,6,0.000,0.041,2826,1883,3035
$GC,4556,-1.02,-121.7,379.6,-8.0,270,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1883,3035
$GC,4800,-1.06,-121.7,398.8,-8.0,276,4804,0.00,2.33,0.00,0.000,4,0.000,0.046,2826,3286,3033
$GC,4839,-1.11,-121.7,401.9,-8.2,277,4844,0.12,2.33,0.00,0.000,6,0.052,0.044,2782,1883,3033
$GC,5123,-1.05,-121.7,427.2,-8.9,284,5128,0.12,2.47,0.00,0.000,4,0.092,0.081,2808,472,3031
$GC,5172,-1.05,-121.7,431.8,-9.0,285,5176,0.00,2.33,0.00,0.000,6,0.000,0.035,2808,1880,3031
$GC,5450,-1.05,-121.7,453.6,-7.8,292,5454,0.00,2.38,0.00,0.000,4,0.000,0.059,2808,3286,3030
$GC,5471,-1.05,-121.7,455.4,-8.2,292,5475,0.00,2.35,0.00,0.000,6,0.000,0.047,2808,1864,3030
$GC,5732,-1.05,-121.7,474.5,-7.2,299,5736,0.00,2.47,0.00,0.000,4,0.000,0.087,2808,471,3028
$GC,5754,-1.05,-121.7,476.3,-8.0,299,5758,0.00,2.30,0.00,0.000,6,0.000,0.035,2808,1878,3028
$GC,6021,-1.05,-121.7,495.7,-7.3,306,6025,0.00,2.42,-0.08,0.000,4,0.000,0.077,2808,3291,3047
$GC,6110,-1.08,-121.7,502.8,-7.6,308,6114,0.00,2.38,0.00,0.000,6,0.000,0.050,2808,1877,3047
$GC,6387,-1.08,-121.7,524.8,-8.1,315,6391,0.00,2.55,0.00,0.000,4,0.000,0.092,2808,468,3046
$GC,6480,-1.08,-121.7,533.5,-9.1,317,6485,0.00,2.35,0.00,0.000,6,0.000,0.044,2808,1879,3046
$GC,6759,-1.08,-121.7,555.1,-7.6,324,6763,0.00,2.53,0.00,0.000,4,0.000,0.086,2808,466,3044
$GC,6780,-1.08,-121.7,556.9,-7.8,324,6784,0.00,2.35,0.00,0.000,6,0.000,0.044,2808,1880,3044
$GC,7047,-1.08,-121.7,576.3,-7.1,331,7051,0.00,2.53,0.00,0.000,4,0.000,0.087,2808,3293,3043
$GC,7068,-1.08,-121.7,577.9,-7.6,331,7072,0.00,2.42,0.00,0.000,6,0.000,0.067,2808,1880,3043
$GC,7324,-1.11,-121.7,594.7,-6.4,338,7328,0.00,2.62,0.00,0.000,4,0.000,0.110,2808,470,3041
$GC,7363,-1.11,-121.7,597.2,-6.8,339,7367,0.00,2.40,0.00,0.000,6,0.000,0.060,2808,1878,3041
$GC,7646,-1.14,-121.7,612.8,-5.4,346,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1878,3040
$GC,7890,-1.17,-121.7,625.4,-5.2,352,7895,0.12,2.62,0.00,0.000,4,0.055,0.104,2769,470,3039
$GC,7923,-1.07,-121.7,627.8,-7.9,352,7930,0.17,2.45,0.00,0.000,6,0.091,0.068,2804,1879,3040
$GC,8173,-1.07,-121.7,643.1,-6.2,359,8177,0.00,2.65,0.00,0.000,4,0.000,0.111,2804,3295,3038
$GC,8201,-1.11,-121.7,645.0,-7.0,359,8206,0.00,2.53,0.00,0.000,6,0.000,0.088,2804,1884,3037
$GC,8454,-1.15,-121.7,661.4,-6.6,365,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1884,3036
$GC,8694,-1.15,-121.7,678.2,-6.9,371,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1883,3035
$GC,8939,-1.18,-121.7,695.0,-6.9,377,8943,0.00,2.80,0.00,0.000,4,0.000,0.139,2804,470,3034
$GC,8999,-1.18,-121.7,699.7,-8.6,378,9003,0.00,2.60,0.00,0.000,6,0.000,0.104,2804,1876,3034
$GC,9261,-1.21,-121.7,716.4,-6.4,385,9266,0.12,2.83,0.00,0.000,4,0.058,0.146,2765,3294,3034
$GC,9327,-1.21,-121.7,721.8,-7.7,386,9332,0.00,2.70,0.00,0.000,6,0.000,0.119,2765,1883,3033
$STATE,9459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9459,begin apogee
$GC,9465,-0.31,0.0,732.3,8.0,390,9573,0.95,0.00,104.62,1.106,6,0.083,0.000,2967,1813,2540
$STATE,9573,end apogee,CONTROL_FINISHED_OK
$STATE,9573,begin climb
$GC,9575,1.25,121.7,734.7,0.0,392,9690,1.50,0.00,108.28,1.078,6,0.050,0.000,3312,1813,2043
$GC,9943,1.14,121.7,704.7,9.5,401,9948,0.12,2.83,0.00,0.000,4,0.118,0.128,3290,3237,2034
$GC,9970,1.11,133.5,702.2,8.4,401,9986,0.00,2.72,10.32,0.942,6,0.000,0.112,3290,1818,1995
$GC,10264,1.07,145.7,677.7,8.4,409,10283,0.00,2.90,11.82,0.963,4,0.000,0.131,3290,409,1945
$GC,10312,0.96,145.7,673.2,9.9,410,10317,0.20,2.58,0.00,0.000,6,0.110,0.083,3252,1826,1944
$GC,10590,1.07,198.7,654.9,6.4,417,10654,0.00,0.00,52.12,0.976,6,0.000,0.000,3252,1826,1729
$GC,10875,1.14,213.7,632.7,8.3,424,10895,0.17,2.75,13.95,0.961,4,0.051,0.107,3302,405,1667
$GC,10923,1.04,213.7,627.1,13.5,425,10928,0.17,2.50,0.00,0.000,6,0.108,0.063,3269,1824,1665
$GC,11200,1.07,213.7,599.1,9.9,432,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1824,1662
$GC,11444,1.11,213.7,574.7,10.0,438,11448,0.00,2.62,0.00,0.000,4,0.000,0.092,3269,402,1660
$GC,11470,1.11,213.7,571.7,10.8,438,11475,0.00,2.40,0.00,0.000,6,0.000,0.044,3269,1825,1660
$GC,11726,1.14,213.7,546.9,9.7,445,11730,0.00,2.58,0.00,0.000,4,0.000,0.085,3268,405,1659
$GC,11747,1.14,213.7,544.6,10.7,445,11751,0.00,2.38,0.00,0.000,6,0.000,0.038,3269,1832,1659
$GC,12014,1.18,213.7,519.2,9.7,452,12019,0.12,2.55,0.00,0.000,4,0.059,0.078,3304,405,1658
$GC,12063,1.11,213.7,512.5,14.1,453,12068,0.12,2.35,0.00,0.000,6,0.114,0.036,3282,1826,1658
$GC,12341,1.11,213.7,480.1,11.8,460,12345,0.00,2.40,0.00,0.000,4,0.000,0.058,3281,3229,1656
$GC,12357,1.11,213.7,478.0,12.1,460,12361,0.00,2.40,0.00,0.000,6,0.000,0.049,3281,1811,1656
$GC,12617,1.11,213.7,446.5,12.1,467,12621,0.00,2.53,0.00,0.000,4,0.000,0.087,3281,406,1656
$GC,12666,1.11,213.7,439.6,13.7,468,12670,0.00,2.30,0.00,0.000,6,0.000,0.031,3281,1827,1656
$GC,12950,1.14,213.7,404.7,12.3,475,12954,0.00,2.47,0.00,0.000,4,0.000,0.067,3281,403,1655
$GC,12999,1.14,213.7,398.0,12.7,476,13003,0.00,2.30,0.00,0.000,6,0.000,0.029,3281,1828,1655
$GC,13277,1.17,213.7,367.0,10.8,483,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1829,1655
$GC,13521,1.22,213.7,342.1,10.3,489,13522,0.10,0.00,0.00,0.000,6,0.065,0.000,3312,1829,1655
$GC,13764,1.22,213.7,312.3,12.3,495,13768,0.00,2.45,0.00,0.000,4,0.000,0.061,3312,405,1655
$GC,13837,1.16,213.7,302.7,13.0,496,13841,0.00,2.28,0.00,0.000,6,0.000,0.027,3312,1827,1654
$GC,14086,1.16,213.7,273.3,11.4,502,14090,0.00,2.42,0.00,0.000,4,0.000,0.058,3312,409,1654
$GC,14141,1.11,213.7,266.5,12.7,503,14146,0.15,2.25,0.00,0.000,6,0.106,0.026,3284,1824,1654
$GC,14407,1.17,213.7,239.9,9.4,510,14411,0.00,2.42,0.00,0.000,4,0.000,0.060,3283,409,1654
$GC,14445,1.17,213.7,236.3,9.4,511,14449,0.00,2.25,0.00,0.000,6,0.000,0.027,3283,1825,1654
$GC,14729,1.30,247.9,215.5,7.3,518,14764,0.17,2.38,28.85,0.720,4,0.048,0.043,3336,3218,1528
$GC,14870,1.34,247.9,198.9,12.8,521,14874,0.00,2.33,0.00,0.000,6,0.000,0.039,3336,1812,1523
$GC,15142,1.34,247.9,166.4,11.4,544,15146,0.00,2.42,0.00,0.000,4,0.000,0.066,3336,406,1521
$GC,15192,1.30,247.9,159.4,13.5,548,15196,0.00,2.25,0.00,0.000,6,0.000,0.025,3336,1828,1521
$GC,15453,1.30,247.9,132.2,10.1,572,15457,0.00,2.40,0.00,0.000,4,0.000,0.054,3336,411,1520
$GC,15526,1.30,247.9,123.0,12.3,578,15530,0.00,2.22,0.00,0.000,6,0.000,0.023,3336,1828,1520
$GC,15786,1.30,247.9,93.1,10.8,602,15790,0.00,2.40,0.00,0.000,4,0.000,0.053,3336,407,1520
$GC,15829,1.30,247.9,87.7,12.3,605,15836,0.00,2.22,0.00,0.000,6,0.000,0.023,3336,1825,1520
$GC,16093,1.34,247.9,59.8,10.6,630,16097,0.00,2.25,0.00,0.000,4,0.000,0.038,3336,3228,1521
$GC,16128,1.42,247.9,56.0,10.1,633,16132,0.00,2.30,0.00,0.000,6,0.000,0.035,3336,1808,1521
$GC,16393,1.45,247.9,27.2,10.9,659,16402,0.00,2.40,0.00,0.000,4,0.000,0.067,3336,413,1521
$GC,16421,1.45,247.9,23.7,11.6,663,16430,0.00,2.22,0.00,0.000,6,0.000,0.021,3336,1823,1521
$STATE,16627,end climb,SURFACE_DEPTH_REACHED
$STATE,16627,begin surface coast
$FINISH,1.5,1.023825
$STATE,16645,end surface coast,CONTROL_FINISHED_OK
$STATE,16645,begin surface
$SM_CCo,16666,158.20,0.504,0,0,745,440.07
$SM_GC,2.15,0.00,0.00,158.20,0.000,0.000,0.504,476,1915,745,-11.79,0.99,440.07
$IRIDIUM_FIX,2211.35,-15814.08,260498,171720
$TT8_MAMPS,0.027612
$HUMID,1685
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.60
$XPDR_PINGS,360
$24V_AH,23.7,17.384
$10V_AH,10.2,11.325
$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,29.525,202.175,329.975,158.200,0.000,28.410,29.468,359.851,106.500,0.000,0.000,14.112,1534.029,12116.646,645.961,2379.933,685.477,33.358,1685.771,0.000,2326.623,0.000,104.106,0.000
$DEVICE_MAMPS,148.798,161.070,1106.014,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.055,299.794,466.303,458.365,962.031,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50770,703
$CAP_FILE_SIZE,163519,0
$CFSIZE,260165632,255008768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,310109,020607,2221.671,-15816.144,30,1.0,30,10.0