version: 66.03
glider: 114
mission: 3
dive: 49
start: 9 28 108 14 46 16
data:
$ID,114
$MISSION,3
$DIVE,49
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$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,210
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52448
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-592892.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,420
$VBD_MAX,3949
$C_VBD,2733
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-9.99016
$PRESSURE_SLOPE,0.000116376
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044130804
$SEABIRD_T_H,0.00065298093
$SEABIRD_T_I,2.7242255e-05
$SEABIRD_T_J,2.9466562e-06
$SEABIRD_C_G,-10.002422
$SEABIRD_C_H,1.1227361
$SEABIRD_C_I,-0.0011729589
$SEABIRD_C_J,0.00016786551
$GPS1,144002,2108.395,-15749.402,39,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.7
$GPS2,144521,2108.398,-15749.488,12,1.6,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.152,-0.168
$KALMAN_X,-11189.5,361.1,-517.6,18386.4,-959.1
$KALMAN_Y,-6041.8,157.9,-91.4,-9178.4,-331.8
$MHEAD_RNG_PITCHd_Wd,128.0,12109,-13.1,-7.143
$D_GRID,450
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.88,0.000,2,0.000,0.000,409,2075,2790
$GC,98,-1.13,-146.0,3.1,-4.1,12,128,11.93,2.58,-9.32,0.000,4,0.164,0.050,2496,625,3332
$GC,181,-1.22,-146.0,18.1,-10.5,26,187,0.00,2.33,0.00,0.000,6,0.000,0.024,2496,2013,3332
$GC,452,-1.22,-146.0,44.4,-8.9,61,456,0.00,2.45,0.00,0.000,4,0.000,0.038,2496,3440,3332
$GC,527,-1.29,-146.0,51.3,-8.5,67,531,0.12,2.38,0.00,0.000,6,0.064,0.025,2466,2028,3332
$GC,788,-1.29,-146.0,80.8,-10.5,91,793,0.00,2.40,0.00,0.000,4,0.000,0.038,2466,634,3332
$GC,818,-1.29,-146.0,83.8,-10.9,93,822,0.00,2.35,0.00,0.000,6,0.000,0.023,2465,2044,3332
$GC,1144,-1.32,-146.0,114.4,-9.4,123,1148,0.00,2.40,0.00,0.000,4,0.000,0.037,2466,3446,3334
$GC,1167,-1.36,-146.0,116.8,-9.6,124,1173,0.00,2.35,0.00,0.000,6,0.000,0.024,2465,2037,3334
$GC,1493,-1.42,-146.0,143.8,-7.8,155,1498,0.12,2.42,0.00,0.000,4,0.061,0.034,2434,3446,3334
$GC,1527,-1.42,-146.0,147.0,-9.9,157,1533,0.00,2.35,0.00,0.000,6,0.000,0.024,2434,2037,3334
$GC,1852,-1.42,-146.0,177.3,-9.2,188,1856,0.00,2.40,0.00,0.000,4,0.000,0.040,2434,644,3334
$GC,1874,-1.45,-146.0,179.3,-8.5,189,1880,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2049,3334
$GC,2208,-1.50,-146.0,208.5,-9.8,217,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2049,3334
$GC,2517,-1.54,-146.0,236.6,-8.6,232,2521,0.00,2.40,0.00,0.000,4,0.000,0.039,2434,3446,3334
$GC,2542,-1.60,-146.0,238.3,-7.0,233,2547,0.15,2.38,0.00,0.000,6,0.060,0.027,2398,2039,3334
$GC,2869,-1.60,-146.0,269.9,-8.4,249,2874,0.00,2.42,0.00,0.000,4,0.000,0.043,2398,638,3334
$GC,2897,-1.60,-146.0,272.2,-8.2,250,2901,0.00,2.38,0.00,0.000,6,0.000,0.028,2398,2043,3334
$GC,3218,-1.60,-146.0,299.6,-9.0,266,3223,0.00,2.42,0.00,0.000,4,0.000,0.042,2398,3448,3333
$GC,3245,-1.60,-146.0,302.3,-10.0,267,3249,0.00,2.38,0.00,0.000,6,0.000,0.028,2398,2038,3332
$GC,3589,-1.60,-146.0,331.0,-8.2,276,3593,0.00,2.45,0.00,0.000,4,0.000,0.047,2398,635,3330
$GC,3611,-1.60,-146.0,332.9,-8.3,276,3615,0.00,2.40,0.00,0.000,6,0.000,0.030,2398,2047,3330
$GC,3955,-1.60,-146.0,362.8,-9.5,285,3959,0.00,2.45,0.00,0.000,4,0.000,0.047,2398,3446,3328
$GC,3977,-1.60,-146.0,365.5,-11.0,285,3981,0.00,2.40,0.00,0.000,6,0.000,0.031,2398,2043,3327
$GC,4319,-1.60,-146.0,397.6,-8.4,294,4323,0.00,2.47,0.00,0.000,4,0.000,0.044,2397,3444,3325
$GC,4409,-1.65,-146.0,405.1,-8.0,296,4413,0.00,2.40,0.00,0.000,6,0.000,0.031,2398,2040,3324
$GC,4727,-1.65,-146.0,429.4,-7.6,304,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2039,3321
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4977,-0.33,0.0,450.4,8.7,310,5094,1.38,0.00,113.65,0.928,6,0.103,0.000,2674,1837,2733
$STATE,5095,end apogee,CONTROL_FINISHED_OK
$STATE,5095,begin climb
$GC,5098,1.13,146.0,456.0,0.0,313,5222,1.48,2.58,114.40,0.897,4,0.059,0.055,2995,446,2136
$GC,5346,0.64,146.0,444.4,11.5,318,5352,0.57,2.45,0.00,0.000,6,0.159,0.028,2895,1861,2135
$GC,5679,0.42,155.2,420.7,6.8,326,5693,0.25,2.65,7.15,0.874,4,0.133,0.055,2846,450,2100
$GC,5740,0.30,180.9,416.8,6.3,327,5767,0.17,2.42,20.67,0.894,6,0.131,0.030,2816,1850,1995
$GC,6092,0.31,226.2,397.1,5.6,336,6134,0.00,2.55,35.33,0.900,4,0.000,0.048,2816,3255,1810
$GC,6181,0.24,226.2,391.3,7.5,338,6185,0.00,2.47,0.00,0.000,6,0.000,0.035,2816,1851,1810
$GC,6506,0.25,265.3,370.5,5.8,346,6542,0.00,2.55,31.10,0.892,4,0.000,0.041,2816,3261,1650
$GC,6582,0.28,313.1,366.5,5.5,346,6629,0.00,2.50,37.38,0.881,6,0.000,0.035,2817,1844,1456
$GC,6955,0.24,313.1,340.6,7.7,356,6959,0.00,2.53,0.00,0.000,4,0.000,0.043,2817,3261,1456
$GC,7050,0.24,313.1,332.1,9.5,358,7054,0.00,2.47,0.00,0.000,6,0.000,0.034,2816,1847,1455
$GC,7363,0.20,313.1,304.6,8.5,366,7368,0.12,2.50,0.00,0.000,4,0.132,0.041,2796,3258,1455
$GC,7448,0.20,313.1,298.1,7.5,368,7453,0.00,2.47,0.00,0.000,6,0.000,0.034,2795,1838,1455
$GC,7776,0.20,313.1,272.8,7.5,384,7780,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3261,1454
$GC,7865,0.21,320.2,266.4,6.9,388,7876,0.00,2.45,6.05,0.835,6,0.000,0.032,2795,1846,1427
$GC,8187,0.21,320.2,247.2,7.2,403,8190,0.00,2.45,0.00,0.000,4,0.000,0.038,2796,3256,1426
$GC,8249,0.25,320.2,242.2,7.5,405,8255,0.00,2.45,0.00,0.000,6,0.000,0.032,2795,1840,1427
$GC,8565,0.30,348.7,220.9,6.2,421,8595,0.00,2.58,22.33,0.807,4,0.000,0.037,2796,3255,1311
$GC,8655,0.38,363.4,215.1,6.6,425,8677,0.17,2.45,12.30,0.790,6,0.075,0.032,2833,1847,1250
$GC,8994,0.38,363.4,188.2,8.9,447,8998,0.00,2.47,0.00,0.000,4,0.000,0.038,2833,3261,1251
$GC,9090,0.38,363.4,178.9,9.3,455,9094,0.00,2.42,0.00,0.000,6,0.000,0.031,2833,1851,1251
$GC,9424,0.43,392.3,152.5,6.1,486,9456,0.00,2.53,22.70,0.732,4,0.000,0.036,2833,3254,1133
$GC,9537,0.46,408.5,145.4,6.6,496,9559,0.00,2.42,12.95,0.716,6,0.000,0.030,2833,1846,1067
$GC,9880,0.46,408.5,118.9,8.6,528,9884,0.00,2.45,0.00,0.000,4,0.000,0.035,2833,3258,1067
$GC,9947,0.50,408.5,112.5,9.3,533,9954,0.10,2.42,0.00,0.000,6,0.081,0.029,2855,1841,1068
$GC,10273,0.53,429.6,87.4,6.4,564,10296,0.00,2.47,17.02,0.650,4,0.000,0.033,2855,3257,980
$GC,10354,0.53,429.6,81.1,8.6,571,10358,0.00,2.42,0.00,0.000,6,0.000,0.028,2855,1838,980
$GC,10688,0.53,429.6,53.0,7.7,602,10692,0.00,2.45,0.00,0.000,4,0.000,0.033,2855,3262,981
$GC,10744,0.59,429.6,48.4,7.5,606,10751,0.10,2.40,0.00,0.000,6,0.074,0.026,2878,1845,981
$GC,11009,0.59,429.6,25.3,9.6,635,11015,0.00,2.42,0.00,0.000,4,0.000,0.033,2879,3260,981
$GC,11050,0.59,429.6,21.4,9.5,642,11057,0.00,2.38,0.00,0.000,6,0.000,0.025,2878,1847,982
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FINISH,0.7,1.000053
$STATE,11321,end surface coast,CONTROL_FINISHED_OK
$STATE,11321,begin surface
$SM_CCo,11406,0.00,0.000,0,0,985,429.03
$SM_GC,1.39,11.02,0.00,0.00,0.048,0.000,0.000,409,2080,985,-10.73,1.13,429.03
$IRIDIUM_FIX,2101.76,-15750.89,231297,111104
$TT8_MAMPS,0.026845
$HUMID,1711
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,23.8,9.186
$10V_AH,10.2,4.962
$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
$DEVICE_SECS,27.700,132.650,453.025,0.000,0.000,23.516,31.911,139.317,10.750,0.000,0.000,14.255,1272.090,7757.887,526.038,1667.236,503.033,33.361,1368.171,0.000,1637.441,0.000,60.025
$DEVICE_MAMPS,164.138,55.224,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.404,458.634,816.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34843,690
$CAP_FILE_SIZE,106391,0
$CFSIZE,260165632,255475712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280908,175738,2107.590,-15748.387,37,0.8,37,9.8