version: 66.03
glider: 114
mission: 3
dive: 59
start: 9 29 108 19 58 40
data:
$ID,114
$MISSION,3
$DIVE,59
$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,-593112.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2760
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,68
$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
$GPS1,195253,2102.655,-15746.687,14,2.3,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.9
$GPS2,195745,2102.685,-15746.702,8,1.6,8,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.079,0.212
$KALMAN_X,-17687.9,371.9,683.2,28488.2,-2172.5
$KALMAN_Y,-3816.7,-290.3,584.1,-22208.8,126.9
$MHEAD_RNG_PITCHd_Wd,10.7,14697,-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,27,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.72,0.000,2,0.000,0.000,413,2074,3000
$GC,98,-1.13,-146.0,4.0,-5.4,12,123,11.98,2.53,-5.03,0.000,4,0.163,0.047,2506,625,3331
$GC,164,-1.13,-146.0,21.8,-15.1,23,170,0.00,2.33,0.00,0.000,6,0.000,0.023,2506,2006,3331
$GC,434,-1.19,-146.0,46.4,-8.4,55,438,0.00,2.47,0.00,0.000,4,0.000,0.037,2506,3450,3332
$GC,497,-1.34,-146.0,51.7,-8.1,60,502,0.17,2.40,0.00,0.000,6,0.057,0.024,2465,2028,3332
$GC,759,-1.34,-146.0,77.1,-9.2,84,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2028,3333
$GC,1014,-1.34,-146.0,101.7,-8.6,108,1018,0.00,2.45,0.00,0.000,4,0.000,0.036,2465,3444,3334
$GC,1047,-1.39,-146.0,105.0,-8.9,110,1054,0.00,2.35,0.00,0.000,6,0.000,0.024,2465,2040,3334
$GC,1373,-1.44,-146.0,132.8,-8.2,141,1378,0.00,2.42,0.00,0.000,4,0.000,0.036,2465,3444,3335
$GC,1453,-1.54,-146.0,139.6,-8.0,147,1459,0.17,2.35,0.00,0.000,6,0.058,0.024,2424,2038,3335
$GC,1778,-1.54,-146.0,170.0,-10.2,178,1782,0.00,2.40,0.00,0.000,4,0.000,0.038,2423,642,3335
$GC,1823,-1.58,-146.0,174.4,-9.7,182,1828,0.00,2.35,0.00,0.000,6,0.000,0.024,2424,2041,3335
$GC,2157,-1.58,-146.0,206.3,-9.8,210,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2042,3335
$GC,2467,-1.58,-146.0,233.1,-8.3,225,2471,0.00,2.40,0.00,0.000,4,0.000,0.037,2423,3444,3335
$GC,2500,-1.58,-146.0,236.2,-9.1,226,2507,0.00,2.38,0.00,0.000,6,0.000,0.026,2424,2032,3335
$GC,2818,-1.61,-146.0,259.6,-7.4,242,2823,0.00,2.42,0.00,0.000,4,0.000,0.042,2423,635,3335
$GC,2842,-1.66,-146.0,261.6,-7.8,243,2847,0.12,2.38,0.00,0.000,6,0.066,0.027,2393,2038,3335
$GC,3172,-1.66,-146.0,293.9,-9.9,259,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2038,3333
$GC,3475,-1.66,-146.0,323.8,-9.3,268,3479,0.00,2.47,0.00,0.000,4,0.000,0.045,2393,637,3333
$GC,3515,-1.66,-146.0,327.6,-9.5,269,3519,0.00,2.40,0.00,0.000,6,0.000,0.028,2393,2039,3333
$GC,3841,-1.66,-146.0,358.6,-9.7,277,3845,0.00,2.47,0.00,0.000,4,0.000,0.045,2393,3454,3330
$GC,3914,-1.70,-146.0,365.8,-9.5,278,3918,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2039,3330
$GC,4247,-1.70,-146.0,399.0,-10.5,286,4251,0.00,2.50,0.00,0.000,4,0.000,0.050,2393,628,3327
$GC,4297,-1.70,-146.0,404.7,-10.4,287,4301,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2042,3327
$GC,4611,-1.70,-146.0,430.7,-7.9,295,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2043,3325
$STATE,4853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4853,begin apogee
$GC,4861,-0.33,0.0,452.6,9.0,301,4979,1.45,0.00,114.45,0.923,6,0.106,0.000,2683,1893,2733
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,1.13,146.0,458.7,0.0,304,5107,1.48,2.58,114.22,0.895,4,0.061,0.054,3001,501,2137
$GC,5186,0.63,146.0,453.3,11.7,308,5191,0.57,2.45,0.00,0.000,6,0.145,0.030,2902,1905,2136
$GC,5518,0.37,146.0,427.8,7.2,316,5523,0.28,2.58,0.00,0.000,4,0.134,0.054,2850,501,2134
$GC,5546,0.30,212.1,426.1,4.9,316,5603,0.12,2.45,50.85,0.897,6,0.140,0.030,2828,1911,1868
$GC,5927,0.38,311.6,411.3,3.7,326,6012,0.00,2.60,77.35,0.904,4,0.000,0.049,2829,3300,1462
$GC,6096,0.33,316.9,401.8,7.0,329,6106,0.00,2.47,5.07,0.848,6,0.000,0.035,2828,1902,1441
$GC,6425,0.25,316.9,376.4,8.0,338,6430,0.00,2.50,0.00,0.000,4,0.000,0.043,2829,3301,1441
$GC,6459,0.17,316.9,373.3,9.1,338,6466,0.15,2.47,0.00,0.000,6,0.127,0.034,2803,1893,1441
$GC,6791,0.17,318.8,348.2,7.1,347,6796,0.00,2.50,0.00,0.000,4,0.000,0.041,2803,3299,1440
$GC,6848,0.18,320.4,344.3,7.1,348,6857,0.00,2.45,3.55,0.851,6,0.000,0.033,2803,1899,1426
$GC,7201,0.19,327.9,319.0,6.9,357,7214,0.00,2.53,6.57,0.870,4,0.000,0.040,2803,3308,1395
$GC,7249,0.19,327.9,315.4,7.3,358,7254,0.00,2.47,0.00,0.000,6,0.000,0.032,2803,1895,1395
$GC,7570,0.23,348.0,293.5,6.4,368,7592,0.00,2.55,16.10,0.864,4,0.000,0.039,2803,3310,1314
$GC,7639,0.26,368.0,289.1,6.5,371,7661,0.00,2.50,16.23,0.850,6,0.000,0.032,2803,1886,1232
$GC,7971,0.32,399.9,268.6,6.0,387,8002,0.12,2.55,25.30,0.830,4,0.086,0.038,2829,3300,1102
$GC,8036,0.28,399.9,263.8,7.7,390,8041,0.00,2.47,0.00,0.000,6,0.000,0.032,2829,1892,1102
$GC,8359,0.24,401.6,238.5,7.1,406,8363,0.00,2.50,0.00,0.000,4,0.000,0.038,2829,3310,1102
$GC,8404,0.29,427.6,235.3,6.2,408,8432,0.00,2.45,21.98,0.798,6,0.000,0.031,2829,1900,989
$GC,8751,0.26,427.6,207.4,8.6,425,8755,0.00,2.47,0.00,0.000,4,0.000,0.038,2830,3311,990
$GC,8835,0.26,427.6,199.1,9.2,428,8842,0.00,2.45,0.00,0.000,6,0.000,0.030,2828,1895,989
$GC,9163,0.26,427.6,165.1,10.1,459,9167,0.00,2.47,0.00,0.000,4,0.000,0.036,2829,3308,989
$GC,9225,0.26,427.6,158.9,9.2,464,9231,0.00,2.42,0.00,0.000,6,0.000,0.029,2829,1897,990
$GC,9554,0.26,427.6,131.2,8.1,495,9559,0.00,2.45,0.00,0.000,4,0.000,0.036,2829,3304,990
$GC,9599,0.26,427.6,127.4,7.9,498,9606,0.00,2.40,0.00,0.000,6,0.000,0.028,2829,1896,989
$GC,9928,0.30,450.4,103.7,6.4,529,9953,0.00,2.53,18.40,0.663,4,0.000,0.035,2828,3299,896
$GC,10022,0.36,450.4,96.2,7.8,537,10028,0.00,2.40,0.00,0.000,6,0.000,0.028,2829,1902,897
$GC,10352,0.47,483.6,73.3,6.0,568,10385,0.15,2.50,25.35,0.622,4,0.065,0.035,2868,3310,761
$GC,10425,0.47,483.6,66.5,9.7,574,10432,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,1896,761
$GC,10687,0.47,483.6,41.0,8.1,599,10691,0.00,2.45,0.00,0.000,4,0.000,0.034,2868,3307,761
$GC,10744,0.51,483.6,36.6,7.8,603,10750,0.00,2.40,0.00,0.000,6,0.000,0.026,2868,1897,761
$GC,11015,0.51,483.6,16.9,7.4,643,11022,0.00,2.45,0.00,0.000,4,0.000,0.033,2868,3316,762
$GC,11063,0.51,483.6,13.0,8.3,651,11069,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,1901,762
$STATE,11163,end climb,SURFACE_DEPTH_REACHED
$STATE,11163,begin surface coast
$FINISH,0.6,1.022775
$STATE,11239,end surface coast,CONTROL_FINISHED_OK
$STATE,11239,begin surface
$SM_CCo,11323,0.00,0.000,0,0,765,482.75
$SM_GC,1.45,11.02,0.00,0.00,0.051,0.000,0.000,409,2088,765,-10.77,1.39,482.75
$IRIDIUM_FIX,2052.52,-15747.49,241297,171731
$TT8_MAMPS,0.027612
$HUMID,1680
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,10.187
$10V_AH,10.2,5.707
$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,27.800,128.125,495.425,0.000,0.000,22.817,30.353,124.997,11.750,0.000,0.000,12.710,1254.656,7699.832,549.260,1640.841,474.376,33.359,1383.963,0.000,1606.543,0.000,62.789
$DEVICE_MAMPS,163.371,54.457,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.192,445.686,813.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34739,682
$CAP_FILE_SIZE,104117,0
$CFSIZE,260165632,254976000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,230838,2103.986,-15746.366,36,1.1,36,9.8