version: 66.03
glider: 114
mission: 3
dive: 69
start: 10 1 108 4 25 34
data:
$ID,114
$MISSION,3
$DIVE,69
$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,410
$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,-593289.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,67
$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
$GPS1,041931,2106.966,-15748.245,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.1
$GPS2,042439,2106.998,-15748.354,14,1.1,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.071,-0.215
$KALMAN_X,-26598.6,-166.2,-1227.0,37003.2,-180.7
$KALMAN_Y,-7340.6,66.9,-316.9,-10151.5,158.8
$MHEAD_RNG_PITCHd_Wd,152.0,9024,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-70.50,0.000,2,0.000,0.000,409,2080,3034
$GC,103,-1.13,-146.0,3.6,-4.6,13,128,12.05,2.35,-4.45,0.000,4,0.164,0.052,2523,3405,3332
$GC,277,-1.27,-146.0,31.3,-7.7,42,281,0.00,2.33,0.00,0.000,6,0.000,0.024,2524,2023,3333
$GC,539,-1.38,-146.0,53.4,-7.8,66,541,0.20,0.00,0.00,0.000,6,0.051,0.000,2475,2023,3332
$GC,793,-1.38,-146.0,80.4,-10.2,90,797,0.00,2.38,0.00,0.000,4,0.000,0.039,2475,643,3333
$GC,834,-1.45,-146.0,84.3,-9.2,93,838,0.00,2.30,0.00,0.000,6,0.000,0.023,2475,2020,3333
$GC,1160,-1.49,-146.0,113.1,-8.4,123,1165,0.00,2.45,0.00,0.000,4,0.000,0.036,2475,3448,3333
$GC,1202,-1.59,-146.0,116.9,-9.0,126,1207,0.17,2.38,0.00,0.000,6,0.056,0.024,2432,2031,3333
$GC,1528,-1.59,-146.0,149.7,-9.8,156,1535,0.00,2.40,0.00,0.000,4,0.000,0.038,2432,637,3334
$GC,1599,-1.64,-146.0,156.8,-9.1,162,1603,0.00,2.35,0.00,0.000,6,0.000,0.025,2432,2043,3334
$GC,1930,-1.64,-146.0,186.8,-9.7,193,1934,0.00,2.40,0.00,0.000,4,0.000,0.038,2433,3441,3334
$GC,1959,-1.64,-146.0,189.7,-10.1,195,1964,0.00,2.38,0.00,0.000,6,0.000,0.025,2432,2033,3334
$GC,2286,-1.68,-146.0,219.1,-9.3,216,2290,0.00,2.45,0.00,0.000,4,0.000,0.038,2432,3444,3334
$GC,2373,-1.74,-146.0,226.8,-8.4,219,2379,0.15,2.38,0.00,0.000,6,0.058,0.027,2395,2039,3334
$GC,2689,-1.74,-146.0,252.6,-7.6,235,2693,0.00,2.42,0.00,0.000,4,0.000,0.043,2395,640,3334
$GC,2722,-1.74,-146.0,255.3,-8.1,236,2729,0.00,2.38,0.00,0.000,6,0.000,0.027,2395,2045,3334
$GC,3038,-1.74,-146.0,283.5,-9.7,252,3042,0.00,2.45,0.00,0.000,4,0.000,0.042,2395,3453,3333
$GC,3082,-1.74,-146.0,288.2,-10.0,254,3086,0.00,2.40,0.00,0.000,6,0.000,0.028,2395,2043,3333
$GC,3423,-1.74,-146.0,320.8,-9.6,266,3427,0.00,2.47,0.00,0.000,4,0.000,0.041,2395,3450,3331
$GC,3439,-1.74,-146.0,322.7,-9.3,266,3443,0.00,2.40,0.00,0.000,6,0.000,0.028,2395,2041,3330
$GC,3782,-1.74,-146.0,355.4,-9.3,275,3786,0.00,2.47,0.00,0.000,4,0.000,0.043,2395,3448,3328
$GC,3815,-1.74,-146.0,358.5,-9.0,275,3821,0.00,2.42,0.00,0.000,6,0.000,0.030,2396,2034,3328
$GC,4147,-1.74,-146.0,387.6,-9.1,284,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2032,3326
$GC,4472,-1.74,-146.0,416.5,-8.4,292,4476,0.00,2.50,0.00,0.000,4,0.000,0.044,2395,3446,3323
$GC,4505,-1.74,-146.0,419.5,-8.6,292,4511,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2038,3323
$GC,4837,-1.74,-146.0,447.8,-8.7,301,4841,0.00,2.50,0.00,0.000,4,0.000,0.052,2395,631,3320
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4872,-0.33,0.0,450.5,10.1,301,4989,1.50,0.00,113.68,0.923,6,0.104,0.000,2700,1952,2733
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4993,1.13,146.0,454.8,0.0,304,5117,1.52,2.65,114.50,0.894,4,0.058,0.054,3027,551,2137
$GC,5214,0.59,146.0,444.6,12.8,310,5219,0.65,2.45,0.00,0.000,6,0.142,0.029,2914,1954,2136
$GC,5539,0.31,146.0,415.1,9.0,318,5544,0.32,2.58,0.00,0.000,4,0.132,0.053,2853,546,2135
$GC,5646,0.12,146.0,404.8,9.1,320,5651,0.25,2.45,0.00,0.000,6,0.127,0.030,2809,1956,2134
$GC,5990,0.12,177.5,382.9,6.1,329,6019,0.00,2.55,24.08,0.896,4,0.000,0.048,2809,3351,2009
$GC,6044,0.14,221.2,379.6,5.6,330,6083,0.00,2.47,34.17,0.881,6,0.000,0.034,2809,1952,1831
$GC,6404,0.17,263.5,357.9,5.7,339,6445,0.00,2.65,33.33,0.880,4,0.000,0.055,2808,545,1658
$GC,6457,0.17,283.9,354.5,6.4,340,6481,0.00,2.47,16.80,0.860,6,0.000,0.030,2809,1957,1575
$GC,6814,0.14,285.7,329.4,7.1,349,6819,0.00,2.50,0.00,0.000,4,0.000,0.047,2809,3353,1575
$GC,6876,0.14,290.0,324.6,7.0,350,6887,0.00,2.45,5.65,0.846,6,0.000,0.031,2809,1946,1550
$GC,7219,0.15,295.7,299.9,6.9,359,7230,0.00,2.53,5.38,0.842,4,0.000,0.042,2808,3347,1526
$GC,7286,0.19,314.5,295.3,6.5,362,7306,0.00,2.45,14.62,0.854,6,0.000,0.032,2808,1951,1450
$GC,7635,0.20,320.4,271.6,6.9,379,7645,0.00,2.53,5.65,0.828,4,0.000,0.041,2808,3354,1425
$GC,7680,0.21,326.4,268.5,6.9,381,7690,0.00,2.47,5.43,0.821,6,0.000,0.032,2808,1941,1402
$GC,8001,0.29,372.8,249.8,5.5,396,8044,0.15,2.60,36.25,0.823,4,0.078,0.041,2840,3348,1213
$GC,8063,0.22,372.8,245.6,7.5,399,8067,0.00,2.47,0.00,0.000,6,0.000,0.031,2840,1947,1213
$GC,8391,0.16,372.8,218.0,8.8,415,8396,0.12,2.50,0.00,0.000,4,0.120,0.039,2818,3357,1213
$GC,8414,0.12,372.8,215.8,9.2,416,8418,0.00,2.45,0.00,0.000,6,0.000,0.029,2817,1945,1213
$GC,8738,0.12,372.8,191.8,7.6,437,8742,0.00,2.47,0.00,0.000,4,0.000,0.038,2818,3352,1213
$GC,8830,0.15,372.8,184.7,7.5,445,8834,0.00,2.45,0.00,0.000,6,0.000,0.030,2817,1940,1213
$GC,9159,0.18,386.6,160.7,6.7,475,9176,0.00,2.53,11.62,0.740,4,0.000,0.036,2818,3362,1156
$GC,9189,0.19,392.7,158.3,6.9,478,9201,0.00,2.47,5.50,0.722,6,0.000,0.028,2817,1938,1132
$GC,9520,0.23,415.8,137.6,6.3,509,9543,0.00,2.58,17.95,0.702,4,0.000,0.035,2818,3352,1037
$GC,9567,0.27,415.8,134.2,7.6,513,9572,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,1943,1038
$GC,9898,0.33,428.3,111.0,6.7,543,9914,0.15,2.50,10.65,0.670,4,0.067,0.036,2857,3352,985
$GC,9954,0.33,428.3,105.8,9.0,547,9960,0.00,2.42,0.00,0.000,6,0.000,0.028,2857,1943,986
$GC,10282,0.35,441.4,77.6,6.7,578,10298,0.00,2.53,10.50,0.637,4,0.000,0.037,2857,3365,933
$GC,10349,0.38,441.4,72.4,7.6,583,10355,0.00,2.42,0.00,0.000,6,0.000,0.027,2857,1950,933
$GC,10611,0.38,441.4,51.6,7.8,608,10615,0.00,2.47,0.00,0.000,4,0.000,0.045,2856,541,933
$GC,10646,0.41,441.4,48.8,8.6,611,10651,0.00,2.40,0.00,0.000,6,0.000,0.024,2856,1961,934
$GC,10911,0.46,444.5,29.6,7.0,635,10920,0.10,2.45,3.33,0.599,4,0.075,0.035,2880,3347,919
$GC,10967,0.46,444.5,24.6,9.3,644,10973,0.00,2.40,0.00,0.000,6,0.000,0.029,2880,1950,920
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,0.9,1.022966
$STATE,11249,end surface coast,CONTROL_FINISHED_OK
$STATE,11249,begin surface
$SM_CCo,11333,0.00,0.000,0,0,921,444.48
$SM_GC,1.45,11.00,0.00,0.00,0.047,0.000,0.000,408,2073,921,-10.87,0.93,444.48
$IRIDIUM_FIX,2101.76,-15750.89,261297,010135
$TT8_MAMPS,0.027612
$HUMID,1692
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,23.7,11.443
$10V_AH,10.2,6.493
$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,28.350,137.625,469.075,0.000,0.000,28.437,28.223,128.866,10.750,0.000,0.000,15.764,1277.520,7721.371,547.960,1617.374,478.716,33.358,1356.402,0.000,1581.099,0.000,64.834
$DEVICE_MAMPS,164.138,55.224,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.250,455.019,822.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34882,694
$CAP_FILE_SIZE,106855,0
$CFSIZE,260165632,254447616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,073538,2105.890,-15747.943,32,1.3,32,9.8