version: 66.03
glider: 114
mission: 3
dive: 81
start: 10 2 108 19 34 43
data:
$ID,114
$MISSION,3
$DIVE,81
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,10
$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,2
$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,-593462.81
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,162808,2107.923,-15751.632,11,1.1,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,13.3
$GPS2,162808,2107.923,-15751.632,11,1.1,28,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.225,-0.026
$KALMAN_X,-29649.0,478.3,-7880.6,40411.3,-45718.4
$KALMAN_Y,-9838.9,-181.6,2114.0,-8106.3,9482.0
$MHEAD_RNG_PITCHd_Wd,86.8,4770,-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,-66.80,0.000,6,0.000,0.000,2879,1929,3329
$GC,103,-1.13,-146.0,0.6,0.2,13,110,1.70,2.28,0.00,0.000,4,0.112,0.041,2541,627,3329
$GC,140,-1.51,-146.0,3.1,-5.8,19,148,0.40,2.38,0.00,0.000,6,0.046,0.022,2447,2060,3329
$GC,417,-1.43,-146.0,37.6,-13.1,63,422,0.10,2.38,0.00,0.000,4,0.113,0.037,2465,3438,3329
$GC,484,-1.43,-146.0,46.1,-11.1,68,490,0.00,2.38,0.00,0.000,6,0.000,0.024,2465,2026,3330
$GC,746,-1.43,-146.0,73.2,-9.3,93,750,0.00,2.45,0.00,0.000,4,0.000,0.035,2465,3442,3331
$GC,764,-1.43,-146.0,74.9,-9.0,94,768,0.00,2.35,0.00,0.000,6,0.000,0.022,2465,2028,3331
$GC,1032,-1.46,-146.0,99.2,-7.5,119,1036,0.00,2.38,0.00,0.000,4,0.000,0.038,2465,645,3332
$GC,1084,-1.55,-146.0,103.7,-8.6,123,1089,0.00,2.33,0.00,0.000,6,0.000,0.022,2465,2043,3332
$GC,1411,-1.59,-146.0,130.4,-8.7,153,1416,0.15,2.40,0.00,0.000,4,0.058,0.035,2424,3443,3333
$GC,1467,-1.59,-146.0,136.5,-10.4,157,1473,0.00,2.35,0.00,0.000,6,0.000,0.024,2424,2038,3333
$GC,1793,-1.59,-146.0,170.2,-10.0,188,1797,0.00,2.42,0.00,0.000,4,0.000,0.035,2424,3443,3334
$GC,1833,-1.59,-146.0,174.7,-10.9,191,1837,0.00,2.38,0.00,0.000,6,0.000,0.024,2424,2033,3334
$GC,2156,-1.59,-146.0,206.3,-9.4,218,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2031,3334
$GC,2467,-1.63,-146.0,235.5,-10.0,233,2471,0.00,2.40,0.00,0.000,4,0.000,0.040,2424,640,3334
$GC,2491,-1.69,-146.0,237.6,-9.0,234,2495,0.00,2.35,0.00,0.000,6,0.000,0.025,2424,2034,3334
$GC,2813,-1.74,-146.0,264.8,-9.0,250,2817,0.10,2.42,0.00,0.000,4,0.071,0.040,2399,3442,3334
$GC,2913,-1.74,-146.0,274.1,-8.8,254,2920,0.00,2.38,0.00,0.000,6,0.000,0.028,2399,2040,3334
$GC,3249,-1.74,-146.0,304.4,-9.4,270,3253,0.00,2.45,0.00,0.000,4,0.000,0.044,2399,636,3334
$GC,3265,-1.74,-146.0,305.9,-9.1,270,3269,0.00,2.40,0.00,0.000,6,0.000,0.028,2398,2048,3334
$GC,3611,-1.74,-146.0,331.8,-7.1,279,3615,0.00,2.45,0.00,0.000,4,0.000,0.044,2399,3448,3333
$GC,3667,-1.79,-146.0,336.2,-7.6,280,3671,0.00,2.42,0.00,0.000,6,0.000,0.030,2399,2034,3333
$GC,4017,-1.79,-146.0,362.7,-7.6,289,4021,0.00,2.50,0.00,0.000,4,0.000,0.042,2400,3448,3331
$GC,4044,-1.79,-146.0,365.1,-7.7,289,4049,0.00,2.40,0.00,0.000,6,0.000,0.029,2399,2037,3330
$GC,4384,-1.83,-146.0,393.3,-8.7,298,4389,0.00,2.47,0.00,0.000,4,0.000,0.044,2399,3438,3328
$GC,4407,-1.87,-146.0,395.6,-8.9,298,4412,0.12,2.40,0.00,0.000,6,0.074,0.031,2372,2041,3328
$GC,4744,-1.87,-146.0,428.6,-9.5,307,4748,0.00,2.50,0.00,0.000,4,0.000,0.051,2372,631,3326
$GC,4799,-1.87,-146.0,433.6,-9.0,308,4804,0.00,2.42,0.00,0.000,6,0.000,0.031,2372,2038,3324
$STATE,5024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5024,begin apogee
$GC,5032,-0.33,0.0,453.3,8.7,314,5150,1.65,0.00,114.32,0.920,6,0.102,0.000,2705,1933,2733
$STATE,5151,end apogee,CONTROL_FINISHED_OK
$STATE,5151,begin climb
$GC,5154,1.13,146.0,458.8,0.0,317,5277,1.45,2.55,114.20,0.894,4,0.058,0.053,3022,554,2137
$GC,5533,0.60,146.0,431.0,12.0,325,5538,0.60,2.45,0.00,0.000,6,0.143,0.031,2917,1957,2135
$GC,5871,0.32,146.0,400.9,9.4,334,5876,0.32,2.58,0.00,0.000,4,0.133,0.053,2855,551,2133
$GC,5966,0.14,146.0,392.8,8.8,336,5971,0.22,2.45,0.00,0.000,6,0.127,0.031,2814,1960,2132
$GC,6280,0.18,210.4,375.1,4.9,344,6331,0.00,0.00,49.20,0.890,6,0.000,0.000,2814,1960,1875
$GC,6645,0.21,252.8,355.2,5.7,353,6687,0.00,2.58,33.42,0.880,4,0.000,0.049,2814,3340,1702
$GC,6744,0.20,267.0,348.8,6.7,355,6763,0.00,2.42,12.23,0.861,6,0.000,0.034,2814,1965,1643
$GC,7102,0.16,267.0,322.3,7.8,364,7106,0.00,2.50,0.00,0.000,4,0.000,0.043,2814,3359,1643
$GC,7118,0.11,267.0,321.0,7.4,364,7123,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1943,1643
$GC,7442,0.11,268.4,298.0,7.1,373,7446,0.00,2.53,0.00,0.000,4,0.000,0.042,2814,3359,1642
$GC,7497,0.11,268.4,293.6,8.0,375,7503,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1940,1642
$GC,7814,0.13,276.0,271.6,6.9,391,7823,0.00,0.00,7.35,0.838,6,0.000,0.000,2814,1939,1607
$GC,8123,0.21,322.7,251.6,5.5,406,8165,0.00,2.55,36.20,0.817,4,0.000,0.038,2814,3351,1416
$GC,8228,0.22,326.1,245.0,7.0,410,8237,0.00,2.45,3.67,0.769,6,0.000,0.030,2814,1943,1402
$GC,8566,0.22,326.1,221.6,7.5,427,8570,0.00,2.50,0.00,0.000,4,0.000,0.038,2814,3360,1402
$GC,8628,0.22,326.1,216.1,9.0,430,8632,0.00,2.45,0.00,0.000,6,0.000,0.030,2814,1950,1402
$GC,8950,0.22,326.1,189.3,8.8,451,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1951,1402
$GC,9268,0.32,382.9,168.0,5.2,481,9321,0.15,2.55,43.53,0.724,4,0.072,0.036,2853,3352,1171
$GC,9362,0.28,382.9,161.1,7.8,489,9368,0.00,2.45,0.00,0.000,6,0.000,0.028,2853,1941,1171
$GC,9691,0.23,382.9,134.8,7.6,520,9696,0.12,2.47,0.00,0.000,4,0.108,0.035,2830,3354,1173
$GC,9777,0.29,390.0,128.7,6.9,527,9789,0.00,2.42,6.45,0.684,6,0.000,0.027,2830,1945,1143
$GC,10108,0.29,390.0,104.1,7.4,558,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1945,1145
$GC,10430,0.34,397.2,80.2,6.9,588,10442,0.10,2.55,6.78,0.634,4,0.078,0.035,2853,3366,1112
$GC,10494,0.36,405.0,75.4,6.9,593,10505,0.00,2.42,6.15,0.627,6,0.000,0.026,2853,1942,1082
$GC,10765,0.37,412.9,59.3,6.9,618,10778,0.00,2.47,6.70,0.608,4,0.000,0.044,2853,540,1048
$GC,10802,0.37,412.9,56.4,7.8,621,10806,0.00,2.40,0.00,0.000,6,0.000,0.022,2853,1965,1048
$GC,11067,0.42,423.2,39.4,6.8,645,11082,0.00,2.42,8.15,0.588,4,0.000,0.034,2853,3344,1007
$GC,11117,0.50,423.2,35.2,8.0,649,11124,0.15,2.38,0.00,0.000,6,0.063,0.025,2889,1945,1007
$GC,11391,0.46,423.2,12.0,9.0,692,11398,0.00,2.42,0.00,0.000,4,0.000,0.034,2889,3355,1007
$GC,11439,0.42,423.2,7.6,9.4,700,11446,0.00,2.38,0.00,0.000,6,0.000,0.024,2889,1945,1008
$STATE,11467,end climb,SURFACE_DEPTH_REACHED
$STATE,11467,begin surface coast
$FINISH,0.7,1.019122
$STATE,11535,end surface coast,CONTROL_FINISHED_OK
$STATE,11536,begin surface
$SM_CCo,11620,0.00,0.000,0,0,1009,422.90
$SM_GC,1.48,10.98,0.00,0.00,0.044,0.000,0.000,411,2074,1009,-10.85,0.96,422.90
$IRIDIUM_FIX,2059.45,-15748.75,271297,101007
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.70
$XPDR_PINGS,22
$24V_AH,23.8,12.914
$10V_AH,10.2,7.440
$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,18.325,127.050,448.350,0.000,0.000,0.000,0.000,0.000,14.500,0.000,0.000,0.000,1316.609,7901.622,520.927,1683.993,251.301,33.327,1347.833,0.000,1666.240,0.000,59.909
$DEVICE_MAMPS,142.662,52.923,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.260,467.551,859.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,717
$CAP_FILE_SIZE,103980,0
$CFSIZE,260165632,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,224937,2107.328,-15748.505,35,1.4,35,9.8