version: 66.03
glider: 114
mission: 3
dive: 87
start: 10 3 108 15 0 42
data:
$ID,114
$MISSION,3
$DIVE,87
$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,-593526.56
$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,30
$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
$GPS1,114902,2108.474,-15749.884,16,1.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,12.8
$GPS2,114902,2108.474,-15749.884,16,1.8,33,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.216,0.068
$KALMAN_X,-39155.5,-271.6,5413.0,40388.3,17716.7
$KALMAN_Y,-10330.8,297.6,-807.5,-4163.7,-2818.1
$MHEAD_RNG_PITCHd_Wd,277.7,2833,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-53.95,0.000,6,0.000,0.000,2883,1945,3328
$GC,91,-1.13,-146.0,2.9,-4.4,11,99,1.60,2.28,0.00,0.000,4,0.071,0.039,2535,631,3328
$GC,106,-1.80,-146.0,4.6,-7.9,13,113,0.65,2.38,0.00,0.000,6,0.043,0.022,2385,2064,3328
$GC,379,-1.59,-146.0,49.6,-18.0,52,384,0.20,2.38,0.00,0.000,4,0.117,0.038,2426,3434,3328
$GC,476,-1.51,-146.0,64.2,-14.0,60,481,0.12,2.35,0.00,0.000,6,0.115,0.023,2448,2033,3328
$GC,738,-1.51,-146.0,95.1,-11.5,84,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2032,3329
$GC,1060,-1.51,-146.0,130.8,-11.1,114,1064,0.00,2.42,0.00,0.000,4,0.000,0.036,2448,3433,3330
$GC,1093,-1.51,-146.0,134.9,-10.8,116,1099,0.00,2.35,0.00,0.000,6,0.000,0.023,2448,2027,3330
$GC,1419,-1.55,-146.0,164.5,-8.8,147,1423,0.00,2.42,0.00,0.000,4,0.000,0.035,2448,3431,3331
$GC,1441,-1.58,-146.0,166.6,-8.5,148,1448,0.00,2.33,0.00,0.000,6,0.000,0.023,2448,2038,3331
$GC,1767,-1.63,-146.0,192.0,-7.3,179,1772,0.10,2.42,0.00,0.000,4,0.067,0.035,2422,3438,3331
$GC,1789,-1.63,-146.0,194.1,-8.6,180,1796,0.00,2.35,0.00,0.000,6,0.000,0.024,2422,2037,3332
$GC,2118,-1.63,-146.0,219.2,-7.1,200,2122,0.00,2.42,0.00,0.000,4,0.000,0.036,2422,3437,3331
$GC,2181,-1.70,-146.0,223.6,-7.0,203,2185,0.00,2.38,0.00,0.000,6,0.000,0.025,2422,2033,3331
$GC,2512,-1.74,-146.0,255.8,-10.9,219,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2031,3331
$GC,2818,-1.80,-146.0,278.6,-6.1,234,2823,0.15,2.45,0.00,0.000,4,0.060,0.038,2380,3436,3331
$GC,2874,-1.80,-146.0,282.5,-7.3,236,2881,0.00,2.38,0.00,0.000,6,0.000,0.027,2380,2034,3331
$GC,3189,-1.80,-146.0,307.9,-8.5,250,3193,0.00,2.45,0.00,0.000,4,0.000,0.044,2380,632,3331
$GC,3222,-1.80,-146.0,310.9,-8.3,250,3228,0.00,2.38,0.00,0.000,6,0.000,0.028,2380,2026,3331
$GC,3554,-1.80,-146.0,340.6,-9.2,259,3559,0.00,2.50,0.00,0.000,4,0.000,0.044,2380,3450,3329
$GC,3616,-1.80,-146.0,346.1,-8.6,260,3620,0.00,2.42,0.00,0.000,6,0.000,0.029,2380,2034,3329
$GC,3964,-1.80,-146.0,374.5,-7.8,269,3968,0.00,2.50,0.00,0.000,4,0.000,0.043,2380,3450,3326
$GC,3986,-1.80,-146.0,376.1,-7.6,269,3990,0.00,2.42,0.00,0.000,6,0.000,0.030,2380,2031,3326
$GC,4329,-1.80,-146.0,401.2,-8.1,278,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2030,3324
$GC,4654,-1.80,-146.0,429.6,-8.5,286,4658,0.00,2.50,0.00,0.000,4,0.000,0.044,2380,3443,3322
$GC,4681,-1.80,-146.0,432.1,-9.0,286,4686,0.00,2.42,0.00,0.000,6,0.000,0.033,2380,2041,3321
$STATE,4894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4894,begin apogee
$GC,4902,-0.33,0.0,451.0,9.0,292,5020,1.60,0.00,113.47,0.928,6,0.100,0.000,2704,1935,2733
$STATE,5020,end apogee,CONTROL_FINISHED_OK
$STATE,5020,begin climb
$GC,5024,1.13,146.0,456.7,0.0,295,5147,1.45,2.55,114.18,0.900,4,0.055,0.054,3022,558,2137
$GC,5162,0.64,154.0,458.1,6.9,298,5176,0.57,2.45,6.78,0.861,6,0.169,0.029,2923,1957,2105
$GC,5520,0.35,154.0,426.9,9.2,307,5525,0.32,2.50,0.00,0.000,4,0.130,0.047,2862,3348,2103
$GC,5537,0.11,154.0,425.5,8.9,307,5542,0.30,2.45,0.00,0.000,6,0.120,0.033,2807,1956,2103
$GC,5881,0.17,224.2,408.6,4.7,316,5940,0.00,2.58,54.00,0.903,4,0.000,0.042,2807,3358,1819
$GC,5975,0.15,237.8,403.0,6.7,318,5994,0.00,2.50,11.43,0.877,6,0.000,0.034,2807,1945,1763
$GC,6333,0.11,237.8,377.3,7.7,327,6337,0.00,2.53,0.00,0.000,4,0.000,0.043,2807,3355,1761
$GC,6361,0.06,237.8,375.1,7.4,327,6365,0.00,2.47,0.00,0.000,6,0.000,0.034,2807,1947,1761
$GC,6693,0.11,283.2,356.2,5.6,335,6735,0.00,2.55,35.75,0.890,4,0.000,0.042,2807,3347,1577
$GC,6759,0.18,345.2,353.2,5.0,336,6813,0.00,2.47,48.30,0.871,6,0.000,0.033,2807,1949,1325
$GC,7146,0.21,364.3,330.9,6.5,346,7167,0.00,2.55,15.77,0.864,4,0.000,0.042,2807,3348,1246
$GC,7223,0.21,364.3,324.8,8.1,347,7229,0.00,2.47,0.00,0.000,6,0.000,0.032,2807,1941,1246
$GC,7555,0.21,364.3,297.7,8.3,356,7559,0.00,2.50,0.00,0.000,4,0.000,0.042,2807,3348,1246
$GC,7617,0.21,365.3,292.9,7.1,358,7624,0.00,2.45,0.00,0.000,6,0.000,0.032,2807,1944,1246
$GC,7933,0.21,365.3,267.7,8.6,374,7937,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3354,1246
$GC,7951,0.21,365.3,266.0,9.0,375,7956,0.00,2.45,0.00,0.000,6,0.000,0.031,2807,1947,1246
$GC,8279,0.21,365.3,241.2,7.3,391,8283,0.00,2.47,0.00,0.000,4,0.000,0.040,2807,3353,1246
$GC,8347,0.22,370.5,236.1,7.0,394,8358,0.00,2.45,5.60,0.812,6,0.000,0.031,2807,1943,1222
$GC,8674,0.25,386.2,213.0,6.6,410,8697,0.12,2.55,12.80,0.795,4,0.079,0.040,2834,3349,1158
$GC,8737,0.25,386.2,208.0,9.1,412,8743,0.00,2.42,0.00,0.000,6,0.000,0.030,2834,1951,1158
$GC,9062,0.25,386.2,176.1,9.6,439,9066,0.00,2.45,0.00,0.000,4,0.000,0.037,2834,3352,1158
$GC,9118,0.25,386.2,170.5,9.4,443,9124,0.00,2.42,0.00,0.000,6,0.000,0.028,2834,1945,1158
$GC,9446,0.25,386.2,142.1,8.2,474,9450,0.00,2.45,0.00,0.000,4,0.000,0.036,2834,3358,1159
$GC,9515,0.25,386.2,136.5,7.7,480,9519,0.00,2.42,0.00,0.000,6,0.000,0.028,2834,1949,1159
$GC,9843,0.29,407.0,113.4,6.4,510,9862,0.00,0.00,16.55,0.688,6,0.000,0.000,2834,1949,1073
$GC,10184,0.32,407.0,86.1,8.5,542,10188,0.00,2.45,0.00,0.000,4,0.000,0.035,2834,3358,1073
$GC,10240,0.41,407.0,81.0,8.7,546,10247,0.15,2.40,0.00,0.000,6,0.067,0.026,2869,1947,1074
$GC,10566,0.41,407.0,53.3,7.2,577,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1947,1074
$GC,10821,0.42,408.5,35.0,7.1,601,10825,0.00,2.42,0.00,0.000,4,0.000,0.034,2869,3353,1075
$GC,10854,0.45,408.5,32.4,7.6,603,10861,0.00,2.38,0.00,0.000,6,0.000,0.025,2869,1943,1075
$GC,11129,0.45,408.5,10.6,7.8,648,11137,0.00,2.50,2.60,0.577,4,0.000,0.035,2869,3354,1067
$GC,11173,0.49,433.7,7.9,6.3,655,11197,0.00,2.35,19.05,0.558,6,0.000,0.021,2869,1935,963
$STATE,11212,end climb,SURFACE_DEPTH_REACHED
$STATE,11212,begin surface coast
$FINISH,0.7,1.001202
$STATE,11295,end surface coast,CONTROL_FINISHED_OK
$STATE,11295,begin surface
$SM_CCo,11378,0.00,0.000,0,0,964,433.94
$SM_GC,1.37,11.00,0.00,0.00,0.047,0.000,0.000,408,2084,964,-10.87,1.24,433.94
$IRIDIUM_FIX,2101.76,-15753.03,281297,050559
$TT8_MAMPS,0.027612
$HUMID,1674
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,33
$24V_AH,23.8,13.653
$10V_AH,10.2,7.900
$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,18.350,127.375,456.275,0.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,0.000,1235.487,7903.250,504.139,1537.761,251.815,33.334,1289.190,0.000,1522.360,0.000,59.845
$DEVICE_MAMPS,168.740,53.690,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.243,437.429,783.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34902,676
$CAP_FILE_SIZE,98685,0
$CFSIZE,260165632,253509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,181137,2108.724,-15753.749,38,1.5,38,9.8