version: 66.03
glider: 114
mission: 3
dive: 88
start: 10 3 108 18 30 58
data:
$ID,114
$MISSION,3
$DIVE,88
$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,-593539.56
$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,46
$R_STBD_OVSHOOT,66
$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
$GPS1,181137,2108.724,-15753.749,38,1.5,38,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.9
$GPS2,183003,2108.734,-15753.960,10,1.4,10,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.208,-0.088
$KALMAN_X,-34683.4,696.6,-4888.3,38225.5,-5829.1
$KALMAN_Y,-10916.7,216.2,-456.4,-3369.5,9.7
$MHEAD_RNG_PITCHd_Wd,103.2,7231,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,96,0.00,0.00,-64.22,0.000,2,0.000,0.000,408,2089,2912
$GC,100,-1.13,-146.0,3.3,-4.2,12,125,12.00,2.50,-6.75,0.000,4,0.161,0.048,2524,649,3330
$GC,155,-0.84,-146.0,16.7,-18.6,21,163,0.28,2.33,0.00,0.000,6,0.065,0.023,2596,2008,3331
$GC,433,-1.08,-146.0,31.6,-4.9,67,438,0.20,2.45,0.00,0.000,4,0.050,0.035,2543,3443,3331
$GC,486,-1.25,-146.0,34.9,-6.1,71,491,0.15,2.35,0.00,0.000,6,0.054,0.024,2505,2047,3331
$GC,751,-1.30,-146.0,58.7,-9.5,95,754,0.00,2.42,0.00,0.000,4,0.000,0.036,2505,3445,3331
$GC,780,-1.36,-146.0,62.1,-10.6,97,787,0.00,2.38,0.00,0.000,6,0.000,0.023,2506,2027,3331
$GC,1043,-1.45,-146.0,88.3,-6.5,122,1048,0.15,2.45,0.00,0.000,4,0.053,0.035,2461,3442,3331
$GC,1088,-1.50,-146.0,92.1,-8.5,125,1094,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2038,3331
$GC,1414,-1.53,-146.0,117.9,-8.4,156,1418,0.00,2.42,0.00,0.000,4,0.000,0.035,2461,3442,3331
$GC,1438,-1.57,-146.0,119.9,-8.2,158,1444,0.10,2.38,0.00,0.000,6,0.065,0.024,2435,2027,3332
$GC,1771,-1.57,-146.0,150.2,-9.3,189,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2026,3331
$GC,2092,-1.57,-146.0,180.1,-9.1,219,2096,0.00,2.45,0.00,0.000,4,0.000,0.036,2435,3444,3331
$GC,2113,-1.57,-146.0,182.6,-9.8,220,2120,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2040,3331
$GC,2449,-1.61,-146.0,212.1,-7.7,245,2453,0.00,2.42,0.00,0.000,4,0.000,0.037,2434,3442,3331
$GC,2506,-1.68,-146.0,216.4,-7.1,247,2512,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2034,3331
$GC,2823,-1.72,-146.0,238.2,-7.8,263,2825,0.12,0.00,0.00,0.000,6,0.061,0.000,2402,2034,3330
$GC,3131,-1.72,-146.0,268.4,-9.0,278,3135,0.00,2.42,0.00,0.000,4,0.000,0.042,2402,637,3330
$GC,3171,-1.72,-146.0,271.8,-8.8,280,3175,0.00,2.40,0.00,0.000,6,0.000,0.028,2402,2048,3330
$GC,3504,-1.72,-146.0,300.7,-9.5,296,3508,0.00,2.42,0.00,0.000,4,0.000,0.041,2402,3447,3327
$GC,3583,-1.72,-146.0,308.4,-9.1,297,3589,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2038,3327
$GC,3915,-1.72,-146.0,339.0,-9.6,306,3919,0.00,2.47,0.00,0.000,4,0.000,0.041,2402,3448,3325
$GC,3954,-1.72,-146.0,343.2,-10.9,307,3959,0.00,2.42,0.00,0.000,6,0.000,0.028,2402,2030,3325
$GC,4280,-1.72,-146.0,371.9,-8.0,315,4284,0.00,2.47,0.00,0.000,4,0.000,0.041,2401,3442,3323
$GC,4314,-1.76,-146.0,374.2,-6.9,315,4320,0.00,2.40,0.00,0.000,6,0.000,0.030,2402,2039,3322
$GC,4646,-1.76,-146.0,397.5,-7.7,324,4650,0.00,2.47,0.00,0.000,4,0.000,0.048,2402,633,3320
$GC,4668,-1.76,-146.0,399.5,-9.3,324,4672,0.00,2.40,0.00,0.000,6,0.000,0.030,2402,2033,3321
$GC,5005,-1.76,-146.0,430.5,-9.5,333,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2033,3317
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5255,-0.33,0.0,453.2,9.6,339,5372,1.48,0.00,112.85,0.917,6,0.097,0.000,2703,1942,2733
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,1.13,146.0,459.6,0.0,342,5499,1.45,2.60,114.20,0.891,4,0.055,0.046,3021,3358,2137
$GC,5590,0.64,146.0,452.4,12.0,347,5596,0.55,2.50,0.00,0.000,6,0.131,0.035,2924,1951,2136
$GC,5916,0.34,146.0,424.2,8.7,355,5921,0.32,2.55,0.00,0.000,4,0.130,0.053,2862,543,2134
$GC,5983,0.14,146.0,418.5,8.2,356,5989,0.28,2.45,0.00,0.000,6,0.126,0.030,2812,1954,2134
$GC,6321,0.12,169.8,397.0,6.3,365,6346,0.00,2.67,18.12,0.897,4,0.000,0.054,2812,537,2040
$GC,6404,0.06,182.2,391.4,6.7,366,6419,0.00,2.47,10.20,0.879,6,0.000,0.031,2812,1957,1989
$GC,6734,0.09,228.7,372.1,5.5,375,6776,0.00,2.55,36.28,0.886,4,0.000,0.049,2811,3352,1799
$GC,6805,0.06,236.4,367.9,6.9,376,6821,0.00,2.47,6.80,0.851,6,0.000,0.034,2812,1952,1769
$GC,7147,0.09,275.7,346.1,5.8,385,7183,0.00,2.58,31.15,0.872,4,0.000,0.044,2812,3360,1608
$GC,7201,0.16,340.3,343.3,4.9,385,7257,0.00,2.50,50.42,0.854,6,0.000,0.032,2811,1942,1345
$GC,7589,0.13,340.3,317.5,7.3,395,7594,0.00,2.53,0.00,0.000,4,0.000,0.043,2812,3353,1345
$GC,7645,0.13,340.3,313.0,7.6,396,7650,0.00,2.47,0.00,0.000,6,0.000,0.032,2812,1941,1345
$GC,7976,0.15,354.8,290.2,6.6,408,7998,0.00,2.62,11.98,0.841,4,0.000,0.042,2812,3361,1286
$GC,8032,0.15,354.8,285.7,8.7,410,8036,0.00,2.47,0.00,0.000,6,0.000,0.032,2812,1949,1286
$GC,8348,0.15,354.8,260.1,8.1,425,8352,0.00,2.50,0.00,0.000,4,0.000,0.042,2812,3354,1286
$GC,8415,0.15,354.8,254.0,9.5,428,8420,0.00,2.45,0.00,0.000,6,0.000,0.031,2812,1945,1286
$GC,8737,0.15,356.9,230.0,7.1,444,8741,0.00,2.50,0.00,0.000,4,0.000,0.041,2812,3361,1286
$GC,8778,0.15,356.9,227.0,7.5,446,8782,0.00,2.45,0.00,0.000,6,0.000,0.031,2812,1949,1286
$GC,9105,0.15,356.9,201.8,8.2,462,9109,0.00,2.47,0.00,0.000,4,0.000,0.039,2812,3356,1286
$GC,9156,0.15,356.9,197.7,7.7,465,9161,0.00,2.45,0.00,0.000,6,0.000,0.029,2811,1937,1286
$GC,9485,0.15,356.9,170.8,8.0,495,9489,0.00,2.50,0.00,0.000,4,0.000,0.038,2812,3367,1286
$GC,9514,0.19,356.9,168.3,7.9,497,9519,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,1941,1287
$GC,9843,0.24,356.9,144.8,7.4,527,9847,0.00,2.47,0.00,0.000,4,0.000,0.036,2812,3361,1286
$GC,9862,0.30,369.2,143.4,6.7,528,9884,0.15,2.42,11.90,0.719,6,0.073,0.028,2845,1944,1227
$GC,10203,0.32,376.8,117.5,6.9,560,10215,0.00,2.50,6.30,0.685,4,0.000,0.035,2845,3365,1196
$GC,10274,0.36,376.8,111.9,8.0,566,10277,0.00,2.45,0.00,0.000,6,0.000,0.028,2845,1937,1197
$GC,10608,0.45,400.6,88.6,6.3,597,10629,0.15,0.00,18.62,0.643,6,0.064,0.000,2885,1937,1100
$GC,10946,0.45,400.6,58.9,9.0,629,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1937,1100
$GC,11199,0.45,400.6,37.1,8.6,653,11203,0.00,2.47,0.00,0.000,4,0.000,0.034,2885,3369,1101
$GC,11262,0.45,400.6,31.6,9.2,658,11266,0.00,2.40,0.00,0.000,6,0.000,0.025,2885,1948,1102
$STATE,11518,end climb,FINISH_DEPTH_REACHED
$STATE,11518,begin subsurface finish
$FINISH1,9.6,1.023034,223
$GC,11527,0.39,222.8,9.6,-9.2,701,11546,0.00,2.50,-13.82,0.000,4,0.000,0.047,2885,3365,1827
$FINISH2,7.3
$STATE,11546,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11546,begin surface
$IRIDIUM_FIX,2059.45,-15753.03,281297,181820
$TT8_MAMPS,0.027612
$HUMID,1723
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.80
$XPDR_PINGS,13
$24V_AH,23.8,13.800
$10V_AH,10.2,7.988
$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,17.375,130.525,428.825,0.000,0.000,98.818,205.571,450.348,12.250,0.000,0.000,12.399,1289.591,8111.179,497.762,1643.937,1106.868,33.359,1320.925,0.000,1612.456,0.000,60.021
$DEVICE_MAMPS,161.070,53.690,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.806,461.598,834.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37874,704
$CAP_FILE_SIZE,115037,0
$CFSIZE,260165632,253435904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,183003,2108.734,-15753.960,10,1.4,10,9.8