version: 66.03
glider: 114
mission: 3
dive: 89
start: 10 3 108 21 45 37
data:
$ID,114
$MISSION,3
$DIVE,89
$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,33
$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
$GPS1,183003,2108.734,-15753.960,10,1.4,10,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,15.1
$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,0.226,0.011
$KALMAN_X,-35387.6,677.5,-6754.8,40787.0,-11776.8
$KALMAN_Y,-11348.2,-22.0,1346.9,-4504.3,1432.9
$MHEAD_RNG_PITCHd_Wd,77.4,7231,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.13,-146.0,0.0,0.0,0,93,0.00,0.00,-61.30,0.000,6,0.000,0.000,2885,3370,3329
$GC,97,-1.13,-146.0,2.0,-3.3,12,104,1.60,0.12,0.00,0.000,4,0.075,0.045,2538,3461,3329
$GC,191,-1.37,-146.0,8.3,-6.8,28,198,0.28,2.38,0.00,0.000,6,0.054,0.022,2475,2031,3329
$GC,466,-1.37,-146.0,36.5,-11.0,72,470,0.00,2.45,0.00,0.000,4,0.000,0.037,2475,3446,3329
$GC,489,-1.37,-146.0,39.3,-12.5,73,495,0.00,2.35,0.00,0.000,6,0.000,0.022,2475,2028,3330
$GC,751,-1.37,-146.0,70.3,-12.7,98,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2028,3330
$GC,1006,-1.41,-146.0,97.5,-9.7,122,1010,0.00,2.38,0.00,0.000,4,0.000,0.038,2475,635,3332
$GC,1045,-1.52,-146.0,101.4,-9.1,125,1052,0.12,2.35,0.00,0.000,6,0.061,0.022,2443,2055,3332
$GC,1371,-1.52,-146.0,134.3,-10.0,156,1375,0.00,2.38,0.00,0.000,4,0.000,0.035,2442,3448,3332
$GC,1423,-1.55,-146.0,139.0,-8.8,160,1427,0.00,2.38,0.00,0.000,6,0.000,0.023,2442,2029,3333
$GC,1748,-1.55,-146.0,166.4,-8.2,190,1752,0.00,2.38,0.00,0.000,4,0.000,0.038,2442,640,3334
$GC,1794,-1.61,-146.0,170.2,-8.0,193,1800,0.00,2.35,0.00,0.000,6,0.000,0.024,2442,2048,3334
$GC,2120,-1.66,-146.0,194.8,-7.7,224,2124,0.10,2.40,0.00,0.000,4,0.067,0.037,2415,3445,3334
$GC,2187,-1.69,-146.0,201.2,-9.9,229,2191,0.00,2.38,0.00,0.000,6,0.000,0.025,2415,2031,3334
$GC,2509,-1.69,-146.0,233.5,-10.9,245,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2030,3334
$GC,2817,-1.69,-146.0,265.7,-9.4,260,2821,0.00,2.45,0.00,0.000,4,0.000,0.038,2415,3441,3334
$GC,2881,-1.75,-146.0,270.9,-7.9,263,2885,0.00,2.38,0.00,0.000,6,0.000,0.027,2415,2039,3334
$GC,3209,-1.79,-146.0,298.2,-8.8,279,3213,0.12,2.45,0.00,0.000,4,0.067,0.038,2385,3444,3334
$GC,3233,-1.79,-146.0,300.6,-9.6,280,3237,0.00,2.38,0.00,0.000,6,0.000,0.027,2385,2040,3334
$GC,3571,-1.79,-146.0,332.6,-9.0,289,3574,0.00,2.42,0.00,0.000,4,0.000,0.044,2384,638,3333
$GC,3672,-1.79,-146.0,342.8,-9.2,291,3676,0.00,2.38,0.00,0.000,6,0.000,0.029,2384,2035,3333
$GC,3992,-1.79,-146.0,371.1,-8.4,299,3996,0.00,2.47,0.00,0.000,4,0.000,0.046,2384,3445,3330
$GC,4032,-1.79,-146.0,374.4,-7.8,300,4036,0.00,2.42,0.00,0.000,6,0.000,0.030,2385,2031,3330
$GC,4357,-1.79,-146.0,400.2,-7.6,308,4361,0.00,2.50,0.00,0.000,4,0.000,0.044,2384,3447,3328
$GC,4396,-1.79,-146.0,403.1,-7.3,308,4402,0.00,2.42,0.00,0.000,6,0.000,0.031,2384,2035,3327
$GC,4728,-1.79,-146.0,425.3,-6.7,317,4732,0.00,2.47,0.00,0.000,4,0.000,0.050,2384,638,3325
$GC,4783,-1.79,-146.0,429.5,-7.3,318,4787,0.00,2.42,0.00,0.000,6,0.000,0.031,2384,2050,3325
$STATE,5089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5090,begin apogee
$GC,5098,-0.33,0.0,450.1,6.6,326,5216,1.58,0.00,114.22,0.920,6,0.100,0.000,2704,1945,2733
$STATE,5217,end apogee,CONTROL_FINISHED_OK
$STATE,5217,begin climb
$GC,5220,1.13,146.0,452.5,0.0,329,5343,1.48,2.58,114.35,0.890,4,0.059,0.052,3024,551,2137
$GC,5353,0.63,146.0,450.7,8.2,332,5358,0.60,2.47,0.00,0.000,6,0.143,0.030,2921,1962,2136
$GC,5672,0.34,146.0,419.6,9.7,340,5677,0.32,2.50,0.00,0.000,4,0.130,0.048,2860,3349,2134
$GC,5706,0.16,146.0,416.5,8.5,340,5713,0.22,2.45,0.00,0.000,6,0.128,0.035,2820,1959,2134
$GC,6039,0.19,213.7,399.0,4.8,349,6098,0.00,2.67,51.85,0.892,4,0.000,0.054,2820,543,1860
$GC,6133,0.11,217.5,393.8,7.0,351,6142,0.00,2.47,3.78,0.823,6,0.000,0.031,2820,1957,1845
$GC,6453,0.07,235.1,373.3,6.5,359,6472,0.12,2.55,14.10,0.883,4,0.130,0.048,2800,3354,1774
$GC,6507,0.12,262.6,369.9,6.2,360,6539,0.00,2.50,22.50,0.877,6,0.000,0.035,2799,1939,1661
$GC,6864,0.15,279.3,347.6,6.6,369,6883,0.00,2.62,13.52,0.876,4,0.000,0.044,2799,3355,1594
$GC,6929,0.15,279.3,342.8,7.3,370,6933,0.00,2.47,0.00,0.000,6,0.000,0.034,2799,1951,1594
$GC,7271,0.18,299.5,320.9,6.4,379,7295,0.00,2.62,16.48,0.871,4,0.000,0.042,2799,3364,1511
$GC,7324,0.18,299.5,317.1,7.5,380,7329,0.00,2.50,0.00,0.000,6,0.000,0.033,2799,1945,1511
$GC,7639,0.18,299.5,295.0,7.2,389,7643,0.00,2.50,0.00,0.000,4,0.000,0.053,2799,544,1510
$GC,7681,0.18,299.5,291.7,8.3,391,7685,0.00,2.45,0.00,0.000,6,0.000,0.029,2799,1958,1510
$GC,8008,0.23,325.5,269.8,6.2,407,8034,0.15,2.53,20.67,0.840,4,0.081,0.045,2830,3352,1404
$GC,8080,0.19,325.5,264.0,8.6,410,8085,0.00,2.45,0.00,0.000,6,0.000,0.032,2831,1944,1404
$GC,8397,0.14,325.5,235.3,9.1,425,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1944,1404
$GC,8706,0.13,337.2,213.3,6.7,440,8721,0.10,2.53,9.32,0.793,4,0.120,0.039,2813,3353,1358
$GC,8790,0.17,337.5,207.6,7.1,443,8796,0.00,2.45,0.00,0.000,6,0.000,0.031,2812,1943,1358
$GC,9113,0.17,337.5,182.0,7.7,469,9116,0.00,2.45,0.00,0.000,4,0.000,0.037,2813,3355,1358
$GC,9147,0.17,337.5,179.4,7.2,472,9151,0.00,2.42,0.00,0.000,6,0.000,0.029,2812,1944,1358
$GC,9482,0.26,367.8,158.0,6.1,503,9514,0.12,2.53,24.12,0.724,4,0.079,0.036,2840,3354,1233
$GC,9572,0.26,367.8,150.9,7.6,511,9577,0.00,2.45,0.00,0.000,6,0.000,0.029,2840,1943,1233
$GC,9901,0.26,367.8,126.0,8.2,541,9905,0.00,2.47,0.00,0.000,4,0.000,0.047,2840,536,1234
$GC,9930,0.26,367.8,123.4,8.5,543,9936,0.00,2.40,0.00,0.000,6,0.000,0.025,2841,1957,1234
$GC,10258,0.26,367.8,99.4,7.6,574,10262,0.00,2.40,0.00,0.000,4,0.000,0.037,2840,3346,1235
$GC,10304,0.29,367.8,95.8,7.3,577,10310,0.00,2.40,0.00,0.000,6,0.000,0.027,2840,1937,1235
$GC,10632,0.30,372.7,73.4,7.0,608,10639,0.00,0.00,4.97,0.631,6,0.000,0.000,2840,1937,1213
$GC,10895,0.48,443.5,57.7,4.7,633,10956,0.20,2.50,53.30,0.597,4,0.061,0.035,2887,3346,923
$GC,10985,0.44,443.5,50.1,10.9,641,10991,0.00,2.40,0.00,0.000,6,0.000,0.025,2887,1940,924
$GC,11253,0.40,443.5,25.8,8.6,670,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1940,924
$STATE,11464,end climb,SURFACE_DEPTH_REACHED
$STATE,11464,begin surface coast
$FINISH,0.7,1.023026
$STATE,11508,end surface coast,CONTROL_FINISHED_OK
$STATE,11508,begin surface
$SM_CCo,11593,0.00,0.000,0,0,926,443.50
$SM_GC,1.48,11.00,0.00,0.00,0.044,0.000,0.000,412,2080,926,-10.85,1.10,443.50
$IRIDIUM_FIX,2059.45,-15753.03,281297,181820
$TT8_MAMPS,0.027612
$HUMID,1682
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,11
$24V_AH,23.8,13.912
$10V_AH,10.2,8.064
$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,18.125,125.550,463.200,0.000,0.000,0.000,0.000,0.000,11.750,0.000,0.000,0.000,1304.499,7931.564,509.675,1640.635,261.326,33.328,1338.845,0.000,1629.446,0.000,57.441
$DEVICE_MAMPS,142.662,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.197,473.403,846.473,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,715
$CAP_FILE_SIZE,101558,0
$CFSIZE,260165632,253394944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,010007,2107.993,-15750.770,38,1.0,38,9.8