version: 66.03
glider: 114
mission: 3
dive: 109
start: 10 6 108 14 32 44
data:
$ID,114
$MISSION,3
$DIVE,109
$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,-593705.56
$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,31
$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
$GPS1,111505,2109.192,-15748.517,11,2.7,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,11.5
$GPS2,111505,2109.192,-15748.517,11,2.7,30,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.223,-0.036
$KALMAN_X,-42900.6,220.1,5007.0,46413.8,18020.9
$KALMAN_Y,-21500.4,8.4,1444.2,6381.2,4769.5
$MHEAD_RNG_PITCHd_Wd,251.1,2967,-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,-67.15,0.000,6,0.000,0.000,2872,3362,3328
$GC,103,-1.13,-146.0,1.0,-0.6,13,115,1.55,4.75,0.00,0.000,4,0.074,0.035,2537,637,3329
$GC,139,-1.57,-146.0,5.2,-10.2,19,147,0.45,2.38,0.00,0.000,6,0.044,0.021,2432,2063,3329
$GC,418,-1.46,-146.0,46.6,-14.7,59,423,0.12,2.35,0.00,0.000,4,0.103,0.037,2456,3432,3329
$GC,485,-1.46,-146.0,55.2,-12.0,64,491,0.00,2.35,0.00,0.000,6,0.000,0.023,2456,2025,3329
$GC,747,-1.46,-146.0,81.9,-9.3,89,751,0.00,2.42,0.00,0.000,4,0.000,0.034,2456,3434,3330
$GC,788,-1.46,-146.0,85.6,-8.9,92,792,0.00,2.35,0.00,0.000,6,0.000,0.023,2456,2028,3330
$GC,1114,-1.50,-146.0,120.2,-10.7,122,1118,0.00,2.42,0.00,0.000,4,0.000,0.035,2456,3435,3331
$GC,1133,-1.54,-146.0,122.2,-10.3,123,1137,0.00,2.35,0.00,0.000,6,0.000,0.023,2456,2026,3331
$GC,1459,-1.59,-146.0,153.9,-8.2,153,1463,0.00,2.42,0.00,0.000,4,0.000,0.034,2456,3437,3331
$GC,1488,-1.66,-146.0,156.3,-8.0,155,1493,0.17,2.35,0.00,0.000,6,0.057,0.024,2414,2038,3332
$GC,1816,-1.66,-146.0,186.5,-9.0,185,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2035,3332
$GC,2138,-1.66,-146.0,212.0,-6.8,208,2142,0.00,2.40,0.00,0.000,4,0.000,0.040,2414,640,3332
$GC,2161,-1.66,-146.0,213.7,-7.3,209,2166,0.00,2.35,0.00,0.000,6,0.000,0.025,2414,2034,3333
$GC,2490,-1.66,-146.0,240.4,-8.0,225,2494,0.00,2.42,0.00,0.000,4,0.000,0.038,2414,3446,3332
$GC,2540,-1.70,-146.0,244.8,-8.1,227,2544,0.00,2.38,0.00,0.000,6,0.000,0.026,2414,2035,3332
$GC,2862,-1.70,-146.0,273.9,-9.6,243,2867,0.00,2.45,0.00,0.000,4,0.000,0.038,2414,3446,3332
$GC,2904,-1.76,-146.0,277.7,-9.7,245,2908,0.00,2.40,0.00,0.000,6,0.000,0.027,2414,2032,3332
$GC,3231,-1.81,-146.0,304.5,-8.4,260,3235,0.12,2.42,0.00,0.000,4,0.067,0.043,2384,639,3332
$GC,3258,-1.81,-146.0,307.4,-10.2,260,3262,0.00,2.38,0.00,0.000,6,0.000,0.028,2384,2038,3332
$GC,3595,-1.81,-146.0,338.8,-9.0,269,3600,0.00,2.47,0.00,0.000,4,0.000,0.045,2384,637,3331
$GC,3629,-1.81,-146.0,342.2,-9.7,269,3635,0.00,2.40,0.00,0.000,6,0.000,0.029,2384,2042,3330
$GC,3962,-1.81,-146.0,370.6,-8.5,278,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2043,3328
$GC,4287,-1.81,-146.0,402.5,-10.2,286,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2043,3326
$GC,4612,-1.81,-146.0,431.9,-8.6,294,4616,0.00,2.47,0.00,0.000,4,0.000,0.049,2384,3443,3324
$GC,4662,-1.81,-146.0,436.4,-8.4,295,4667,0.00,2.42,0.00,0.000,6,0.000,0.031,2384,2037,3324
$STATE,4851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4851,begin apogee
$GC,4859,-0.33,0.0,451.8,8.1,300,4978,1.58,0.00,114.45,0.917,6,0.096,0.000,2706,1933,2733
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.13,146.0,456.1,0.0,303,5105,1.42,2.60,114.40,0.897,4,0.051,0.041,3021,3361,2137
$GC,5136,0.63,146.0,454.5,9.6,306,5142,0.57,2.47,0.00,0.000,6,0.144,0.033,2919,1960,2137
$GC,5474,0.35,146.0,423.5,9.0,315,5479,0.30,2.50,0.00,0.000,4,0.123,0.041,2862,3357,2135
$GC,5525,0.18,146.0,419.3,8.4,316,5530,0.20,2.47,0.00,0.000,6,0.121,0.033,2824,1947,2135
$GC,5838,0.10,146.0,396.3,7.4,324,5843,0.12,2.53,0.00,0.000,4,0.127,0.041,2803,3366,2133
$GC,5879,0.08,157.6,393.6,6.7,325,5893,0.00,2.50,9.15,0.890,6,0.000,0.033,2803,1939,2089
$GC,6208,0.13,212.3,375.8,5.3,333,6256,0.00,2.58,42.75,0.890,4,0.000,0.040,2803,3359,1867
$GC,6291,0.10,212.9,370.6,7.1,335,6295,0.00,2.50,0.00,0.000,6,0.000,0.033,2803,1941,1866
$GC,6610,0.14,254.6,350.9,5.7,343,6651,0.00,2.60,32.95,0.877,4,0.000,0.053,2803,548,1695
$GC,6703,0.19,280.0,345.5,6.3,345,6729,0.00,2.45,20.73,0.860,6,0.000,0.029,2803,1957,1591
$GC,7061,0.22,297.5,324.0,6.5,354,7081,0.10,2.55,14.35,0.855,4,0.093,0.048,2824,3357,1520
$GC,7126,0.22,297.5,318.8,7.8,355,7130,0.00,2.47,0.00,0.000,6,0.000,0.033,2823,1950,1519
$GC,7445,0.18,297.5,294.1,8.0,365,7449,0.00,2.50,0.00,0.000,4,0.000,0.042,2823,3352,1519
$GC,7480,0.13,297.5,291.2,8.7,366,7486,0.00,2.45,0.00,0.000,6,0.000,0.031,2823,1943,1520
$GC,7797,0.10,297.5,266.0,8.0,382,7798,0.12,0.00,0.00,0.000,6,0.119,0.000,2802,1943,1520
$GC,8106,0.17,339.0,245.4,5.7,397,8148,0.00,2.60,32.28,0.815,4,0.000,0.038,2801,3354,1350
$GC,8196,0.27,368.2,240.2,6.1,401,8226,0.17,2.45,23.33,0.795,6,0.075,0.031,2838,1947,1230
$GC,8551,0.22,368.2,212.0,9.0,418,8554,0.00,2.47,0.00,0.000,4,0.000,0.038,2839,3353,1231
$GC,8596,0.22,368.2,207.3,10.1,420,8601,0.00,2.45,0.00,0.000,6,0.000,0.030,2838,1945,1231
$GC,8922,0.22,368.2,182.1,8.1,446,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1945,1231
$GC,9248,0.23,375.2,155.2,6.9,477,9260,0.00,2.50,6.30,0.720,4,0.000,0.035,2838,3364,1202
$GC,9334,0.26,389.8,149.1,6.6,484,9352,0.00,2.45,11.82,0.712,6,0.000,0.028,2838,1936,1143
$GC,9670,0.26,391.2,125.3,7.1,516,9674,0.00,2.47,0.00,0.000,4,0.000,0.036,2839,3358,1144
$GC,9694,0.26,391.2,123.4,7.2,518,9698,0.00,2.40,0.00,0.000,6,0.000,0.026,2838,1947,1144
$GC,10028,0.26,391.2,99.9,7.3,549,10032,0.00,2.45,0.00,0.000,4,0.000,0.036,2838,3354,1145
$GC,10069,0.29,391.2,96.9,7.6,552,10073,0.00,2.40,0.00,0.000,6,0.000,0.026,2838,1950,1145
$GC,10398,0.33,391.2,73.6,7.4,582,10402,0.00,2.45,0.00,0.000,4,0.000,0.035,2838,3365,1145
$GC,10443,0.41,400.0,70.3,6.8,585,10461,0.15,2.40,8.85,0.626,6,0.067,0.026,2873,1947,1102
$GC,10716,0.47,432.4,50.8,6.0,611,10749,0.00,2.53,24.58,0.594,4,0.000,0.034,2873,3357,969
$GC,10777,0.50,451.1,46.8,6.5,616,10798,0.00,2.42,14.77,0.587,6,0.000,0.025,2873,1935,892
$GC,11058,0.55,476.4,26.9,6.3,646,11083,0.12,2.58,18.88,0.567,4,0.067,0.034,2903,3364,791
$GC,11125,0.50,476.4,20.6,10.4,657,11131,0.00,2.42,0.00,0.000,6,0.000,0.025,2903,1939,791
$STATE,11293,end climb,SURFACE_DEPTH_REACHED
$STATE,11295,begin surface coast
$FINISH,0.9,1.022824
$STATE,11346,end surface coast,CONTROL_FINISHED_OK
$STATE,11346,begin surface
$SM_CCo,11430,0.00,0.000,0,0,791,476.13
$SM_GC,1.56,11.12,0.00,0.00,0.046,0.000,0.000,408,2089,791,-10.87,1.41,476.13
$IRIDIUM_FIX,2101.76,-15800.33,311297,111109
$TT8_MAMPS,0.027612
$HUMID,1691
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,15
$24V_AH,23.8,16.278
$10V_AH,10.2,9.612
$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,18.425,130.100,489.575,0.000,0.000,0.000,0.000,0.000,12.750,0.000,0.000,0.000,1262.154,7849.332,554.298,1569.921,249.132,33.328,1347.245,0.000,1552.043,0.000,57.433
$DEVICE_MAMPS,144.196,52.923,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.916,456.421,819.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34881,696
$CAP_FILE_SIZE,101391,0
$CFSIZE,260165632,252338176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,174432,2108.315,-15751.246,39,1.2,39,9.8