version: 66.03
glider: 114
mission: 3
dive: 122
start: 10 8 108 10 31 15
data:
$ID,114
$MISSION,3
$DIVE,122
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,0
$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,0
$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,-593939.06
$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,35
$R_STBD_OVSHOOT,76
$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
$GPS1,102502,2102.485,-15747.312,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.1
$GPS2,103020,2102.462,-15747.304,13,1.7,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.133,0.183
$KALMAN_X,-38700.1,-340.4,-397.0,50260.4,923.1
$KALMAN_Y,-25725.6,-290.4,-110.7,-10.8,-26.2
$MHEAD_RNG_PITCHd_Wd,314.0,14717,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.00,0.000,2,0.000,0.000,412,2085,2759
$GC,92,-1.13,-146.0,3.0,-3.4,11,122,11.93,2.30,-9.88,0.000,4,0.161,0.053,2524,3396,3332
$GC,256,-1.23,-146.0,24.4,-9.3,39,263,0.00,2.33,0.00,0.000,6,0.000,0.024,2524,2031,3332
$GC,526,-1.31,-146.0,47.4,-9.0,69,531,0.12,2.38,0.00,0.000,4,0.060,0.035,2492,3404,3332
$GC,600,-1.37,-146.0,54.9,-10.0,75,605,0.00,2.30,0.00,0.000,6,0.000,0.022,2492,2030,3332
$GC,863,-1.43,-146.0,78.5,-9.1,99,864,0.10,0.00,0.00,0.000,6,0.067,0.000,2466,2029,3333
$GC,1118,-1.43,-146.0,100.5,-7.3,123,1122,0.00,2.35,0.00,0.000,4,0.000,0.035,2466,3401,3334
$GC,1203,-1.49,-146.0,107.0,-7.7,130,1210,0.00,2.28,0.00,0.000,6,0.000,0.024,2466,2038,3334
$GC,1530,-1.54,-146.0,134.3,-7.8,161,1534,0.00,2.40,0.00,0.000,4,0.000,0.038,2466,638,3334
$GC,1571,-1.62,-146.0,137.4,-7.2,164,1576,0.17,2.30,0.00,0.000,6,0.052,0.023,2423,2015,3334
$GC,1896,-1.62,-146.0,169.6,-10.6,194,1901,0.00,2.42,0.00,0.000,4,0.000,0.036,2423,3438,3335
$GC,1946,-1.62,-146.0,175.0,-10.4,198,1953,0.00,2.35,0.00,0.000,6,0.000,0.025,2423,2032,3334
$GC,2271,-1.62,-146.0,203.6,-8.8,227,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2032,3334
$GC,2581,-1.62,-146.0,231.5,-9.1,242,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2032,3334
$GC,2890,-1.65,-146.0,259.6,-8.8,257,2895,0.00,2.42,0.00,0.000,4,0.000,0.038,2423,3440,3334
$GC,2940,-1.72,-146.0,264.0,-8.6,259,2945,0.00,2.38,0.00,0.000,6,0.000,0.027,2423,2033,3334
$GC,3265,-1.77,-146.0,290.4,-8.5,275,3267,0.12,0.00,0.00,0.000,6,0.065,0.000,2391,2033,3334
$GC,3568,-1.77,-146.0,319.2,-8.9,285,3572,0.00,2.45,0.00,0.000,4,0.000,0.040,2391,3436,3332
$GC,3613,-1.77,-146.0,323.3,-9.4,286,3617,0.00,2.38,0.00,0.000,6,0.000,0.029,2391,2044,3331
$GC,3934,-1.77,-146.0,351.8,-8.9,294,3938,0.00,2.47,0.00,0.000,4,0.000,0.046,2391,632,3329
$GC,3984,-1.77,-146.0,356.9,-9.5,295,3988,0.00,2.40,0.00,0.000,6,0.000,0.030,2391,2035,3329
$GC,4297,-1.77,-146.0,384.2,-8.5,303,4301,0.00,2.47,0.00,0.000,4,0.000,0.047,2391,3446,3326
$GC,4319,-1.77,-146.0,386.3,-8.6,303,4323,0.00,2.42,0.00,0.000,6,0.000,0.031,2391,2032,3326
$GC,4656,-1.77,-146.0,414.8,-8.7,312,4660,0.00,2.47,0.00,0.000,4,0.000,0.048,2391,629,3324
$GC,4672,-1.77,-146.0,416.3,-8.8,312,4676,0.00,2.42,0.00,0.000,6,0.000,0.031,2391,2039,3324
$GC,5014,-1.77,-146.0,446.8,-9.1,321,5019,0.00,2.50,0.00,0.000,4,0.000,0.051,2391,3449,3321
$STATE,5046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5046,begin apogee
$GC,5056,-0.33,0.0,450.1,9.3,321,5174,1.50,0.00,114.03,0.921,6,0.100,0.000,2698,1951,2733
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5175,begin climb
$GC,5178,1.13,146.0,453.8,0.0,324,5301,1.48,2.60,114.43,0.899,4,0.052,0.053,3024,540,2137
$GC,5515,0.59,146.0,429.8,13.6,331,5521,0.65,2.47,0.00,0.000,6,0.153,0.030,2912,1960,2135
$GC,5847,0.36,162.9,405.9,6.6,339,5867,0.25,2.65,12.90,0.888,4,0.130,0.054,2863,550,2069
$GC,5879,0.23,194.0,403.9,6.1,339,5910,0.17,2.45,24.77,0.887,6,0.131,0.031,2832,1949,1942
$GC,6256,0.17,209.9,380.8,6.6,349,6275,0.00,2.60,12.60,0.885,4,0.000,0.050,2833,3351,1877
$GC,6317,0.11,227.1,376.5,6.6,350,6337,0.15,2.47,14.00,0.881,6,0.131,0.035,2807,1944,1807
$GC,6670,0.17,279.4,356.8,5.3,359,6719,0.00,2.65,41.45,0.880,4,0.000,0.054,2807,537,1593
$GC,6755,0.17,279.4,351.4,7.4,361,6760,0.00,2.47,0.00,0.000,6,0.000,0.031,2807,1946,1593
$GC,7081,0.16,292.3,329.4,6.7,369,7097,0.00,2.58,10.77,0.863,4,0.000,0.051,2807,3361,1540
$GC,7125,0.16,292.3,326.0,7.9,370,7129,0.00,2.47,0.00,0.000,6,0.000,0.033,2807,1950,1540
$GC,7443,0.16,292.3,303.1,7.4,378,7448,0.00,2.53,0.00,0.000,4,0.000,0.044,2807,3366,1540
$GC,7484,0.16,292.3,299.9,8.3,379,7488,0.00,2.47,0.00,0.000,6,0.000,0.033,2807,1945,1540
$GC,7811,0.18,303.3,276.2,6.8,395,7822,0.00,0.00,8.93,0.840,6,0.000,0.000,2807,1945,1496
$GC,8120,0.19,309.2,254.4,6.9,410,8130,0.00,2.50,5.45,0.815,4,0.000,0.040,2807,3357,1471
$GC,8176,0.21,320.8,250.5,6.7,412,8191,0.00,2.45,9.52,0.817,6,0.000,0.032,2807,1942,1425
$GC,8515,0.34,394.7,232.5,4.6,429,8578,0.17,2.62,57.25,0.793,4,0.071,0.040,2851,3366,1123
$GC,8634,0.29,394.7,224.3,8.0,434,8638,0.00,2.47,0.00,0.000,6,0.000,0.031,2851,1949,1123
$GC,8957,0.22,394.7,195.1,7.9,452,8959,0.12,0.00,0.00,0.000,6,0.117,0.000,2829,1948,1123
$GC,9278,0.22,394.7,171.8,7.8,482,9282,0.00,2.47,0.00,0.000,4,0.000,0.038,2829,3362,1124
$GC,9333,0.22,394.7,167.2,7.8,486,9340,0.00,2.42,0.00,0.000,6,0.000,0.028,2828,1944,1124
$GC,9661,0.22,394.7,143.1,8.2,517,9665,0.00,2.47,0.00,0.000,4,0.000,0.036,2829,3366,1124
$GC,9718,0.27,394.7,138.3,7.7,521,9724,0.00,2.42,0.00,0.000,6,0.000,0.028,2829,1938,1125
$GC,10048,0.27,394.7,113.9,7.4,552,10052,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3370,1125
$GC,10069,0.27,394.7,111.9,7.6,553,10076,0.00,2.40,0.00,0.000,6,0.000,0.026,2828,1953,1126
$GC,10399,0.39,439.6,90.3,5.6,584,10443,0.15,2.53,34.90,0.635,4,0.066,0.035,2864,3353,940
$GC,10483,0.40,447.2,84.4,6.9,591,10494,0.00,2.40,6.50,0.627,6,0.000,0.027,2864,1950,909
$GC,10816,0.40,447.2,58.4,8.0,622,10820,0.00,2.45,0.00,0.000,4,0.000,0.034,2864,3363,910
$GC,10868,0.44,447.2,54.2,7.2,626,10872,0.00,2.40,0.00,0.000,6,0.000,0.025,2865,1945,910
$GC,11135,0.44,447.2,33.5,8.5,651,11139,0.00,2.45,0.00,0.000,4,0.000,0.034,2864,3365,911
$GC,11181,0.49,447.2,29.5,8.7,654,11188,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,1943,911
$GC,11461,0.58,474.1,10.3,6.2,703,11490,0.15,2.53,20.75,0.549,4,0.061,0.033,2906,3359,799
$GC,11509,0.58,474.1,5.7,9.6,711,11515,0.00,2.40,0.00,0.000,6,0.000,0.024,2906,1948,799
$STATE,11520,end climb,SURFACE_DEPTH_REACHED
$STATE,11520,begin surface coast
$FINISH,0.8,1.022731
$STATE,11571,end surface coast,CONTROL_FINISHED_OK
$STATE,11572,begin surface
$SM_CCo,11656,0.00,0.000,0,0,799,474.41
$SM_GC,1.54,11.15,0.00,0.00,0.047,0.000,0.000,411,2073,799,-10.85,0.93,474.41
$IRIDIUM_FIX,2059.45,-15750.89,020198,070719
$TT8_MAMPS,0.027612
$HUMID,1685
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.80
$XPDR_PINGS,13
$24V_AH,23.8,17.987
$10V_AH,10.2,10.677
$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,28.400,127.725,488.250,0.000,0.000,24.112,33.437,130.965,12.500,0.000,0.000,15.022,1319.060,7912.274,538.089,1703.977,501.030,33.371,1389.444,0.000,1668.177,0.000,65.445
$DEVICE_MAMPS,161.070,53.690,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.368,480.878,870.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37992,722
$CAP_FILE_SIZE,108865,0
$CFSIZE,260165632,251609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,134637,2103.445,-15747.991,11,1.8,27,9.8