version: 66.03
glider: 114
mission: 3
dive: 126
start: 10 9 108 0 6 5
data:
$ID,114
$MISSION,3
$DIVE,126
$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,-594025.88
$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,79
$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
$GPS1,235735,2107.101,-15748.663,11,2.2,30,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.7
$GPS2,000509,2107.125,-15748.522,8,1.2,8,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.113,0.196
$KALMAN_X,-37216.0,527.5,-159.8,45564.7,548.5
$KALMAN_Y,-27966.3,236.3,4.5,10221.2,-653.7
$MHEAD_RNG_PITCHd_Wd,320.3,5905,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.13,-146.0,0.0,0.0,0,100,0.00,0.00,-69.82,0.000,2,0.000,0.000,408,2083,2913
$GC,104,-1.13,-146.0,3.5,-4.2,13,128,12.00,2.30,-6.57,0.000,4,0.162,0.052,2524,3396,3329
$GC,288,-1.25,-146.0,30.8,-8.3,45,293,0.00,2.30,0.00,0.000,6,0.000,0.023,2524,2025,3329
$GC,551,-1.34,-146.0,52.5,-8.5,69,555,0.15,2.40,0.00,0.000,4,0.057,0.037,2483,634,3330
$GC,569,-1.41,-146.0,54.2,-8.8,70,573,0.00,2.30,0.00,0.000,6,0.000,0.022,2483,2011,3330
$GC,831,-1.46,-146.0,78.7,-8.7,94,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3330
$GC,1087,-1.51,-146.0,100.0,-8.0,118,1092,0.15,2.42,0.00,0.000,4,0.057,0.034,2443,3441,3331
$GC,1151,-1.51,-146.0,106.6,-10.5,123,1155,0.00,2.35,0.00,0.000,6,0.000,0.024,2442,2033,3331
$GC,1476,-1.51,-146.0,136.7,-9.6,153,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2033,3331
$GC,1797,-1.51,-146.0,168.2,-9.8,183,1802,0.00,2.42,0.00,0.000,4,0.000,0.035,2442,3440,3331
$GC,1844,-1.57,-146.0,172.9,-9.3,186,1851,0.00,2.35,0.00,0.000,6,0.000,0.025,2442,2036,3331
$GC,2169,-1.61,-146.0,204.0,-8.9,215,2173,0.00,2.40,0.00,0.000,4,0.000,0.039,2442,640,3331
$GC,2197,-1.68,-146.0,206.3,-8.2,216,2202,0.12,2.35,0.00,0.000,6,0.061,0.025,2410,2039,3331
$GC,2514,-1.68,-146.0,235.3,-8.9,231,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2039,3331
$GC,2823,-1.68,-146.0,261.9,-8.8,246,2827,0.00,2.42,0.00,0.000,4,0.000,0.039,2410,3445,3331
$GC,2895,-1.68,-146.0,268.5,-8.6,249,2900,0.00,2.38,0.00,0.000,6,0.000,0.027,2409,2043,3331
$GC,3211,-1.68,-146.0,294.3,-8.3,264,3216,0.00,2.45,0.00,0.000,4,0.000,0.043,2409,634,3330
$GC,3245,-1.68,-146.0,297.3,-8.6,265,3251,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2043,3329
$GC,3577,-1.68,-146.0,326.9,-8.9,275,3581,0.00,2.45,0.00,0.000,4,0.000,0.043,2409,3448,3327
$GC,3607,-1.71,-146.0,329.3,-8.6,275,3612,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2041,3327
$GC,3939,-1.74,-146.0,356.4,-8.1,283,3944,0.00,2.47,0.00,0.000,4,0.000,0.042,2410,3447,3325
$GC,3962,-1.77,-146.0,358.4,-8.4,283,3966,0.00,2.40,0.00,0.000,6,0.000,0.029,2409,2034,3324
$GC,4306,-1.81,-146.0,384.7,-7.5,292,4311,0.10,2.50,0.00,0.000,4,0.078,0.041,2386,3449,3321
$GC,4346,-1.81,-146.0,387.9,-8.4,293,4350,0.00,2.42,0.00,0.000,6,0.000,0.030,2386,2040,3321
$GC,4671,-1.81,-146.0,416.1,-9.0,301,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2040,3319
$GC,4995,-1.81,-146.0,447.8,-10.0,309,4999,0.00,2.47,0.00,0.000,4,0.000,0.044,2386,3443,3316
$STATE,5016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5026,-0.33,0.0,450.2,9.6,309,5143,1.52,0.00,113.05,0.920,6,0.097,0.000,2700,1954,2733
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5147,1.13,146.0,455.3,0.0,312,5271,1.48,2.55,114.15,0.895,4,0.054,0.040,3024,3358,2136
$GC,5401,0.64,146.0,443.2,11.9,317,5407,0.57,2.50,0.00,0.000,6,0.131,0.035,2922,1940,2136
$GC,5733,0.35,146.0,416.6,7.8,326,5738,0.30,2.53,0.00,0.000,4,0.125,0.041,2864,3352,2134
$GC,5768,0.20,165.2,414.1,6.5,326,5789,0.20,2.47,15.02,0.890,6,0.125,0.033,2827,1941,2059
$GC,6098,0.21,224.8,397.2,5.1,335,6151,0.00,2.58,46.35,0.891,4,0.000,0.054,2827,545,1815
$GC,6183,0.11,224.8,392.0,7.5,337,6188,0.12,2.47,0.00,0.000,6,0.129,0.030,2807,1957,1814
$GC,6508,0.12,251.3,371.8,6.2,345,6534,0.00,2.55,20.98,0.887,4,0.000,0.048,2807,3355,1707
$GC,6569,0.10,261.9,367.6,6.8,346,6583,0.00,2.47,9.20,0.862,6,0.000,0.033,2807,1950,1664
$GC,6916,0.14,285.3,344.9,6.3,355,6940,0.00,2.58,19.00,0.874,4,0.000,0.043,2807,3356,1569
$GC,6975,0.14,285.3,340.5,8.1,356,6979,0.00,2.47,0.00,0.000,6,0.000,0.032,2807,1948,1569
$GC,7324,0.15,293.9,315.3,6.8,365,7338,0.00,2.60,7.32,0.855,4,0.000,0.042,2807,3368,1534
$GC,7356,0.15,293.9,313.0,7.2,365,7360,0.00,2.50,0.00,0.000,6,0.000,0.032,2807,1942,1534
$GC,7668,0.25,348.3,295.9,5.3,374,7713,0.12,0.00,42.42,0.849,6,0.081,0.000,2833,1942,1312
$GC,8019,0.18,348.3,266.5,9.5,391,8023,0.00,2.50,0.00,0.000,4,0.000,0.041,2833,3352,1312
$GC,8069,0.15,348.3,261.4,9.1,393,8074,0.10,2.45,0.00,0.000,6,0.119,0.031,2816,1948,1312
$GC,8385,0.15,348.3,236.8,7.8,408,8390,0.00,2.47,0.00,0.000,4,0.000,0.039,2816,3353,1311
$GC,8414,0.15,348.3,234.5,8.1,409,8418,0.00,2.45,0.00,0.000,6,0.000,0.031,2816,1939,1312
$GC,8730,0.15,348.3,208.6,7.9,424,8734,0.00,2.47,0.00,0.000,4,0.000,0.037,2816,3354,1312
$GC,8804,0.25,390.2,203.7,5.7,427,8844,0.00,2.42,32.78,0.771,6,0.000,0.029,2816,1944,1142
$GC,9165,0.26,399.0,179.6,6.8,458,9174,0.00,0.00,7.55,0.739,6,0.000,0.000,2816,1944,1106
$GC,9498,0.26,399.0,153.4,8.3,489,9502,0.00,2.47,0.00,0.000,4,0.000,0.035,2816,3366,1106
$GC,9561,0.33,399.0,148.0,7.2,494,9566,0.15,2.45,0.00,0.000,6,0.067,0.028,2850,1939,1107
$GC,9888,0.28,399.0,120.5,9.6,524,9892,0.00,2.47,0.00,0.000,4,0.000,0.035,2850,3363,1107
$GC,9921,0.25,399.0,117.0,10.3,526,9928,0.00,2.40,0.00,0.000,6,0.000,0.027,2850,1951,1107
$GC,10251,0.25,399.0,89.7,8.6,557,10255,0.00,2.45,0.00,0.000,4,0.000,0.034,2850,3367,1108
$GC,10291,0.25,399.0,85.7,10.0,560,10295,0.00,2.42,0.00,0.000,6,0.000,0.026,2850,1945,1109
$GC,10621,0.29,420.4,60.9,6.4,590,10644,0.00,2.55,17.23,0.613,4,0.000,0.034,2851,3365,1019
$GC,10692,0.44,465.1,56.4,5.6,596,10736,0.12,2.42,34.15,0.597,6,0.069,0.025,2880,1941,835
$GC,10990,0.44,465.1,31.2,8.8,624,10994,0.00,2.45,0.00,0.000,4,0.000,0.043,2880,544,836
$GC,11019,0.44,465.1,28.6,9.0,627,11026,0.00,2.38,0.00,0.000,6,0.000,0.023,2880,1963,836
$GC,11298,0.44,465.1,6.9,8.3,676,11304,0.00,2.38,0.00,0.000,4,0.000,0.039,2880,3344,838
$STATE,11320,end climb,SURFACE_DEPTH_REACHED
$STATE,11320,begin surface coast
$FINISH,1.5,1.022588
$STATE,11365,end surface coast,CONTROL_FINISHED_OK
$STATE,11365,begin surface
$SM_CCo,11452,0.00,0.000,0,0,840,464.11
$SM_GC,1.49,11.05,0.00,0.00,0.048,0.000,0.000,409,2020,840,-10.86,-0.57,464.11
$IRIDIUM_FIX,2057.14,-15748.75,020198,202050
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.50
$XPDR_PINGS,15
$24V_AH,23.8,18.509
$10V_AH,10.2,11.004
$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,28.275,127.150,479.200,0.000,0.000,23.406,28.826,279.681,12.750,0.000,0.000,9.957,1270.586,7872.277,536.519,1591.746,636.687,33.368,1340.063,0.000,1562.819,0.000,60.000
$DEVICE_MAMPS,161.837,53.690,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.026,452.841,813.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34928,688
$CAP_FILE_SIZE,108203,0
$CFSIZE,260165632,251383808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,031808,2108.265,-15749.150,32,1.0,32,9.8