version: 66.03
glider: 114
mission: 3
dive: 130
start: 10 9 108 13 23 33
data:
$ID,114
$MISSION,3
$DIVE,130
$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,-594090.94
$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,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
$GPS1,131715,2106.308,-15748.863,11,1.7,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.7
$GPS2,132238,2106.260,-15748.799,9,1.8,15,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.034,-0.224
$KALMAN_X,-36263.0,-552.7,-132.5,45191.8,926.4
$KALMAN_Y,-29016.7,-110.7,-55.4,10076.2,-274.3
$MHEAD_RNG_PITCHd_Wd,161.7,7992,-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,-70.10,0.000,2,0.000,0.000,408,2084,2932
$GC,103,-1.13,-146.0,3.8,-4.9,13,128,12.02,2.53,-6.15,0.000,4,0.162,0.048,2527,634,3330
$GC,220,-1.29,-146.0,25.0,-9.0,33,227,0.12,2.30,0.00,0.000,6,0.059,0.022,2496,2014,3330
$GC,489,-1.29,-146.0,53.0,-10.7,62,493,0.00,2.45,0.00,0.000,4,0.000,0.036,2496,3445,3330
$GC,591,-1.41,-146.0,63.2,-9.0,70,598,0.10,2.38,0.00,0.000,6,0.067,0.024,2471,2027,3331
$GC,853,-1.41,-146.0,91.0,-10.0,95,857,0.00,2.45,0.00,0.000,4,0.000,0.035,2471,3446,3331
$GC,894,-1.41,-146.0,94.7,-8.9,98,898,0.00,2.38,0.00,0.000,6,0.000,0.023,2471,2032,3331
$GC,1221,-1.45,-146.0,122.8,-9.6,128,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2031,3332
$GC,1552,-1.51,-146.0,150.1,-7.5,159,1557,0.00,2.42,0.00,0.000,4,0.000,0.035,2471,3437,3333
$GC,1632,-1.60,-146.0,156.2,-7.5,165,1638,0.17,2.35,0.00,0.000,6,0.053,0.024,2427,2034,3333
$GC,1958,-1.60,-146.0,190.1,-11.6,196,1962,0.00,2.42,0.00,0.000,4,0.000,0.035,2427,3440,3333
$GC,1976,-1.60,-146.0,192.1,-11.1,197,1980,0.00,2.38,0.00,0.000,6,0.000,0.024,2426,2027,3333
$GC,2304,-1.60,-146.0,223.5,-9.0,216,2308,0.00,2.45,0.00,0.000,4,0.000,0.037,2427,3444,3332
$GC,2332,-1.60,-146.0,226.3,-9.9,217,2337,0.00,2.38,0.00,0.000,6,0.000,0.025,2426,2031,3333
$GC,2649,-1.63,-146.0,253.7,-7.7,232,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2029,3332
$GC,2960,-1.67,-146.0,280.2,-9.6,247,2964,0.00,2.45,0.00,0.000,4,0.000,0.038,2426,3440,3333
$GC,3023,-1.75,-146.0,285.8,-8.5,250,3028,0.12,2.38,0.00,0.000,6,0.065,0.028,2396,2043,3332
$GC,3368,-1.75,-146.0,315.6,-9.2,263,3372,0.00,2.45,0.00,0.000,4,0.000,0.044,2396,631,3330
$GC,3441,-1.75,-146.0,321.9,-8.7,264,3445,0.00,2.40,0.00,0.000,6,0.000,0.029,2396,2039,3330
$GC,3777,-1.75,-146.0,346.2,-7.3,273,3782,0.00,2.45,0.00,0.000,4,0.000,0.044,2396,3446,3328
$GC,3794,-1.75,-146.0,347.7,-7.9,273,3798,0.00,2.40,0.00,0.000,6,0.000,0.028,2396,2038,3328
$GC,4137,-1.75,-146.0,379.7,-9.9,282,4144,0.00,2.47,0.00,0.000,4,0.000,0.043,2396,3445,3326
$GC,4167,-1.75,-146.0,382.9,-10.2,282,4171,0.00,2.40,0.00,0.000,6,0.000,0.031,2396,2043,3326
$GC,4506,-1.75,-146.0,410.7,-7.8,291,4510,0.00,2.47,0.00,0.000,4,0.000,0.044,2396,3446,3323
$GC,4539,-1.75,-146.0,413.5,-7.2,291,4545,0.00,2.42,0.00,0.000,6,0.000,0.031,2396,2034,3323
$GC,4871,-1.75,-146.0,438.5,-7.8,300,4875,0.00,2.47,0.00,0.000,4,0.000,0.049,2396,631,3320
$GC,4899,-1.75,-146.0,440.8,-8.4,300,4903,0.00,2.42,0.00,0.000,6,0.000,0.031,2396,2042,3320
$STATE,5026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5027,begin apogee
$GC,5035,-0.33,0.0,451.1,8.0,303,5152,1.50,0.00,113.60,0.922,6,0.091,0.000,2705,1934,2733
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5156,1.13,146.0,455.7,0.0,306,5278,1.42,0.00,114.78,0.894,6,0.052,0.000,3021,1935,2137
$GC,5607,0.65,146.0,420.7,11.0,317,5609,0.52,0.00,0.00,0.000,6,0.132,0.000,2928,1934,2135
$GC,5929,0.36,146.0,394.1,8.0,325,5934,0.32,2.50,0.00,0.000,4,0.130,0.052,2866,553,2133
$GC,5992,0.18,158.6,389.7,6.7,326,6007,0.25,2.45,9.75,0.881,6,0.124,0.031,2820,1965,2086
$GC,6334,0.23,230.0,373.0,4.7,334,6395,0.00,2.53,55.25,0.881,4,0.000,0.049,2820,3350,1794
$GC,6441,0.23,262.0,367.5,6.0,336,6472,0.00,2.45,25.45,0.864,6,0.000,0.035,2820,1962,1665
$GC,6780,0.17,265.8,344.4,7.0,345,6790,0.00,2.62,4.10,0.822,4,0.000,0.054,2821,544,1648
$GC,6819,0.11,265.8,341.2,8.5,345,6825,0.00,2.45,0.00,0.000,6,0.000,0.031,2819,1950,1649
$GC,7151,0.09,284.1,318.3,6.5,354,7171,0.00,2.58,14.85,0.858,4,0.000,0.049,2820,3360,1573
$GC,7217,0.05,284.1,313.8,7.2,355,7222,0.15,2.47,0.00,0.000,6,0.122,0.033,2794,1949,1573
$GC,7541,0.11,317.9,295.3,6.0,365,7570,0.00,0.00,26.65,0.846,6,0.000,0.000,2794,1949,1436
$GC,7870,0.17,355.5,276.8,5.8,381,7905,0.10,2.55,29.60,0.824,4,0.087,0.041,2816,3356,1283
$GC,7958,0.17,355.5,270.3,8.2,385,7962,0.00,2.47,0.00,0.000,6,0.000,0.031,2816,1946,1283
$GC,8285,0.19,366.3,245.6,6.8,401,8299,0.00,2.55,9.20,0.800,4,0.000,0.041,2815,3359,1239
$GC,8340,0.19,366.3,241.7,7.3,403,8344,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1948,1239
$GC,8663,0.19,366.3,216.6,8.2,419,8667,0.00,2.47,0.00,0.000,4,0.000,0.038,2816,3356,1239
$GC,8730,0.22,366.3,211.2,7.9,422,8734,0.00,2.45,0.00,0.000,6,0.000,0.030,2816,1939,1239
$GC,9056,0.24,376.3,189.9,6.8,445,9066,0.00,0.00,8.32,0.750,6,0.000,0.000,2815,1938,1199
$GC,9388,0.24,376.3,166.7,7.3,476,9392,0.00,2.47,0.00,0.000,4,0.000,0.036,2816,3358,1199
$GC,9456,0.30,377.8,161.2,7.1,481,9463,0.12,2.42,0.00,0.000,6,0.070,0.027,2845,1938,1200
$GC,9782,0.27,377.8,133.7,7.8,512,9794,0.00,2.55,2.45,0.671,4,0.000,0.036,2845,3373,1192
$GC,9808,0.23,377.8,131.5,8.8,514,9812,0.00,2.45,0.00,0.000,6,0.000,0.027,2845,1941,1192
$GC,10136,0.23,377.8,104.9,7.4,544,10140,0.00,2.47,0.00,0.000,4,0.000,0.036,2845,3367,1193
$GC,10225,0.23,377.8,98.0,7.2,551,10232,0.00,2.40,0.00,0.000,6,0.000,0.028,2845,1945,1194
$GC,10554,0.28,408.1,76.3,6.1,582,10587,0.00,2.53,23.25,0.622,4,0.000,0.034,2845,3356,1068
$GC,10624,0.38,432.5,71.9,6.3,588,10648,0.00,2.42,19.08,0.610,6,0.000,0.025,2845,1941,968
$GC,10913,0.45,441.4,54.2,6.8,615,10925,0.15,2.55,7.25,0.593,4,0.060,0.034,2886,3366,933
$GC,10943,0.45,441.4,51.7,8.1,617,10949,0.00,2.42,0.00,0.000,6,0.000,0.025,2886,1942,932
$GC,11206,0.45,441.4,29.0,8.1,643,11212,0.00,2.47,0.00,0.000,4,0.000,0.034,2886,3370,933
$GC,11236,0.45,441.4,26.5,8.0,648,11242,0.00,2.42,0.00,0.000,6,0.000,0.025,2886,1941,934
$GC,11515,0.51,471.3,6.2,6.1,697,11533,0.00,0.00,16.40,0.548,2,0.000,0.000,2886,1941,846
$STATE,11534,end climb,SURFACE_DEPTH_REACHED
$STATE,11534,begin surface coast
$FINISH,0.8,0.999822
$STATE,11629,end surface coast,CONTROL_FINISHED_OK
$STATE,11629,begin surface
$SM_CCo,11713,0.00,0.000,0,0,848,462.64
$SM_GC,1.49,11.00,0.00,0.00,0.043,0.000,0.000,410,2085,848,-10.86,1.27,462.64
$IRIDIUM_FIX,2101.76,-15750.89,030198,101020
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.90
$XPDR_PINGS,17
$24V_AH,23.8,19.018
$10V_AH,10.2,11.327
$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,28.100,123.025,479.975,0.000,0.000,25.354,30.898,139.095,13.250,0.000,0.000,16.964,1294.032,8059.067,556.963,1613.978,513.486,33.377,1364.399,0.000,1590.924,0.000,62.445
$DEVICE_MAMPS,161.837,53.690,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.629,480.873,856.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38026,717
$CAP_FILE_SIZE,105495,0
$CFSIZE,260165632,251162624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,164002,2104.722,-15748.131,37,1.2,37,9.8