version: 66.03
glider: 114
mission: 3
dive: 144
start: 10 11 108 13 21 10
data:
$ID,114
$MISSION,3
$DIVE,144
$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,220
$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,-594377.94
$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,78
$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
$GPS1,131408,2104.213,-15747.655,34,1.1,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.3
$GPS2,132014,2104.218,-15747.640,9,1.1,14,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.048,-0.216
$KALMAN_X,-30487.8,-223.8,-639.8,41593.3,1380.0
$KALMAN_Y,-31799.1,-501.2,-188.5,9601.1,629.0
$MHEAD_RNG_PITCHd_Wd,182.6,3739,-12.5,-6.818
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.09,-146.0,0.0,0.0,0,91,0.00,0.00,-59.45,0.000,2,0.000,0.000,409,2076,2767
$GC,95,-1.09,-146.0,3.0,-3.5,11,126,11.90,2.33,-9.75,0.000,4,0.157,0.051,2532,3393,3331
$GC,269,-1.17,-146.0,24.9,-7.1,41,275,0.00,2.28,0.00,0.000,6,0.000,0.022,2532,2026,3331
$GC,542,-1.22,-146.0,50.4,-9.1,70,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2026,3331
$GC,805,-1.33,-146.0,69.5,-8.2,95,809,0.17,2.38,0.00,0.000,4,0.052,0.034,2485,3403,3332
$GC,907,-1.39,-146.0,80.1,-9.9,103,913,0.00,2.28,0.00,0.000,6,0.000,0.023,2485,2041,3332
$GC,1169,-1.39,-146.0,105.9,-9.7,128,1173,0.00,2.35,0.00,0.000,4,0.000,0.035,2485,3408,3333
$GC,1211,-1.44,-146.0,109.7,-9.4,131,1216,0.00,2.30,0.00,0.000,6,0.000,0.023,2485,2034,3333
$GC,1543,-1.51,-146.0,135.6,-7.2,162,1548,0.15,2.35,0.00,0.000,4,0.056,0.033,2443,3402,3333
$GC,1600,-1.51,-146.0,140.4,-8.3,166,1606,0.00,2.28,0.00,0.000,6,0.000,0.024,2442,2039,3333
$GC,1925,-1.51,-146.0,167.9,-9.5,197,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2039,3334
$GC,2248,-1.51,-146.0,196.3,-8.0,227,2252,0.00,2.35,0.00,0.000,4,0.000,0.035,2443,3404,3333
$GC,2321,-1.55,-146.0,202.3,-7.7,232,2325,0.00,2.30,0.00,0.000,6,0.000,0.024,2443,2032,3333
$GC,2638,-1.59,-146.0,226.6,-7.4,247,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2032,3333
$GC,2947,-1.63,-146.0,248.2,-7.4,262,2951,0.00,2.38,0.00,0.000,4,0.000,0.037,2443,3405,3333
$GC,2970,-1.68,-146.0,250.2,-8.5,263,2975,0.12,2.30,0.00,0.000,6,0.064,0.025,2411,2042,3333
$GC,3292,-1.68,-146.0,279.2,-9.0,279,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2041,3333
$GC,3600,-1.68,-146.0,304.4,-8.1,293,3605,0.00,2.38,0.00,0.000,4,0.000,0.038,2411,3408,3331
$GC,3617,-1.68,-146.0,305.9,-8.1,293,3621,0.00,2.33,0.00,0.000,6,0.000,0.027,2411,2035,3331
$GC,3966,-1.68,-146.0,331.3,-7.4,302,3970,0.00,2.38,0.00,0.000,4,0.000,0.039,2411,3399,3329
$GC,4006,-1.68,-146.0,334.3,-7.8,303,4010,0.00,2.33,0.00,0.000,6,0.000,0.028,2411,2036,3328
$GC,4333,-1.68,-146.0,360.3,-8.3,311,4337,0.00,2.38,0.00,0.000,4,0.000,0.040,2411,3397,3326
$GC,4366,-1.68,-146.0,363.4,-8.4,311,4372,0.00,2.33,0.00,0.000,6,0.000,0.029,2411,2036,3326
$GC,4698,-1.68,-146.0,388.5,-7.8,320,4702,0.00,2.40,0.00,0.000,4,0.000,0.041,2411,3404,3323
$GC,4720,-1.68,-146.0,390.5,-8.7,320,4724,0.00,2.33,0.00,0.000,6,0.000,0.030,2411,2035,3323
$GC,5063,-1.68,-146.0,418.1,-7.5,329,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2034,3321
$GC,5391,-1.72,-146.0,442.1,-7.2,337,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2034,3319
$STATE,5509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5509,begin apogee
$GC,5517,-0.33,0.0,450.5,7.0,340,5634,1.42,0.00,113.20,0.921,6,0.094,0.000,2705,1932,2734
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5638,1.09,146.0,454.7,0.0,343,5760,1.42,2.50,114.47,0.895,4,0.053,0.040,3015,3314,2137
$GC,5896,0.59,146.0,440.0,11.8,349,5901,0.57,2.40,0.00,0.000,6,0.138,0.035,2913,1955,2136
$GC,6245,0.31,146.0,410.5,8.5,358,6250,0.30,2.58,0.00,0.000,4,0.121,0.054,2854,536,2133
$GC,6307,0.10,146.0,405.7,7.9,359,6312,0.25,2.38,0.00,0.000,6,0.120,0.030,2807,1915,2133
$GC,6650,0.13,202.4,389.0,4.9,368,6700,0.00,2.65,42.88,0.900,4,0.000,0.047,2807,3348,1907
$GC,6747,0.06,202.4,383.1,7.0,370,6751,0.00,2.47,0.00,0.000,6,0.000,0.034,2807,1945,1907
$GC,7061,0.03,216.9,362.6,6.3,378,7075,0.00,0.00,11.93,0.887,6,0.000,0.000,2807,1944,1848
$GC,7386,-0.02,218.8,340.8,6.8,386,7391,0.15,2.53,0.00,0.000,4,0.121,0.041,2777,3359,1846
$GC,7436,0.03,245.1,337.5,5.9,387,7467,0.00,2.47,22.27,0.882,6,0.000,0.033,2776,1944,1733
$GC,7793,0.10,285.4,317.2,5.5,396,7835,0.12,2.62,32.08,0.864,4,0.081,0.041,2803,3356,1569
$GC,7864,0.14,310.9,312.8,6.0,397,7889,0.00,2.47,20.02,0.851,6,0.000,0.032,2803,1950,1465
$GC,8205,0.14,310.9,288.2,7.4,409,8210,0.00,2.50,0.00,0.000,4,0.000,0.041,2803,3352,1465
$GC,8239,0.14,310.9,285.5,7.0,410,8245,0.00,2.45,0.00,0.000,6,0.000,0.032,2803,1948,1465
$GC,8555,0.21,348.5,265.2,5.6,426,8591,0.10,2.58,29.35,0.825,4,0.087,0.041,2825,3348,1312
$GC,8625,0.17,348.5,260.0,7.9,429,8630,0.00,2.47,0.00,0.000,6,0.000,0.032,2825,1939,1312
$GC,8948,0.12,348.5,233.0,8.3,445,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1939,1312
$GC,9257,0.09,348.5,207.7,7.2,460,9261,0.12,2.50,0.00,0.000,4,0.110,0.036,2802,3361,1312
$GC,9320,0.16,362.7,203.7,6.3,463,9341,0.00,2.45,11.93,0.768,6,0.000,0.029,2802,1946,1254
$GC,9660,0.26,398.7,180.8,5.6,492,9694,0.15,2.58,28.12,0.739,4,0.069,0.036,2842,3354,1107
$GC,9734,0.22,398.7,174.8,8.6,498,9740,0.00,2.45,0.00,0.000,6,0.000,0.028,2842,1936,1107
$GC,10063,0.17,398.7,144.5,9.0,529,10068,0.12,2.47,0.00,0.000,4,0.106,0.035,2818,3358,1107
$GC,10127,0.20,398.7,139.7,7.3,534,10131,0.00,2.42,0.00,0.000,6,0.000,0.027,2818,1941,1108
$GC,10453,0.31,441.6,119.1,5.4,564,10497,0.12,2.58,33.42,0.659,4,0.069,0.035,2849,3357,932
$GC,10548,0.31,441.6,112.7,7.2,572,10554,0.00,2.42,0.00,0.000,6,0.000,0.027,2848,1945,932
$GC,10878,0.31,441.6,87.6,7.7,603,10882,0.00,2.45,0.00,0.000,4,0.000,0.034,2849,3355,932
$GC,10923,0.37,441.6,83.9,7.5,606,10929,0.00,2.40,0.00,0.000,6,0.000,0.025,2849,1946,933
$GC,11252,0.51,503.1,66.0,4.8,637,11307,0.15,2.47,46.55,0.591,4,0.062,0.033,2890,3354,681
$GC,11325,0.45,503.1,59.2,10.3,643,11331,0.00,2.42,0.00,0.000,6,0.000,0.025,2890,1936,681
$GC,11587,0.39,503.1,32.7,10.6,668,11592,0.12,2.45,0.00,0.000,4,0.103,0.031,2866,3356,681
$GC,11622,0.39,503.1,28.9,11.1,671,11629,0.00,2.40,0.00,0.000,6,0.000,0.024,2866,1939,681
$GC,11901,0.39,503.1,5.3,7.4,720,11907,0.00,2.45,0.00,0.000,4,0.000,0.046,2867,3353,681
$STATE,11911,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,2.3,1.022831
$STATE,11929,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,12016,0.00,0.000,0,0,683,502.86
$SM_GC,1.46,11.07,0.00,0.00,0.053,0.000,0.000,412,2033,683,-10.85,-0.20,502.86
$IRIDIUM_FIX,2059.45,-15748.75,050198,090928
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,22
$24V_AH,23.8,20.761
$10V_AH,10.2,12.498
$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,28.575,121.100,506.225,0.000,0.000,23.822,37.829,169.703,14.500,0.000,0.000,15.616,1314.224,8284.521,570.618,1660.017,553.476,33.363,1406.533,0.000,1628.046,0.000,60.097
$DEVICE_MAMPS,157.235,53.690,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.867,476.719,852.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,725
$CAP_FILE_SIZE,108398,0
$CFSIZE,260165632,250351616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111008,164308,2102.848,-15747.518,63,1.3,63,9.8