version: 66.03
glider: 114
mission: 3
dive: 153
start: 10 12 108 20 42 3
data:
$ID,114
$MISSION,3
$DIVE,153
$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,-594571.31
$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,80
$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
$GPS1,203502,2107.994,-15749.795,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.2
$GPS2,204108,2107.939,-15749.746,20,1.3,31,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.127,-0.181
$KALMAN_X,-27092.3,109.6,639.6,32949.2,-362.9
$KALMAN_Y,-33638.8,83.8,144.8,17415.0,-448.7
$MHEAD_RNG_PITCHd_Wd,135.2,11501,-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,-59.40,0.000,2,0.000,0.000,408,2080,2798
$GC,95,-1.09,-146.0,3.2,-3.7,11,125,11.93,2.55,-9.27,0.000,4,0.158,0.048,2533,640,3332
$GC,190,-1.25,-146.0,17.9,-8.0,27,197,0.12,2.30,0.00,0.000,6,0.059,0.022,2501,1994,3332
$GC,460,-1.25,-146.0,45.1,-10.7,63,465,0.00,2.50,0.00,0.000,4,0.000,0.037,2501,3444,3332
$GC,562,-1.34,-146.0,55.4,-8.8,71,568,0.00,2.38,0.00,0.000,6,0.000,0.023,2501,2026,3332
$GC,824,-1.41,-146.0,79.5,-8.3,96,829,0.12,2.45,0.00,0.000,4,0.060,0.034,2470,3443,3333
$GC,893,-1.45,-146.0,86.2,-9.4,101,899,0.00,2.35,0.00,0.000,6,0.000,0.023,2469,2036,3334
$GC,1223,-1.45,-146.0,111.8,-7.9,132,1227,0.00,2.42,0.00,0.000,4,0.000,0.035,2469,3440,3334
$GC,1264,-1.51,-146.0,115.5,-9.0,135,1268,0.00,2.35,0.00,0.000,6,0.000,0.024,2469,2042,3334
$GC,1590,-1.56,-146.0,143.2,-7.8,165,1595,0.12,2.42,0.00,0.000,4,0.059,0.034,2435,3446,3334
$GC,1612,-1.56,-146.0,145.3,-8.5,166,1618,0.00,2.38,0.00,0.000,6,0.000,0.023,2436,2025,3334
$GC,1937,-1.56,-146.0,174.0,-8.2,197,1941,0.00,2.45,0.00,0.000,4,0.000,0.035,2436,3449,3334
$GC,1954,-1.56,-146.0,175.6,-8.6,198,1960,0.00,2.38,0.00,0.000,6,0.000,0.024,2435,2028,3334
$GC,2279,-1.56,-146.0,202.3,-8.2,228,2283,0.00,2.45,0.00,0.000,4,0.000,0.035,2435,3445,3334
$GC,2307,-1.56,-146.0,204.7,-8.7,229,2311,0.00,2.38,0.00,0.000,6,0.000,0.025,2435,2033,3334
$GC,2623,-1.56,-146.0,230.0,-7.8,244,2627,0.00,2.45,0.00,0.000,4,0.000,0.037,2436,3446,3334
$GC,2674,-1.62,-146.0,234.4,-8.2,246,2678,0.00,2.38,0.00,0.000,6,0.000,0.025,2435,2030,3334
$GC,2996,-1.66,-146.0,259.8,-8.0,262,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2029,3334
$GC,3306,-1.71,-146.0,282.8,-8.2,277,3311,0.12,2.45,0.00,0.000,4,0.064,0.038,2406,3440,3333
$GC,3348,-1.71,-146.0,286.5,-10.0,279,3352,0.00,2.38,0.00,0.000,6,0.000,0.028,2406,2046,3333
$GC,3673,-1.71,-146.0,313.3,-7.4,291,3677,0.00,2.45,0.00,0.000,4,0.000,0.040,2406,3444,3330
$GC,3701,-1.71,-146.0,315.3,-6.9,291,3705,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,2034,3330
$GC,4032,-1.71,-146.0,338.5,-6.8,299,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2034,3328
$GC,4358,-1.71,-146.0,362.8,-7.6,307,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2034,3326
$GC,4682,-1.71,-146.0,388.3,-8.1,315,4686,0.00,2.47,0.00,0.000,4,0.000,0.043,2406,3438,3324
$GC,4710,-1.71,-146.0,390.8,-9.2,315,4715,0.00,2.40,0.00,0.000,6,0.000,0.031,2406,2039,3324
$GC,5042,-1.71,-146.0,414.6,-6.8,323,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2038,3321
$GC,5367,-1.71,-146.0,439.2,-8.2,331,5371,0.00,2.47,0.00,0.000,4,0.000,0.044,2406,3438,3319
$GC,5412,-1.76,-146.0,443.2,-8.3,332,5416,0.00,2.42,0.00,0.000,6,0.000,0.032,2405,2032,3319
$STATE,5525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5525,begin apogee
$GC,5533,-0.33,0.0,453.2,8.5,335,5650,1.45,0.00,113.30,0.928,6,0.091,0.000,2705,1938,2733
$STATE,5651,end apogee,CONTROL_FINISHED_OK
$STATE,5651,begin climb
$GC,5655,1.09,146.0,458.1,0.0,338,5778,1.38,2.55,114.20,0.900,4,0.048,0.052,3012,558,2136
$GC,5947,0.55,146.0,439.2,12.8,344,5952,0.62,2.42,0.00,0.000,6,0.144,0.029,2902,1949,2135
$GC,6279,0.29,146.0,412.5,7.8,352,6281,0.30,0.00,0.00,0.000,6,0.127,0.000,2848,1950,2133
$GC,6604,0.18,175.8,393.8,5.8,360,6634,0.15,2.62,22.65,0.896,4,0.139,0.053,2822,560,2016
$GC,6675,0.10,194.8,389.6,6.2,361,6695,0.00,2.42,15.27,0.885,6,0.000,0.031,2822,1949,1939
$GC,7015,0.05,216.1,368.8,6.1,370,7039,0.15,2.62,17.00,0.884,4,0.136,0.048,2793,3354,1852
$GC,7063,0.13,264.4,366.0,5.2,371,7107,0.00,2.45,38.38,0.879,6,0.000,0.033,2793,1964,1655
$GC,7428,0.19,297.8,345.6,5.7,380,7457,0.12,0.00,26.55,0.870,6,0.084,0.000,2820,1964,1520
$GC,7752,0.13,297.8,322.5,7.1,388,7757,0.00,2.50,0.00,0.000,4,0.000,0.043,2820,3359,1519
$GC,7798,0.07,297.8,319.3,7.1,389,7803,0.12,2.47,0.00,0.000,6,0.113,0.032,2797,1945,1519
$GC,8117,0.16,350.8,301.6,5.1,397,8163,0.00,2.58,41.17,0.854,4,0.000,0.041,2798,3358,1303
$GC,8199,0.25,402.2,298.0,5.1,400,8245,0.17,2.50,40.65,0.834,6,0.072,0.032,2835,1940,1093
$GC,8568,0.17,402.2,266.5,9.0,418,8572,0.00,2.53,0.00,0.000,4,0.000,0.042,2835,3353,1093
$GC,8631,0.13,402.2,260.5,9.5,421,8636,0.12,2.47,0.00,0.000,6,0.110,0.033,2812,1937,1093
$GC,8959,0.13,402.2,231.8,8.5,437,8963,0.00,2.50,0.00,0.000,4,0.000,0.039,2812,3353,1094
$GC,9009,0.13,402.2,227.3,8.8,439,9013,0.00,2.45,0.00,0.000,6,0.000,0.031,2812,1942,1093
$GC,9325,0.19,433.7,205.4,5.8,454,9355,0.00,2.55,24.88,0.763,4,0.000,0.038,2812,3353,965
$GC,9407,0.19,433.7,199.4,7.1,458,9411,0.00,2.45,0.00,0.000,6,0.000,0.029,2812,1943,965
$GC,9735,0.19,433.7,176.5,8.0,488,9739,0.00,2.47,0.00,0.000,4,0.000,0.037,2812,3354,965
$GC,9791,0.22,433.7,171.5,8.4,492,9797,0.00,2.42,0.00,0.000,6,0.000,0.028,2813,1944,965
$GC,10121,0.22,433.7,147.9,7.2,523,10125,0.00,2.47,0.00,0.000,4,0.000,0.036,2812,3357,965
$GC,10165,0.27,433.7,144.2,7.2,526,10172,0.12,2.42,0.00,0.000,6,0.072,0.027,2841,1937,965
$GC,10491,0.27,433.7,118.9,8.3,557,10495,0.00,2.47,0.00,0.000,4,0.000,0.035,2842,3360,966
$GC,10542,0.27,433.7,114.3,8.9,561,10547,0.00,2.42,0.00,0.000,6,0.000,0.026,2842,1943,966
$GC,10871,0.37,492.5,91.0,4.9,591,10924,0.00,2.55,45.28,0.630,4,0.000,0.035,2841,3355,724
$GC,10961,0.41,492.5,85.3,7.5,599,10966,0.12,2.42,0.00,0.000,6,0.067,0.025,2871,1949,725
$GC,11287,0.37,492.5,55.9,9.5,629,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1948,726
$GC,11541,0.37,492.5,34.2,7.9,653,11545,0.00,2.45,0.00,0.000,4,0.000,0.033,2871,3365,727
$GC,11616,0.42,492.5,28.5,7.1,660,11623,0.00,2.40,0.00,0.000,6,0.000,0.024,2872,1943,727
$STATE,11880,end climb,SURFACE_DEPTH_REACHED
$STATE,11880,begin surface coast
$FINISH,0.9,1.011239
$STATE,11949,end surface coast,CONTROL_FINISHED_OK
$STATE,11949,begin surface
$SM_CCo,12033,0.00,0.000,0,0,731,491.09
$SM_GC,1.48,10.88,0.00,0.00,0.043,0.000,0.000,409,2090,731,-10.86,1.41,491.09
$IRIDIUM_FIX,2059.45,-15750.89,060198,171741
$TT8_MAMPS,0.027612
$HUMID,1699
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.80
$XPDR_PINGS,16
$24V_AH,23.8,21.904
$10V_AH,10.2,13.259
$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,28.150,122.950,499.325,0.000,0.000,22.312,36.133,156.217,13.250,0.000,0.000,32.878,1321.007,8294.276,545.947,1701.631,536.223,33.366,1385.969,0.000,1650.330,0.000,60.262
$DEVICE_MAMPS,158.002,54.457,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.284,469.355,842.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,719
$CAP_FILE_SIZE,108126,0
$CFSIZE,260165632,249823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,000338,2106.416,-15749.445,23,2.0,23,9.8