version: 66.03
glider: 114
mission: 3
dive: 154
start: 10 13 108 0 15 2
data:
$ID,114
$MISSION,3
$DIVE,154
$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,-594610.38
$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,34
$R_STBD_OVSHOOT,71
$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
$GPS1,000338,2106.416,-15749.445,23,2.0,23,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.7
$GPS2,001407,2106.443,-15749.491,32,1.3,36,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.158,-0.155
$KALMAN_X,-27526.5,195.8,-257.3,34638.1,-569.2
$KALMAN_Y,-34004.8,218.4,-1.8,15020.8,-593.2
$MHEAD_RNG_PITCHd_Wd,124.8,8836,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.09,-146.0,0.0,0.0,0,99,0.00,0.00,-69.70,0.000,2,0.000,0.000,409,2088,2854
$GC,104,-1.09,-146.0,3.5,-4.5,13,129,12.00,2.58,-7.75,0.000,4,0.160,0.046,2535,637,3331
$GC,182,-1.23,-146.0,19.1,-9.9,26,188,0.10,2.30,0.00,0.000,6,0.064,0.021,2509,2015,3331
$GC,456,-1.23,-146.0,45.8,-9.5,61,460,0.00,2.45,0.00,0.000,4,0.000,0.035,2508,3444,3331
$GC,535,-1.30,-146.0,53.5,-8.6,67,542,0.00,2.38,0.00,0.000,6,0.000,0.023,2509,2022,3331
$GC,798,-1.35,-146.0,77.9,-9.8,92,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2021,3331
$GC,1053,-1.43,-146.0,97.4,-6.8,116,1058,0.15,2.45,0.00,0.000,4,0.055,0.033,2466,3444,3332
$GC,1094,-1.47,-146.0,100.9,-8.2,119,1098,0.00,2.35,0.00,0.000,6,0.000,0.023,2466,2040,3332
$GC,1419,-1.47,-146.0,128.2,-7.9,149,1424,0.00,2.42,0.00,0.000,4,0.000,0.035,2466,3448,3332
$GC,1494,-1.54,-146.0,134.5,-8.9,155,1498,0.00,2.38,0.00,0.000,6,0.000,0.023,2466,2035,3332
$GC,1822,-1.58,-146.0,164.2,-8.9,185,1827,0.15,2.40,0.00,0.000,4,0.057,0.038,2424,638,3332
$GC,1862,-1.58,-146.0,168.3,-10.4,188,1866,0.00,2.35,0.00,0.000,6,0.000,0.023,2424,2040,3332
$GC,2187,-1.58,-146.0,197.1,-8.0,218,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2041,3332
$GC,2498,-1.58,-146.0,225.6,-8.7,235,2502,0.00,2.40,0.00,0.000,4,0.000,0.037,2425,3439,3332
$GC,2572,-1.58,-146.0,231.9,-7.6,238,2576,0.00,2.38,0.00,0.000,6,0.000,0.026,2424,2032,3332
$GC,2888,-1.58,-146.0,259.5,-9.5,253,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2033,3332
$GC,3197,-1.58,-146.0,288.0,-9.1,268,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2033,3331
$GC,3506,-1.58,-146.0,312.8,-7.5,279,3510,0.00,2.47,0.00,0.000,4,0.000,0.040,2424,3446,3329
$GC,3548,-1.63,-146.0,315.7,-6.2,280,3553,0.00,2.40,0.00,0.000,6,0.000,0.028,2424,2041,3328
$GC,3873,-1.63,-146.0,338.5,-7.3,288,3877,0.00,2.45,0.00,0.000,4,0.000,0.041,2425,3437,3326
$GC,3902,-1.68,-146.0,341.1,-9.6,288,3906,0.00,2.40,0.00,0.000,6,0.000,0.028,2425,2031,3326
$GC,4234,-1.72,-146.0,371.4,-9.2,296,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2029,3324
$GC,4559,-1.76,-146.0,398.7,-7.9,304,4561,0.12,0.00,0.00,0.000,6,0.071,0.000,2396,2030,3321
$GC,4885,-1.76,-146.0,422.1,-6.8,312,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2029,3319
$GC,5208,-1.76,-146.0,447.4,-7.8,320,5212,0.00,2.50,0.00,0.000,4,0.000,0.044,2396,3444,3316
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5251,-0.33,0.0,450.2,7.9,320,5368,1.48,0.00,112.93,0.911,6,0.093,0.000,2702,1957,2733
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5372,1.09,146.0,452.8,0.0,323,5495,1.40,2.62,113.55,0.889,4,0.051,0.052,3013,534,2137
$GC,5620,0.56,146.0,439.3,12.5,328,5625,0.60,2.47,0.00,0.000,6,0.145,0.030,2907,1952,2137
$GC,5952,0.29,146.0,413.6,8.0,336,5954,0.32,0.00,0.00,0.000,6,0.128,0.000,2848,1953,2135
$GC,6277,0.18,170.5,393.8,6.0,344,6298,0.15,0.00,18.92,0.890,6,0.144,0.000,2822,1953,2037
$GC,6602,0.20,233.9,377.0,4.7,352,6657,0.00,2.62,49.03,0.883,4,0.000,0.052,2822,545,1779
$GC,6698,0.14,251.9,372.1,6.2,354,6718,0.00,2.47,14.75,0.861,6,0.000,0.031,2822,1957,1705
$GC,7051,0.08,261.8,350.7,6.5,363,7065,0.12,2.58,8.50,0.858,4,0.137,0.049,2802,3350,1665
$GC,7095,0.09,268.9,347.7,6.6,364,7108,0.00,2.47,6.55,0.853,6,0.000,0.033,2802,1947,1635
$GC,7424,0.09,268.9,324.2,7.5,372,7428,0.00,2.53,0.00,0.000,4,0.000,0.043,2802,3357,1635
$GC,7457,0.09,268.9,321.4,8.3,372,7463,0.00,2.47,0.00,0.000,6,0.000,0.031,2802,1940,1635
$GC,7769,0.09,268.9,295.4,8.5,381,7774,0.00,2.53,0.00,0.000,4,0.000,0.042,2802,3359,1634
$GC,7814,0.09,268.9,291.7,8.4,383,7818,0.00,2.47,0.00,0.000,6,0.000,0.032,2802,1938,1634
$GC,8137,0.17,312.6,272.2,5.4,399,8175,0.00,0.00,33.58,0.832,6,0.000,0.000,2802,1937,1458
$GC,8485,0.17,312.6,249.0,7.6,416,8489,0.00,2.53,0.00,0.000,4,0.000,0.040,2802,3361,1458
$GC,8535,0.17,312.6,245.3,7.7,418,8539,0.00,2.47,0.00,0.000,6,0.000,0.031,2802,1936,1458
$GC,8852,0.25,360.5,226.6,5.2,433,8895,0.15,2.62,37.20,0.787,4,0.074,0.039,2839,3357,1263
$GC,8930,0.19,360.5,220.3,8.6,436,8934,0.00,2.47,0.00,0.000,6,0.000,0.031,2839,1943,1263
$GC,9249,0.12,360.5,191.9,8.4,455,9254,0.15,2.50,0.00,0.000,4,0.104,0.038,2807,3356,1263
$GC,9317,0.18,370.1,187.2,6.5,460,9333,0.00,2.45,8.43,0.746,6,0.000,0.029,2807,1940,1223
$GC,9653,0.24,404.7,168.3,5.7,492,9686,0.12,2.55,26.88,0.724,4,0.071,0.036,2836,3364,1082
$GC,9711,0.20,404.7,164.2,8.5,497,9715,0.00,2.47,0.00,0.000,6,0.000,0.028,2836,1942,1083
$GC,10040,0.17,404.7,137.7,8.3,527,10044,0.00,2.50,0.00,0.000,4,0.000,0.038,2836,3365,1083
$GC,10081,0.17,404.7,134.0,8.1,530,10085,0.00,2.45,0.00,0.000,6,0.000,0.028,2836,1942,1083
$GC,10411,0.17,404.7,108.6,7.9,560,10415,0.00,2.47,0.00,0.000,4,0.000,0.035,2836,3363,1084
$GC,10463,0.17,404.7,104.3,8.0,564,10467,0.00,2.42,0.00,0.000,6,0.000,0.026,2836,1947,1083
$GC,10792,0.26,439.9,83.3,5.6,594,10829,0.00,2.58,27.45,0.628,4,0.000,0.034,2836,3370,938
$GC,10854,0.35,457.2,79.3,6.2,600,10876,0.00,2.45,13.60,0.621,6,0.000,0.025,2836,1941,868
$GC,11136,0.40,457.2,60.6,7.7,626,11141,0.12,2.47,0.00,0.000,4,0.066,0.032,2868,3364,869
$GC,11177,0.40,457.2,56.5,10.1,629,11181,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,1951,870
$GC,11439,0.40,457.2,35.4,7.6,653,11442,0.00,2.45,0.00,0.000,4,0.000,0.033,2868,3369,871
$GC,11497,0.46,457.2,30.5,7.8,658,11501,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,1937,871
$GC,11774,0.46,457.2,10.7,7.9,706,11780,0.00,2.42,0.00,0.000,4,0.000,0.044,2868,548,872
$GC,11799,0.46,457.2,8.7,7.8,710,11805,0.00,2.38,0.00,0.000,6,0.000,0.022,2868,1969,872
$STATE,11837,end climb,SURFACE_DEPTH_REACHED
$STATE,11837,begin surface coast
$FINISH,0.9,1.022854
$STATE,11906,end surface coast,CONTROL_FINISHED_OK
$STATE,11906,begin surface
$SM_CCo,11990,0.00,0.000,0,0,875,456.01
$SM_GC,1.46,10.90,0.00,0.00,0.045,0.000,0.000,410,2080,875,-10.86,1.16,456.01
$IRIDIUM_FIX,2057.14,-15750.89,070198,000022
$TT8_MAMPS,0.027612
$HUMID,1695
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,13
$24V_AH,23.8,22.040
$10V_AH,10.2,13.345
$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,28.050,118.525,471.350,0.000,0.000,47.129,63.952,291.137,12.250,0.000,0.000,38.458,1321.938,8372.604,540.471,1653.573,731.105,33.368,1349.524,0.000,1605.867,0.000,57.439
$DEVICE_MAMPS,159.536,57.525,911.196,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.385,486.912,868.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37914,729
$CAP_FILE_SIZE,108662,0
$CFSIZE,260165632,249765888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,033559,2104.880,-15748.943,8,2.2,27,9.8