version: 66.03
glider: 114
mission: 3
dive: 155
start: 10 13 108 3 42 53
data:
$ID,114
$MISSION,3
$DIVE,155
$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,-594626
$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,69
$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
$GPS1,033559,2104.880,-15748.943,8,2.2,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.5
$GPS2,034157,2104.934,-15748.901,13,1.5,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.102,-0.197
$KALMAN_X,-27945.9,15.6,-729.5,36726.3,763.8
$KALMAN_Y,-34522.8,143.8,-153.7,12971.3,-453.0
$MHEAD_RNG_PITCHd_Wd,142.8,5925,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-64.40,0.000,2,0.000,0.000,410,2079,2808
$GC,101,-1.09,-146.0,3.2,-3.7,12,131,11.93,2.55,-8.65,0.000,4,0.157,0.046,2533,631,3331
$GC,189,-1.25,-146.0,19.1,-8.2,27,196,0.12,2.33,0.00,0.000,6,0.058,0.022,2501,2021,3331
$GC,464,-1.25,-146.0,46.9,-9.4,62,468,0.00,2.45,0.00,0.000,4,0.000,0.037,2501,3442,3331
$GC,567,-1.29,-146.0,55.8,-8.3,70,574,0.00,2.38,0.00,0.000,6,0.000,0.023,2501,2021,3331
$GC,830,-1.33,-146.0,80.2,-8.2,95,834,0.00,2.45,0.00,0.000,4,0.000,0.035,2501,3439,3332
$GC,886,-1.44,-146.0,84.9,-7.1,99,893,0.15,2.35,0.00,0.000,6,0.058,0.023,2464,2032,3332
$GC,1212,-1.44,-146.0,116.8,-10.1,130,1216,0.00,2.45,0.00,0.000,4,0.000,0.035,2464,3448,3333
$GC,1234,-1.44,-146.0,119.4,-10.7,131,1240,0.00,2.38,0.00,0.000,6,0.000,0.023,2464,2026,3333
$GC,1559,-1.44,-146.0,149.8,-8.1,162,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2024,3334
$GC,1881,-1.48,-146.0,175.2,-9.0,192,1885,0.00,2.45,0.00,0.000,4,0.000,0.035,2464,3446,3334
$GC,1933,-1.56,-146.0,180.2,-9.0,196,1938,0.12,2.38,0.00,0.000,6,0.061,0.024,2433,2029,3334
$GC,2266,-1.56,-146.0,212.7,-9.7,221,2270,0.00,2.38,0.00,0.000,4,0.000,0.040,2433,640,3334
$GC,2289,-1.56,-146.0,215.1,-10.0,222,2293,0.00,2.38,0.00,0.000,6,0.000,0.025,2433,2049,3333
$GC,2616,-1.56,-146.0,243.6,-7.8,238,2620,0.00,2.40,0.00,0.000,4,0.000,0.038,2433,3445,3333
$GC,2666,-1.61,-146.0,247.6,-8.2,240,2671,0.00,2.38,0.00,0.000,6,0.000,0.026,2433,2041,3333
$GC,2989,-1.65,-146.0,271.7,-7.2,256,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2040,3333
$GC,3298,-1.70,-146.0,296.7,-8.0,271,3302,0.00,2.45,0.00,0.000,4,0.000,0.040,2433,3443,3332
$GC,3361,-1.77,-146.0,302.0,-8.3,273,3366,0.17,2.40,0.00,0.000,6,0.058,0.028,2391,2035,3331
$GC,3711,-1.77,-146.0,332.2,-8.5,282,3715,0.00,2.47,0.00,0.000,4,0.000,0.041,2391,3446,3328
$GC,3727,-1.77,-146.0,334.0,-8.9,282,3731,0.00,2.40,0.00,0.000,6,0.000,0.028,2391,2038,3328
$GC,4070,-1.77,-146.0,364.2,-8.2,291,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2038,3326
$GC,4396,-1.77,-146.0,392.0,-9.0,299,4400,0.00,2.47,0.00,0.000,4,0.000,0.043,2391,3438,3323
$GC,4440,-1.77,-146.0,396.4,-9.5,300,4444,0.00,2.40,0.00,0.000,6,0.000,0.031,2391,2039,3323
$GC,4759,-1.77,-146.0,424.3,-8.5,308,4763,0.00,2.47,0.00,0.000,4,0.000,0.050,2391,640,3320
$GC,4792,-1.77,-146.0,427.4,-9.3,308,4798,0.00,2.40,0.00,0.000,6,0.000,0.031,2391,2035,3320
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5081,begin apogee
$GC,5089,-0.33,0.0,453.0,8.9,316,5206,1.52,0.00,113.32,0.928,6,0.094,0.000,2703,1941,2733
$STATE,5207,end apogee,CONTROL_FINISHED_OK
$STATE,5207,begin climb
$GC,5210,1.09,146.0,458.8,0.0,319,5333,1.40,2.60,113.95,0.900,4,0.053,0.045,3013,3359,2136
$GC,5373,0.58,146.0,457.4,8.8,322,5379,0.57,2.47,0.00,0.000,6,0.127,0.034,2910,1960,2136
$GC,5705,0.30,146.0,433.0,7.5,331,5710,0.30,2.58,0.00,0.000,4,0.122,0.053,2851,543,2134
$GC,5746,0.10,152.1,430.3,6.6,332,5757,0.25,2.47,4.88,0.874,6,0.124,0.030,2805,1962,2112
$GC,6071,0.15,219.7,415.3,4.6,340,6131,0.00,2.70,52.28,0.904,4,0.000,0.054,2805,537,1837
$GC,6156,0.06,219.7,410.5,7.0,342,6160,0.00,2.50,0.00,0.000,6,0.000,0.031,2805,1959,1837
$GC,6481,0.03,234.9,389.5,6.3,350,6500,0.00,2.58,12.35,0.888,4,0.000,0.049,2805,3349,1775
$GC,6513,-0.00,254.5,387.4,6.2,350,6535,0.12,2.47,16.20,0.884,6,0.120,0.032,2784,1946,1695
$GC,6850,0.10,310.7,369.3,5.0,359,6899,0.00,2.58,43.92,0.885,4,0.000,0.044,2784,3350,1466
$GC,6952,0.11,317.8,363.4,6.6,361,6965,0.00,2.47,6.50,0.849,6,0.000,0.033,2784,1948,1437
$GC,7304,0.14,332.3,340.2,6.3,370,7323,0.12,2.62,11.85,0.868,4,0.082,0.044,2810,3357,1378
$GC,7363,0.09,332.3,335.7,8.5,371,7367,0.00,2.50,0.00,0.000,6,0.000,0.033,2811,1938,1378
$GC,7712,0.04,332.3,307.2,8.3,380,7717,0.10,2.53,0.00,0.000,4,0.121,0.042,2794,3351,1377
$GC,7756,0.04,332.3,303.5,7.8,381,7760,0.00,2.45,0.00,0.000,6,0.000,0.031,2793,1949,1377
$GC,8079,0.11,370.3,283.1,5.6,395,8114,0.00,2.55,29.90,0.854,4,0.000,0.041,2793,3351,1223
$GC,8161,0.11,370.3,278.0,7.1,398,8165,0.00,2.47,0.00,0.000,6,0.000,0.032,2793,1942,1223
$GC,8488,0.24,447.6,259.3,4.2,414,8554,0.15,2.58,60.25,0.820,4,0.076,0.042,2831,3351,908
$GC,8610,0.19,447.6,249.6,10.4,419,8614,0.00,2.47,0.00,0.000,6,0.000,0.031,2831,1940,908
$GC,8927,0.14,447.6,214.7,10.0,434,8931,0.00,2.53,0.00,0.000,4,0.000,0.040,2831,3362,908
$GC,8994,0.14,447.6,207.6,9.8,437,8999,0.00,2.47,0.00,0.000,6,0.000,0.031,2831,1939,908
$GC,9326,0.10,447.6,175.4,10.4,464,9331,0.15,2.50,0.00,0.000,4,0.101,0.036,2798,3366,908
$GC,9382,0.18,447.6,170.3,8.0,468,9388,0.00,2.45,0.00,0.000,6,0.000,0.028,2798,1937,908
$GC,9711,0.33,502.5,151.4,5.0,499,9764,0.20,2.53,42.58,0.703,4,0.058,0.035,2851,3354,683
$GC,9811,0.29,502.5,141.9,11.4,508,9816,0.00,2.45,0.00,0.000,6,0.000,0.027,2851,1939,683
$GC,10140,0.21,502.5,104.0,11.2,538,10145,0.12,2.47,0.00,0.000,4,0.106,0.035,2828,3361,683
$GC,10174,0.21,502.5,100.1,10.3,540,10180,0.00,2.42,0.00,0.000,6,0.000,0.025,2828,1940,683
$GC,10503,0.25,502.5,71.7,8.0,571,10507,0.00,2.47,0.00,0.000,4,0.000,0.034,2828,3365,684
$GC,10554,0.35,502.5,67.4,7.6,575,10559,0.12,2.42,0.00,0.000,6,0.069,0.025,2858,1943,685
$GC,10819,0.35,502.5,45.0,7.0,599,10823,0.00,2.45,0.00,0.000,4,0.000,0.034,2858,3359,685
$GC,10855,0.38,502.5,42.1,7.4,602,10859,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1940,686
$GC,11123,0.38,502.5,21.3,8.2,635,11129,0.00,2.45,0.00,0.000,4,0.000,0.035,2858,3365,687
$GC,11171,0.41,502.5,17.4,8.2,643,11178,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1949,688
$STATE,11353,end climb,SURFACE_DEPTH_REACHED
$STATE,11353,begin surface coast
$FINISH,0.8,1.023057
$STATE,11420,end surface coast,CONTROL_FINISHED_OK
$STATE,11420,begin surface
$SM_CCo,11504,0.00,0.000,0,0,690,501.15
$SM_GC,1.69,10.85,0.00,0.00,0.046,0.000,0.000,411,2088,690,-10.85,1.36,501.15
$IRIDIUM_FIX,2059.45,-15750.89,070198,000055
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,23.8,22.179
$10V_AH,10.2,13.424
$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,28.500,133.500,507.975,0.000,0.000,25.996,33.416,164.718,10.250,0.000,0.000,14.986,1270.823,7846.686,555.877,1640.581,549.145,33.367,1396.881,0.000,1606.989,0.000,57.446
$DEVICE_MAMPS,157.235,53.690,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.159,445.263,796.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34870,687
$CAP_FILE_SIZE,108563,0
$CFSIZE,260165632,249712640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,065555,2103.623,-15747.830,39,1.1,39,9.8