version: 66.03
glider: 114
mission: 3
dive: 156
start: 10 13 108 7 5 40
data:
$ID,114
$MISSION,3
$DIVE,156
$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,-594642.31
$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,33
$R_STBD_OVSHOOT,68
$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
$GPS1,065555,2103.623,-15747.830,39,1.1,39,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.2
$GPS2,070444,2103.601,-15747.748,9,1.0,14,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.129,-0.149
$KALMAN_X,-28251.4,-244.1,473.4,38075.0,-316.7
$KALMAN_Y,-34581.5,37.6,140.8,10368.8,-429.1
$MHEAD_RNG_PITCHd_Wd,129.3,2772,-14.9,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.18,-108.7,0.0,0.0,0,100,0.00,0.00,-69.82,0.000,2,0.000,0.000,411,2086,2809
$GC,104,-1.25,-146.0,3.3,-3.8,13,134,11.77,2.58,-8.68,0.000,4,0.160,0.048,2499,628,3330
$GC,203,-1.40,-146.0,20.7,-9.5,30,210,0.12,2.33,0.00,0.000,6,0.059,0.023,2467,2013,3330
$GC,479,-1.40,-146.0,56.3,-13.3,62,483,0.00,2.47,0.00,0.000,4,0.000,0.038,2467,3446,3330
$GC,632,-1.47,-146.0,76.9,-13.3,75,637,0.00,2.38,0.00,0.000,6,0.000,0.023,2467,2032,3330
$GC,897,-1.55,-146.0,106.9,-10.8,99,902,0.12,2.45,0.00,0.000,4,0.061,0.033,2435,3447,3331
$GC,928,-1.59,-146.0,110.5,-11.8,101,932,0.00,2.38,0.00,0.000,6,0.000,0.022,2435,2028,3331
$GC,1259,-1.64,-146.0,145.4,-9.9,132,1264,0.00,2.45,0.00,0.000,4,0.000,0.035,2435,3446,3331
$GC,1279,-1.68,-146.0,147.1,-9.3,133,1283,0.00,2.35,0.00,0.000,6,0.000,0.022,2434,2039,3331
$GC,1605,-1.75,-146.0,174.9,-8.7,163,1609,0.15,2.42,0.00,0.000,4,0.055,0.034,2391,3444,3331
$GC,1672,-1.75,-146.0,182.0,-11.2,168,1678,0.00,2.35,0.00,0.000,6,0.000,0.024,2391,2041,3331
$GC,2007,-1.75,-146.0,219.1,-10.9,192,2011,0.00,2.42,0.00,0.000,4,0.000,0.038,2391,631,3331
$GC,2027,-1.75,-146.0,221.2,-10.6,193,2031,0.00,2.38,0.00,0.000,6,0.000,0.025,2391,2042,3331
$GC,2354,-1.75,-146.0,252.8,-8.8,209,2358,0.00,2.45,0.00,0.000,4,0.000,0.040,2391,638,3330
$GC,2377,-1.75,-146.0,255.1,-10.1,210,2381,0.00,2.38,0.00,0.000,6,0.000,0.025,2391,2040,3330
$GC,2704,-1.75,-146.0,286.7,-9.2,226,2708,0.00,2.45,0.00,0.000,4,0.000,0.041,2391,642,3330
$GC,2726,-1.78,-146.0,288.8,-8.7,227,2730,0.00,2.38,0.00,0.000,6,0.000,0.027,2391,2043,3330
$GC,3048,-1.82,-146.0,314.4,-8.1,239,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2043,3329
$GC,3371,-1.87,-146.0,346.6,-10.2,247,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2044,3327
$GC,3696,-1.92,-146.0,378.9,-9.8,255,3700,0.12,2.47,0.00,0.000,4,0.068,0.045,2361,3446,3325
$GC,3736,-1.92,-146.0,383.4,-11.1,256,3740,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2039,3325
$GC,4061,-1.92,-146.0,420.7,-11.2,264,4065,0.00,2.47,0.00,0.000,4,0.000,0.048,2361,635,3321
$GC,4094,-1.92,-146.0,424.4,-10.1,264,4100,0.00,2.42,0.00,0.000,6,0.000,0.031,2361,2045,3321
$STATE,4383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4383,begin apogee
$GC,4391,-0.33,0.0,453.8,10.3,272,4508,1.67,0.00,113.25,0.911,6,0.096,0.000,2703,1940,2733
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4512,1.25,146.0,459.2,0.0,275,4635,1.55,2.58,113.85,0.891,4,0.051,0.052,3047,546,2136
$GC,4703,0.73,146.0,453.1,13.2,279,4709,0.60,2.47,0.00,0.000,6,0.151,0.030,2942,1960,2136
$GC,5047,0.45,146.0,422.2,8.9,288,5052,0.30,2.55,0.00,0.000,4,0.130,0.051,2884,554,2133
$GC,5171,0.25,146.0,412.5,7.2,290,5177,0.25,2.45,0.00,0.000,6,0.123,0.031,2839,1961,2132
$GC,5503,0.20,149.1,391.8,6.7,299,5507,0.00,2.55,0.00,0.000,4,0.000,0.053,2839,557,2131
$GC,5525,0.11,149.1,390.2,7.0,299,5530,0.17,2.42,0.00,0.000,6,0.123,0.031,2808,1953,2130
$GC,5863,0.17,183.0,371.4,5.3,308,5897,0.00,2.62,27.65,0.894,4,0.000,0.053,2808,563,1986
$GC,5926,0.19,189.7,367.7,6.5,309,5937,0.00,2.42,5.80,0.852,6,0.000,0.031,2808,1950,1959
$GC,6269,0.20,200.2,345.3,6.4,318,6283,0.00,2.58,8.62,0.876,4,0.000,0.049,2808,3347,1916
$GC,6374,0.24,223.4,339.4,5.8,320,6401,0.12,2.42,18.67,0.881,6,0.084,0.033,2834,1961,1821
$GC,6726,0.26,232.9,318.0,6.4,329,6741,0.00,2.62,7.95,0.860,4,0.000,0.053,2834,546,1783
$GC,6793,0.23,232.9,312.9,8.0,330,6797,0.00,2.45,0.00,0.000,6,0.000,0.031,2834,1950,1783
$GC,7118,0.23,234.9,291.6,6.7,341,7122,0.00,2.50,0.00,0.000,4,0.000,0.048,2834,3352,1782
$GC,7145,0.23,234.9,289.3,7.9,342,7150,0.00,2.45,0.00,0.000,6,0.000,0.033,2834,1948,1781
$GC,7462,0.29,271.8,270.4,5.2,357,7498,0.00,2.58,30.75,0.831,4,0.000,0.051,2834,545,1623
$GC,7527,0.29,271.8,266.0,7.9,359,7531,0.00,2.45,0.00,0.000,6,0.000,0.029,2834,1949,1623
$GC,7849,0.29,271.8,242.4,7.3,375,7853,0.00,2.50,0.00,0.000,4,0.000,0.044,2834,3365,1623
$GC,7922,0.33,271.8,236.2,8.4,378,7926,0.00,2.47,0.00,0.000,6,0.000,0.032,2834,1942,1623
$GC,8238,0.33,271.8,215.0,6.9,393,8242,0.00,2.50,0.00,0.000,4,0.000,0.051,2834,542,1623
$GC,8266,0.33,271.8,212.9,7.4,394,8270,0.00,2.42,0.00,0.000,6,0.000,0.028,2834,1957,1623
$GC,8591,0.33,271.8,191.8,7.0,416,8595,0.00,2.42,0.00,0.000,4,0.000,0.041,2834,3349,1623
$GC,8624,0.33,271.8,189.5,7.1,418,8630,0.00,2.42,0.00,0.000,6,0.000,0.030,2834,1937,1623
$GC,8952,0.37,271.8,168.8,7.0,449,8957,0.12,2.47,0.00,0.000,4,0.072,0.036,2864,3355,1623
$GC,9004,0.37,271.8,164.2,8.7,453,9009,0.00,2.42,0.00,0.000,6,0.000,0.028,2863,1941,1624
$GC,9334,0.39,284.0,140.6,6.3,483,9349,0.00,2.50,10.02,0.703,4,0.000,0.036,2863,3354,1574
$GC,9396,0.39,284.0,136.1,7.3,488,9401,0.00,2.42,0.00,0.000,6,0.000,0.028,2863,1948,1574
$GC,9724,0.39,284.0,108.7,7.7,518,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1947,1575
$GC,10051,0.44,284.0,88.9,7.5,549,10055,0.00,2.47,0.00,0.000,4,0.000,0.046,2863,540,1576
$GC,10062,0.48,284.0,88.2,6.9,549,10069,0.10,2.38,0.00,0.000,6,0.075,0.023,2888,1961,1576
$GC,10388,0.56,326.1,72.2,5.0,580,10425,0.00,2.42,32.08,0.610,4,0.000,0.034,2888,3344,1402
$GC,10462,0.63,345.6,68.4,6.0,586,10485,0.12,2.40,14.75,0.604,6,0.069,0.026,2916,1943,1323
$GC,10741,0.63,345.6,48.7,8.4,612,10745,0.00,2.45,0.00,0.000,4,0.000,0.033,2916,3355,1324
$GC,10774,0.63,345.6,45.7,8.2,614,10780,0.00,2.40,0.00,0.000,6,0.000,0.025,2916,1937,1324
$GC,11044,0.61,352.9,23.9,6.5,646,11055,0.00,0.00,6.25,0.567,6,0.000,0.000,2916,1937,1293
$STATE,11285,end climb,SURFACE_DEPTH_REACHED
$STATE,11285,begin surface coast
$FINISH,0.8,1.021067
$STATE,11365,end surface coast,CONTROL_FINISHED_OK
$STATE,11365,begin surface
$SM_CCo,11389,27.12,0.535,0,0,1060,410.14
$SM_GC,1.50,0.00,0.00,27.12,0.000,0.000,0.535,410,2078,1060,-10.90,1.05,410.14
$IRIDIUM_FIX,2054.83,-15746.61,070198,070744
$TT8_MAMPS,0.027612
$HUMID,1675
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,25.10
$XPDR_PINGS,17
$24V_AH,23.8,22.296
$10V_AH,10.2,13.506
$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,28.400,127.975,389.650,27.125,0.000,54.730,67.554,208.638,13.250,0.000,0.000,15.686,1289.369,7885.300,501.444,1618.656,656.172,33.367,1306.438,0.000,1592.278,0.000,59.973
$DEVICE_MAMPS,159.536,52.923,911.196,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.117,464.229,835.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38078,703
$CAP_FILE_SIZE,107542,0
$CFSIZE,260165632,249655296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,101707,2102.492,-15746.563,27,1.6,27,9.8