version: 66.03
glider: 114
mission: 3
dive: 162
start: 10 14 108 3 49 0
data:
$ID,114
$MISSION,3
$DIVE,162
$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,-594752.12
$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,36
$R_STBD_OVSHOOT,49
$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
$GPS1,034238,2107.976,-15749.345,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.9
$GPS2,034803,2108.019,-15749.304,11,1.3,11,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.114,0.190
$KALMAN_X,-28153.3,-245.6,-734.1,36500.7,752.7
$KALMAN_Y,-37202.7,-32.6,-267.1,21653.9,-216.7
$MHEAD_RNG_PITCHd_Wd,319.3,3861,-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,26,-1.09,-146.0,0.0,0.0,0,110,0.00,0.00,-80.53,0.000,2,0.000,0.000,408,2062,2918
$GC,114,-1.09,-146.0,3.4,-3.8,15,138,11.98,2.47,-6.55,0.000,4,0.158,0.045,2533,638,3329
$GC,225,-1.23,-146.0,22.5,-8.6,34,232,0.00,2.35,0.00,0.000,6,0.000,0.022,2533,2038,3329
$GC,501,-1.30,-146.0,45.0,-7.8,67,506,0.17,2.40,0.00,0.000,4,0.054,0.035,2489,3442,3329
$GC,587,-1.30,-146.0,53.5,-11.3,74,591,0.00,2.38,0.00,0.000,6,0.000,0.023,2489,2026,3329
$GC,854,-1.30,-146.0,82.3,-9.8,99,858,0.00,2.38,0.00,0.000,4,0.000,0.037,2489,640,3329
$GC,884,-1.34,-146.0,85.1,-9.8,101,888,0.00,2.35,0.00,0.000,6,0.000,0.022,2489,2051,3329
$GC,1210,-1.39,-146.0,114.1,-8.3,131,1214,0.00,2.38,0.00,0.000,4,0.000,0.035,2489,3437,3329
$GC,1277,-1.49,-146.0,119.8,-8.3,136,1288,0.15,2.35,0.00,0.000,6,0.055,0.024,2451,2031,3329
$GC,1604,-1.49,-146.0,155.4,-10.5,167,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2031,3330
$GC,1925,-1.52,-146.0,183.5,-8.1,197,1929,0.00,2.40,0.00,0.000,4,0.000,0.038,2451,634,3329
$GC,1943,-1.56,-146.0,185.3,-8.1,198,1947,0.00,2.38,0.00,0.000,6,0.000,0.024,2451,2049,3330
$GC,2267,-1.61,-146.0,213.2,-9.1,221,2269,0.10,0.00,0.00,0.000,6,0.067,0.000,2425,2050,3330
$GC,2576,-1.61,-146.0,241.3,-8.9,236,2580,0.00,2.40,0.00,0.000,4,0.000,0.038,2424,3444,3330
$GC,2599,-1.61,-146.0,243.8,-9.6,237,2604,0.00,2.38,0.00,0.000,6,0.000,0.026,2425,2039,3330
$GC,2922,-1.61,-146.0,271.9,-8.6,253,2926,0.00,2.45,0.00,0.000,4,0.000,0.038,2425,3446,3329
$GC,2956,-1.65,-146.0,275.0,-8.9,254,2960,0.00,2.40,0.00,0.000,6,0.000,0.026,2425,2029,3329
$GC,3274,-1.68,-146.0,301.1,-8.0,269,3278,0.00,2.42,0.00,0.000,4,0.000,0.043,2425,638,3327
$GC,3325,-1.74,-146.0,305.4,-8.3,270,3330,0.12,2.38,0.00,0.000,6,0.064,0.028,2394,2034,3327
$GC,3639,-1.74,-146.0,332.3,-8.2,278,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2035,3325
$GC,3963,-1.74,-146.0,357.7,-8.2,286,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2035,3323
$GC,4288,-1.74,-146.0,386.5,-9.1,294,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2035,3320
$GC,4613,-1.74,-146.0,413.7,-8.3,302,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2037,3318
$GC,4938,-1.74,-146.0,442.4,-8.8,310,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2037,3315
$STATE,5057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5057,begin apogee
$GC,5065,-0.33,0.0,452.9,8.6,313,5182,1.52,0.00,112.60,0.917,6,0.094,0.000,2706,1946,2733
$STATE,5182,end apogee,CONTROL_FINISHED_OK
$STATE,5182,begin climb
$GC,5186,1.09,146.0,458.1,0.0,316,5309,1.40,2.58,114.07,0.894,4,0.051,0.051,3015,550,2137
$GC,5446,0.55,146.0,443.3,13.7,322,5451,0.62,2.45,0.00,0.000,6,0.144,0.031,2905,1948,2135
$GC,5771,0.28,146.0,417.7,7.2,330,5776,0.30,2.55,0.00,0.000,4,0.126,0.052,2846,553,2134
$GC,5800,0.08,146.1,415.8,6.8,330,5805,0.25,2.45,0.00,0.000,6,0.121,0.031,2801,1960,2133
$GC,6132,0.19,245.1,403.5,3.5,338,6215,0.00,2.55,76.07,0.889,4,0.000,0.048,2801,3354,1732
$GC,6258,0.15,248.3,397.2,6.7,340,6267,0.00,2.47,3.33,0.818,6,0.000,0.034,2801,1952,1720
$GC,6593,0.11,248.3,373.8,7.0,349,6597,0.00,2.55,0.00,0.000,4,0.000,0.054,2801,542,1718
$GC,6616,0.06,248.3,372.0,7.1,349,6620,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1950,1718
$GC,6953,0.12,304.1,353.5,5.0,358,7003,0.00,2.60,43.30,0.878,4,0.000,0.048,2801,3350,1492
$GC,7077,0.22,362.5,347.2,4.9,360,7129,0.12,2.47,45.38,0.868,6,0.084,0.034,2826,1944,1255
$GC,7453,0.14,362.5,319.8,7.7,370,7457,0.00,2.53,0.00,0.000,4,0.000,0.043,2826,3353,1255
$GC,7515,0.08,362.5,314.4,7.5,371,7520,0.15,2.47,0.00,0.000,6,0.110,0.033,2799,1941,1255
$GC,7839,0.09,369.7,292.4,6.6,382,7852,0.00,2.60,6.70,0.834,4,0.000,0.042,2799,3353,1225
$GC,7882,0.09,369.7,289.3,7.4,384,7887,0.00,2.47,0.00,0.000,6,0.000,0.032,2799,1945,1225
$GC,8210,0.09,369.7,266.1,7.8,400,8214,0.00,2.50,0.00,0.000,4,0.000,0.041,2800,3353,1225
$GC,8233,0.09,369.7,264.3,7.9,401,8237,0.00,2.45,0.00,0.000,6,0.000,0.031,2799,1943,1225
$GC,8554,0.09,369.7,238.1,8.2,417,8559,0.00,2.50,0.00,0.000,4,0.000,0.040,2800,3359,1225
$GC,8595,0.09,369.7,234.7,8.8,419,8600,0.00,2.45,0.00,0.000,6,0.000,0.031,2799,1951,1225
$GC,8923,0.09,369.7,211.1,6.9,435,8927,0.00,2.47,0.00,0.000,4,0.000,0.038,2800,3359,1225
$GC,8956,0.09,369.7,208.6,6.9,436,8960,0.00,2.45,0.00,0.000,6,0.000,0.030,2799,1939,1225
$GC,9281,0.15,384.7,188.1,6.3,460,9297,0.00,0.00,12.20,0.756,6,0.000,0.000,2799,1939,1164
$GC,9621,0.23,407.3,165.5,6.1,492,9646,0.15,2.55,17.70,0.720,4,0.065,0.035,2839,3353,1071
$GC,9677,0.23,407.3,161.1,7.6,497,9681,0.00,2.45,0.00,0.000,6,0.000,0.028,2839,1938,1072
$GC,10011,0.23,407.3,134.5,7.8,528,10015,0.00,2.47,0.00,0.000,4,0.000,0.035,2838,3358,1073
$GC,10063,0.23,407.3,130.4,7.8,532,10067,0.00,2.42,0.00,0.000,6,0.000,0.028,2839,1950,1072
$GC,10389,0.23,407.3,105.7,7.6,562,10393,0.00,2.45,0.00,0.000,4,0.000,0.035,2839,3358,1073
$GC,10429,0.23,407.3,102.4,8.6,565,10433,0.00,2.42,0.00,0.000,6,0.000,0.026,2839,1938,1073
$GC,10755,0.33,438.2,79.7,5.8,595,10789,0.00,2.53,24.38,0.617,4,0.000,0.044,2839,548,945
$GC,10817,0.40,438.2,75.4,7.0,600,10824,0.12,2.40,0.00,0.000,6,0.066,0.022,2870,1971,945
$GC,11082,0.40,438.2,54.9,8.0,625,11086,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3354,945
$GC,11139,0.44,444.1,50.5,6.6,629,11149,0.00,2.40,5.12,0.591,6,0.000,0.025,2870,1936,921
$GC,11414,0.44,444.1,29.8,7.7,655,11421,0.00,2.42,0.00,0.000,4,0.000,0.042,2870,547,921
$GC,11439,0.44,444.1,27.4,8.0,659,11446,0.00,2.38,0.00,0.000,6,0.000,0.022,2870,1963,921
$GC,11718,0.44,444.1,6.7,7.4,708,11724,0.00,2.35,0.00,0.000,4,0.000,0.032,2870,3346,922
$STATE,11740,end climb,SURFACE_DEPTH_REACHED
$STATE,11740,begin surface coast
$FINISH,3.4,1.022768
$STATE,11757,end surface coast,CONTROL_FINISHED_OK
$STATE,11758,begin surface
$SM_CCo,11844,0.00,0.000,0,0,924,443.75
$SM_GC,1.50,11.05,0.00,0.00,0.052,0.000,0.000,411,2034,924,-10.85,-0.17,443.75
$IRIDIUM_FIX,2057.14,-15748.75,080198,000031
$TT8_MAMPS,0.027612
$HUMID,1692
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.8,23.066
$10V_AH,10.2,14.010
$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,28.225,122.300,460.850,0.000,0.000,25.308,29.002,139.567,11.250,0.000,0.000,12.646,1297.462,8177.761,525.342,1641.206,529.582,33.369,1351.829,0.000,1619.489,0.000,57.459
$DEVICE_MAMPS,158.002,53.690,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.817,468.019,837.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37948,715
$CAP_FILE_SIZE,106174,0
$CFSIZE,260165632,249303040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,070738,2109.249,-15749.550,35,1.0,35,9.8