version: 66.03
glider: 114
mission: 3
dive: 164
start: 10 14 108 10 24 5
data:
$ID,114
$MISSION,3
$DIVE,164
$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,-594779.94
$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,31
$R_STBD_OVSHOOT,74
$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
$GPS1,101738,2110.154,-15749.552,29,1.9,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.7
$GPS2,102308,2110.122,-15749.496,11,2.0,11,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.118,-0.188
$KALMAN_X,-27139.7,-114.3,797.8,33485.4,-479.4
$KALMAN_Y,-38378.3,-17.4,229.9,26210.2,-1054.1
$MHEAD_RNG_PITCHd_Wd,138.1,15132,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.42,0.000,2,0.000,0.000,412,2077,2864
$GC,93,-1.09,-146.0,3.8,-5.3,11,117,11.93,0.00,-7.38,0.000,6,0.158,0.000,2533,2078,3331
$GC,387,-1.17,-146.0,40.4,-8.0,53,391,0.00,2.30,0.00,0.000,4,0.000,0.036,2533,3413,3332
$GC,462,-1.31,-146.0,46.3,-8.0,59,467,0.17,2.33,0.00,0.000,6,0.053,0.023,2490,2028,3332
$GC,727,-1.35,-146.0,71.6,-8.5,83,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2027,3333
$GC,990,-1.43,-146.0,94.7,-8.6,108,994,0.00,2.38,0.00,0.000,4,0.000,0.035,2490,3401,3334
$GC,1035,-1.53,-146.0,98.8,-8.7,111,1042,0.12,2.30,0.00,0.000,6,0.035,0.023,2441,2045,3334
$GC,1360,-1.53,-146.0,133.7,-9.9,142,1364,0.00,2.35,0.00,0.000,4,0.000,0.034,2441,3408,3334
$GC,1412,-1.53,-146.0,138.6,-8.9,146,1416,0.00,2.30,0.00,0.000,6,0.000,0.024,2441,2035,3334
$GC,1737,-1.53,-146.0,167.4,-8.5,176,1742,0.00,2.38,0.00,0.000,4,0.000,0.035,2441,3414,3334
$GC,1779,-1.56,-146.0,170.7,-7.7,179,1783,0.00,2.33,0.00,0.000,6,0.000,0.024,2441,2030,3335
$GC,2105,-1.56,-146.0,198.3,-9.2,209,2109,0.00,2.40,0.00,0.000,4,0.000,0.039,2441,638,3334
$GC,2135,-1.59,-146.0,201.0,-9.9,211,2139,0.00,2.30,0.00,0.000,6,0.000,0.024,2441,2006,3334
$GC,2451,-1.63,-146.0,228.8,-8.7,226,2455,0.00,2.47,0.00,0.000,4,0.000,0.037,2441,3446,3334
$GC,2491,-1.69,-146.0,232.5,-9.2,227,2498,0.12,2.38,0.00,0.000,6,0.062,0.025,2410,2036,3334
$GC,2808,-1.69,-146.0,264.9,-10.5,243,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2035,3334
$GC,3117,-1.69,-146.0,294.5,-9.0,258,3121,0.00,2.45,0.00,0.000,4,0.000,0.038,2410,3443,3334
$GC,3167,-1.69,-146.0,299.2,-9.0,260,3171,0.00,2.38,0.00,0.000,6,0.000,0.027,2410,2043,3334
$GC,3480,-1.69,-146.0,326.2,-8.2,268,3484,0.00,2.45,0.00,0.000,4,0.000,0.040,2410,3444,3333
$GC,3496,-1.69,-146.0,327.7,-8.1,268,3501,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2033,3332
$GC,3839,-1.69,-146.0,357.9,-9.1,277,3843,0.00,2.45,0.00,0.000,4,0.000,0.045,2410,634,3330
$GC,3869,-1.69,-146.0,360.7,-10.0,277,3873,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2040,3330
$GC,4202,-1.69,-146.0,390.8,-8.4,285,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2042,3327
$GC,4526,-1.69,-146.0,414.4,-7.8,293,4530,0.00,2.47,0.00,0.000,4,0.000,0.047,2410,3445,3325
$GC,4556,-1.72,-146.0,416.9,-9.2,293,4560,0.00,2.42,0.00,0.000,6,0.000,0.031,2410,2039,3325
$GC,4887,-1.72,-146.0,445.5,-8.5,301,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2038,3322
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4968,begin apogee
$GC,4976,-0.33,0.0,452.9,8.8,303,5093,1.42,0.00,114.12,0.915,6,0.090,0.000,2705,1935,2733
$STATE,5094,end apogee,CONTROL_FINISHED_OK
$STATE,5094,begin climb
$GC,5098,1.09,146.0,459.3,0.0,306,5217,1.42,0.00,114.72,0.893,6,0.049,0.000,3017,1935,2136
$GC,5535,0.60,146.0,427.8,11.3,317,5540,0.52,2.50,0.00,0.000,4,0.130,0.051,2919,557,2134
$GC,5563,0.23,146.0,425.3,8.5,317,5568,0.45,2.45,0.00,0.000,6,0.126,0.031,2836,1961,2134
$GC,5895,0.19,195.4,408.0,5.2,325,5935,0.00,0.00,38.08,0.890,6,0.000,0.000,2836,1961,1936
$GC,6261,0.11,220.0,386.6,6.0,334,6286,0.15,2.62,19.25,0.883,4,0.134,0.053,2809,555,1836
$GC,6337,0.05,222.4,381.7,6.7,335,6347,0.00,2.45,2.97,0.803,6,0.000,0.031,2810,1955,1825
$GC,6673,0.00,227.6,360.6,6.6,344,6684,0.15,2.55,4.75,0.849,4,0.123,0.048,2779,3366,1803
$GC,6695,0.00,227.6,358.9,7.0,344,6700,0.00,2.47,0.00,0.000,6,0.000,0.032,2779,1954,1803
$GC,7033,0.04,251.2,338.2,6.0,353,7057,0.00,2.62,18.80,0.873,4,0.000,0.053,2779,547,1708
$GC,7076,0.07,268.8,335.5,6.2,354,7096,0.00,2.47,14.40,0.854,6,0.000,0.030,2779,1961,1637
$GC,7405,0.20,340.2,319.5,4.4,362,7466,0.17,2.55,55.47,0.846,4,0.071,0.048,2822,3355,1345
$GC,7501,0.14,340.2,312.8,7.9,364,7505,0.00,2.50,0.00,0.000,6,0.000,0.033,2822,1939,1345
$GC,7831,0.08,340.2,285.1,8.7,376,7836,0.12,2.53,0.00,0.000,4,0.113,0.042,2800,3352,1346
$GC,7910,0.08,340.2,279.2,7.0,379,7915,0.00,2.45,0.00,0.000,6,0.000,0.033,2800,1950,1345
$GC,8226,0.14,375.6,260.4,5.6,395,8261,0.00,2.58,27.80,0.811,4,0.000,0.041,2800,3350,1201
$GC,8295,0.14,375.6,255.9,7.2,398,8300,0.00,2.45,0.00,0.000,6,0.000,0.031,2800,1949,1201
$GC,8619,0.15,377.1,234.0,6.8,414,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1950,1202
$GC,8927,0.15,377.1,211.8,7.5,429,8931,0.00,2.47,0.00,0.000,4,0.000,0.038,2800,3355,1202
$GC,8995,0.20,377.1,206.8,7.2,432,9000,0.12,2.42,0.00,0.000,6,0.077,0.028,2827,1945,1202
$GC,9323,0.20,377.1,181.6,7.9,459,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1945,1202
$GC,9642,0.21,381.3,155.0,6.7,489,9654,0.00,2.47,5.88,0.709,4,0.000,0.035,2827,3355,1177
$GC,9678,0.24,398.8,152.7,6.2,492,9700,0.00,2.42,13.73,0.705,6,0.000,0.026,2827,1945,1106
$GC,10020,0.24,398.8,128.6,8.2,524,10024,0.00,2.47,0.00,0.000,4,0.000,0.035,2827,3367,1107
$GC,10082,0.24,398.8,123.0,9.2,529,10086,0.00,2.42,0.00,0.000,6,0.000,0.027,2827,1946,1107
$GC,10416,0.24,398.8,96.4,7.2,560,10421,0.00,2.45,0.00,0.000,4,0.000,0.035,2827,3357,1107
$GC,10462,0.28,398.8,92.6,8.3,563,10468,0.00,2.40,0.00,0.000,6,0.000,0.026,2827,1945,1108
$GC,10791,0.39,439.9,72.3,5.5,594,10829,0.15,2.50,31.95,0.607,4,0.061,0.033,2868,3358,938
$GC,10868,0.39,439.9,65.8,9.3,600,10875,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,1940,938
$GC,11131,0.39,439.9,41.6,9.0,625,11135,0.00,2.47,0.00,0.000,4,0.000,0.034,2868,3367,938
$GC,11164,0.39,439.9,38.4,8.9,627,11170,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,1947,938
$GC,11435,0.41,446.2,19.7,6.6,666,11448,0.00,2.45,5.65,0.563,4,0.000,0.034,2868,3357,912
$GC,11489,0.44,446.2,16.1,7.1,675,11496,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,1942,912
$STATE,11640,end climb,SURFACE_DEPTH_REACHED
$STATE,11640,begin surface coast
$FINISH,0.7,1.022875
$STATE,11726,end surface coast,CONTROL_FINISHED_OK
$STATE,11726,begin surface
$SM_CCo,11810,0.00,0.000,0,0,912,446.45
$SM_GC,1.53,10.85,0.00,0.00,0.042,0.000,0.000,409,2084,912,-10.86,1.24,446.45
$IRIDIUM_FIX,2101.76,-15750.89,080198,070732
$TT8_MAMPS,0.027612
$HUMID,1695
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.80
$XPDR_PINGS,8
$24V_AH,23.8,23.297
$10V_AH,10.2,14.168
$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,27.900,117.350,467.575,0.000,0.000,24.778,39.384,143.200,11.000,0.000,0.000,12.968,1298.504,8191.234,544.468,1583.228,524.820,33.367,1321.369,0.000,1566.653,0.000,57.440
$DEVICE_MAMPS,158.002,52.923,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.687,466.727,849.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37853,717
$CAP_FILE_SIZE,103940,0
$CFSIZE,260165632,249196544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,134208,2108.754,-15749.310,34,1.0,34,9.8