version: 66.03
glider: 114
mission: 3
dive: 189
start: 10 18 108 0 58 44
data:
$ID,114
$MISSION,3
$DIVE,189
$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,170
$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,-595321.25
$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,32
$R_STBD_OVSHOOT,66
$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
$GPS1,005132,2108.166,-15748.829,38,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.4
$GPS2,005745,2108.130,-15748.812,10,2.0,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.213,-0.092
$KALMAN_X,-29423.0,149.1,745.4,36744.5,-2011.7
$KALMAN_Y,-41671.0,200.1,309.5,25514.7,-1467.5
$MHEAD_RNG_PITCHd_Wd,103.6,11258,-11.5,-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,24,begin dive
$GC,27,-1.06,-165.4,0.0,0.0,0,94,0.00,0.00,-64.25,0.000,2,0.000,0.000,411,2075,2732
$GC,98,-1.06,-165.5,3.4,-4.2,12,128,11.88,2.53,-11.45,0.000,4,0.155,0.048,2539,627,3409
$GC,159,-0.99,-165.5,15.2,-11.8,22,166,0.12,2.38,0.00,0.000,6,0.076,0.025,2567,2028,3409
$GC,440,-1.10,-165.5,34.8,-6.0,65,445,0.12,2.45,0.00,0.000,4,0.059,0.034,2535,3454,3409
$GC,537,-1.22,-165.5,41.5,-6.6,73,542,0.00,2.40,0.00,0.000,6,0.000,0.023,2535,2031,3409
$GC,800,-1.32,-165.5,63.1,-7.6,97,805,0.17,2.45,0.00,0.000,4,0.050,0.033,2487,3448,3409
$GC,822,-1.36,-165.5,65.2,-8.4,98,829,0.00,2.38,0.00,0.000,6,0.000,0.023,2487,2027,3409
$GC,1085,-1.36,-165.5,88.6,-8.8,123,1089,0.00,2.45,0.00,0.000,4,0.000,0.035,2487,3446,3410
$GC,1132,-1.42,-165.5,92.8,-9.4,127,1136,0.00,2.38,0.00,0.000,6,0.000,0.024,2487,2034,3410
$GC,1458,-1.42,-165.5,121.6,-10.1,157,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2028,3410
$GC,1779,-1.47,-165.5,147.5,-7.1,187,1784,0.12,2.45,0.00,0.000,4,0.058,0.033,2454,3452,3410
$GC,1823,-1.52,-165.5,151.9,-9.3,190,1830,0.00,2.38,0.00,0.000,6,0.000,0.025,2454,2037,3410
$GC,2151,-1.52,-165.5,180.8,-7.9,221,2155,0.00,2.40,0.00,0.000,4,0.000,0.038,2454,642,3410
$GC,2174,-1.52,-165.5,182.9,-7.9,222,2180,0.00,2.35,0.00,0.000,6,0.000,0.024,2454,2057,3410
$GC,2509,-1.52,-165.5,208.4,-7.4,249,2513,0.00,2.38,0.00,0.000,4,0.000,0.035,2454,3446,3410
$GC,2589,-1.58,-165.5,214.1,-6.8,252,2595,0.00,2.38,0.00,0.000,6,0.000,0.026,2454,2036,3410
$GC,2908,-1.62,-165.5,240.4,-10.2,268,2910,0.12,0.00,0.00,0.000,6,0.061,0.000,2422,2035,3410
$GC,3215,-1.62,-165.5,267.1,-8.6,283,3219,0.00,2.45,0.00,0.000,4,0.000,0.038,2422,3447,3410
$GC,3249,-1.62,-165.5,270.3,-9.5,284,3255,0.00,2.38,0.00,0.000,6,0.000,0.026,2422,2040,3410
$GC,3565,-1.62,-165.5,294.8,-7.7,300,3568,0.00,2.42,0.00,0.000,4,0.000,0.038,2422,3441,3409
$GC,3611,-1.62,-165.5,298.7,-8.6,302,3615,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2032,3409
$GC,3953,-1.62,-165.5,328.9,-9.0,311,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2031,3407
$GC,4280,-1.62,-165.5,354.2,-8.0,319,4284,0.00,2.47,0.00,0.000,4,0.000,0.041,2422,3443,3404
$GC,4336,-1.67,-165.5,359.3,-8.2,320,4341,0.00,2.40,0.00,0.000,6,0.000,0.030,2422,2042,3404
$GC,4685,-1.67,-165.5,386.1,-7.8,329,4689,0.00,2.45,0.00,0.000,4,0.000,0.042,2422,3433,3401
$GC,4741,-1.71,-165.5,390.7,-7.8,330,4746,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2036,3400
$GC,5055,-1.71,-165.5,413.8,-7.5,338,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2035,3398
$GC,5380,-1.71,-165.5,439.1,-8.0,346,5384,0.00,2.47,0.00,0.000,4,0.000,0.043,2422,3440,3397
$GC,5420,-1.75,-165.5,442.6,-8.9,347,5425,0.10,2.42,0.00,0.000,6,0.079,0.031,2400,2034,3396
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5506,-0.33,0.0,450.0,9.5,349,5639,1.48,0.00,128.43,0.916,6,0.089,0.000,2705,1932,2733
$STATE,5639,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5643,1.06,165.5,456.5,0.0,352,5780,1.35,2.55,129.55,0.894,4,0.048,0.052,3006,547,2057
$GC,6039,0.52,165.5,424.1,14.8,361,6045,0.60,2.42,0.00,0.000,6,0.133,0.030,2898,1939,2055
$GC,6359,0.23,165.5,394.7,8.7,369,6364,0.32,2.53,0.00,0.000,4,0.122,0.052,2833,557,2053
$GC,6466,0.05,165.5,386.5,7.1,371,6471,0.22,2.42,0.00,0.000,6,0.117,0.031,2793,1954,2052
$GC,6810,0.11,235.0,369.6,4.8,380,6869,0.00,2.58,52.75,0.883,4,0.000,0.047,2792,3345,1775
$GC,6910,0.07,241.7,364.0,6.6,382,6924,0.00,2.45,6.40,0.847,6,0.000,0.035,2792,1960,1747
$GC,7263,0.03,241.7,338.3,7.5,391,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1960,1745
$GC,7588,0.05,279.1,319.7,5.7,399,7622,0.00,2.55,29.20,0.866,4,0.000,0.044,2792,3354,1595
$GC,7680,0.06,285.2,313.7,6.6,401,7691,0.00,2.47,5.80,0.837,6,0.000,0.035,2792,1943,1570
$GC,8001,0.18,353.6,295.5,4.8,411,8057,0.12,0.00,53.25,0.841,6,0.078,0.000,2819,1943,1290
$GC,8356,0.11,353.6,267.6,8.9,428,8360,0.00,2.50,0.00,0.000,4,0.000,0.041,2819,3353,1291
$GC,8414,0.08,353.6,262.0,9.9,430,8420,0.12,2.45,0.00,0.000,6,0.106,0.033,2797,1949,1290
$GC,8730,0.20,424.9,242.8,4.7,446,8794,0.12,2.53,55.62,0.794,4,0.075,0.039,2825,3355,999
$GC,8828,0.13,424.9,234.7,10.1,450,8832,0.00,2.47,0.00,0.000,6,0.000,0.031,2825,1940,999
$GC,9145,0.06,424.9,203.2,9.0,465,9150,0.15,2.50,0.00,0.000,4,0.102,0.038,2797,3354,1000
$GC,9190,0.06,424.9,199.6,7.7,467,9194,0.00,2.45,0.00,0.000,6,0.000,0.029,2797,1937,1000
$GC,9523,0.06,424.9,171.3,7.9,498,9527,0.00,2.50,0.00,0.000,4,0.000,0.036,2796,3365,1000
$GC,9580,0.11,424.9,166.1,8.7,502,9587,0.00,2.42,0.00,0.000,6,0.000,0.028,2797,1950,1000
$GC,9909,0.19,472.8,143.1,5.4,533,9953,0.10,2.50,37.40,0.696,4,0.075,0.035,2821,3355,804
$GC,9982,0.21,482.2,138.6,6.5,539,9999,0.00,2.42,7.62,0.687,6,0.000,0.027,2821,1950,767
$GC,10319,0.21,482.2,112.0,7.5,571,10324,0.00,2.45,0.00,0.000,4,0.000,0.035,2821,3356,768
$GC,10372,0.27,482.2,107.6,8.6,575,10377,0.00,2.42,0.00,0.000,6,0.000,0.026,2821,1941,768
$GC,10701,0.31,482.2,83.0,7.2,605,10706,0.12,2.47,0.00,0.000,4,0.065,0.033,2853,3368,768
$GC,10735,0.31,482.2,80.1,8.3,607,10741,0.00,2.42,0.00,0.000,6,0.000,0.025,2853,1941,768
$GC,11063,0.34,500.6,56.5,6.3,638,11086,0.00,2.50,15.00,0.600,4,0.000,0.033,2853,3365,691
$GC,11103,0.40,531.7,53.9,5.9,641,11132,0.00,2.42,24.23,0.589,6,0.000,0.025,2853,1941,564
$GC,11391,0.40,531.7,33.4,7.5,668,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1941,567
$GC,11666,0.43,550.0,10.6,6.3,713,11690,0.00,2.50,15.35,0.548,4,0.000,0.032,2853,3351,489
$GC,11720,0.43,550.0,6.0,8.9,722,11727,0.00,2.40,0.00,0.000,6,0.000,0.029,2853,1942,490
$STATE,11731,end climb,SURFACE_DEPTH_REACHED
$STATE,11731,begin surface coast
$FINISH,0.8,1.013236
$STATE,11799,end surface coast,CONTROL_FINISHED_OK
$STATE,11800,begin surface
$SM_CCo,11883,0.00,0.000,0,0,490,550.21
$SM_GC,1.53,10.88,0.00,0.00,0.044,0.000,0.000,407,2086,490,-10.87,1.30,550.21
$IRIDIUM_FIX,2101.76,-15750.89,110198,212105
$TT8_MAMPS,0.027612
$HUMID,1694
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,25.00
$XPDR_PINGS,14
$24V_AH,23.8,26.636
$10V_AH,10.2,16.279
$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,28.250,122.650,560.600,0.000,0.000,23.795,27.859,187.546,12.750,0.000,0.000,12.438,1341.355,7989.005,601.337,1759.042,568.568,33.370,1488.247,0.000,1725.019,0.000,60.288
$DEVICE_MAMPS,154.934,52.156,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.685,485.908,888.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,736
$CAP_FILE_SIZE,111160,0
$CFSIZE,260165632,247734272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,041807,2107.037,-15748.736,36,1.2,41,9.8