version: 66.03
glider: 114
mission: 3
dive: 197
start: 10 19 108 4 14 41
data:
$ID,114
$MISSION,3
$DIVE,197
$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,-595487.12
$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,33
$R_STBD_OVSHOOT,79
$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
$GPS1,040656,2105.908,-15747.889,39,1.5,39,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.4
$GPS2,041343,2105.900,-15747.979,28,1.2,32,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.005,0.232
$KALMAN_X,-33211.7,-362.9,-363.4,43592.7,-1252.4
$KALMAN_Y,-41927.4,-429.0,-205.1,22791.1,-202.1
$MHEAD_RNG_PITCHd_Wd,349.0,8357,-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,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,94,0.00,0.00,-64.80,0.000,2,0.000,0.000,409,2078,2846
$GC,98,-1.06,-165.5,3.4,-3.9,12,128,11.95,2.30,-9.23,0.000,4,0.158,0.042,2541,3405,3410
$GC,187,-1.15,-165.5,18.4,-7.6,27,193,0.00,2.33,0.00,0.000,6,0.000,0.024,2541,2025,3410
$GC,466,-1.21,-165.5,38.3,-7.7,68,471,0.12,2.38,0.00,0.000,4,0.060,0.031,2510,3405,3410
$GC,519,-1.25,-165.5,42.4,-8.1,72,523,0.00,2.30,0.00,0.000,6,0.000,0.024,2510,2038,3410
$GC,781,-1.25,-165.5,71.9,-9.4,96,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2032,3410
$GC,1036,-1.31,-165.5,92.5,-7.2,120,1040,0.00,2.35,0.00,0.000,4,0.000,0.035,2510,3398,3410
$GC,1144,-1.40,-165.5,101.1,-8.1,129,1149,0.17,2.30,0.00,0.000,6,0.055,0.023,2468,2025,3410
$GC,1470,-1.40,-165.5,133.4,-9.0,159,1474,0.00,2.38,0.00,0.000,4,0.000,0.035,2468,3404,3411
$GC,1556,-1.45,-165.5,139.7,-7.0,166,1563,0.00,2.28,0.00,0.000,6,0.000,0.024,2468,2042,3411
$GC,1882,-1.48,-165.5,162.0,-6.0,197,1886,0.00,2.33,0.00,0.000,4,0.000,0.034,2468,3399,3411
$GC,1917,-1.53,-165.5,164.3,-6.4,199,1923,0.00,2.28,0.00,0.000,6,0.000,0.024,2468,2038,3411
$GC,2242,-1.57,-165.5,186.8,-7.3,230,2247,0.12,2.35,0.00,0.000,4,0.060,0.033,2435,3405,3411
$GC,2361,-1.57,-165.5,197.1,-8.3,240,2365,0.00,2.30,0.00,0.000,6,0.000,0.025,2434,2039,3411
$GC,2689,-1.57,-165.5,223.8,-7.6,257,2693,0.00,2.35,0.00,0.000,4,0.000,0.035,2434,3401,3410
$GC,2733,-1.57,-165.5,227.4,-7.8,259,2738,0.00,2.30,0.00,0.000,6,0.000,0.026,2434,2037,3410
$GC,3061,-1.57,-165.5,249.5,-6.8,275,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2037,3410
$GC,3370,-1.57,-165.5,268.7,-6.2,290,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2037,3409
$GC,3680,-1.57,-165.5,292.2,-7.9,305,3684,0.00,2.38,0.00,0.000,4,0.000,0.038,2434,3404,3407
$GC,3759,-1.61,-165.5,299.0,-9.0,308,3766,0.00,2.33,0.00,0.000,6,0.000,0.028,2434,2035,3407
$GC,4072,-1.64,-165.5,321.2,-7.0,317,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2034,3405
$GC,4396,-1.68,-165.5,343.9,-6.9,325,4400,0.00,2.40,0.00,0.000,4,0.000,0.041,2434,3405,3402
$GC,4470,-1.74,-165.5,349.3,-6.9,326,4475,0.15,2.35,0.00,0.000,6,0.066,0.031,2399,2034,3402
$GC,4802,-1.74,-165.5,377.3,-8.9,334,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2034,3399
$GC,5127,-1.74,-165.5,405.5,-8.2,342,5131,0.00,2.40,0.00,0.000,4,0.000,0.043,2400,3399,3398
$GC,5167,-1.74,-165.5,408.6,-8.0,343,5171,0.00,2.35,0.00,0.000,6,0.000,0.031,2400,2036,3397
$GC,5493,-1.74,-165.5,436.4,-8.9,351,5497,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,3400,3395
$GC,5565,-1.74,-165.5,443.1,-8.8,352,5569,0.00,2.35,0.00,0.000,6,0.000,0.032,2400,2035,3394
$STATE,5651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5651,begin apogee
$GC,5659,-0.33,0.0,450.3,8.3,354,5791,1.48,0.00,128.12,0.926,6,0.094,0.000,2703,1931,2733
$STATE,5792,end apogee,CONTROL_FINISHED_OK
$STATE,5792,begin climb
$GC,5795,1.06,165.5,455.2,0.0,357,5935,1.42,2.55,130.05,0.896,4,0.052,0.054,3013,558,2058
$GC,6087,0.50,165.5,434.7,14.2,364,6092,0.68,2.35,0.00,0.000,6,0.143,0.030,2892,1903,2057
$GC,6436,0.22,165.5,406.5,7.5,373,6441,0.30,2.60,0.00,0.000,4,0.120,0.046,2833,3357,2055
$GC,6498,0.11,190.1,402.6,6.1,374,6523,0.15,2.45,19.25,0.895,6,0.126,0.035,2807,1962,1957
$GC,6852,0.11,245.3,384.7,5.2,383,6901,0.00,2.58,42.72,0.895,4,0.000,0.043,2807,3351,1733
$GC,6937,0.02,245.3,379.4,7.0,385,6942,0.10,2.50,0.00,0.000,6,0.130,0.035,2790,1944,1732
$GC,7263,0.00,261.2,359.0,6.3,393,7282,0.00,2.62,13.18,0.884,4,0.000,0.054,2790,543,1668
$GC,7323,-0.05,261.2,355.3,6.9,394,7327,0.00,2.45,0.00,0.000,6,0.000,0.031,2790,1950,1667
$GC,7672,0.15,397.6,343.8,2.8,403,7786,0.10,2.58,106.15,0.868,4,0.086,0.048,2811,3359,1111
$GC,7871,0.12,397.6,330.9,8.2,407,7875,0.00,2.50,0.00,0.000,6,0.000,0.034,2811,1945,1112
$GC,8203,0.03,397.6,298.6,10.4,415,8208,0.12,2.53,0.00,0.000,4,0.114,0.043,2789,3354,1112
$GC,8248,0.03,397.6,294.2,8.8,417,8252,0.00,2.47,0.00,0.000,6,0.000,0.033,2789,1941,1112
$GC,8570,0.03,397.6,265.3,9.3,433,8574,0.00,2.50,0.00,0.000,4,0.000,0.041,2789,3355,1112
$GC,8626,0.03,397.6,260.1,9.0,435,8631,0.00,2.45,0.00,0.000,6,0.000,0.032,2789,1950,1113
$GC,8942,0.03,397.6,237.7,6.9,451,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1950,1112
$GC,9251,0.05,405.7,215.0,6.6,466,9265,0.00,2.58,7.15,0.791,4,0.000,0.039,2790,3366,1078
$GC,9300,0.09,433.2,212.0,6.0,468,9329,0.00,2.47,21.98,0.786,6,0.000,0.031,2789,1942,967
$GC,9653,0.14,457.1,189.8,6.1,492,9678,0.00,2.55,19.40,0.760,4,0.000,0.038,2789,3358,869
$GC,9732,0.24,490.9,185.4,5.8,499,9765,0.20,2.45,26.83,0.749,6,0.062,0.029,2834,1950,731
$GC,10083,0.14,490.9,153.4,9.2,532,10088,0.12,2.50,0.00,0.000,4,0.108,0.036,2812,3368,731
$GC,10147,0.14,490.9,148.3,7.5,537,10151,0.00,2.45,0.00,0.000,6,0.000,0.028,2811,1950,731
$GC,10475,0.14,490.9,120.5,7.9,567,10479,0.00,2.47,0.00,0.000,4,0.000,0.036,2812,3364,732
$GC,10516,0.14,490.9,117.1,7.7,570,10520,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,1942,732
$GC,10844,0.14,490.9,89.6,9.0,600,10848,0.00,2.47,0.00,0.000,4,0.000,0.035,2812,3366,733
$GC,10878,0.19,490.9,86.6,7.4,602,10885,0.00,2.40,0.00,0.000,6,0.000,0.027,2812,1951,733
$GC,11208,0.30,526.0,64.8,5.8,633,11242,0.15,2.55,28.10,0.619,4,0.062,0.034,2853,3362,587
$GC,11270,0.30,526.0,60.4,7.5,638,11276,0.00,2.42,0.00,0.000,6,0.000,0.026,2853,1950,588
$GC,11533,0.30,526.0,41.3,6.9,663,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1950,588
$GC,11794,0.30,526.0,21.5,8.8,695,11801,0.00,2.45,0.00,0.000,4,0.000,0.035,2853,3367,588
$GC,11831,0.30,526.0,18.6,7.8,701,11838,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1949,589
$STATE,12078,end climb,SURFACE_DEPTH_REACHED
$STATE,12078,begin surface coast
$FINISH,0.9,1.009251
$STATE,12152,end surface coast,CONTROL_FINISHED_OK
$STATE,12153,begin surface
$SM_CCo,12236,0.00,0.000,0,0,591,525.19
$SM_GC,1.45,10.75,0.00,0.00,0.040,0.000,0.000,407,2096,591,-10.87,1.58,525.19
$IRIDIUM_FIX,2059.45,-15746.61,130198,000026
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,17
$24V_AH,23.8,27.746
$10V_AH,10.2,16.952
$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,28.100,121.525,542.925,0.000,0.000,25.079,27.660,201.213,13.250,0.000,0.000,33.837,1377.278,8266.412,592.230,1822.742,587.136,33.366,1477.471,0.000,1773.527,0.000,57.445
$DEVICE_MAMPS,158.002,54.457,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.314,498.570,906.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,758
$CAP_FILE_SIZE,111881,0
$CFSIZE,260165632,247259136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,073947,2107.460,-15748.607,11,2.2,30,9.8