version: 66.03
glider: 114
mission: 3
dive: 247
start: 10 26 108 7 18 2
data:
$ID,114
$MISSION,3
$DIVE,247
$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,400
$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,-596574.19
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,071056,2104.304,-15746.766,36,1.7,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.5
$GPS2,071707,2104.262,-15746.721,11,1.6,27,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.016,0.232
$KALMAN_X,-69441.3,286.0,622.7,80349.9,-1030.3
$KALMAN_Y,-56345.4,-136.6,377.3,33297.2,-714.6
$MHEAD_RNG_PITCHd_Wd,346.1,12041,-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,-165.5,0.0,0.0,0,110,0.00,0.00,-80.47,0.000,2,0.000,0.000,410,2024,2851
$GC,114,-1.06,-165.5,3.3,-3.5,15,144,11.93,2.50,-9.40,0.000,4,0.156,0.050,2538,3434,3411
$GC,225,-1.18,-165.5,21.7,-8.9,34,232,0.00,2.38,0.00,0.000,6,0.000,0.023,2538,2023,3410
$GC,501,-1.24,-165.5,46.5,-9.0,67,506,0.12,2.45,0.00,0.000,4,0.061,0.033,2508,3437,3410
$GC,542,-1.24,-165.5,50.7,-9.7,70,546,0.00,2.38,0.00,0.000,6,0.000,0.023,2508,2028,3410
$GC,805,-1.27,-165.5,74.7,-6.9,94,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2027,3410
$GC,1060,-1.33,-165.5,95.1,-7.6,118,1064,0.00,2.45,0.00,0.000,4,0.000,0.034,2508,3445,3411
$GC,1106,-1.45,-165.5,98.4,-6.4,121,1113,0.20,2.35,0.00,0.000,6,0.051,0.023,2459,2040,3410
$GC,1432,-1.45,-165.5,128.5,-8.8,152,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2039,3410
$GC,1755,-1.45,-165.5,153.0,-7.5,182,1759,0.00,2.42,0.00,0.000,4,0.000,0.035,2459,3446,3411
$GC,1819,-1.52,-165.5,158.1,-7.8,187,1823,0.00,2.38,0.00,0.000,6,0.000,0.025,2459,2038,3410
$GC,2146,-1.52,-165.5,184.3,-8.3,217,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2038,3410
$GC,2472,-1.55,-165.5,212.2,-8.0,241,2476,0.00,2.42,0.00,0.000,4,0.000,0.036,2459,3440,3410
$GC,2545,-1.64,-165.5,217.8,-6.5,244,2550,0.15,2.38,0.00,0.000,6,0.057,0.026,2422,2035,3410
$GC,2861,-1.64,-165.5,242.7,-7.6,259,2866,0.00,2.45,0.00,0.000,4,0.000,0.037,2422,3447,3410
$GC,2907,-1.64,-165.5,246.5,-8.6,261,2911,0.00,2.40,0.00,0.000,6,0.000,0.026,2422,2028,3410
$GC,3234,-1.64,-165.5,272.2,-8.7,277,3238,0.00,2.45,0.00,0.000,4,0.000,0.038,2422,3435,3410
$GC,3292,-1.64,-165.5,277.1,-8.3,279,3298,0.00,2.38,0.00,0.000,6,0.000,0.027,2422,2037,3410
$GC,3608,-1.64,-165.5,304.0,-9.1,294,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2037,3408
$GC,3932,-1.64,-165.5,328.6,-7.1,302,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2037,3406
$GC,4258,-1.64,-165.5,348.9,-6.4,310,4262,0.00,2.45,0.00,0.000,4,0.000,0.040,2422,3434,3403
$GC,4320,-1.68,-165.5,353.5,-7.5,311,4325,0.00,2.40,0.00,0.000,6,0.000,0.030,2422,2034,3403
$GC,4664,-1.68,-165.5,380.9,-8.1,320,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2033,3401
$GC,4988,-1.68,-165.5,405.5,-7.0,328,4992,0.00,2.47,0.00,0.000,4,0.000,0.042,2422,3438,3399
$GC,5018,-1.68,-165.5,407.4,-6.7,328,5023,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2042,3398
$GC,5351,-1.68,-165.5,432.2,-7.8,336,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2042,3396
$STATE,5591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5591,begin apogee
$GC,5600,-0.33,0.0,451.8,8.0,342,5732,1.35,0.00,128.90,0.928,6,0.098,0.000,2703,1937,2732
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5737,1.06,165.5,457.6,0.0,345,5877,1.38,2.62,130.27,0.904,4,0.050,0.041,3007,3349,2058
$GC,6049,0.56,165.5,436.2,12.8,352,6054,0.57,2.45,0.00,0.000,6,0.124,0.035,2903,1965,2057
$GC,6363,0.27,165.5,410.9,7.5,360,6368,0.30,2.60,0.00,0.000,4,0.120,0.054,2844,534,2056
$GC,6414,0.07,165.5,407.3,7.2,361,6419,0.25,2.45,0.00,0.000,6,0.117,0.031,2798,1941,2055
$GC,6728,0.11,238.2,392.6,4.7,369,6792,0.00,2.62,56.42,0.900,4,0.000,0.045,2798,3353,1761
$GC,6861,0.07,247.2,385.0,6.6,372,6875,0.00,2.50,7.82,0.873,6,0.000,0.035,2798,1943,1725
$GC,7191,0.07,281.2,365.1,5.8,380,7220,0.00,0.00,27.38,0.892,6,0.000,0.000,2798,1943,1586
$GC,7515,0.09,323.4,347.3,5.6,388,7557,0.00,2.60,33.25,0.877,4,0.000,0.041,2798,3353,1414
$GC,7603,0.10,329.8,341.7,6.6,390,7614,0.00,2.50,6.03,0.851,6,0.000,0.035,2798,1944,1388
$GC,7929,0.05,329.8,316.2,8.1,398,7933,0.00,2.53,0.00,0.000,4,0.000,0.042,2798,3358,1387
$GC,7973,0.05,329.8,312.7,7.3,399,7978,0.00,2.47,0.00,0.000,6,0.000,0.033,2798,1946,1387
$GC,8295,0.10,383.6,294.0,5.2,409,8340,0.00,0.00,42.15,0.851,6,0.000,0.000,2798,1946,1169
$GC,8647,0.06,383.6,269.0,8.0,426,8651,0.00,2.50,0.00,0.000,4,0.000,0.039,2798,3355,1169
$GC,8704,0.06,383.6,264.5,7.9,428,8710,0.00,2.45,0.00,0.000,6,0.000,0.032,2798,1950,1169
$GC,9021,0.03,383.6,240.3,8.3,444,9025,0.00,2.50,0.00,0.000,4,0.000,0.039,2798,3365,1169
$GC,9076,0.03,383.6,235.4,8.2,446,9083,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1941,1170
$GC,9393,0.07,409.4,212.6,6.1,462,9419,0.00,2.55,20.88,0.789,4,0.000,0.037,2798,3362,1062
$GC,9455,0.09,422.2,209.0,6.4,465,9471,0.00,2.47,10.82,0.779,6,0.000,0.030,2798,1947,1010
$GC,9788,0.09,422.2,187.1,7.4,488,9792,0.00,2.47,0.00,0.000,4,0.000,0.037,2798,3354,1010
$GC,9822,0.09,422.2,184.4,7.4,490,9828,0.00,2.42,0.00,0.000,6,0.000,0.028,2798,1949,1010
$GC,10152,0.13,443.8,161.2,6.2,521,10175,0.00,2.58,17.42,0.732,4,0.000,0.035,2798,3363,923
$GC,10204,0.16,443.8,157.5,6.9,525,10210,0.00,2.42,0.00,0.000,6,0.000,0.028,2798,1953,923
$GC,10533,0.31,505.0,137.8,5.0,556,10583,0.17,0.00,47.33,0.696,6,0.058,0.000,2845,1953,674
$GC,10899,0.25,505.0,106.7,9.6,591,10904,0.00,2.45,0.00,0.000,4,0.000,0.034,2845,3355,674
$GC,10973,0.25,505.0,100.3,8.5,597,10978,0.00,2.42,0.00,0.000,6,0.000,0.026,2845,1937,674
$GC,11308,0.27,516.5,74.9,6.5,628,11323,0.00,2.50,9.98,0.632,4,0.000,0.034,2845,3356,627
$GC,11369,0.37,540.7,70.5,6.1,633,11397,0.00,2.40,20.35,0.623,6,0.000,0.025,2845,1948,527
$GC,11657,0.39,550.9,50.4,6.5,660,11672,0.00,2.50,8.35,0.601,4,0.000,0.032,2845,3355,486
$GC,11704,0.45,550.9,46.8,6.9,664,11709,0.15,2.40,0.00,0.000,6,0.058,0.025,2881,1946,486
$GC,11972,0.38,550.9,19.7,9.9,696,11978,0.00,2.45,0.00,0.000,4,0.000,0.033,2881,3365,487
$GC,11997,0.32,550.9,17.1,10.1,700,12004,0.15,2.40,0.00,0.000,6,0.087,0.023,2851,1944,488
$STATE,12146,end climb,SURFACE_DEPTH_REACHED
$STATE,12146,begin surface coast
$FINISH,0.9,1.009470
$STATE,12224,end surface coast,CONTROL_FINISHED_OK
$STATE,12225,begin surface
$SM_CCo,12309,0.00,0.000,0,0,487,550.70
$SM_GC,1.58,10.80,0.00,0.00,0.043,0.000,0.000,411,2071,487,-10.85,0.88,550.70
$IRIDIUM_FIX,2054.83,-15749.62,200198,030324
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.70
$XPDR_PINGS,13
$24V_AH,23.8,34.501
$10V_AH,10.2,21.164
$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,27.525,113.550,567.350,0.000,0.000,26.480,41.783,152.604,12.250,0.000,0.000,29.174,1343.159,8433.329,617.348,1730.714,555.495,33.367,1476.888,0.000,1688.253,0.000,57.433
$DEVICE_MAMPS,156.468,53.690,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.531,481.770,868.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38004,740
$CAP_FILE_SIZE,107971,0
$CFSIZE,260165632,244297728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261008,104432,2105.309,-15747.164,42,1.4,42,9.8