version: 66.03
glider: 114
mission: 3
dive: 249
start: 10 26 108 14 22 11
data:
$ID,114
$MISSION,3
$DIVE,249
$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,-596601.75
$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,65
$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
$GPS1,141438,2106.525,-15747.845,37,1.4,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.7
$GPS2,142115,2106.576,-15747.857,11,1.6,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.101,0.209
$KALMAN_X,-70372.8,215.9,-665.1,80683.5,-223.5
$KALMAN_Y,-57855.7,292.7,-337.1,39381.0,-81.2
$MHEAD_RNG_PITCHd_Wd,324.3,7341,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.06,-165.5,0.0,0.0,0,111,0.00,0.00,-81.07,0.000,2,0.000,0.000,407,2079,2909
$GC,115,-1.06,-165.5,3.5,-3.9,15,141,11.98,2.38,-8.12,0.000,4,0.157,0.049,2540,3411,3410
$GC,227,-1.18,-165.5,21.8,-7.2,34,234,0.00,2.33,0.00,0.000,6,0.000,0.023,2540,2033,3410
$GC,499,-1.23,-165.5,42.8,-7.4,68,504,0.15,2.40,0.00,0.000,4,0.055,0.034,2499,3417,3410
$GC,532,-1.23,-165.5,46.2,-10.0,70,539,0.00,2.33,0.00,0.000,6,0.000,0.023,2499,2030,3411
$GC,794,-1.23,-165.5,72.6,-10.0,95,798,0.00,2.38,0.00,0.000,4,0.000,0.034,2499,3416,3410
$GC,853,-1.34,-165.5,78.3,-8.9,100,857,0.00,2.33,0.00,0.000,6,0.000,0.023,2499,2034,3410
$GC,1119,-1.38,-165.5,100.7,-7.8,124,1123,0.00,2.40,0.00,0.000,4,0.000,0.038,2499,640,3411
$GC,1137,-1.43,-165.5,102.3,-7.6,125,1142,0.15,2.30,0.00,0.000,6,0.052,0.022,2461,2014,3410
$GC,1463,-1.43,-165.5,131.5,-9.9,155,1466,0.00,2.42,0.00,0.000,4,0.000,0.035,2461,3440,3411
$GC,1588,-1.46,-165.5,144.1,-9.7,166,1592,0.00,2.38,0.00,0.000,6,0.000,0.024,2461,2031,3411
$GC,1913,-1.46,-165.5,176.3,-8.7,196,1917,0.00,2.45,0.00,0.000,4,0.000,0.035,2461,3449,3411
$GC,2004,-1.53,-165.5,184.1,-8.2,203,2010,0.00,2.38,0.00,0.000,6,0.000,0.025,2461,2039,3411
$GC,2330,-1.56,-165.5,206.8,-6.5,229,2334,0.00,2.42,0.00,0.000,4,0.000,0.035,2460,3442,3411
$GC,2381,-1.65,-165.5,210.3,-5.8,231,2386,0.17,2.38,0.00,0.000,6,0.054,0.025,2417,2034,3411
$GC,2698,-1.61,-165.5,237.2,-8.7,246,2702,0.00,2.40,0.00,0.000,4,0.000,0.041,2417,644,3410
$GC,2721,-1.61,-165.5,239.5,-9.5,247,2729,0.00,2.38,0.00,0.000,6,0.000,0.025,2417,2047,3410
$GC,3058,-1.61,-165.5,271.3,-9.8,263,3062,0.00,2.42,0.00,0.000,4,0.000,0.040,2418,3447,3410
$GC,3159,-1.61,-165.5,282.2,-10.6,267,3165,0.00,2.40,0.00,0.000,6,0.000,0.028,2417,2039,3409
$GC,3496,-1.61,-165.5,311.4,-8.3,281,3500,0.00,2.45,0.00,0.000,4,0.000,0.040,2417,3440,3408
$GC,3529,-1.61,-165.5,314.5,-8.3,281,3535,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2033,3408
$GC,3863,-1.61,-165.5,341.5,-8.0,290,3867,0.00,2.47,0.00,0.000,4,0.000,0.040,2417,3445,3405
$GC,3907,-1.61,-165.5,345.4,-8.6,291,3912,0.00,2.42,0.00,0.000,6,0.000,0.030,2417,2031,3404
$GC,4227,-1.61,-165.5,369.6,-7.6,299,4231,0.00,2.47,0.00,0.000,4,0.000,0.042,2417,3437,3402
$GC,4272,-1.64,-165.5,373.4,-8.4,300,4276,0.00,2.40,0.00,0.000,6,0.000,0.031,2418,2040,3402
$GC,4591,-1.64,-165.5,398.9,-8.0,308,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2039,3399
$GC,4916,-1.64,-165.5,428.1,-9.4,316,4920,0.00,2.47,0.00,0.000,4,0.000,0.044,2418,3439,3397
$GC,4972,-1.68,-165.5,433.4,-9.9,317,4976,0.00,2.42,0.00,0.000,6,0.000,0.032,2418,2036,3397
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5196,begin apogee
$GC,5204,-0.33,0.0,453.5,8.8,323,5336,1.38,0.00,128.98,0.927,6,0.087,0.000,2703,1933,2733
$STATE,5337,end apogee,CONTROL_FINISHED_OK
$STATE,5337,begin climb
$GC,5341,1.06,165.5,459.7,0.0,326,5481,1.38,2.60,130.25,0.904,4,0.050,0.054,3008,559,2058
$GC,5676,0.51,165.5,435.6,13.0,333,5681,0.62,2.42,0.00,0.000,6,0.131,0.031,2897,1945,2057
$GC,6008,0.24,165.5,407.1,8.6,341,6013,0.30,2.53,0.00,0.000,4,0.127,0.046,2838,3355,2055
$GC,6036,0.04,165.5,404.8,7.8,341,6041,0.25,2.45,0.00,0.000,6,0.129,0.035,2793,1954,2054
$GC,6369,0.13,249.7,388.9,4.3,349,6436,0.00,0.00,65.28,0.900,6,0.000,0.000,2793,1954,1715
$GC,6734,0.14,288.5,370.8,5.7,358,6774,0.00,2.55,31.33,0.892,4,0.000,0.041,2793,3353,1555
$GC,6837,0.10,288.5,363.5,7.9,360,6841,0.00,2.47,0.00,0.000,6,0.000,0.035,2793,1943,1555
$GC,7186,0.05,288.5,337.8,7.5,369,7190,0.00,2.53,0.00,0.000,4,0.000,0.042,2793,3356,1555
$GC,7226,0.01,288.5,334.5,8.2,370,7230,0.00,2.47,0.00,0.000,6,0.000,0.034,2793,1950,1554
$GC,7551,-0.01,294.0,312.3,6.7,378,7561,0.00,2.53,4.68,0.851,4,0.000,0.042,2793,3354,1533
$GC,7585,-0.03,302.4,310.0,6.6,378,7599,0.00,2.47,7.32,0.861,6,0.000,0.033,2793,1944,1499
$GC,7923,-0.03,302.4,286.2,7.1,391,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1945,1499
$GC,8232,0.11,379.0,270.0,4.6,406,8297,0.00,2.60,59.47,0.834,4,0.000,0.040,2793,3357,1187
$GC,8339,0.11,379.0,263.6,7.6,411,8343,0.00,2.47,0.00,0.000,6,0.000,0.032,2793,1944,1187
$GC,8666,0.11,379.0,236.3,8.5,427,8670,0.00,2.50,0.00,0.000,4,0.000,0.039,2793,3355,1187
$GC,8722,0.11,379.0,232.1,7.4,429,8728,0.00,2.45,0.00,0.000,6,0.000,0.031,2793,1950,1187
$GC,9038,0.22,442.7,215.1,4.9,445,9098,0.15,2.60,50.00,0.780,4,0.071,0.038,2827,3362,928
$GC,9133,0.16,442.7,208.0,9.6,449,9137,0.00,2.47,0.00,0.000,6,0.000,0.030,2827,1946,928
$GC,9459,0.10,442.7,177.1,8.0,475,9464,0.12,2.50,0.00,0.000,4,0.101,0.037,2804,3366,927
$GC,9511,0.10,442.7,172.9,7.6,479,9515,0.00,2.47,0.00,0.000,6,0.000,0.029,2803,1941,928
$GC,9840,0.24,521.7,151.3,4.5,509,9907,0.12,2.53,61.45,0.708,4,0.071,0.035,2833,3357,605
$GC,9946,0.21,521.7,144.4,8.0,518,9951,0.00,2.45,0.00,0.000,6,0.000,0.028,2833,1950,607
$GC,10276,0.20,541.5,119.4,6.2,548,10298,0.00,2.50,17.17,0.673,4,0.000,0.034,2833,3361,524
$GC,10323,0.20,541.5,115.7,7.1,552,10327,0.00,2.45,0.00,0.000,6,0.000,0.027,2833,1948,525
$GC,10653,0.20,541.5,83.5,10.0,582,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1947,526
$GC,10981,0.26,541.5,55.8,7.3,613,10986,0.00,2.45,0.00,0.000,4,0.000,0.038,2833,3361,526
$GC,11038,0.38,541.5,51.5,7.0,617,11045,0.12,2.40,0.00,0.000,6,0.065,0.025,2865,1942,527
$GC,11306,0.35,541.5,29.9,8.5,642,11312,0.00,2.45,0.00,0.000,4,0.000,0.033,2865,3362,528
$GC,11339,0.32,541.5,26.4,8.8,647,11345,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,1948,528
$STATE,11591,end climb,SURFACE_DEPTH_REACHED
$STATE,11591,begin surface coast
$FINISH,0.9,0.998313
$STATE,11660,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11744,0.00,0.000,0,0,529,540.64
$SM_GC,1.58,10.82,0.00,0.00,0.042,0.000,0.000,412,2089,529,-10.85,1.39,540.64
$IRIDIUM_FIX,2057.14,-15748.75,200198,101024
$TT8_MAMPS,0.027612
$HUMID,1740
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.8,34.799
$10V_AH,10.2,21.332
$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,27.725,127.425,555.925,0.000,0.000,25.793,56.908,180.090,12.000,0.000,0.000,12.792,1282.443,7968.718,625.110,1677.800,587.840,33.381,1475.437,0.000,1647.309,0.000,57.448
$DEVICE_MAMPS,157.235,54.457,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.941,468.798,825.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,704
$CAP_FILE_SIZE,107472,0
$CFSIZE,260165632,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261008,173908,2107.998,-15748.394,34,1.4,34,9.8