version: 66.03
glider: 114
mission: 3
dive: 285
start: 10 31 108 18 19 0
data:
$ID,114
$MISSION,3
$DIVE,285
$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,-597213.12
$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,34
$R_STBD_OVSHOOT,68
$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
$GPS1,181207,2104.041,-15747.502,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.2
$GPS2,181803,2104.073,-15747.555,14,1.1,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.130,0.193
$KALMAN_X,-94154.0,531.2,-896.4,104904.8,830.0
$KALMAN_Y,-79597.2,60.3,-79.7,56458.5,-230.6
$MHEAD_RNG_PITCHd_Wd,316.1,11762,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,112,0.00,0.00,-80.75,0.000,2,0.000,0.000,407,2080,2848
$GC,117,-1.06,-165.5,3.4,-3.8,15,147,11.98,2.35,-9.45,0.000,4,0.157,0.049,2540,3413,3411
$GC,217,-1.18,-165.5,19.9,-8.8,32,223,0.00,2.33,0.00,0.000,6,0.000,0.024,2540,2034,3411
$GC,488,-1.26,-165.5,42.1,-9.3,69,492,0.15,2.40,0.00,0.000,4,0.055,0.032,2503,3420,3411
$GC,544,-1.33,-165.5,47.6,-9.2,73,550,0.00,2.33,0.00,0.000,6,0.000,0.023,2503,2034,3411
$GC,806,-1.37,-165.5,70.0,-8.1,98,810,0.00,2.38,0.00,0.000,4,0.000,0.033,2503,3416,3410
$GC,857,-1.45,-165.5,74.1,-7.6,102,864,0.17,2.33,0.00,0.000,6,0.054,0.023,2461,2028,3411
$GC,1122,-1.41,-165.5,98.7,-8.6,127,1126,0.00,2.38,0.00,0.000,4,0.000,0.034,2461,3410,3411
$GC,1191,-1.41,-165.5,104.7,-7.8,132,1197,0.00,2.30,0.00,0.000,6,0.000,0.023,2461,2036,3411
$GC,1517,-1.41,-165.5,134.8,-9.8,163,1521,0.00,2.38,0.00,0.000,4,0.000,0.033,2461,3415,3411
$GC,1580,-1.46,-165.5,140.7,-9.7,168,1584,0.00,2.33,0.00,0.000,6,0.000,0.024,2461,2034,3411
$GC,1906,-1.46,-165.5,170.3,-10.5,198,1910,0.00,2.38,0.00,0.000,4,0.000,0.034,2461,3415,3411
$GC,1964,-1.51,-165.5,176.4,-10.6,202,1971,0.00,2.30,0.00,0.000,6,0.000,0.024,2461,2039,3411
$GC,2291,-1.55,-165.5,207.2,-8.2,229,2295,0.00,2.38,0.00,0.000,4,0.000,0.035,2461,3415,3411
$GC,2364,-1.65,-165.5,213.2,-7.6,232,2369,0.17,2.33,0.00,0.000,6,0.054,0.024,2417,2032,3411
$GC,2682,-1.65,-165.5,241.1,-8.3,247,2686,0.00,2.40,0.00,0.000,4,0.000,0.037,2417,3416,3411
$GC,2760,-1.65,-165.5,247.6,-7.6,250,2766,0.00,2.33,0.00,0.000,6,0.000,0.025,2418,2036,3411
$GC,3078,-1.65,-165.5,271.5,-7.9,266,3082,0.00,2.40,0.00,0.000,4,0.000,0.037,2417,3420,3411
$GC,3100,-1.65,-165.5,273.4,-7.2,267,3104,0.00,2.35,0.00,0.000,6,0.000,0.026,2417,2033,3411
$GC,3428,-1.65,-165.5,300.3,-8.4,283,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2033,3410
$GC,3752,-1.65,-165.5,324.9,-7.4,291,3756,0.00,2.40,0.00,0.000,4,0.000,0.040,2417,3406,3407
$GC,3853,-1.68,-165.5,333.3,-8.2,293,3857,0.00,2.35,0.00,0.000,6,0.000,0.030,2418,2035,3406
$GC,4203,-1.68,-165.5,361.7,-8.0,302,4207,0.00,2.47,0.00,0.000,4,0.000,0.048,2417,631,3403
$GC,4246,-1.72,-165.5,365.3,-8.6,303,4250,0.00,2.38,0.00,0.000,6,0.000,0.030,2417,2010,3403
$GC,4570,-1.72,-165.5,389.1,-7.0,311,4574,0.00,2.53,0.00,0.000,4,0.000,0.046,2417,3446,3401
$GC,4634,-1.76,-165.5,393.0,-6.2,312,4638,0.00,2.42,0.00,0.000,6,0.000,0.031,2417,2038,3400
$GC,4978,-1.76,-165.5,411.6,-5.6,321,4982,0.00,2.50,0.00,0.000,4,0.000,0.043,2417,3451,3398
$GC,5023,-1.80,-165.5,414.6,-6.5,322,5028,0.15,2.45,0.00,0.000,6,0.071,0.031,2385,2031,3397
$GC,5345,-1.76,-165.5,441.8,-9.3,330,5349,0.00,2.50,0.00,0.000,4,0.000,0.043,2385,3445,3394
$GC,5373,-1.71,-165.5,444.8,-9.8,330,5378,0.10,2.42,0.00,0.000,6,0.122,0.031,2402,2034,3394
$STATE,5458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5466,-0.33,0.0,451.4,7.7,332,5598,1.48,0.00,128.25,0.938,6,0.096,0.000,2706,1930,2733
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5603,1.06,165.5,454.5,0.0,335,5743,1.35,2.60,130.10,0.903,4,0.051,0.053,3005,556,2058
$GC,6002,0.52,165.5,413.0,15.0,344,6008,0.60,2.45,0.00,0.000,6,0.150,0.031,2898,1957,2057
$GC,6322,0.23,165.5,382.9,8.7,352,6327,0.32,2.50,0.00,0.000,4,0.143,0.044,2837,3360,2054
$GC,6339,-0.00,165.5,381.6,8.1,352,6344,0.30,2.45,0.00,0.000,6,0.209,0.033,2782,1963,2054
$GC,6683,0.19,291.9,369.3,3.1,361,6788,0.15,2.67,97.78,0.891,4,0.075,0.054,2819,540,1543
$GC,6828,0.09,291.9,361.7,7.7,364,6832,0.00,2.47,0.00,0.000,6,0.000,0.030,2819,1952,1542
$GC,7171,0.00,291.9,336.6,7.6,373,7176,0.17,2.53,0.00,0.000,4,0.107,0.046,2784,3361,1541
$GC,7244,0.04,311.3,331.9,6.2,374,7265,0.00,2.47,15.27,0.875,6,0.000,0.033,2784,1949,1464
$GC,7578,0.04,311.3,309.8,7.1,383,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1949,1463
$GC,7886,0.08,337.8,290.1,6.0,394,7912,0.00,2.55,21.30,0.861,4,0.000,0.041,2785,3353,1354
$GC,7952,0.12,360.3,286.1,6.2,397,7977,0.10,2.47,18.17,0.857,6,0.087,0.032,2805,1943,1263
$GC,8303,0.08,360.3,262.1,6.9,414,8307,0.00,2.53,0.00,0.000,4,0.000,0.041,2806,3366,1263
$GC,8347,0.08,360.3,258.5,7.3,416,8352,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1950,1263
$GC,8669,0.08,360.3,230.9,8.4,432,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1950,1263
$GC,8979,0.15,399.9,210.6,5.6,447,9020,0.00,2.53,31.27,0.797,4,0.000,0.035,2806,3358,1101
$GC,9068,0.15,403.1,204.9,6.7,451,9077,0.00,2.47,3.42,0.769,6,0.000,0.030,2806,1938,1088
$GC,9397,0.15,403.1,180.6,8.9,478,9401,0.00,2.50,0.00,0.000,4,0.000,0.035,2806,3365,1088
$GC,9448,0.19,403.1,175.8,9.3,482,9452,0.00,2.45,0.00,0.000,6,0.000,0.028,2806,1948,1088
$GC,9776,0.26,442.5,150.3,5.7,512,9810,0.15,0.00,30.85,0.719,6,0.064,0.000,2846,1948,928
$GC,10127,0.20,442.5,121.1,7.8,545,10132,0.10,2.45,0.00,0.000,4,0.103,0.031,2826,3367,929
$GC,10191,0.20,442.5,116.6,7.2,550,10195,0.00,2.45,0.00,0.000,6,0.000,0.026,2826,1941,929
$GC,10517,0.28,487.6,96.6,5.5,580,10556,0.00,0.00,34.97,0.648,6,0.000,0.000,2826,1940,745
$GC,10876,0.29,495.2,74.6,6.6,614,10888,0.00,2.55,7.35,0.626,4,0.000,0.032,2826,3365,713
$GC,10936,0.36,495.2,70.1,7.8,619,10940,0.15,2.42,0.00,0.000,6,0.058,0.025,2862,1944,714
$GC,11201,0.31,495.2,45.0,10.2,643,11205,0.00,2.45,0.00,0.000,4,0.000,0.033,2862,3361,715
$GC,11231,0.27,495.2,41.7,10.8,645,11238,0.12,2.40,0.00,0.000,6,0.092,0.033,2837,1944,715
$GC,11500,0.36,522.0,22.3,6.0,680,11529,0.00,2.53,20.90,0.569,4,0.000,0.031,2837,3362,604
$GC,11543,0.56,605.8,20.4,4.3,687,11585,0.30,2.40,34.88,0.561,6,0.051,0.024,2907,1948,419
$STATE,11690,end climb,SURFACE_DEPTH_REACHED
$STATE,11690,begin surface coast
$FINISH,0.9,0.997932
$STATE,11737,end surface coast,CONTROL_FINISHED_OK
$STATE,11737,begin surface
$SM_CCo,11821,0.00,0.000,0,0,419,567.38
$SM_GC,1.66,11.05,0.00,0.00,0.040,0.000,0.000,411,2074,419,-10.85,0.93,567.38
$IRIDIUM_FIX,2054.83,-15807.20,250198,141432
$TT8_MAMPS,0.027612
$HUMID,1735
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,24.40
$XPDR_PINGS,13
$24V_AH,23.8,39.929
$10V_AH,10.2,24.396
$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,29.075,126.850,574.525,0.000,0.000,25.901,28.460,162.500,12.250,0.000,0.000,15.648,1319.447,7929.649,616.398,1756.224,555.128,33.365,1508.874,0.000,1717.374,0.000,60.254
$DEVICE_MAMPS,209.391,54.457,938.041,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.580,474.664,861.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,721
$CAP_FILE_SIZE,112089,0
$CFSIZE,260165632,242016256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311008,213708,2105.292,-15748.273,28,1.0,28,9.8