version: 66.03
glider: 114
mission: 3
dive: 294
start: 11 2 108 1 3 29
data:
$ID,114
$MISSION,3
$DIVE,294
$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,-597365.81
$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,36
$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
$GPS1,005638,2108.299,-15749.227,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.1
$GPS2,010233,2108.243,-15749.271,14,1.3,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.181,-0.145
$KALMAN_X,-94570.9,-105.5,601.0,101499.0,-1449.0
$KALMAN_Y,-84460.1,136.3,-103.6,68990.6,-670.3
$MHEAD_RNG_PITCHd_Wd,118.9,11708,-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,-165.5,0.0,0.0,0,95,0.00,0.00,-64.93,0.000,2,0.000,0.000,410,2070,2737
$GC,99,-1.06,-165.5,3.0,-3.3,12,129,11.90,2.50,-12.10,0.000,4,0.155,0.048,2541,638,3409
$GC,182,-1.21,-165.5,15.7,-7.7,26,189,0.12,2.30,0.00,0.000,6,0.058,0.021,2509,2016,3409
$GC,459,-1.21,-165.5,44.6,-11.3,64,463,0.00,2.45,0.00,0.000,4,0.000,0.035,2509,3443,3409
$GC,579,-1.27,-165.5,56.9,-9.3,74,583,0.00,2.35,0.00,0.000,6,0.000,0.023,2509,2037,3409
$GC,847,-1.32,-165.5,77.8,-7.1,99,851,0.00,2.42,0.00,0.000,4,0.000,0.033,2509,3444,3409
$GC,881,-1.40,-165.5,80.5,-7.8,101,887,0.15,2.35,0.00,0.000,6,0.057,0.022,2472,2038,3409
$GC,1207,-1.40,-165.5,110.2,-8.3,132,1211,0.00,2.42,0.00,0.000,4,0.000,0.034,2471,3443,3409
$GC,1288,-1.46,-165.5,116.8,-7.6,138,1294,0.00,2.35,0.00,0.000,6,0.000,0.023,2472,2038,3409
$GC,1614,-1.46,-165.5,142.7,-6.9,169,1618,0.00,2.42,0.00,0.000,4,0.000,0.034,2472,3442,3409
$GC,1677,-1.53,-165.5,147.8,-8.0,174,1682,0.12,2.35,0.00,0.000,6,0.061,0.024,2440,2041,3409
$GC,2003,-1.49,-165.5,181.3,-9.8,204,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2039,3409
$GC,2320,-1.49,-165.5,210.6,-9.7,229,2324,0.00,2.42,0.00,0.000,4,0.000,0.035,2440,3443,3409
$GC,2377,-1.54,-165.5,215.1,-6.6,231,2382,0.00,2.38,0.00,0.000,6,0.000,0.025,2440,2033,3409
$GC,2693,-1.54,-165.5,238.8,-8.2,247,2697,0.00,2.42,0.00,0.000,4,0.000,0.036,2438,3434,3409
$GC,2722,-1.54,-165.5,241.3,-8.9,248,2726,0.00,2.38,0.00,0.000,6,0.000,0.025,2440,2027,3409
$GC,3038,-1.54,-165.5,264.7,-7.2,263,3043,0.00,2.45,0.00,0.000,4,0.000,0.037,2440,3438,3409
$GC,3129,-1.60,-165.5,271.6,-7.5,267,3133,0.00,2.35,0.00,0.000,6,0.000,0.027,2440,2043,3408
$GC,3457,-1.63,-165.5,298.2,-7.9,283,3461,0.00,2.42,0.00,0.000,4,0.000,0.039,2440,3433,3407
$GC,3513,-1.69,-165.5,303.0,-8.9,285,3518,0.12,2.38,0.00,0.000,6,0.067,0.028,2410,2038,3406
$GC,3861,-1.69,-165.5,335.4,-9.5,294,3865,0.00,2.45,0.00,0.000,4,0.000,0.045,2410,639,3404
$GC,3889,-1.69,-165.5,338.7,-11.2,294,3894,0.00,2.38,0.00,0.000,6,0.000,0.029,2410,2031,3403
$GC,4229,-1.69,-165.5,371.1,-9.1,303,4233,0.00,2.47,0.00,0.000,4,0.000,0.044,2410,3443,3401
$GC,4302,-1.69,-165.5,377.4,-8.2,304,4306,0.00,2.42,0.00,0.000,6,0.000,0.031,2410,2032,3401
$GC,4636,-1.69,-165.5,402.8,-7.6,312,4640,0.00,2.50,0.00,0.000,4,0.000,0.042,2410,3448,3398
$GC,4686,-1.69,-165.5,407.4,-8.7,313,4690,0.00,2.42,0.00,0.000,6,0.000,0.031,2410,2037,3398
$GC,4999,-1.69,-165.5,434.5,-8.8,321,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2038,3396
$STATE,5201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5201,begin apogee
$GC,5209,-0.33,0.0,452.1,8.6,326,5341,1.42,0.00,128.48,0.920,6,0.089,0.000,2705,1933,2733
$STATE,5342,end apogee,CONTROL_FINISHED_OK
$STATE,5342,begin climb
$GC,5346,1.06,165.5,458.4,0.0,329,5485,1.35,2.58,129.88,0.902,4,0.047,0.041,3007,3352,2057
$GC,5708,0.55,165.5,430.4,14.6,337,5713,0.57,2.45,0.00,0.000,6,0.134,0.034,2903,1965,2056
$GC,6057,0.27,165.5,397.8,8.6,346,6063,0.30,2.58,0.00,0.000,4,0.117,0.053,2845,544,2054
$GC,6137,0.13,199.2,392.8,5.8,347,6168,0.17,2.45,25.70,0.895,6,0.119,0.030,2813,1956,1921
$GC,6510,0.16,273.9,376.7,4.6,357,6571,0.00,0.00,59.20,0.890,6,0.000,0.000,2813,1956,1615
$GC,6871,0.08,273.9,347.0,8.8,366,6875,0.00,2.47,0.00,0.000,4,0.000,0.045,2813,3347,1615
$GC,6917,0.02,273.9,343.3,7.5,367,6921,0.15,2.45,0.00,0.000,6,0.113,0.032,2785,1950,1615
$GC,7236,0.18,361.8,328.4,4.2,375,7311,0.15,2.62,68.15,0.872,4,0.074,0.052,2821,544,1256
$GC,7354,0.10,361.8,320.5,9.4,377,7358,0.00,2.45,0.00,0.000,6,0.000,0.030,2821,1945,1256
$GC,7667,0.02,361.8,295.5,8.0,385,7671,0.17,2.53,0.00,0.000,4,0.107,0.045,2787,3358,1257
$GC,7752,0.04,374.1,289.9,6.5,389,7767,0.00,2.47,10.15,0.840,6,0.000,0.032,2787,1947,1208
$GC,8079,0.11,414.5,271.3,5.6,404,8120,0.00,2.55,31.88,0.835,4,0.000,0.040,2787,3362,1042
$GC,8145,0.19,461.3,267.9,5.4,407,8188,0.15,2.50,37.30,0.822,6,0.071,0.031,2820,1939,852
$GC,8499,0.13,461.3,234.1,11.0,424,8503,0.00,2.53,0.00,0.000,4,0.000,0.038,2820,3365,852
$GC,8562,0.13,461.3,227.2,10.7,427,8566,0.00,2.47,0.00,0.000,6,0.000,0.031,2820,1949,852
$GC,8881,0.10,461.3,194.5,8.2,445,8885,0.00,2.47,0.00,0.000,4,0.000,0.037,2820,3356,852
$GC,8904,0.10,461.3,192.5,8.8,446,8911,0.00,2.42,0.00,0.000,6,0.000,0.028,2820,1946,852
$GC,9233,0.10,461.3,167.9,8.4,477,9237,0.00,2.47,0.00,0.000,4,0.000,0.035,2820,3364,852
$GC,9262,0.10,461.3,165.1,9.4,479,9266,0.00,2.45,0.00,0.000,6,0.000,0.027,2820,1943,853
$GC,9590,0.10,461.3,138.5,7.7,509,9594,0.00,2.47,0.00,0.000,4,0.000,0.034,2820,3364,853
$GC,9624,0.10,461.3,135.5,7.7,511,9631,0.00,2.42,0.00,0.000,6,0.000,0.027,2820,1937,853
$GC,9952,0.10,461.3,109.3,7.8,542,9957,0.00,2.47,0.00,0.000,4,0.000,0.034,2819,3361,853
$GC,9998,0.15,470.6,106.0,6.5,545,10016,0.00,2.40,8.40,0.670,6,0.000,0.026,2820,1949,814
$GC,10336,0.21,504.0,89.1,5.8,577,10369,0.00,2.50,25.85,0.640,4,0.000,0.033,2820,3364,677
$GC,10410,0.29,504.0,84.4,6.9,583,10416,0.10,2.42,0.00,0.000,6,0.074,0.025,2844,1944,678
$GC,10736,0.33,504.0,55.9,6.9,614,10740,0.00,2.45,0.00,0.000,4,0.000,0.032,2844,3365,679
$GC,10772,0.39,504.0,53.5,7.5,617,10776,0.00,2.42,0.00,0.000,6,0.000,0.024,2844,1940,680
$GC,11034,0.39,504.0,36.3,7.4,641,11038,0.00,2.45,0.00,0.000,4,0.000,0.032,2844,3360,680
$GC,11057,0.43,504.0,34.6,7.0,642,11064,0.12,2.40,0.00,0.000,6,0.063,0.024,2876,1937,681
$GC,11331,0.37,504.0,10.4,10.1,685,11338,0.00,2.45,0.00,0.000,4,0.000,0.031,2876,3365,682
$GC,11379,0.32,504.0,6.6,8.2,693,11387,0.12,2.40,0.00,0.000,6,0.094,0.023,2851,1938,682
$STATE,11396,end climb,SURFACE_DEPTH_REACHED
$STATE,11396,begin surface coast
$FINISH,0.8,1.009698
$STATE,11460,end surface coast,CONTROL_FINISHED_OK
$STATE,11460,begin surface
$SM_CCo,11543,0.00,0.000,0,0,684,502.62
$SM_GC,1.68,10.82,0.00,0.00,0.044,0.000,0.000,411,2093,684,-10.85,1.50,502.62
$IRIDIUM_FIX,2059.45,-15748.75,260198,212153
$TT8_MAMPS,0.027612
$HUMID,1729
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,23.8,41.172
$10V_AH,10.2,25.153
$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,28.050,132.325,524.975,0.000,0.000,28.825,29.211,156.851,10.750,0.000,0.000,15.551,1311.861,7731.425,590.448,1711.489,553.072,33.373,1444.145,0.000,1678.924,0.000,57.447
$DEVICE_MAMPS,154.934,52.923,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.571,467.248,858.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37929,707
$CAP_FILE_SIZE,109217,0
$CFSIZE,260165632,241496064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021108,041708,2106.775,-15749.133,37,1.1,37,9.8