version: 66.03
glider: 114
mission: 3
dive: 388
start: 11 15 108 10 9 3
data:
$ID,114
$MISSION,3
$DIVE,388
$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,-599224.75
$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,67
$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
$GPS1,100256,2102.451,-15747.071,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.8
$GPS2,100803,2102.444,-15747.007,10,1.3,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.136,0.188
$KALMAN_X,-109372.8,460.7,653.6,119591.0,-1923.4
$KALMAN_Y,-114341.0,-12.6,542.6,87635.6,-2151.3
$MHEAD_RNG_PITCHd_Wd,26.2,14918,-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,-165.4,0.0,0.0,0,83,0.00,0.00,-53.62,0.000,2,0.000,0.000,409,2064,2693
$GC,87,-1.06,-165.5,3.0,-3.3,10,118,11.90,2.58,-13.20,0.000,4,0.153,0.048,2541,625,3409
$GC,176,-1.21,-165.5,15.5,-8.2,25,183,0.12,2.33,0.00,0.000,6,0.058,0.021,2509,2021,3409
$GC,448,-1.21,-165.5,42.5,-10.9,63,452,0.00,2.42,0.00,0.000,4,0.000,0.035,2509,3431,3409
$GC,580,-1.27,-165.5,55.2,-9.0,74,584,0.00,2.35,0.00,0.000,6,0.000,0.022,2509,2031,3409
$GC,842,-1.27,-165.5,81.3,-9.2,98,846,0.00,2.42,0.00,0.000,4,0.000,0.033,2509,3434,3409
$GC,909,-1.35,-165.5,87.6,-8.3,103,916,0.10,2.33,0.00,0.000,6,0.067,0.022,2484,2033,3409
$GC,1236,-1.35,-165.5,120.7,-9.0,134,1240,0.00,2.40,0.00,0.000,4,0.000,0.032,2484,3430,3410
$GC,1333,-1.43,-165.5,129.0,-8.1,142,1337,0.00,2.33,0.00,0.000,6,0.000,0.022,2484,2040,3410
$GC,1660,-1.48,-165.5,160.2,-8.3,172,1665,0.12,2.40,0.00,0.000,4,0.060,0.032,2452,3436,3410
$GC,1716,-1.51,-165.5,165.5,-8.8,176,1722,0.00,2.33,0.00,0.000,6,0.000,0.022,2452,2041,3410
$GC,2042,-1.51,-165.5,195.1,-8.3,207,2046,0.00,2.40,0.00,0.000,4,0.000,0.034,2452,3435,3410
$GC,2082,-1.55,-165.5,198.2,-7.8,210,2087,0.00,2.35,0.00,0.000,6,0.000,0.023,2452,2036,3410
$GC,2399,-1.55,-165.5,218.8,-6.9,226,2403,0.00,2.40,0.00,0.000,4,0.000,0.034,2452,3431,3410
$GC,2465,-1.61,-165.5,223.5,-7.2,229,2469,0.10,2.35,0.00,0.000,6,0.068,0.025,2426,2038,3410
$GC,2792,-1.61,-165.5,252.6,-9.4,245,2796,0.00,2.40,0.00,0.000,4,0.000,0.036,2426,3429,3411
$GC,2865,-1.61,-165.5,258.7,-7.6,248,2869,0.00,2.35,0.00,0.000,6,0.000,0.026,2426,2041,3410
$GC,3187,-1.61,-165.5,284.4,-8.5,264,3191,0.00,2.42,0.00,0.000,4,0.000,0.038,2426,3437,3410
$GC,3227,-1.61,-165.5,287.9,-8.7,266,3231,0.00,2.38,0.00,0.000,6,0.000,0.026,2426,2038,3409
$GC,3553,-1.61,-165.5,313.2,-7.7,278,3558,0.00,2.42,0.00,0.000,4,0.000,0.037,2426,3432,3408
$GC,3587,-1.61,-165.5,316.1,-7.9,278,3593,0.00,2.38,0.00,0.000,6,0.000,0.027,2426,2030,3408
$GC,3921,-1.61,-165.5,339.8,-7.0,287,3925,0.00,2.45,0.00,0.000,4,0.000,0.038,2426,3433,3405
$GC,3988,-1.66,-165.5,345.6,-8.3,288,3992,0.00,2.38,0.00,0.000,6,0.000,0.028,2426,2040,3404
$GC,4333,-1.66,-165.5,373.1,-8.6,297,4337,0.00,2.42,0.00,0.000,4,0.000,0.039,2426,3428,3402
$GC,4367,-1.70,-165.5,376.4,-8.6,297,4373,0.00,2.38,0.00,0.000,6,0.000,0.029,2426,2040,3402
$GC,4699,-1.70,-165.5,404.5,-8.4,306,4703,0.00,2.47,0.00,0.000,4,0.000,0.048,2426,638,3400
$GC,4727,-1.74,-165.5,407.2,-9.6,306,4732,0.12,2.38,0.00,0.000,6,0.070,0.029,2397,2024,3399
$GC,5065,-1.71,-165.5,441.3,-10.8,314,5070,0.00,2.50,0.00,0.000,4,0.000,0.049,2397,3450,3397
$GC,5110,-1.71,-165.5,446.4,-9.6,315,5114,0.00,2.42,0.00,0.000,6,0.000,0.031,2396,2035,3397
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5190,-0.33,0.0,453.6,9.6,317,5323,1.48,0.00,129.45,0.930,6,0.087,0.000,2703,1928,2733
$STATE,5324,end apogee,CONTROL_FINISHED_OK
$STATE,5324,begin climb
$GC,5328,1.06,165.5,460.2,0.0,320,5467,1.40,2.53,130.43,0.912,4,0.051,0.051,3009,553,2057
$GC,5723,0.52,165.5,426.8,15.1,329,5728,0.62,2.45,0.00,0.000,6,0.141,0.031,2898,1955,2056
$GC,6061,0.26,165.5,396.8,8.4,338,6066,0.28,2.55,0.00,0.000,4,0.120,0.052,2842,564,2055
$GC,6106,0.07,165.5,393.6,7.3,339,6111,0.22,2.42,0.00,0.000,6,0.150,0.030,2802,1957,2054
$GC,6426,0.07,207.8,376.6,5.6,347,6467,0.00,2.67,32.28,0.902,4,0.000,0.054,2801,550,1885
$GC,6485,0.07,259.7,373.7,5.3,348,6532,0.00,2.45,41.22,0.890,6,0.000,0.030,2802,1953,1674
$GC,6878,0.06,284.2,350.1,6.1,358,6904,0.00,2.53,20.20,0.879,4,0.000,0.044,2801,3348,1573
$GC,6961,0.11,314.9,344.9,5.9,360,6991,0.00,2.42,24.15,0.877,6,0.000,0.034,2801,1968,1448
$GC,7330,0.07,314.9,317.9,7.8,369,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1967,1448
$GC,7636,0.02,315.7,296.0,6.8,377,7640,0.00,2.47,0.00,0.000,4,0.000,0.041,2801,3358,1448
$GC,7686,0.02,315.7,292.4,7.1,379,7690,0.00,2.45,0.00,0.000,6,0.000,0.032,2801,1949,1448
$GC,8003,0.07,357.3,272.7,5.6,394,8045,0.00,2.58,33.05,0.844,4,0.000,0.038,2801,3354,1276
$GC,8062,0.13,396.7,269.2,5.7,396,8099,0.00,2.47,31.23,0.845,6,0.000,0.031,2801,1939,1115
$GC,8419,0.16,409.1,247.9,6.5,414,8435,0.00,2.53,10.48,0.811,4,0.000,0.036,2801,3350,1064
$GC,8464,0.16,409.1,244.0,8.2,415,8468,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1949,1064
$GC,8786,0.16,409.1,219.4,7.8,431,8790,0.00,2.47,0.00,0.000,4,0.000,0.037,2801,3360,1064
$GC,8819,0.16,409.1,216.6,7.9,432,8825,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1937,1064
$GC,9138,0.16,409.1,193.3,7.4,452,9142,0.00,2.47,0.00,0.000,4,0.000,0.035,2801,3356,1064
$GC,9182,0.20,409.1,189.6,7.9,455,9188,0.00,2.42,0.00,0.000,6,0.000,0.028,2801,1948,1064
$GC,9511,0.20,409.1,165.2,7.6,486,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1948,1065
$GC,9840,0.33,449.4,145.5,5.6,517,9877,0.20,2.50,31.77,0.718,4,0.061,0.033,2852,3357,899
$GC,9914,0.33,449.4,139.8,8.5,523,9918,0.00,2.45,0.00,0.000,6,0.000,0.027,2852,1944,899
$GC,10243,0.39,482.7,113.6,5.8,553,10274,0.00,0.00,26.02,0.683,6,0.000,0.000,2852,1944,764
$GC,10594,0.39,482.7,87.2,8.9,586,10598,0.00,2.45,0.00,0.000,4,0.000,0.031,2852,3357,763
$GC,10650,0.45,482.7,82.7,7.9,590,10657,0.10,2.40,0.00,0.000,6,0.072,0.025,2877,1943,765
$GC,10976,0.41,482.7,55.0,7.6,621,10980,0.00,2.42,0.00,0.000,4,0.000,0.031,2877,3357,766
$GC,11006,0.41,482.7,52.6,7.6,623,11012,0.00,2.38,0.00,0.000,6,0.000,0.023,2877,1950,766
$GC,11268,0.37,482.7,31.3,9.2,648,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1950,767
$GC,11538,0.33,482.7,8.0,9.5,694,11544,0.12,2.42,0.00,0.000,4,0.093,0.031,2853,3364,768
$STATE,11578,end climb,SURFACE_DEPTH_REACHED
$STATE,11578,begin surface coast
$FINISH,1.0,1.023196
$STATE,11659,end surface coast,CONTROL_FINISHED_OK
$STATE,11659,begin surface
$SM_CCo,11745,0.00,0.000,0,0,771,481.28
$SM_GC,1.61,10.75,0.00,0.00,0.041,0.000,0.000,410,2032,771,-10.86,-0.23,481.28
$IRIDIUM_FIX,2052.52,-15746.61,090298,070739
$TT8_MAMPS,0.027612
$HUMID,1746
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,441.3,68.3
$24V_AH,23.8,54.333
$10V_AH,10.2,33.038
$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,27.650,131.375,510.275,0.000,0.000,26.463,31.529,128.096,12.000,0.000,0.000,12.015,1322.834,7934.369,565.222,1721.588,517.330,33.367,1425.578,0.000,1684.488,0.000,58.930
$DEVICE_MAMPS,153.400,53.690,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.785,470.553,840.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37996,715
$CAP_FILE_SIZE,107503,0
$CFSIZE,260165632,235937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151108,132553,2103.189,-15745.656,6,4.1,25,9.8