version: 66.03
glider: 114
mission: 3
dive: 424
start: 11 20 108 11 4 0
data:
$ID,114
$MISSION,3
$DIVE,424
$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,-599973.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2790
$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,59
$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
$GPS1,105655,2103.603,-15746.623,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.0
$GPS2,110303,2103.612,-15746.646,8,1.8,8,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.017,0.232
$KALMAN_X,-126673.1,-327.5,-0.6,138949.0,-957.9
$KALMAN_Y,-135503.7,163.6,90.7,111237.1,-1557.5
$MHEAD_RNG_PITCHd_Wd,354.4,13172,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.06,-165.4,0.0,0.0,0,103,0.00,0.00,-70.85,0.000,2,0.000,0.000,411,2059,2708
$GC,107,-1.06,-165.5,3.1,-3.3,13,138,11.93,2.42,-12.98,0.000,4,0.154,0.045,2552,3428,3409
$GC,214,-1.22,-165.5,15.3,-6.1,31,221,0.12,2.35,0.00,0.000,6,0.060,0.023,2521,2032,3409
$GC,491,-1.22,-165.5,41.5,-9.3,70,495,0.00,2.40,0.00,0.000,4,0.000,0.033,2521,3423,3409
$GC,536,-1.29,-165.5,45.6,-8.6,73,542,0.00,2.33,0.00,0.000,6,0.000,0.023,2521,2039,3409
$GC,799,-1.33,-165.5,69.0,-8.6,98,803,0.00,2.38,0.00,0.000,4,0.000,0.033,2521,3419,3409
$GC,863,-1.43,-165.5,74.4,-8.2,103,868,0.20,2.30,0.00,0.000,6,0.051,0.022,2473,2038,3409
$GC,1127,-1.43,-165.5,101.5,-10.7,127,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2037,3409
$GC,1456,-1.43,-165.5,133.2,-7.9,158,1460,0.00,2.38,0.00,0.000,4,0.000,0.033,2473,3419,3409
$GC,1536,-1.48,-165.5,139.3,-6.4,164,1542,0.00,2.33,0.00,0.000,6,0.000,0.023,2473,2027,3409
$GC,1862,-1.51,-165.5,164.3,-6.9,195,1866,0.00,2.40,0.00,0.000,4,0.000,0.034,2473,3425,3409
$GC,1947,-1.59,-165.5,170.4,-6.8,202,1954,0.15,2.33,0.00,0.000,6,0.058,0.024,2436,2035,3409
$GC,2274,-1.56,-165.5,199.2,-9.9,233,2278,0.00,2.40,0.00,0.000,4,0.000,0.034,2436,3429,3409
$GC,2336,-1.56,-165.5,205.0,-8.4,236,2340,0.00,2.35,0.00,0.000,6,0.000,0.024,2436,2036,3409
$GC,2663,-1.56,-165.5,233.8,-9.7,252,2667,0.00,2.40,0.00,0.000,4,0.000,0.036,2436,3421,3409
$GC,2709,-1.56,-165.5,238.3,-9.8,254,2713,0.00,2.35,0.00,0.000,6,0.000,0.025,2436,2031,3409
$GC,3036,-1.56,-165.5,269.8,-10.3,270,3041,0.00,2.40,0.00,0.000,4,0.000,0.037,2436,3422,3409
$GC,3093,-1.60,-165.5,275.6,-9.9,272,3097,0.00,2.35,0.00,0.000,6,0.000,0.026,2436,2034,3409
$GC,3409,-1.60,-165.5,305.4,-9.2,286,3413,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,640,3407
$GC,3443,-1.66,-165.5,308.9,-10.2,286,3447,0.00,2.35,0.00,0.000,6,0.000,0.027,2435,2021,3407
$GC,3775,-1.69,-165.5,339.6,-8.9,294,3780,0.00,2.47,0.00,0.000,4,0.000,0.041,2436,3450,3406
$GC,3848,-1.75,-165.5,346.2,-8.7,295,3853,0.12,2.42,0.00,0.000,6,0.068,0.030,2407,2035,3404
$GC,4187,-1.75,-165.5,377.9,-9.3,304,4191,0.00,2.47,0.00,0.000,4,0.000,0.041,2407,3445,3402
$GC,4210,-1.75,-165.5,380.3,-9.5,304,4214,0.00,2.42,0.00,0.000,6,0.000,0.029,2407,2029,3401
$GC,4554,-1.75,-165.5,413.7,-10.0,313,4558,0.00,2.50,0.00,0.000,4,0.000,0.041,2407,3447,3399
$GC,4587,-1.75,-165.5,417.4,-10.6,313,4593,0.00,2.42,0.00,0.000,6,0.000,0.030,2407,2037,3399
$GC,4920,-1.75,-165.5,448.8,-8.9,322,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2036,3396
$STATE,4959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4959,begin apogee
$GC,4967,-0.33,0.0,452.3,8.6,323,5100,1.48,0.00,129.23,0.925,6,0.086,0.000,2714,1927,2733
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5104,1.06,165.5,458.1,0.0,326,5244,1.35,2.58,130.27,0.910,4,0.045,0.051,3017,564,2057
$GC,5504,0.51,165.5,422.1,14.6,335,5509,0.62,2.42,0.00,0.000,6,0.128,0.029,2905,1954,2056
$GC,5824,0.23,165.5,392.8,9.0,343,5829,0.30,2.55,0.00,0.000,4,0.119,0.051,2845,559,2054
$GC,5925,0.05,165.5,384.5,8.2,345,5930,0.22,2.42,0.00,0.000,6,0.140,0.030,2804,1952,2053
$GC,6275,0.07,220.8,365.4,5.2,354,6324,0.00,2.60,42.22,0.896,4,0.000,0.046,2804,3349,1832
$GC,6388,0.10,268.7,359.7,5.4,356,6433,0.00,2.42,38.22,0.884,6,0.000,0.033,2804,1963,1637
$GC,6772,0.04,268.7,335.7,7.2,366,6776,0.00,2.47,0.00,0.000,4,0.000,0.041,2804,3349,1636
$GC,6806,0.00,268.7,332.8,8.8,366,6812,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1949,1636
$GC,7138,-0.04,268.7,303.3,9.2,375,7143,0.12,2.55,0.00,0.000,4,0.114,0.051,2781,536,1635
$GC,7178,-0.04,268.7,299.8,8.7,376,7183,0.00,2.45,0.00,0.000,6,0.000,0.030,2781,1951,1634
$GC,7506,0.07,332.0,279.9,4.9,392,7562,0.10,2.58,48.88,0.850,4,0.086,0.044,2804,3348,1379
$GC,7601,0.07,332.0,274.2,7.1,396,7606,0.00,2.45,0.00,0.000,6,0.000,0.032,2803,1948,1378
$GC,7919,0.10,350.9,255.3,6.3,411,7937,0.00,0.00,15.32,0.825,6,0.000,0.000,2803,1948,1302
$GC,8247,0.10,350.9,232.4,7.5,427,8251,0.00,2.47,0.00,0.000,4,0.000,0.039,2803,3354,1301
$GC,8292,0.10,350.9,228.8,7.5,429,8297,0.00,2.45,0.00,0.000,6,0.000,0.031,2803,1947,1302
$GC,8615,0.18,397.3,209.3,5.4,445,8658,0.12,2.60,36.47,0.789,4,0.074,0.049,2832,545,1113
$GC,8677,0.12,397.3,205.1,8.3,448,8681,0.00,2.45,0.00,0.000,6,0.000,0.027,2831,1954,1113
$GC,9005,0.07,402.5,183.8,6.7,475,9017,0.12,2.47,5.05,0.752,4,0.104,0.038,2808,3358,1091
$GC,9064,0.14,419.4,179.8,6.3,480,9086,0.00,2.45,13.65,0.754,6,0.000,0.028,2809,1946,1022
$GC,9405,0.14,419.4,157.9,7.0,512,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1946,1022
$GC,9724,0.14,419.4,134.5,7.5,542,9728,0.00,2.45,0.00,0.000,4,0.000,0.034,2809,3351,1023
$GC,9776,0.21,419.4,130.7,7.1,546,9781,0.12,2.42,0.00,0.000,6,0.071,0.027,2838,1938,1023
$GC,10102,0.26,468.8,110.3,5.4,576,10143,0.00,0.00,38.75,0.673,6,0.000,0.000,2838,1938,820
$GC,10460,0.26,468.8,86.2,7.7,610,10464,0.00,2.45,0.00,0.000,4,0.000,0.033,2837,3352,821
$GC,10507,0.32,468.8,82.1,8.7,614,10512,0.10,2.40,0.00,0.000,6,0.075,0.025,2862,1950,821
$GC,10833,0.32,468.8,53.9,8.0,644,10837,0.00,2.47,0.00,0.000,4,0.000,0.044,2861,543,821
$GC,10856,0.32,468.8,51.9,8.0,645,10862,0.00,2.38,0.00,0.000,6,0.000,0.023,2862,1958,821
$GC,11118,0.35,481.7,35.9,6.4,670,11134,0.00,2.40,10.50,0.596,4,0.000,0.032,2862,3345,768
$GC,11151,0.35,481.7,33.4,7.5,672,11157,0.00,2.40,0.00,0.000,6,0.000,0.025,2862,1940,769
$GC,11426,0.35,481.7,12.1,7.5,716,11432,0.00,2.42,0.00,0.000,4,0.000,0.031,2862,3352,770
$GC,11457,0.43,531.3,10.5,5.4,721,11503,0.10,2.38,37.88,0.555,6,0.071,0.022,2887,1946,566
$STATE,11524,end climb,SURFACE_DEPTH_REACHED
$STATE,11524,begin surface coast
$FINISH,0.9,1.022960
$STATE,11594,end surface coast,CONTROL_FINISHED_OK
$STATE,11594,begin surface
$SM_CCo,11678,0.00,0.000,0,0,570,530.58
$SM_GC,1.57,10.90,0.00,0.00,0.036,0.000,0.000,408,2066,570,-10.91,0.74,530.58
$IRIDIUM_FIX,2054.83,-15744.48,140298,070748
$TT8_MAMPS,0.027612
$HUMID,1748
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,13
$24V_AH,23.7,59.210
$10V_AH,10.2,36.046
$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,28.200,126.675,546.450,0.000,0.000,25.416,31.548,170.132,12.250,0.000,0.000,10.450,1337.878,7770.526,598.023,1754.315,585.259,33.375,1483.217,0.000,1731.446,0.000,57.460
$DEVICE_MAMPS,154.167,51.389,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.119,507.763,907.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38070,745
$CAP_FILE_SIZE,109859,0
$CFSIZE,260165632,233852928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201108,141956,2104.589,-15746.472,38,1.6,38,9.8