version: 66.03
glider: 114
mission: 3
dive: 64
start: 9 30 108 12 19 4
data:
$ID,114
$MISSION,3
$DIVE,64
$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,210
$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,150
$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,420
$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,-593193.19
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2760
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,50
$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
$GPS1,121307,2108.081,-15749.417,35,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.7
$GPS2,121809,2108.097,-15749.504,12,1.5,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.079,0.212
$KALMAN_X,-21971.8,398.8,694.7,27898.9,-2727.3
$KALMAN_Y,-7159.2,-76.1,222.5,-8695.1,-1526.1
$MHEAD_RNG_PITCHd_Wd,10.5,3627,-13.1,-7.143
$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,26,-1.13,-146.0,0.0,0.0,0,105,0.00,0.00,-75.72,0.000,2,0.000,0.000,411,2066,2889
$GC,109,-1.13,-146.0,3.3,-3.9,14,134,11.93,2.55,-7.18,0.000,4,0.163,0.047,2503,633,3333
$GC,153,-0.37,-146.0,16.4,-28.4,21,160,0.82,2.35,0.00,0.000,6,0.074,0.023,2677,2033,3333
$GC,428,-0.89,-146.0,36.8,-8.7,63,433,0.47,2.42,0.00,0.000,4,0.064,0.034,2570,3448,3332
$GC,688,-1.36,-146.0,55.2,-5.9,85,695,0.47,2.40,0.00,0.000,6,0.056,0.023,2464,2016,3333
$GC,950,-1.36,-146.0,79.0,-9.4,110,954,0.00,2.35,0.00,0.000,4,0.000,0.036,2463,644,3333
$GC,991,-1.45,-146.0,82.6,-8.2,113,995,0.00,2.35,0.00,0.000,6,0.000,0.022,2463,2048,3332
$GC,1317,-1.49,-146.0,115.2,-9.6,143,1322,0.12,2.40,0.00,0.000,4,0.062,0.035,2432,3450,3334
$GC,1402,-1.49,-146.0,124.5,-10.3,150,1407,0.00,2.38,0.00,0.000,6,0.000,0.024,2432,2033,3334
$GC,1727,-1.49,-146.0,162.7,-10.9,180,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2031,3335
$GC,2049,-1.49,-146.0,192.8,-9.4,210,2053,0.00,2.45,0.00,0.000,4,0.000,0.035,2432,3451,3335
$GC,2078,-1.49,-146.0,195.6,-9.9,212,2082,0.00,2.40,0.00,0.000,6,0.000,0.025,2432,2028,3335
$GC,2396,-1.53,-146.0,224.1,-8.7,229,2400,0.00,2.45,0.00,0.000,4,0.000,0.036,2432,3445,3335
$GC,2436,-1.59,-146.0,227.6,-8.8,231,2440,0.00,2.38,0.00,0.000,6,0.000,0.025,2432,2039,3335
$GC,2764,-1.64,-146.0,254.2,-7.6,247,2766,0.12,0.00,0.00,0.000,6,0.064,0.000,2401,2037,3335
$GC,3074,-1.64,-146.0,280.5,-9.1,262,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2038,3334
$GC,3401,-1.64,-146.0,313.5,-10.1,275,3406,0.00,2.45,0.00,0.000,4,0.000,0.040,2401,3441,3333
$GC,3429,-1.64,-146.0,316.4,-9.9,275,3434,0.00,2.38,0.00,0.000,6,0.000,0.028,2400,2046,3333
$GC,3761,-1.64,-146.0,347.2,-9.6,283,3765,0.00,2.47,0.00,0.000,4,0.000,0.048,2400,636,3331
$GC,3795,-1.64,-146.0,350.8,-10.4,283,3801,0.00,2.40,0.00,0.000,6,0.000,0.030,2400,2038,3331
$GC,4127,-1.64,-146.0,381.3,-8.9,292,4131,0.00,2.47,0.00,0.000,4,0.000,0.047,2400,3453,3328
$GC,4200,-1.69,-146.0,387.8,-8.3,293,4204,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,2043,3327
$GC,4532,-1.69,-146.0,417.8,-8.9,301,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2041,3325
$GC,4857,-1.69,-146.0,442.7,-7.7,309,4862,0.00,2.50,0.00,0.000,4,0.000,0.045,2400,3450,3323
$GC,4892,-1.73,-146.0,445.8,-8.6,309,4897,0.00,2.42,0.00,0.000,6,0.000,0.032,2400,2039,3323
$STATE,4977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4977,begin apogee
$GC,4985,-0.33,0.0,452.7,8.0,312,5103,1.40,0.00,113.93,0.920,6,0.103,0.000,2683,1881,2732
$STATE,5103,end apogee,CONTROL_FINISHED_OK
$STATE,5104,begin climb
$GC,5107,1.13,146.0,456.6,0.0,315,5230,1.48,2.55,114.00,0.890,4,0.061,0.054,3001,497,2136
$GC,5326,0.63,146.0,446.7,11.1,320,5332,0.57,2.45,0.00,0.000,6,0.151,0.030,2902,1908,2135
$GC,5646,0.40,153.0,423.4,6.9,328,5657,0.28,2.50,5.60,0.860,4,0.132,0.046,2851,3298,2109
$GC,5688,0.28,176.4,420.7,6.3,329,5712,0.15,2.45,18.80,0.890,6,0.132,0.035,2825,1911,2012
$GC,6056,0.29,220.3,399.7,5.6,338,6095,0.00,0.00,34.30,0.895,6,0.000,0.000,2825,1911,1834
$GC,6421,0.24,238.0,376.6,6.5,347,6441,0.00,2.53,14.27,0.887,4,0.000,0.041,2825,3300,1762
$GC,6516,0.18,245.6,370.2,6.9,349,6530,0.12,2.47,6.72,0.871,6,0.127,0.034,2803,1892,1731
$GC,6840,0.19,250.4,348.2,7.0,357,6849,0.00,2.53,4.30,0.849,4,0.000,0.041,2803,3307,1712
$GC,6889,0.19,250.4,344.2,7.8,358,6893,0.00,2.47,0.00,0.000,6,0.000,0.034,2803,1899,1712
$GC,7208,0.22,272.8,323.6,6.4,366,7228,0.00,0.00,18.38,0.877,6,0.000,0.000,2803,1898,1620
$GC,7533,0.31,321.2,305.3,5.5,374,7578,0.10,2.58,37.42,0.863,4,0.094,0.040,2824,3296,1423
$GC,7651,0.31,321.2,297.9,7.4,376,7656,0.00,2.47,0.00,0.000,6,0.000,0.034,2824,1890,1423
$GC,7968,0.27,321.2,272.2,8.7,391,7972,0.00,2.50,0.00,0.000,4,0.000,0.041,2824,3298,1423
$GC,8058,0.27,321.2,264.3,8.8,395,8062,0.00,2.45,0.00,0.000,6,0.000,0.034,2824,1899,1422
$GC,8380,0.23,321.2,237.9,7.8,411,8384,0.00,2.53,0.00,0.000,4,0.000,0.054,2824,491,1422
$GC,8408,0.20,321.2,235.5,8.3,412,8412,0.00,2.42,0.00,0.000,6,0.000,0.028,2824,1909,1422
$GC,8724,0.25,349.7,214.2,6.2,427,8753,0.00,2.55,22.00,0.794,4,0.000,0.040,2824,3306,1307
$GC,8822,0.25,349.7,207.3,7.9,431,8827,0.00,2.47,0.00,0.000,6,0.000,0.032,2824,1889,1307
$GC,9145,0.25,349.7,179.6,10.5,456,9149,0.00,2.50,0.00,0.000,4,0.000,0.038,2824,3309,1307
$GC,9218,0.25,349.7,172.1,9.6,462,9222,0.00,2.45,0.00,0.000,6,0.000,0.031,2824,1899,1308
$GC,9547,0.30,381.7,147.1,6.0,492,9579,0.00,2.53,25.10,0.716,4,0.000,0.035,2824,3308,1177
$GC,9616,0.42,421.1,143.0,5.8,498,9652,0.12,2.45,30.40,0.701,6,0.075,0.029,2852,1899,1015
$GC,9978,0.39,421.1,111.1,9.5,532,9982,0.00,2.45,0.00,0.000,4,0.000,0.036,2852,3300,1016
$GC,10056,0.39,421.1,103.7,8.5,538,10062,0.00,2.42,0.00,0.000,6,0.000,0.028,2852,1886,1016
$GC,10385,0.46,457.9,77.7,5.9,569,10420,0.00,2.58,28.48,0.633,4,0.000,0.034,2852,3308,866
$GC,10474,0.63,512.6,72.4,5.3,577,10521,0.20,2.42,40.97,0.615,6,0.060,0.026,2897,1894,643
$GC,10783,0.55,512.6,41.1,11.9,606,10787,0.00,2.47,0.00,0.000,4,0.000,0.035,2897,3306,642
$GC,10862,0.55,512.6,32.0,9.8,612,10868,0.00,2.40,0.00,0.000,6,0.000,0.025,2897,1896,645
$STATE,11112,end climb,SURFACE_DEPTH_REACHED
$STATE,11112,begin surface coast
$FINISH,0.7,1.004615
$STATE,11158,end surface coast,CONTROL_FINISHED_OK
$STATE,11158,begin surface
$SM_CCo,11242,0.00,0.000,0,0,651,510.96
$SM_GC,1.29,11.05,0.00,0.00,0.044,0.000,0.000,412,2067,651,-10.75,0.79,510.96
$IRIDIUM_FIX,2101.76,-15750.89,251297,090926
$TT8_MAMPS,0.027612
$HUMID,1715
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.8,10.832
$10V_AH,10.2,6.100
$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,29.425,113.500,514.675,0.000,0.000,27.546,28.851,126.614,11.250,0.000,0.000,14.272,1214.344,7702.106,562.474,1604.379,463.778,33.355,1371.177,0.000,1569.892,0.000,57.445
$DEVICE_MAMPS,163.371,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.738,430.922,777.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,663
$CAP_FILE_SIZE,101265,0
$CFSIZE,260165632,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,152735,2109.241,-15750.249,10,2.2,29,9.8