version: 66.03
glider: 114
mission: 3
dive: 68
start: 10 1 108 1 9 10
data:
$ID,114
$MISSION,3
$DIVE,68
$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,410
$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,-593272.88
$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,35
$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
$GPS1,010255,2107.655,-15747.966,24,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.0
$GPS2,010815,2107.659,-15748.120,10,1.8,10,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.219,-0.057
$KALMAN_X,-25070.0,-105.5,359.3,34228.7,-2453.3
$KALMAN_Y,-7392.2,316.0,-16.1,-9427.7,-773.4
$MHEAD_RNG_PITCHd_Wd,94.8,10120,-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,27,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.82,0.000,2,0.000,0.000,411,2072,2953
$GC,98,-1.13,-146.0,3.5,-4.9,12,123,12.02,2.50,-5.90,0.000,4,0.163,0.045,2522,631,3329
$GC,198,-1.30,-146.0,22.0,-9.0,29,205,0.12,2.33,0.00,0.000,6,0.059,0.023,2491,2019,3329
$GC,469,-1.30,-146.0,47.9,-8.9,61,473,0.00,2.45,0.00,0.000,4,0.000,0.038,2491,3439,3330
$GC,532,-1.37,-146.0,53.2,-6.9,66,536,0.00,2.38,0.00,0.000,6,0.000,0.024,2491,2029,3329
$GC,795,-1.41,-146.0,78.1,-10.3,90,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2029,3330
$GC,1050,-1.47,-146.0,102.0,-7.9,114,1052,0.15,0.00,0.00,0.000,6,0.056,0.000,2454,2028,3331
$GC,1368,-1.47,-146.0,130.7,-7.4,144,1372,0.00,2.45,0.00,0.000,4,0.000,0.036,2454,3448,3331
$GC,1420,-1.53,-146.0,134.5,-7.0,148,1424,0.00,2.38,0.00,0.000,6,0.000,0.024,2454,2035,3331
$GC,1748,-1.57,-146.0,160.5,-8.9,178,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2035,3332
$GC,2079,-1.62,-146.0,185.1,-6.7,209,2083,0.12,2.42,0.00,0.000,4,0.060,0.035,2421,3438,3332
$GC,2123,-1.62,-146.0,188.8,-7.5,212,2129,0.00,2.35,0.00,0.000,6,0.000,0.025,2421,2036,3332
$GC,2443,-1.62,-146.0,216.7,-9.3,234,2447,0.00,2.42,0.00,0.000,4,0.000,0.040,2421,631,3331
$GC,2471,-1.62,-146.0,219.4,-8.9,235,2475,0.00,2.38,0.00,0.000,6,0.000,0.025,2421,2042,3331
$GC,2787,-1.62,-146.0,244.9,-7.9,250,2790,0.00,2.40,0.00,0.000,4,0.000,0.038,2421,3444,3331
$GC,2888,-1.66,-146.0,253.5,-8.1,254,2892,0.00,2.38,0.00,0.000,6,0.000,0.027,2422,2040,3331
$GC,3205,-1.66,-146.0,276.5,-6.5,269,3209,0.00,2.42,0.00,0.000,4,0.000,0.043,2420,639,3330
$GC,3244,-1.72,-146.0,279.6,-7.5,270,3252,0.00,2.38,0.00,0.000,6,0.000,0.028,2421,2039,3330
$GC,3560,-1.77,-146.0,304.4,-8.5,285,3562,0.12,0.00,0.00,0.000,6,0.067,0.000,2392,2040,3329
$GC,3885,-1.77,-146.0,336.6,-9.8,293,3889,0.00,2.47,0.00,0.000,4,0.000,0.044,2391,3457,3328
$GC,3925,-1.77,-146.0,340.2,-9.3,294,3930,0.00,2.42,0.00,0.000,6,0.000,0.030,2391,2045,3327
$GC,4252,-1.77,-146.0,370.1,-9.0,302,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2044,3325
$GC,4575,-1.77,-146.0,399.6,-9.0,310,4580,0.00,2.47,0.00,0.000,4,0.000,0.044,2391,3446,3324
$GC,4604,-1.77,-146.0,402.3,-10.0,310,4608,0.00,2.42,0.00,0.000,6,0.000,0.031,2391,2034,3323
$GC,4942,-1.77,-146.0,433.5,-9.2,319,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2034,3321
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5142,begin apogee
$GC,5149,-0.33,0.0,450.1,8.2,324,5267,1.55,0.00,113.15,0.911,6,0.101,0.000,2704,1931,2733
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5271,1.13,146.0,453.5,0.0,327,5394,1.45,2.55,114.03,0.882,4,0.054,0.053,3024,549,2137
$GC,5650,0.60,146.0,416.4,14.6,335,5655,0.62,2.45,0.00,0.000,6,0.160,0.029,2916,1959,2135
$GC,5988,0.33,146.0,385.8,8.4,344,5993,0.30,2.58,0.00,0.000,4,0.136,0.052,2858,548,2132
$GC,6067,0.15,146.0,379.0,8.2,345,6073,0.22,2.42,0.00,0.000,6,0.133,0.031,2817,1951,2132
$GC,6399,0.19,213.3,361.3,4.8,354,6456,0.00,2.58,51.22,0.876,4,0.000,0.047,2817,3344,1862
$GC,6475,0.18,235.8,357.1,6.4,355,6499,0.00,2.45,18.10,0.854,6,0.000,0.033,2817,1959,1771
$GC,6809,0.16,255.5,335.5,6.5,364,6830,0.00,2.62,15.82,0.856,4,0.000,0.054,2817,533,1691
$GC,6853,0.11,260.8,332.4,7.0,365,6863,0.00,2.47,4.93,0.820,6,0.000,0.031,2817,1950,1669
$GC,7172,0.13,291.3,312.4,6.1,373,7201,0.00,2.58,24.27,0.848,4,0.000,0.048,2817,3357,1545
$GC,7247,0.15,300.8,307.5,6.8,374,7261,0.00,2.50,8.12,0.824,6,0.000,0.035,2817,1941,1506
$GC,7591,0.11,300.8,279.5,8.9,388,7596,0.00,2.53,0.00,0.000,4,0.000,0.043,2817,3353,1506
$GC,7636,0.11,300.8,275.3,9.8,390,7640,0.00,2.47,0.00,0.000,6,0.000,0.032,2817,1940,1505
$GC,7957,0.11,300.8,249.6,7.5,406,7962,0.00,2.50,0.00,0.000,4,0.000,0.042,2817,3358,1504
$GC,8043,0.11,300.8,243.4,7.5,410,8046,0.00,2.45,0.00,0.000,6,0.000,0.033,2817,1950,1504
$GC,8375,0.11,300.8,222.4,7.4,426,8379,0.00,2.47,0.00,0.000,4,0.000,0.040,2817,3354,1504
$GC,8403,0.11,300.8,219.9,8.6,427,8408,0.00,2.45,0.00,0.000,6,0.000,0.031,2817,1939,1504
$GC,8722,0.13,313.8,195.1,6.7,445,8737,0.00,2.53,10.27,0.772,4,0.000,0.038,2817,3358,1452
$GC,8811,0.14,316.3,188.8,7.1,452,8818,0.00,2.45,2.60,0.728,6,0.000,0.030,2817,1943,1443
$GC,9138,0.19,344.0,170.1,6.2,483,9165,0.00,0.00,21.83,0.736,6,0.000,0.000,2817,1943,1329
$GC,9488,0.23,371.1,145.5,6.2,516,9514,0.00,2.53,21.15,0.704,4,0.000,0.036,2817,3357,1219
$GC,9543,0.33,404.7,142.0,6.0,520,9575,0.15,2.45,25.90,0.692,6,0.070,0.028,2851,1941,1083
$GC,9896,0.33,404.7,115.8,7.8,553,9900,0.00,2.47,0.00,0.000,4,0.000,0.038,2851,3354,1083
$GC,9954,0.35,414.1,111.5,6.8,558,9969,0.00,2.42,8.05,0.662,6,0.000,0.027,2851,1945,1043
$GC,10296,0.35,414.1,82.0,10.3,590,10300,0.00,2.47,0.00,0.000,4,0.000,0.037,2851,3358,1044
$GC,10371,0.40,414.1,75.2,8.8,596,10375,0.00,2.42,0.00,0.000,6,0.000,0.027,2851,1946,1045
$GC,10633,0.45,443.4,57.7,6.1,620,10662,0.12,0.00,22.85,0.603,6,0.067,0.000,2881,1946,924
$GC,10922,0.45,443.4,31.1,8.7,647,10926,0.00,2.47,0.00,0.000,4,0.000,0.035,2881,3369,924
$GC,10985,0.45,443.4,25.4,8.5,656,10991,0.00,2.42,0.00,0.000,6,0.000,0.026,2880,1941,924
$STATE,11209,end climb,SURFACE_DEPTH_REACHED
$STATE,11210,begin surface coast
$FINISH,0.8,1.022949
$STATE,11261,end surface coast,CONTROL_FINISHED_OK
$STATE,11261,begin surface
$SM_CCo,11346,0.00,0.000,0,0,926,443.26
$SM_GC,1.45,10.98,0.00,0.00,0.045,0.000,0.000,409,2085,926,-10.86,1.27,443.26
$IRIDIUM_FIX,2101.76,-15828.22,251297,212159
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,6
$24V_AH,23.8,11.317
$10V_AH,10.2,6.413
$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,27.950,108.475,462.300,0.000,0.000,25.486,26.964,142.233,10.500,0.000,0.000,11.562,1278.053,7741.825,520.084,1637.041,489.564,33.359,1324.032,0.000,1610.901,0.000,57.466
$DEVICE_MAMPS,163.371,53.690,911.196,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.900,473.549,837.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37881,705
$CAP_FILE_SIZE,101835,0
$CFSIZE,260165632,254500864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,041931,2106.966,-15748.245,36,1.1,36,9.8