version: 66.03
glider: 114
mission: 3
dive: 70
start: 10 1 108 7 45 8
data:
$ID,114
$MISSION,3
$DIVE,70
$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,-593320.19
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,28
$R_STBD_OVSHOOT,71
$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
$GPS1,073538,2105.890,-15747.943,32,1.3,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.8
$GPS2,074414,2105.900,-15748.028,11,1.8,28,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.053,-0.220
$KALMAN_X,-27988.7,-191.8,-150.0,37900.0,81.3
$KALMAN_Y,-7026.4,-122.5,245.3,-12873.3,79.8
$MHEAD_RNG_PITCHd_Wd,156.5,6914,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,96,0.00,0.00,-64.18,0.000,2,0.000,0.000,408,2073,2857
$GC,100,-1.13,-146.0,3.4,-4.0,12,125,12.02,2.60,-7.55,0.000,4,0.163,0.051,2525,627,3331
$GC,217,-1.30,-146.0,21.5,-7.1,32,224,0.12,2.33,0.00,0.000,6,0.058,0.022,2493,2017,3330
$GC,487,-1.30,-146.0,51.2,-11.5,64,492,0.00,2.45,0.00,0.000,4,0.000,0.038,2493,3438,3331
$GC,540,-1.36,-146.0,57.0,-10.5,68,544,0.00,2.38,0.00,0.000,6,0.000,0.024,2493,2026,3331
$GC,802,-1.42,-146.0,80.3,-8.4,92,807,0.10,2.40,0.00,0.000,4,0.067,0.037,2468,631,3331
$GC,836,-1.47,-146.0,83.7,-10.0,94,842,0.00,2.35,0.00,0.000,6,0.000,0.023,2468,2037,3332
$GC,1162,-1.50,-146.0,115.6,-9.0,125,1166,0.00,2.42,0.00,0.000,4,0.000,0.037,2468,3451,3332
$GC,1229,-1.58,-146.0,121.8,-8.5,130,1236,0.15,2.38,0.00,0.000,6,0.058,0.024,2431,2033,3333
$GC,1555,-1.58,-146.0,153.4,-10.2,161,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2032,3333
$GC,1876,-1.58,-146.0,185.9,-10.6,191,1880,0.00,2.45,0.00,0.000,4,0.000,0.037,2431,3446,3333
$GC,1917,-1.62,-146.0,190.2,-9.8,194,1921,0.00,2.38,0.00,0.000,6,0.000,0.025,2431,2037,3333
$GC,2245,-1.65,-146.0,220.7,-8.3,214,2249,0.00,2.45,0.00,0.000,4,0.000,0.038,2431,3448,3333
$GC,2313,-1.72,-146.0,225.6,-6.3,217,2317,0.12,2.38,0.00,0.000,6,0.064,0.025,2401,2039,3333
$GC,2634,-1.72,-146.0,253.8,-9.7,233,2638,0.00,2.42,0.00,0.000,4,0.000,0.041,2401,636,3333
$GC,2735,-1.72,-146.0,264.7,-10.5,237,2741,0.00,2.38,0.00,0.000,6,0.000,0.027,2401,2038,3333
$GC,3051,-1.72,-146.0,294.4,-8.6,253,3056,0.00,2.45,0.00,0.000,4,0.000,0.042,2401,3448,3332
$GC,3074,-1.72,-146.0,296.4,-8.3,254,3078,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2036,3332
$GC,3411,-1.72,-146.0,324.6,-8.4,264,3415,0.00,2.47,0.00,0.000,4,0.000,0.041,2401,3443,3330
$GC,3427,-1.72,-146.0,326.1,-8.6,264,3431,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2035,3330
$GC,3775,-1.72,-146.0,354.4,-8.1,273,3779,0.00,2.50,0.00,0.000,4,0.000,0.042,2401,3452,3328
$GC,3815,-1.75,-146.0,357.8,-8.9,274,3820,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,2043,3327
$GC,4141,-1.75,-146.0,386.3,-8.5,282,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2041,3325
$GC,4468,-1.79,-146.0,412.6,-8.2,290,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2041,3322
$GC,4793,-1.82,-146.0,443.7,-9.8,298,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2041,3320
$STATE,4869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4869,begin apogee
$GC,4877,-0.33,0.0,451.2,9.5,300,4994,1.50,0.00,113.50,0.920,6,0.100,0.000,2704,1942,2733
$STATE,4995,end apogee,CONTROL_FINISHED_OK
$STATE,4995,begin climb
$GC,4998,1.13,146.0,456.8,0.0,303,5121,1.45,2.58,114.30,0.892,4,0.054,0.054,3023,551,2136
$GC,5290,0.59,146.0,434.8,15.1,309,5296,0.62,2.45,0.00,0.000,6,0.155,0.030,2914,1956,2135
$GC,5622,0.32,146.0,406.5,7.8,317,5627,0.30,2.58,0.00,0.000,4,0.136,0.054,2856,548,2133
$GC,5735,0.16,168.2,398.6,6.4,319,5759,0.22,2.45,16.83,0.892,6,0.135,0.031,2817,1957,2047
$GC,6080,0.17,211.0,379.3,5.7,328,6121,0.00,2.58,33.35,0.893,4,0.000,0.049,2817,3342,1872
$GC,6151,0.18,255.9,375.6,5.6,329,6191,0.00,2.45,35.47,0.878,6,0.000,0.035,2816,1957,1689
$GC,6530,0.17,282.8,355.4,6.2,339,6558,0.00,2.60,21.50,0.876,4,0.000,0.044,2816,3348,1579
$GC,6572,0.11,282.8,352.3,8.1,340,6576,0.00,2.47,0.00,0.000,6,0.000,0.033,2816,1951,1579
$GC,6896,0.07,282.8,328.0,7.2,348,6901,0.12,2.50,0.00,0.000,4,0.132,0.041,2796,3348,1579
$GC,6937,0.08,291.8,325.1,6.8,349,6951,0.00,2.47,7.62,0.859,6,0.000,0.033,2796,1940,1543
$GC,7266,0.13,315.1,303.9,6.3,357,7290,0.00,2.60,18.15,0.863,4,0.000,0.041,2796,3347,1448
$GC,7332,0.15,328.6,299.8,6.7,358,7352,0.00,2.47,11.38,0.845,6,0.000,0.032,2796,1940,1393
$GC,7662,0.21,363.9,278.0,5.9,374,7697,0.12,2.60,27.85,0.835,4,0.084,0.041,2823,3348,1249
$GC,7754,0.21,363.9,271.2,7.5,378,7758,0.00,2.47,0.00,0.000,6,0.000,0.032,2823,1941,1249
$GC,8075,0.21,363.9,246.5,7.4,394,8079,0.00,2.50,0.00,0.000,4,0.000,0.041,2823,3350,1249
$GC,8108,0.22,372.0,244.1,6.9,395,8122,0.00,2.45,7.15,0.804,6,0.000,0.031,2822,1944,1215
$GC,8446,0.22,372.0,215.3,9.3,412,8450,0.00,2.50,0.00,0.000,4,0.000,0.039,2823,3362,1216
$GC,8509,0.22,372.0,209.4,8.7,415,8513,0.00,2.45,0.00,0.000,6,0.000,0.031,2823,1949,1216
$GC,8839,0.22,372.0,183.8,8.3,440,8844,0.00,2.47,0.00,0.000,4,0.000,0.038,2822,3362,1217
$GC,8903,0.22,372.0,178.5,8.0,445,8907,0.00,2.45,0.00,0.000,6,0.000,0.028,2823,1940,1217
$GC,9231,0.22,372.0,152.0,7.7,475,9235,0.00,2.47,0.00,0.000,4,0.000,0.048,2823,539,1218
$GC,9264,0.22,372.0,149.1,8.2,477,9271,0.00,2.40,0.00,0.000,6,0.000,0.025,2823,1961,1218
$GC,9594,0.22,372.0,124.1,7.6,508,9598,0.00,2.40,0.00,0.000,4,0.000,0.037,2822,3350,1219
$GC,9662,0.29,374.8,118.7,7.0,513,9672,0.00,2.40,3.65,0.679,6,0.000,0.028,2823,1939,1204
$GC,9999,0.34,382.4,95.4,6.9,545,10012,0.12,2.45,6.53,0.656,4,0.071,0.035,2853,3346,1173
$GC,10076,0.34,382.4,89.5,7.6,551,10082,0.00,2.40,0.00,0.000,6,0.000,0.027,2853,1940,1174
$GC,10404,0.37,399.1,66.5,6.6,582,10426,0.00,2.50,13.07,0.620,4,0.000,0.044,2853,553,1105
$GC,10485,0.41,399.1,59.8,8.2,589,10489,0.00,2.35,0.00,0.000,6,0.000,0.023,2853,1956,1106
$GC,10756,0.51,430.0,39.8,6.1,614,10789,0.15,2.47,23.40,0.584,4,0.064,0.036,2893,3341,980
$GC,10889,0.51,430.0,29.3,8.6,626,10895,0.00,2.40,0.00,0.000,6,0.000,0.027,2893,1940,980
$STATE,11147,end climb,SURFACE_DEPTH_REACHED
$STATE,11147,begin surface coast
$FINISH,0.6,1.009113
$STATE,11216,end surface coast,CONTROL_FINISHED_OK
$STATE,11216,begin surface
$SM_CCo,11300,0.00,0.000,0,0,981,429.77
$SM_GC,1.39,11.05,0.00,0.00,0.046,0.000,0.000,412,2077,981,-10.85,1.05,429.77
$IRIDIUM_FIX,2059.45,-15745.74,261297,070717
$TT8_MAMPS,0.027612
$HUMID,1710
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,14
$24V_AH,23.8,11.571
$10V_AH,10.2,6.574
$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,28.200,123.075,453.750,0.000,0.000,50.953,56.745,204.003,12.500,0.000,0.000,30.283,1272.267,7737.733,515.926,1676.932,613.750,33.360,1347.501,0.000,1627.003,0.000,57.446
$DEVICE_MAMPS,163.371,53.690,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.307,453.242,815.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,684
$CAP_FILE_SIZE,107796,0
$CFSIZE,260165632,254394368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,011008,105458,2104.633,-15747.303,31,2.1,50,9.8