version: 66.03
glider: 114
mission: 3
dive: 71
start: 10 1 108 11 1 29
data:
$ID,114
$MISSION,3
$DIVE,71
$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,-593355.62
$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,65
$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
$GPS1,105458,2104.633,-15747.303,31,2.1,50,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.2
$GPS2,110035,2104.667,-15747.348,13,2.1,32,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.217,-0.065
$KALMAN_X,-29043.6,-94.4,1316.1,38562.5,-2546.5
$KALMAN_Y,-6634.4,-164.9,394.0,-15653.2,-320.7
$MHEAD_RNG_PITCHd_Wd,97.0,4429,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-64.05,0.000,2,0.000,0.000,412,2074,2897
$GC,97,-1.13,-146.0,3.3,-4.2,12,122,12.02,2.58,-7.03,0.000,4,0.163,0.047,2526,627,3331
$GC,169,-1.23,-146.0,19.6,-12.3,24,176,0.00,2.35,0.00,0.000,6,0.000,0.024,2526,2022,3331
$GC,440,-1.33,-146.0,45.0,-8.5,57,445,0.15,2.45,0.00,0.000,4,0.058,0.036,2486,3444,3331
$GC,509,-1.39,-146.0,52.2,-10.2,62,515,0.00,2.38,0.00,0.000,6,0.000,0.024,2485,2023,3331
$GC,771,-1.45,-146.0,76.2,-9.8,87,775,0.00,2.47,0.00,0.000,4,0.000,0.036,2485,3448,3332
$GC,828,-1.54,-146.0,81.8,-8.9,91,835,0.17,2.38,0.00,0.000,6,0.054,0.023,2443,2028,3332
$GC,1154,-1.54,-146.0,115.6,-9.8,122,1158,0.00,2.45,0.00,0.000,4,0.000,0.036,2443,3441,3334
$GC,1266,-1.58,-146.0,126.4,-9.3,131,1273,0.00,2.35,0.00,0.000,6,0.000,0.024,2443,2034,3334
$GC,1591,-1.58,-146.0,156.5,-8.7,162,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2028,3333
$GC,1913,-1.61,-146.0,187.0,-10.1,192,1917,0.00,2.42,0.00,0.000,4,0.000,0.036,2443,3439,3334
$GC,1954,-1.68,-146.0,191.0,-9.2,195,1959,0.15,2.38,0.00,0.000,6,0.057,0.025,2406,2032,3334
$GC,2275,-1.68,-146.0,227.2,-10.7,214,2279,0.00,2.40,0.00,0.000,4,0.000,0.041,2406,640,3333
$GC,2348,-1.68,-146.0,234.9,-9.7,217,2352,0.00,2.38,0.00,0.000,6,0.000,0.026,2406,2050,3333
$GC,2664,-1.68,-146.0,259.8,-8.0,232,2671,0.00,2.47,0.00,0.000,4,0.000,0.042,2406,637,3334
$GC,2728,-1.72,-146.0,265.4,-8.4,234,2734,0.00,2.38,0.00,0.000,6,0.000,0.028,2407,2043,3333
$GC,3046,-1.72,-146.0,290.6,-8.0,250,3050,0.00,2.45,0.00,0.000,4,0.000,0.042,2406,3452,3333
$GC,3068,-1.72,-146.0,292.5,-7.8,251,3073,0.00,2.40,0.00,0.000,6,0.000,0.027,2406,2033,3333
$GC,3415,-1.72,-146.0,323.1,-9.2,262,3419,0.00,2.47,0.00,0.000,4,0.000,0.041,2406,3447,3332
$GC,3487,-1.72,-146.0,329.5,-7.9,263,3491,0.00,2.40,0.00,0.000,6,0.000,0.028,2406,2037,3331
$GC,3819,-1.72,-146.0,353.4,-7.0,271,3823,0.00,2.45,0.00,0.000,4,0.000,0.047,2405,640,3328
$GC,3870,-1.76,-146.0,357.3,-7.6,272,3875,0.00,2.40,0.00,0.000,6,0.000,0.030,2406,2043,3328
$GC,4186,-1.79,-146.0,381.8,-8.0,280,4191,0.00,2.47,0.00,0.000,4,0.000,0.048,2406,3444,3326
$GC,4215,-1.83,-146.0,384.5,-8.8,280,4220,0.12,2.40,0.00,0.000,6,0.073,0.031,2378,2040,3326
$GC,4547,-1.83,-146.0,418.3,-10.0,288,4551,0.00,2.50,0.00,0.000,4,0.000,0.050,2378,627,3324
$GC,4591,-1.83,-146.0,422.9,-10.0,289,4596,0.00,2.45,0.00,0.000,6,0.000,0.032,2377,2050,3323
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4918,-0.33,0.0,452.8,9.4,297,5035,1.60,0.00,113.55,0.917,6,0.100,0.000,2702,1944,2733
$STATE,5036,end apogee,CONTROL_FINISHED_OK
$STATE,5036,begin climb
$GC,5040,1.13,146.0,458.1,0.0,300,5163,1.48,2.58,114.03,0.890,4,0.055,0.054,3025,553,2136
$GC,5399,0.60,146.0,429.5,13.3,308,5405,0.62,2.45,0.00,0.000,6,0.150,0.031,2917,1953,2135
$GC,5714,0.42,196.5,408.4,5.4,316,5759,0.20,2.62,38.78,0.888,4,0.140,0.054,2878,547,1931
$GC,5866,0.21,196.5,399.0,7.2,319,5871,0.28,2.45,0.00,0.000,6,0.130,0.031,2828,1950,1930
$GC,6209,0.21,237.2,380.9,5.7,328,6247,0.00,0.00,31.95,0.890,6,0.000,0.000,2828,1951,1764
$GC,6574,0.14,237.2,354.6,7.3,337,6578,0.00,2.53,0.00,0.000,4,0.000,0.049,2828,3360,1763
$GC,6607,0.07,237.2,351.8,8.7,337,6614,0.17,2.45,0.00,0.000,6,0.118,0.034,2797,1963,1763
$GC,6939,0.17,294.8,333.3,5.2,346,6986,0.00,0.00,44.72,0.874,6,0.000,0.000,2797,1962,1531
$GC,7306,0.21,314.6,311.5,6.5,355,7328,0.12,2.53,15.75,0.850,4,0.083,0.041,2823,3352,1449
$GC,7396,0.17,314.6,304.2,8.5,357,7400,0.00,2.47,0.00,0.000,6,0.000,0.033,2823,1944,1449
$GC,7720,0.14,314.6,277.3,8.1,371,7724,0.00,2.53,0.00,0.000,4,0.000,0.042,2823,3363,1449
$GC,7793,0.14,314.6,270.8,8.6,374,7797,0.00,2.47,0.00,0.000,6,0.000,0.033,2823,1947,1448
$GC,8109,0.14,314.6,246.5,7.4,389,8113,0.00,2.50,0.00,0.000,4,0.000,0.051,2823,543,1448
$GC,8142,0.14,314.6,243.6,7.8,390,8149,0.00,2.45,0.00,0.000,6,0.000,0.030,2823,1965,1448
$GC,8458,0.14,314.6,218.0,7.7,406,8462,0.00,2.45,0.00,0.000,4,0.000,0.044,2824,3354,1448
$GC,8491,0.14,314.6,215.3,8.3,407,8496,0.00,2.45,0.00,0.000,6,0.000,0.031,2823,1938,1448
$GC,8810,0.24,374.5,196.4,5.1,425,8863,0.00,2.55,45.97,0.758,4,0.000,0.038,2823,3354,1205
$GC,8887,0.34,433.1,192.6,5.1,432,8941,0.15,2.47,45.20,0.736,6,0.073,0.029,2856,1938,966
$GC,9260,0.27,433.1,160.6,10.1,467,9264,0.00,2.50,0.00,0.000,4,0.000,0.039,2857,3360,967
$GC,9349,0.22,433.1,151.7,9.8,474,9356,0.15,2.42,0.00,0.000,6,0.107,0.028,2828,1950,968
$GC,9677,0.22,433.1,126.8,7.6,505,9681,0.00,2.45,0.00,0.000,4,0.000,0.037,2829,3355,968
$GC,9724,0.27,433.1,123.2,7.2,509,9729,0.00,2.42,0.00,0.000,6,0.000,0.028,2828,1946,968
$GC,10055,0.33,445.3,101.8,6.7,539,10071,0.10,2.50,10.88,0.651,4,0.077,0.036,2852,3360,916
$GC,10111,0.33,445.3,96.8,8.6,543,10117,0.00,2.42,0.00,0.000,6,0.000,0.027,2852,1942,917
$GC,10439,0.33,445.3,70.2,8.3,574,10443,0.00,2.45,0.00,0.000,4,0.000,0.035,2852,3354,917
$GC,10513,0.39,445.3,63.7,7.9,580,10518,0.00,2.40,0.00,0.000,6,0.000,0.026,2852,1941,917
$GC,10779,0.54,496.2,46.8,5.4,604,10823,0.15,2.58,38.20,0.583,4,0.062,0.035,2894,3361,709
$GC,10852,0.48,496.2,41.2,10.4,610,10858,0.00,2.42,0.00,0.000,6,0.000,0.025,2894,1944,710
$GC,11122,0.41,496.2,12.1,11.6,648,11129,0.12,2.45,0.00,0.000,4,0.099,0.035,2870,3352,711
$GC,11171,0.41,496.2,7.2,10.0,656,11177,0.00,2.40,0.00,0.000,6,0.000,0.031,2870,1948,711
$STATE,11193,end climb,SURFACE_DEPTH_REACHED
$STATE,11193,begin surface coast
$FINISH,0.7,1.022556
$STATE,11244,end surface coast,CONTROL_FINISHED_OK
$STATE,11245,begin surface
$SM_CCo,11329,0.00,0.000,0,0,714,495.26
$SM_GC,1.42,10.98,0.00,0.00,0.046,0.000,0.000,408,2059,714,-10.87,0.54,495.26
$IRIDIUM_FIX,2057.14,-15748.75,261297,070751
$TT8_MAMPS,0.027612
$HUMID,1676
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.8,11.701
$10V_AH,10.2,6.653
$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,28.750,127.925,499.025,0.000,0.000,27.877,30.540,133.289,12.000,0.000,0.000,34.816,1236.033,7714.118,559.522,1669.916,486.600,33.353,1392.052,0.000,1613.053,0.000,60.015
$DEVICE_MAMPS,162.604,54.457,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.014,428.553,784.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34894,669
$CAP_FILE_SIZE,105591,0
$CFSIZE,260165632,254345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,141137,2103.899,-15746.372,35,1.0,40,9.8