version: 66.03
glider: 114
mission: 3
dive: 72
start: 10 1 108 14 21 22
data:
$ID,114
$MISSION,3
$DIVE,72
$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,-593371.56
$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,52
$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
$GPS1,141137,2103.899,-15746.372,35,1.0,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.8
$GPS2,142026,2103.918,-15746.417,11,1.3,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.099,-0.203
$KALMAN_X,-29279.3,243.3,117.5,41256.6,-1937.7
$KALMAN_Y,-6603.9,-72.0,-295.6,-16469.1,269.2
$MHEAD_RNG_PITCHd_Wd,144.3,3123,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-70.30,0.000,2,0.000,0.000,408,2057,2827
$GC,104,-1.13,-146.0,3.0,-3.8,13,134,12.07,2.55,-8.50,0.000,4,0.163,0.053,2525,633,3331
$GC,214,-1.29,-146.0,22.8,-11.8,32,222,0.12,2.35,0.00,0.000,6,0.058,0.022,2493,2043,3331
$GC,490,-1.29,-146.0,49.8,-9.8,64,494,0.00,2.40,0.00,0.000,4,0.000,0.038,2493,3434,3331
$GC,588,-1.37,-146.0,58.7,-9.1,72,592,0.00,2.38,0.00,0.000,6,0.000,0.023,2493,2022,3331
$GC,856,-1.42,-146.0,81.3,-9.4,97,860,0.00,2.45,0.00,0.000,4,0.000,0.035,2493,3437,3331
$GC,890,-1.51,-146.0,84.9,-9.7,99,897,0.20,2.35,0.00,0.000,6,0.054,0.023,2445,2029,3331
$GC,1215,-1.51,-146.0,117.3,-7.9,130,1219,0.00,2.45,0.00,0.000,4,0.000,0.035,2445,3445,3331
$GC,1279,-1.54,-146.0,123.3,-9.3,135,1283,0.00,2.38,0.00,0.000,6,0.000,0.024,2445,2028,3331
$GC,1609,-1.54,-146.0,157.9,-9.9,166,1613,0.00,2.38,0.00,0.000,4,0.000,0.038,2445,644,3331
$GC,1628,-1.54,-146.0,159.5,-9.6,167,1633,0.00,2.33,0.00,0.000,6,0.000,0.023,2445,2043,3332
$GC,1958,-1.57,-146.0,191.5,-9.9,198,1963,0.00,2.40,0.00,0.000,4,0.000,0.037,2445,3443,3332
$GC,2033,-1.63,-146.0,198.4,-9.0,204,2037,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2034,3332
$GC,2363,-1.69,-146.0,222.5,-6.7,220,2365,0.15,0.00,0.00,0.000,6,0.057,0.000,2407,2033,3331
$GC,2670,-1.69,-146.0,251.0,-8.8,235,2674,0.00,2.42,0.00,0.000,4,0.000,0.041,2407,632,3331
$GC,2693,-1.69,-146.0,253.6,-10.6,236,2697,0.00,2.38,0.00,0.000,6,0.000,0.026,2407,2036,3331
$GC,3014,-1.69,-146.0,282.0,-8.2,252,3018,0.00,2.45,0.00,0.000,4,0.000,0.040,2407,3453,3331
$GC,3059,-1.72,-146.0,285.8,-8.2,254,3063,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,2040,3330
$GC,3380,-1.72,-146.0,309.1,-7.1,267,3384,0.00,2.45,0.00,0.000,4,0.000,0.040,2407,3443,3329
$GC,3420,-1.76,-146.0,312.0,-7.2,268,3424,0.00,2.40,0.00,0.000,6,0.000,0.028,2406,2038,3329
$GC,3745,-1.76,-146.0,335.8,-7.7,276,3749,0.00,2.45,0.00,0.000,4,0.000,0.047,2407,639,3327
$GC,3808,-1.80,-146.0,341.1,-8.7,277,3812,0.00,2.40,0.00,0.000,6,0.000,0.029,2407,2044,3326
$GC,4151,-1.84,-146.0,369.1,-8.0,286,4156,0.12,2.47,0.00,0.000,4,0.074,0.046,2379,3448,3324
$GC,4195,-1.84,-146.0,373.3,-10.0,287,4199,0.00,2.42,0.00,0.000,6,0.000,0.031,2378,2038,3324
$GC,4516,-1.84,-146.0,401.1,-8.3,295,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2037,3321
$GC,4839,-1.84,-146.0,424.9,-7.1,303,4843,0.00,2.50,0.00,0.000,4,0.000,0.052,2379,629,3319
$GC,4861,-1.84,-146.0,426.7,-7.6,303,4865,0.00,2.42,0.00,0.000,6,0.000,0.031,2378,2037,3319
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5164,-0.33,0.0,451.1,8.6,311,5281,1.60,0.00,112.97,0.927,6,0.100,0.000,2703,1932,2732
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5285,1.13,146.0,455.4,0.0,314,5407,1.48,0.00,114.50,0.896,6,0.058,0.000,3024,1932,2137
$GC,5736,0.65,146.0,417.2,12.4,325,5741,0.55,2.50,0.00,0.000,4,0.140,0.053,2925,558,2135
$GC,5815,0.32,146.0,408.1,10.7,326,5821,0.40,2.45,0.00,0.000,6,0.135,0.031,2854,1965,2134
$GC,6147,0.21,167.3,384.6,6.4,335,6171,0.15,2.67,16.30,0.899,4,0.136,0.054,2824,558,2051
$GC,6228,0.14,192.4,379.3,6.3,336,6254,0.00,2.42,20.05,0.887,6,0.000,0.031,2824,1954,1948
$GC,6598,0.10,213.0,356.1,6.4,346,6622,0.10,2.60,16.40,0.886,4,0.142,0.048,2808,3349,1863
$GC,6673,0.09,228.4,351.1,6.6,347,6692,0.00,2.45,12.62,0.877,6,0.000,0.034,2808,1959,1800
$GC,7013,0.16,265.6,330.0,5.9,356,7048,0.00,2.62,29.33,0.876,4,0.000,0.054,2807,543,1650
$GC,7101,0.12,265.6,323.2,9.0,358,7105,0.00,2.45,0.00,0.000,6,0.000,0.035,2807,1955,1650
$GC,7431,0.12,266.3,299.4,7.1,366,7435,0.00,2.50,0.00,0.000,4,0.000,0.047,2807,3356,1649
$GC,7506,0.12,266.3,293.8,7.3,369,7510,0.00,2.47,0.00,0.000,6,0.000,0.033,2808,1944,1649
$GC,7822,0.12,266.3,271.1,7.2,384,7826,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3350,1648
$GC,7855,0.12,266.3,268.6,7.5,385,7861,0.00,2.45,0.00,0.000,6,0.000,0.032,2807,1944,1648
$GC,8171,0.12,266.3,243.3,7.5,401,8176,0.00,2.50,0.00,0.000,4,0.000,0.041,2808,3357,1648
$GC,8222,0.12,267.7,239.6,7.1,403,8226,0.00,2.45,0.00,0.000,6,0.000,0.032,2807,1949,1648
$GC,8544,0.30,367.6,222.3,3.7,419,8628,0.17,2.65,77.70,0.793,4,0.073,0.051,2848,536,1234
$GC,8660,0.23,367.6,214.3,9.7,424,8664,0.00,2.45,0.00,0.000,6,0.000,0.028,2848,1947,1233
$GC,8986,0.17,367.6,181.2,9.7,448,8991,0.15,2.50,0.00,0.000,4,0.113,0.043,2817,3358,1234
$GC,9072,0.23,367.6,174.1,8.0,455,9076,0.00,2.47,0.00,0.000,6,0.000,0.031,2817,1939,1234
$GC,9401,0.29,385.8,151.6,6.5,485,9423,0.12,2.55,14.68,0.724,4,0.076,0.040,2845,3354,1160
$GC,9481,0.29,385.8,144.5,8.9,492,9485,0.00,2.42,0.00,0.000,6,0.000,0.030,2845,1951,1161
$GC,9815,0.29,385.8,111.3,9.8,523,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1950,1161
$GC,10141,0.29,385.8,82.4,8.6,554,10145,0.00,2.45,0.00,0.000,4,0.000,0.037,2845,3364,1161
$GC,10180,0.29,385.8,79.2,7.8,557,10187,0.00,2.42,0.00,0.000,6,0.000,0.028,2845,1940,1161
$GC,10443,0.33,407.3,62.1,6.4,582,10465,0.00,2.50,17.08,0.625,4,0.000,0.034,2845,3363,1072
$GC,10506,0.40,412.5,57.7,7.0,587,10516,0.10,2.42,4.57,0.625,6,0.075,0.026,2868,1942,1051
$GC,10778,0.40,412.5,35.3,8.7,613,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1942,1051
$GC,11044,0.47,452.8,18.2,5.7,653,11084,0.00,2.55,30.62,0.567,4,0.000,0.034,2868,3356,887
$GC,11097,0.47,452.8,13.1,9.8,662,11104,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,1936,887
$STATE,11192,end climb,SURFACE_DEPTH_REACHED
$STATE,11192,begin surface coast
$FINISH,0.9,1.007011
$STATE,11278,end surface coast,CONTROL_FINISHED_OK
$STATE,11279,begin surface
$SM_CCo,11363,0.00,0.000,0,0,887,452.82
$SM_GC,1.46,11.02,0.00,0.00,0.048,0.000,0.000,410,2090,887,-10.86,1.41,452.82
$IRIDIUM_FIX,2054.83,-15744.48,261297,141428
$TT8_MAMPS,0.027612
$HUMID,1689
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,23.8,11.832
$10V_AH,10.2,6.735
$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,28.525,123.200,466.825,0.000,0.000,49.653,78.471,209.514,10.750,0.000,0.000,15.326,1264.496,7830.576,532.729,1615.954,651.492,33.363,1348.386,0.000,1590.351,0.000,57.452
$DEVICE_MAMPS,163.371,54.457,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.460,459.153,823.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34759,694
$CAP_FILE_SIZE,106034,0
$CFSIZE,260165632,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,173133,2102.702,-15746.423,9,1.5,9,9.8