version: 66.03
glider: 114
mission: 3
dive: 74
start: 10 1 108 20 46 16
data:
$ID,114
$MISSION,3
$DIVE,74
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,10
$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,2
$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,-593401
$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,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
$GPS1,203928,2102.168,-15746.758,40,2.3,59,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.8
$GPS2,204521,2102.152,-15746.792,12,1.1,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.048,0.221
$KALMAN_X,-30345.2,560.5,305.4,41180.2,-428.4
$KALMAN_Y,-6508.0,133.5,330.4,-20667.6,-64.9
$MHEAD_RNG_PITCHd_Wd,337.9,15554,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.13,-146.0,0.0,0.0,0,91,0.00,0.00,-59.45,0.000,2,0.000,0.000,409,2058,2857
$GC,95,-1.13,-146.0,3.4,-4.2,11,119,12.05,0.00,-7.80,0.000,6,0.163,0.000,2526,2058,3330
$GC,392,-1.21,-146.0,37.1,-8.3,56,396,0.00,2.38,0.00,0.000,4,0.000,0.038,2526,3431,3330
$GC,448,-1.34,-146.0,42.0,-8.4,60,455,0.17,2.35,0.00,0.000,6,0.055,0.023,2485,2031,3330
$GC,710,-1.34,-146.0,69.2,-9.5,85,714,0.00,2.42,0.00,0.000,4,0.000,0.036,2485,3430,3331
$GC,768,-1.43,-146.0,74.4,-8.4,90,772,0.00,2.35,0.00,0.000,6,0.000,0.024,2484,2031,3331
$GC,1031,-1.48,-146.0,96.3,-7.8,114,1036,0.12,2.42,0.00,0.000,4,0.061,0.035,2454,3429,3332
$GC,1053,-1.48,-146.0,98.1,-7.3,115,1059,0.00,2.33,0.00,0.000,6,0.000,0.023,2453,2038,3332
$GC,1378,-1.48,-146.0,128.9,-9.2,146,1382,0.00,2.40,0.00,0.000,4,0.000,0.038,2453,640,3334
$GC,1397,-1.48,-146.0,130.6,-9.5,147,1401,0.00,2.33,0.00,0.000,6,0.000,0.023,2453,2029,3333
$GC,1723,-1.52,-146.0,159.2,-8.5,177,1727,0.00,2.42,0.00,0.000,4,0.000,0.036,2453,3444,3333
$GC,1786,-1.61,-146.0,164.6,-8.6,182,1790,0.10,2.38,0.00,0.000,6,0.067,0.025,2427,2035,3334
$GC,2111,-1.61,-146.0,195.1,-9.9,212,2115,0.00,2.45,0.00,0.000,4,0.000,0.036,2427,3448,3333
$GC,2174,-1.64,-146.0,201.0,-9.0,217,2178,0.00,2.38,0.00,0.000,6,0.000,0.024,2427,2032,3333
$GC,2502,-1.67,-146.0,229.3,-8.1,233,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2032,3333
$GC,2811,-1.72,-146.0,260.0,-10.9,248,2816,0.10,2.42,0.00,0.000,4,0.070,0.041,2402,637,3333
$GC,2869,-1.76,-146.0,266.7,-11.4,250,2875,0.00,2.38,0.00,0.000,6,0.000,0.027,2402,2040,3334
$GC,3185,-1.76,-146.0,300.5,-10.7,266,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2042,3333
$GC,3510,-1.76,-146.0,327.1,-7.3,274,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2042,3331
$GC,3835,-1.76,-146.0,349.9,-7.1,282,3842,0.00,2.47,0.00,0.000,4,0.000,0.045,2402,3451,3329
$GC,3866,-1.79,-146.0,352.2,-7.9,282,3870,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2037,3328
$GC,4203,-1.79,-146.0,376.9,-7.9,291,4207,0.00,2.47,0.00,0.000,4,0.000,0.049,2401,632,3326
$GC,4243,-1.85,-146.0,380.4,-8.8,291,4250,0.12,2.42,0.00,0.000,6,0.075,0.031,2374,2040,3326
$GC,4576,-1.85,-146.0,411.3,-9.5,300,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2041,3323
$GC,4901,-1.85,-146.0,440.8,-9.0,308,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2042,3321
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5031,-0.33,0.0,451.2,8.5,311,5148,1.65,0.00,113.65,0.928,6,0.105,0.000,2705,1936,2733
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5153,1.13,146.0,456.7,0.0,314,5271,1.50,0.00,114.65,0.900,6,0.060,0.000,3026,1936,2137
$GC,5588,0.65,146.0,421.3,12.0,325,5593,0.55,2.53,0.00,0.000,4,0.140,0.053,2927,548,2135
$GC,5684,0.30,146.0,412.2,9.0,327,5689,0.43,2.47,0.00,0.000,6,0.152,0.032,2851,1964,2134
$GC,5998,0.20,171.9,393.5,6.2,335,6024,0.15,2.65,19.77,0.897,4,0.138,0.055,2826,548,2032
$GC,6064,0.09,171.9,388.3,8.2,336,6069,0.12,2.47,0.00,0.000,6,0.137,0.032,2804,1961,2032
$GC,6401,0.23,271.4,371.9,3.7,345,6485,0.12,2.62,77.68,0.887,4,0.089,0.054,2829,559,1626
$GC,6531,0.15,271.4,364.7,7.8,348,6535,0.00,2.45,0.00,0.000,6,0.000,0.032,2829,1952,1626
$GC,6845,0.15,311.9,345.7,5.7,356,6886,0.00,2.62,31.62,0.874,4,0.000,0.051,2829,3350,1460
$GC,6933,0.11,311.9,338.8,8.5,358,6938,0.12,2.47,0.00,0.000,6,0.123,0.035,2808,1955,1460
$GC,7257,0.11,311.9,311.1,8.6,366,7261,0.00,2.53,0.00,0.000,4,0.000,0.044,2808,3363,1460
$GC,7301,0.11,311.9,307.5,7.8,367,7306,0.00,2.50,0.00,0.000,6,0.000,0.034,2808,1936,1460
$GC,7624,0.18,351.3,286.6,5.8,380,7660,0.00,2.60,30.77,0.846,4,0.000,0.042,2807,3362,1300
$GC,7717,0.18,351.3,280.1,7.4,383,7721,0.00,2.50,0.00,0.000,6,0.000,0.033,2808,1939,1300
$GC,8033,0.18,351.3,257.8,7.4,398,8037,0.00,2.53,0.00,0.000,4,0.000,0.052,2808,534,1300
$GC,8055,0.18,351.3,255.8,8.3,399,8059,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1954,1300
$GC,8377,0.23,379.6,233.8,6.2,415,8406,0.10,2.55,22.60,0.798,4,0.087,0.044,2829,3347,1184
$GC,8492,0.25,390.3,226.7,6.8,420,8508,0.00,2.45,9.12,0.779,6,0.000,0.032,2829,1946,1141
$GC,8818,0.25,390.3,201.7,9.7,436,8822,0.00,2.50,0.00,0.000,4,0.000,0.040,2829,3359,1141
$GC,8857,0.25,390.3,198.0,10.2,438,8862,0.00,2.45,0.00,0.000,6,0.000,0.030,2829,1946,1141
$GC,9185,0.25,390.3,169.5,7.3,468,9189,0.00,2.45,0.00,0.000,4,0.000,0.038,2829,3350,1142
$GC,9260,0.30,420.9,164.4,6.1,474,9290,0.00,2.42,23.98,0.724,6,0.000,0.030,2829,1941,1016
$GC,9617,0.30,420.9,139.5,8.1,508,9621,0.00,2.47,0.00,0.000,4,0.000,0.048,2829,548,1017
$GC,9640,0.30,420.9,137.6,8.0,509,9646,0.00,2.40,0.00,0.000,6,0.000,0.025,2829,1964,1017
$GC,9968,0.30,420.9,112.0,8.0,540,9972,0.00,2.40,0.00,0.000,4,0.000,0.037,2829,3347,1017
$GC,10032,0.37,434.5,107.5,6.7,545,10049,0.15,2.40,11.30,0.664,6,0.073,0.028,2863,1939,961
$GC,10368,0.37,434.5,81.2,8.2,576,10372,0.00,2.47,0.00,0.000,4,0.000,0.037,2863,3356,961
$GC,10403,0.37,434.5,78.6,7.7,579,10407,0.00,2.40,0.00,0.000,6,0.000,0.026,2862,1951,961
$GC,10664,0.37,434.5,57.8,7.7,603,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1951,961
$GC,10919,0.37,434.5,38.3,8.3,627,10924,0.00,2.42,0.00,0.000,4,0.000,0.035,2863,3351,962
$GC,10961,0.42,434.5,35.2,7.9,630,10965,0.00,2.38,0.00,0.000,6,0.000,0.025,2863,1949,962
$GC,11235,0.47,464.4,15.0,6.1,672,11264,0.00,2.45,23.40,0.559,4,0.000,0.031,2863,3357,838
$GC,11305,0.48,468.8,10.1,7.0,684,11313,0.00,2.40,3.20,0.559,2,0.000,0.025,2863,1950,824
$STATE,11314,end climb,FINISH_DEPTH_REACHED
$STATE,11314,begin subsurface finish
$FINISH1,9.5,1.022988,225
$GC,11323,0.39,225.1,9.5,-7.2,685,11347,0.00,2.53,-19.05,0.000,4,0.000,0.056,2863,548,1817
$FINISH2,7.1
$STATE,11348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11348,begin surface
$IRIDIUM_FIX,2054.83,-15744.48,261297,171718
$TT8_MAMPS,0.027612
$HUMID,1727
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,451.2,72.3
$24V_AH,23.8,12.054
$10V_AH,10.2,6.891
$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,17.575,120.325,481.750,0.000,0.000,30.883,31.639,166.736,12.250,0.000,0.000,13.795,1253.208,7800.507,553.345,1568.672,521.601,33.370,1335.619,0.000,1541.307,0.000,60.502
$DEVICE_MAMPS,162.604,55.991,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.175,452.772,813.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34822,689
$CAP_FILE_SIZE,102407,0
$CFSIZE,260165632,254189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,204521,2102.152,-15746.792,12,1.1,12,9.8