version: 66.03
glider: 114
mission: 3
dive: 75
start: 10 1 108 23 57 36
data:
$ID,114
$MISSION,3
$DIVE,75
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,204521,2102.152,-15746.792,12,1.1,12,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.91
$_SM_ANGLEo,12.3
$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,-0.012,0.226
$KALMAN_X,-30344.3,332.5,1145.9,40560.8,-736.5
$KALMAN_Y,-8503.1,-172.0,-166.0,-17851.6,-508.0
$MHEAD_RNG_PITCHd_Wd,347.1,15554,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.13,-146.0,0.0,0.0,0,99,0.00,0.00,-65.78,0.000,6,0.000,0.000,2863,547,3329
$GC,103,-1.13,-146.0,0.7,-0.2,13,110,1.50,0.10,0.00,0.000,4,0.071,0.031,2536,645,3329
$GC,157,-1.39,-146.0,5.5,-7.7,22,164,0.28,2.33,0.00,0.000,6,0.047,0.022,2472,2049,3329
$GC,437,-1.39,-146.0,37.5,-11.4,66,442,0.00,2.40,0.00,0.000,4,0.000,0.038,2472,3441,3329
$GC,550,-1.44,-146.0,50.8,-11.3,75,557,0.00,2.38,0.00,0.000,6,0.000,0.025,2472,2027,3329
$GC,812,-1.44,-146.0,79.0,-10.2,100,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2026,3330
$GC,1068,-1.48,-146.0,102.8,-8.8,124,1072,0.00,2.45,0.00,0.000,4,0.000,0.036,2472,3443,3330
$GC,1109,-1.53,-146.0,106.5,-9.0,127,1114,0.12,2.38,0.00,0.000,6,0.062,0.024,2441,2028,3330
$GC,1435,-1.53,-146.0,140.4,-10.5,157,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2027,3332
$GC,1753,-1.53,-146.0,172.2,-9.5,187,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2028,3332
$GC,2076,-1.57,-146.0,198.9,-8.0,217,2080,0.00,2.45,0.00,0.000,4,0.000,0.037,2441,3442,3332
$GC,2149,-1.65,-146.0,206.0,-9.5,220,2153,0.00,2.35,0.00,0.000,6,0.000,0.025,2441,2046,3332
$GC,2471,-1.70,-146.0,233.8,-7.2,236,2475,0.15,2.45,0.00,0.000,4,0.060,0.041,2399,634,3332
$GC,2493,-1.70,-146.0,235.7,-8.3,237,2497,0.00,2.38,0.00,0.000,6,0.000,0.026,2399,2044,3332
$GC,2814,-1.70,-146.0,266.3,-9.7,253,2818,0.00,2.42,0.00,0.000,4,0.000,0.039,2399,3449,3332
$GC,2837,-1.70,-146.0,268.6,-9.8,254,2841,0.00,2.40,0.00,0.000,6,0.000,0.026,2399,2033,3332
$GC,3159,-1.70,-146.0,299.5,-8.6,270,3163,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,635,3332
$GC,3186,-1.70,-146.0,301.8,-8.1,271,3190,0.00,2.38,0.00,0.000,6,0.000,0.028,2399,2034,3332
$GC,3530,-1.70,-146.0,333.1,-9.2,280,3534,0.00,2.47,0.00,0.000,4,0.000,0.044,2399,3452,3332
$GC,3609,-1.75,-146.0,340.1,-8.5,281,3615,0.00,2.42,0.00,0.000,6,0.000,0.029,2399,2035,3332
$GC,3941,-1.75,-146.0,368.4,-8.6,290,3945,0.00,2.50,0.00,0.000,4,0.000,0.044,2399,3450,3329
$GC,3981,-1.75,-146.0,371.8,-8.8,291,3985,0.00,2.42,0.00,0.000,6,0.000,0.031,2399,2039,3328
$GC,4306,-1.75,-146.0,396.3,-7.0,299,4310,0.00,2.47,0.00,0.000,4,0.000,0.043,2399,3445,3327
$GC,4368,-1.80,-146.0,400.7,-7.2,300,4372,0.00,2.42,0.00,0.000,6,0.000,0.031,2399,2035,3326
$GC,4711,-1.80,-146.0,429.9,-9.3,309,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2035,3324
$STATE,4992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4992,begin apogee
$GC,5000,-0.33,0.0,451.9,7.3,316,5117,1.50,0.00,113.28,0.921,6,0.099,0.000,2704,1935,2733
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5121,1.13,146.0,456.4,0.0,319,5245,1.45,2.55,114.12,0.887,4,0.054,0.054,3023,554,2137
$GC,5498,0.60,146.0,429.5,11.9,327,5504,0.62,2.45,0.00,0.000,6,0.141,0.031,2914,1960,2135
$GC,5837,0.43,204.3,408.7,5.1,336,5887,0.20,2.62,44.42,0.886,4,0.139,0.054,2878,557,1900
$GC,5963,0.21,204.3,400.9,7.8,338,5970,0.28,2.45,0.00,0.000,6,0.128,0.031,2829,1956,1900
$GC,6296,0.14,211.2,380.8,6.9,347,6307,0.00,2.55,6.15,0.864,4,0.000,0.048,2828,3365,1870
$GC,6369,0.06,211.2,374.7,8.4,348,6374,0.17,2.45,0.00,0.000,6,0.121,0.034,2797,1961,1870
$GC,6701,0.14,255.2,354.1,5.6,356,6743,0.00,2.58,34.47,0.880,4,0.000,0.044,2797,3363,1692
$GC,6771,0.19,285.9,350.1,6.1,357,6802,0.12,2.50,24.62,0.863,6,0.087,0.032,2823,1944,1567
$GC,7111,0.14,285.9,322.5,8.6,366,7115,0.00,2.53,0.00,0.000,4,0.000,0.044,2823,3352,1567
$GC,7151,0.09,285.9,319.0,9.1,367,7156,0.12,2.47,0.00,0.000,6,0.120,0.033,2801,1946,1568
$GC,7477,0.09,285.9,294.8,7.7,376,7481,0.00,2.53,0.00,0.000,4,0.000,0.042,2801,3366,1567
$GC,7506,0.09,285.9,292.3,8.3,377,7510,0.00,2.47,0.00,0.000,6,0.000,0.031,2801,1944,1567
$GC,7822,0.16,326.5,271.1,5.7,392,7859,0.00,2.58,31.52,0.830,4,0.000,0.040,2801,3364,1401
$GC,7899,0.19,326.5,266.0,7.4,394,7905,0.00,2.50,0.00,0.000,6,0.000,0.031,2801,1938,1401
$GC,8215,0.26,364.7,246.8,5.8,410,8247,0.15,0.00,29.65,0.804,6,0.078,0.000,2837,1938,1246
$GC,8546,0.22,364.7,216.9,10.0,426,8551,0.00,2.53,0.00,0.000,4,0.000,0.039,2837,3366,1246
$GC,8636,0.22,364.7,208.1,8.7,430,8640,0.00,2.47,0.00,0.000,6,0.000,0.031,2838,1941,1246
$GC,8966,0.18,364.7,181.6,8.7,456,8970,0.00,2.50,0.00,0.000,4,0.000,0.038,2838,3365,1246
$GC,9033,0.18,364.7,175.1,8.4,461,9040,0.00,2.45,0.00,0.000,6,0.000,0.028,2837,1941,1247
$GC,9363,0.24,398.7,147.7,6.0,492,9392,0.00,0.00,26.83,0.711,6,0.000,0.000,2838,1942,1106
$GC,9711,0.24,398.7,122.5,7.2,525,9715,0.00,2.47,0.00,0.000,4,0.000,0.035,2838,3361,1108
$GC,9744,0.28,398.9,120.0,7.1,527,9751,0.00,2.42,0.00,0.000,6,0.000,0.027,2838,1943,1109
$GC,10073,0.31,398.9,94.5,7.9,558,10077,0.00,2.45,0.00,0.000,4,0.000,0.036,2838,3360,1109
$GC,10120,0.39,412.5,91.0,6.7,562,10137,0.12,2.42,11.25,0.648,6,0.074,0.026,2866,1940,1051
$GC,10457,0.39,412.5,62.3,9.3,593,10461,0.00,2.47,0.00,0.000,4,0.000,0.035,2866,3368,1052
$GC,10524,0.42,412.5,56.6,8.2,598,10530,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1951,1052
$GC,10786,0.42,412.5,36.9,7.5,623,10789,0.00,2.42,0.00,0.000,4,0.000,0.034,2867,3363,1054
$GC,10809,0.42,412.5,35.2,7.5,625,10813,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1948,1054
$GC,11083,0.46,412.5,17.1,8.2,667,11090,0.00,2.42,0.00,0.000,4,0.000,0.032,2866,3360,1055
$GC,11137,0.50,417.0,13.3,7.0,676,11150,0.10,2.38,4.72,0.574,6,0.077,0.022,2890,1937,1032
$STATE,11233,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,0.8,1.022948
$STATE,11280,end surface coast,CONTROL_FINISHED_OK
$STATE,11280,begin surface
$SM_CCo,11364,0.00,0.000,0,0,1032,417.26
$SM_GC,1.38,11.00,0.00,0.00,0.046,0.000,0.000,412,2091,1032,-10.85,1.44,417.26
$IRIDIUM_FIX,2054.83,-15744.48,261297,171718
$TT8_MAMPS,0.027612
$HUMID,1679
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,12
$24V_AH,23.8,12.162
$10V_AH,10.2,6.967
$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,17.900,115.800,441.050,0.000,0.000,0.000,0.000,0.000,12.250,0.000,0.000,0.000,1286.925,7746.125,492.221,1644.219,248.837,33.344,1306.011,0.000,1629.389,0.000,60.274
$DEVICE_MAMPS,141.128,54.457,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.540,472.155,841.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34931,701
$CAP_FILE_SIZE,99757,0
$CFSIZE,260165632,254140416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,030838,2104.287,-15748.179,59,1.2,59,9.8