version: 66.03
glider: 114
mission: 3
dive: 76
start: 10 2 108 3 20 51
data:
$ID,114
$MISSION,3
$DIVE,76
$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,-593418.94
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,030838,2104.287,-15748.179,59,1.2,59,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.1
$GPS2,031956,2104.242,-15748.404,10,2.0,15,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.202,0.102
$KALMAN_X,-32392.2,95.1,803.7,40436.2,-2730.0
$KALMAN_Y,-8013.3,-66.5,248.5,-15029.5,-569.1
$MHEAD_RNG_PITCHd_Wd,53.4,11014,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-59.17,0.000,2,0.000,0.000,412,2094,2810
$GC,95,-1.13,-146.0,3.0,-4.0,11,119,11.90,0.00,-8.93,0.000,6,0.159,0.000,2524,2094,3331
$GC,393,-1.20,-146.0,35.8,-9.0,58,397,0.00,2.35,0.00,0.000,4,0.000,0.036,2523,3452,3331
$GC,434,-1.29,-146.0,39.6,-9.4,61,438,0.12,2.38,0.00,0.000,6,0.061,0.022,2493,2027,3331
$GC,699,-1.32,-146.0,64.7,-8.3,85,703,0.00,2.47,0.00,0.000,4,0.000,0.035,2493,3458,3331
$GC,721,-1.35,-146.0,67.1,-9.1,86,728,0.00,2.38,0.00,0.000,6,0.000,0.022,2493,2033,3331
$GC,984,-1.40,-146.0,88.7,-7.7,111,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2032,3332
$GC,1305,-1.48,-146.0,113.0,-7.7,141,1310,0.17,2.40,0.00,0.000,4,0.052,0.038,2445,634,3332
$GC,1323,-1.56,-146.0,114.8,-8.2,142,1327,0.00,2.38,0.00,0.000,6,0.000,0.023,2445,2056,3332
$GC,1649,-1.56,-146.0,145.3,-9.4,172,1653,0.00,2.38,0.00,0.000,4,0.000,0.035,2446,3448,3333
$GC,1773,-1.61,-146.0,157.1,-9.0,182,1779,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2030,3333
$GC,2099,-1.64,-146.0,185.3,-9.2,213,2100,0.10,0.00,0.00,0.000,6,0.066,0.000,2418,2029,3333
$GC,2411,-1.64,-146.0,215.9,-9.2,235,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2028,3333
$GC,2720,-1.64,-146.0,243.1,-9.7,250,2724,0.00,2.45,0.00,0.000,4,0.000,0.039,2419,3440,3333
$GC,2810,-1.70,-146.0,252.5,-10.9,254,2814,0.00,2.38,0.00,0.000,6,0.000,0.027,2418,2032,3332
$GC,3137,-1.70,-146.0,283.8,-8.1,270,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2030,3332
$GC,3445,-1.73,-146.0,306.9,-7.2,283,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2030,3330
$GC,3771,-1.77,-146.0,329.2,-6.9,291,3776,0.12,2.47,0.00,0.000,4,0.069,0.041,2389,3439,3328
$GC,3810,-1.77,-146.0,332.6,-8.7,292,3814,0.00,2.40,0.00,0.000,6,0.000,0.029,2389,2039,3327
$GC,4137,-1.77,-146.0,362.0,-8.9,300,4141,0.00,2.47,0.00,0.000,4,0.000,0.041,2389,3445,3325
$GC,4178,-1.77,-146.0,365.5,-8.3,301,4182,0.00,2.42,0.00,0.000,6,0.000,0.031,2389,2035,3325
$GC,4502,-1.77,-146.0,396.3,-9.3,309,4506,0.00,2.47,0.00,0.000,4,0.000,0.050,2389,633,3322
$GC,4530,-1.77,-146.0,399.0,-10.5,309,4535,0.00,2.40,0.00,0.000,6,0.000,0.031,2389,2032,3322
$GC,4862,-1.77,-146.0,427.1,-8.1,317,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2034,3320
$STATE,5184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5185,begin apogee
$GC,5192,-0.33,0.0,451.8,7.7,325,5309,1.55,0.00,112.93,0.926,6,0.100,0.000,2703,1942,2733
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5313,1.13,146.0,456.4,0.0,328,5435,1.48,0.00,114.53,0.900,6,0.058,0.000,3024,1942,2136
$GC,5761,0.65,146.0,418.9,12.5,339,5766,0.52,2.53,0.00,0.000,4,0.140,0.053,2930,554,2134
$GC,5851,0.31,146.0,408.5,10.9,341,5857,0.45,2.45,0.00,0.000,6,0.133,0.031,2849,1958,2134
$GC,6171,0.21,169.1,385.8,6.3,349,6191,0.12,0.00,17.67,0.896,6,0.138,0.000,2828,1958,2043
$GC,6496,0.29,268.8,371.9,3.7,357,6581,0.00,2.60,77.35,0.884,4,0.000,0.048,2828,3357,1637
$GC,6594,0.25,299.7,367.2,6.1,359,6624,0.00,2.50,24.65,0.858,6,0.000,0.034,2828,1949,1511
$GC,6944,0.19,299.7,338.6,8.5,368,6948,0.00,2.50,0.00,0.000,4,0.000,0.044,2828,3352,1511
$GC,7002,0.14,299.7,333.6,9.1,369,7006,0.00,2.47,0.00,0.000,6,0.000,0.033,2828,1945,1511
$GC,7316,0.07,299.7,305.2,9.6,377,7321,0.15,2.53,0.00,0.000,4,0.126,0.041,2799,3358,1510
$GC,7344,0.07,299.7,302.6,8.8,377,7348,0.00,2.45,0.00,0.000,6,0.000,0.031,2798,1942,1510
$GC,7660,0.07,299.7,277.2,7.8,391,7664,0.00,2.53,0.00,0.000,4,0.000,0.042,2798,3365,1509
$GC,7704,0.07,299.7,273.7,7.8,393,7708,0.00,2.45,0.00,0.000,6,0.000,0.032,2798,1946,1509
$GC,8026,0.17,355.4,254.8,5.2,409,8076,0.00,2.62,42.65,0.825,4,0.000,0.041,2798,3370,1284
$GC,8106,0.24,372.8,249.9,6.5,412,8126,0.15,2.50,14.30,0.805,6,0.077,0.031,2829,1942,1212
$GC,8446,0.19,372.8,218.5,10.0,429,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1942,1212
$GC,8756,0.19,372.8,189.9,9.1,449,8760,0.00,2.50,0.00,0.000,4,0.000,0.038,2829,3366,1212
$GC,8840,0.19,372.8,183.4,7.3,456,8845,0.00,2.47,0.00,0.000,6,0.000,0.030,2829,1941,1213
$GC,9168,0.19,372.8,160.1,7.2,486,9172,0.00,2.50,0.00,0.000,4,0.000,0.037,2829,3367,1213
$GC,9246,0.19,372.8,153.6,8.5,492,9252,0.00,2.45,0.00,0.000,6,0.000,0.029,2829,1940,1213
$GC,9575,0.19,372.8,128.1,7.9,523,9579,0.00,2.47,0.00,0.000,4,0.000,0.035,2829,3362,1214
$GC,9604,0.19,372.8,125.6,7.6,525,9608,0.00,2.42,0.00,0.000,6,0.000,0.027,2829,1947,1214
$GC,9932,0.19,372.8,102.1,7.5,555,9936,0.00,2.45,0.00,0.000,4,0.000,0.035,2829,3358,1215
$GC,9988,0.24,372.8,97.4,8.2,559,9994,0.00,2.40,0.00,0.000,6,0.000,0.027,2829,1946,1215
$GC,10318,0.38,418.8,78.8,5.6,590,10362,0.15,2.53,35.53,0.631,4,0.066,0.046,2869,543,1025
$GC,10409,0.38,418.8,71.0,9.1,598,10413,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,1960,1025
$GC,10671,0.38,418.8,48.6,7.8,622,10675,0.00,2.40,0.00,0.000,4,0.000,0.036,2869,3352,1025
$GC,10739,0.43,418.8,43.2,7.4,627,10746,0.00,2.40,0.00,0.000,6,0.000,0.026,2869,1941,1025
$GC,11007,0.43,418.8,20.9,8.4,661,11014,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3357,1025
$GC,11055,0.43,418.8,17.1,7.9,669,11062,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,1938,1026
$STATE,11144,end climb,FINISH_DEPTH_REACHED
$STATE,11145,begin subsurface finish
$FINISH1,9.7,1.022979,226
$GC,11153,0.39,225.6,9.7,-8.6,685,11171,0.00,0.00,-14.93,0.000,6,0.000,0.000,2869,1938,1815
$FINISH2,7.7
$STATE,11171,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11172,begin surface
$IRIDIUM_FIX,2054.83,-15746.61,271297,030355
$TT8_MAMPS,0.028379
$HUMID,1727
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.40
$XPDR_PINGS,11
$24V_AH,23.8,12.296
$10V_AH,10.2,7.049
$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,17.000,103.100,439.600,0.000,0.000,46.782,65.086,332.319,11.750,0.000,0.000,17.335,1241.419,7760.857,507.238,1558.655,778.025,33.371,1265.454,0.000,1531.750,0.000,57.445
$DEVICE_MAMPS,158.769,52.923,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.366,454.051,825.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34708,688
$CAP_FILE_SIZE,101225,0
$CFSIZE,260165632,254087168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,031956,2104.242,-15748.404,10,2.0,15,9.8