version: 66.03
glider: 114
mission: 3
dive: 78
start: 10 2 108 9 59 30
data:
$ID,114
$MISSION,3
$DIVE,78
$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,-593432
$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,31
$R_STBD_OVSHOOT,60
$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
$GPS1,094326,2106.134,-15748.408,44,1.0,44,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.2
$GPS2,095833,2106.137,-15748.432,10,1.6,10,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.138,0.179
$KALMAN_X,-33710.4,-632.2,2054.9,41168.9,-81.5
$KALMAN_Y,-8843.2,-159.2,1208.1,-11539.0,2542.0
$MHEAD_RNG_PITCHd_Wd,312.6,7650,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.43,0.000,2,0.000,0.000,411,2073,2825
$GC,98,-1.13,-146.0,3.1,-3.4,12,128,11.95,2.38,-8.55,0.000,4,0.160,0.051,2524,3413,3331
$GC,209,-1.26,-146.0,19.6,-7.4,31,215,0.00,2.35,0.00,0.000,6,0.000,0.023,2524,2033,3330
$GC,487,-1.34,-146.0,43.7,-8.9,67,492,0.15,2.40,0.00,0.000,4,0.056,0.034,2482,3417,3331
$GC,550,-1.40,-146.0,50.5,-10.2,72,554,0.00,2.30,0.00,0.000,6,0.000,0.023,2482,2037,3331
$GC,818,-1.45,-146.0,76.0,-7.6,97,822,0.00,2.40,0.00,0.000,4,0.000,0.034,2482,3427,3331
$GC,840,-1.51,-146.0,78.2,-8.8,98,847,0.15,2.33,0.00,0.000,6,0.056,0.023,2444,2036,3331
$GC,1103,-1.51,-146.0,104.8,-10.8,123,1107,0.00,2.40,0.00,0.000,4,0.000,0.038,2444,640,3331
$GC,1125,-1.51,-146.0,107.5,-10.9,124,1131,0.00,2.30,0.00,0.000,6,0.000,0.022,2444,2022,3331
$GC,1451,-1.51,-146.0,138.0,-9.0,155,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2027,3331
$GC,1772,-1.51,-146.0,167.7,-9.5,185,1776,0.00,2.42,0.00,0.000,4,0.000,0.036,2444,3447,3332
$GC,1811,-1.55,-146.0,171.7,-9.2,188,1818,0.00,2.38,0.00,0.000,6,0.000,0.025,2444,2033,3331
$GC,2139,-1.59,-146.0,198.6,-8.7,219,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2033,3331
$GC,2466,-1.64,-146.0,223.2,-6.8,236,2470,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,640,3331
$GC,2513,-1.74,-146.0,226.5,-7.2,238,2518,0.20,2.38,0.00,0.000,6,0.052,0.025,2395,2046,3332
$GC,2843,-1.71,-146.0,257.2,-10.6,254,2847,0.00,2.42,0.00,0.000,4,0.000,0.038,2395,3454,3331
$GC,2893,-1.71,-146.0,263.2,-10.9,256,2897,0.00,2.40,0.00,0.000,6,0.000,0.026,2395,2034,3331
$GC,3209,-1.71,-146.0,292.2,-9.2,271,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2034,3330
$GC,3517,-1.71,-146.0,323.0,-10.4,281,3521,0.00,2.47,0.00,0.000,4,0.000,0.040,2395,3449,3328
$GC,3539,-1.71,-146.0,325.4,-9.4,281,3543,0.00,2.40,0.00,0.000,6,0.000,0.028,2395,2042,3328
$GC,3877,-1.71,-146.0,357.1,-9.9,290,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2041,3325
$GC,4200,-1.71,-146.0,385.7,-7.9,298,4205,0.00,2.47,0.00,0.000,4,0.000,0.043,2395,3444,3324
$GC,4235,-1.75,-146.0,388.6,-8.5,298,4241,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2034,3323
$GC,4566,-1.75,-146.0,413.5,-7.6,307,4571,0.00,2.47,0.00,0.000,4,0.000,0.050,2394,634,3320
$GC,4612,-1.80,-146.0,417.5,-9.7,308,4616,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2044,3320
$GC,4930,-1.80,-146.0,444.9,-8.7,316,4934,0.00,2.50,0.00,0.000,4,0.000,0.051,2395,3453,3318
$GC,4964,-1.83,-146.0,447.8,-9.0,316,4970,0.00,2.45,0.00,0.000,6,0.000,0.032,2395,2034,3318
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5017,-0.33,0.0,451.5,7.9,318,5134,1.52,0.00,113.15,0.917,6,0.100,0.000,2704,1933,2733
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5138,1.13,146.0,455.8,0.0,321,5261,1.45,2.55,114.25,0.888,4,0.056,0.054,3021,555,2136
$GC,5515,0.60,146.0,422.3,13.0,329,5521,0.60,2.45,0.00,0.000,6,0.144,0.030,2918,1965,2134
$GC,5853,0.36,160.8,396.9,6.6,338,5873,0.28,2.67,11.32,0.884,4,0.133,0.054,2864,551,2077
$GC,5924,0.15,160.8,392.1,7.3,339,5929,0.25,2.45,0.00,0.000,6,0.127,0.030,2818,1960,2076
$GC,6262,0.17,206.4,372.7,5.6,348,6300,0.00,0.00,35.30,0.889,6,0.000,0.000,2818,1960,1891
$GC,6627,0.26,287.4,356.4,4.3,357,6693,0.00,0.00,64.03,0.872,6,0.000,0.000,2818,1960,1561
$GC,6991,0.21,287.4,330.5,7.6,366,6996,0.00,2.50,0.00,0.000,4,0.000,0.048,2818,3354,1561
$GC,7025,0.17,287.4,327.8,8.1,366,7031,0.00,2.45,0.00,0.000,6,0.000,0.033,2818,1957,1561
$GC,7357,0.13,287.4,299.1,9.2,375,7362,0.00,2.50,0.00,0.000,4,0.000,0.043,2818,3358,1560
$GC,7403,0.10,287.4,295.1,8.2,377,7407,0.00,2.47,0.00,0.000,6,0.000,0.032,2818,1940,1560
$GC,7725,0.17,347.2,275.9,5.1,393,7773,0.00,0.00,46.28,0.830,6,0.000,0.000,2818,1939,1317
$GC,8090,0.17,347.2,247.8,8.6,411,8094,0.00,2.50,0.00,0.000,4,0.000,0.040,2818,3359,1317
$GC,8168,0.17,347.2,241.7,7.6,414,8175,0.00,2.47,0.00,0.000,6,0.000,0.032,2818,1937,1317
$GC,8484,0.17,347.2,218.6,7.5,430,8488,0.00,2.50,0.00,0.000,4,0.000,0.039,2818,3356,1317
$GC,8541,0.17,347.2,214.6,7.3,432,8548,0.00,2.45,0.00,0.000,6,0.000,0.031,2818,1939,1317
$GC,8860,0.22,372.8,194.0,6.3,452,8890,0.00,2.60,20.17,0.754,4,0.000,0.037,2818,3363,1213
$GC,8902,0.27,404.2,191.3,6.1,456,8935,0.00,2.47,24.80,0.739,6,0.000,0.028,2818,1942,1085
$GC,9254,0.31,427.7,168.2,6.3,489,9279,0.15,2.55,18.50,0.716,4,0.072,0.037,2856,3348,989
$GC,9354,0.27,427.7,158.3,10.7,498,9358,0.00,2.42,0.00,0.000,6,0.000,0.029,2856,1949,989
$GC,9688,0.21,427.7,125.4,8.3,529,9693,0.15,2.45,0.00,0.000,4,0.104,0.035,2827,3356,989
$GC,9766,0.25,427.7,119.0,7.8,535,9773,0.00,2.42,0.00,0.000,6,0.000,0.028,2827,1939,990
$GC,10096,0.25,427.7,96.1,7.4,566,10100,0.00,2.47,0.00,0.000,4,0.000,0.036,2828,3358,990
$GC,10137,0.28,427.7,92.7,8.1,569,10141,0.00,2.42,0.00,0.000,6,0.000,0.026,2827,1940,990
$GC,10467,0.38,444.7,72.1,6.6,599,10490,0.15,2.53,13.98,0.624,4,0.065,0.035,2868,3351,920
$GC,10514,0.38,444.7,67.8,9.1,603,10518,0.00,2.40,0.00,0.000,6,0.000,0.026,2868,1950,920
$GC,10776,0.38,444.7,48.7,7.6,627,10780,0.00,2.42,0.00,0.000,4,0.000,0.035,2868,3354,920
$GC,10806,0.38,444.7,46.3,8.2,629,10812,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,1938,920
$GC,11076,0.38,444.7,23.7,8.3,661,11082,0.00,2.45,0.00,0.000,4,0.000,0.033,2868,3362,920
$GC,11107,0.38,444.7,20.8,8.1,666,11113,0.00,2.38,0.00,0.000,6,0.000,0.025,2868,1951,920
$STATE,11235,end climb,FINISH_DEPTH_REACHED
$STATE,11236,begin subsurface finish
$FINISH1,10.0,1.022992,225
$GC,11244,0.39,225.0,10.0,-7.7,689,11267,0.00,0.00,-16.70,0.000,6,0.000,0.000,2868,1950,1816
$FINISH2,7.6
$STATE,11267,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11268,begin surface
$IRIDIUM_FIX,2057.14,-15746.61,271297,101039
$TT8_MAMPS,0.027612
$HUMID,1711
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.60
$XPDR_PINGS,12
$24V_AH,23.8,12.559
$10V_AH,10.2,7.211
$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,17.000,117.400,461.775,0.000,0.000,80.034,104.805,427.229,12.000,0.000,0.000,12.433,1243.896,7845.983,567.548,1558.470,957.164,33.404,1342.983,0.000,1533.425,0.000,57.443
$DEVICE_MAMPS,160.303,54.457,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.168,458.299,815.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34871,693
$CAP_FILE_SIZE,109625,0
$CFSIZE,260165632,253972480
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,095833,2106.137,-15748.432,10,1.6,10,9.8