version: 66.03
glider: 114
mission: 3
dive: 79
start: 10 2 108 13 9 30
data:
$ID,114
$MISSION,3
$DIVE,79
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,095833,2106.137,-15748.432,10,1.6,10,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,12.6
$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,-0.163,0.157
$KALMAN_X,-34400.4,-196.2,4015.5,39443.2,9705.1
$KALMAN_Y,-8230.3,-65.2,-1690.3,-9318.5,-4840.1
$MHEAD_RNG_PITCHd_Wd,304.2,7650,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-67.40,0.000,6,0.000,0.000,2869,1944,3330
$GC,103,-1.13,-146.0,0.6,0.1,13,110,1.52,2.28,0.00,0.000,4,0.071,0.037,2535,623,3329
$GC,118,-1.61,-146.0,1.3,-1.0,15,125,0.47,2.38,0.00,0.000,6,0.044,0.022,2424,2057,3329
$GC,393,-1.48,-146.0,42.9,-17.3,57,398,0.15,2.38,0.00,0.000,4,0.101,0.038,2457,3435,3330
$GC,423,-1.40,-146.0,47.2,-14.6,59,427,0.00,2.35,0.00,0.000,6,0.000,0.024,2457,2035,3330
$GC,685,-1.40,-146.0,82.2,-11.7,83,689,0.00,2.42,0.00,0.000,4,0.000,0.037,2457,3441,3331
$GC,709,-1.40,-146.0,85.0,-11.5,85,713,0.00,2.35,0.00,0.000,6,0.000,0.023,2457,2031,3331
$GC,1043,-1.40,-146.0,114.9,-9.9,116,1047,0.00,2.40,0.00,0.000,4,0.000,0.038,2457,631,3332
$GC,1084,-1.46,-146.0,119.7,-11.0,119,1089,0.00,2.35,0.00,0.000,6,0.000,0.023,2456,2034,3332
$GC,1416,-1.52,-146.0,154.7,-9.2,150,1420,0.00,2.40,0.00,0.000,4,0.000,0.035,2457,3442,3333
$GC,1495,-1.61,-146.0,161.6,-7.8,156,1502,0.12,2.35,0.00,0.000,6,0.064,0.025,2426,2037,3333
$GC,1821,-1.61,-146.0,191.8,-8.4,187,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2037,3334
$GC,2144,-1.61,-146.0,221.3,-8.6,207,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2036,3333
$GC,2453,-1.66,-146.0,244.2,-6.8,222,2457,0.00,2.45,0.00,0.000,4,0.000,0.042,2426,3450,3333
$GC,2532,-1.76,-146.0,250.8,-8.4,225,2537,0.12,2.40,0.00,0.000,6,0.064,0.027,2396,2033,3333
$GC,2848,-1.76,-146.0,282.8,-9.8,240,2852,0.00,2.42,0.00,0.000,4,0.000,0.043,2396,638,3333
$GC,2876,-1.76,-146.0,285.7,-10.2,241,2880,0.00,2.38,0.00,0.000,6,0.000,0.028,2396,2034,3333
$GC,3189,-1.76,-146.0,317.2,-10.3,252,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2034,3333
$GC,3516,-1.76,-146.0,348.2,-8.8,260,3520,0.00,2.47,0.00,0.000,4,0.000,0.046,2396,637,3332
$GC,3561,-1.80,-146.0,351.8,-7.7,261,3565,0.00,2.40,0.00,0.000,6,0.000,0.030,2396,2038,3331
$GC,3881,-1.80,-146.0,372.6,-7.0,269,3885,0.00,2.47,0.00,0.000,4,0.000,0.048,2396,3445,3328
$GC,3943,-1.84,-146.0,378.0,-9.4,270,3947,0.00,2.40,0.00,0.000,6,0.000,0.031,2396,2044,3328
$GC,4291,-1.84,-146.0,405.9,-7.9,279,4296,0.00,2.50,0.00,0.000,4,0.000,0.050,2396,630,3326
$GC,4337,-1.90,-146.0,409.7,-8.0,280,4342,0.15,2.42,0.00,0.000,6,0.075,0.031,2363,2039,3325
$GC,4662,-1.86,-146.0,440.8,-9.5,288,4667,0.00,2.50,0.00,0.000,4,0.000,0.050,2363,3448,3323
$GC,4707,-1.86,-146.0,444.9,-8.9,289,4711,0.00,2.42,0.00,0.000,6,0.000,0.031,2363,2041,3323
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4788,-0.33,0.0,450.5,7.7,291,4906,1.67,0.00,114.10,0.920,6,0.102,0.000,2702,1939,2733
$STATE,4907,end apogee,CONTROL_FINISHED_OK
$STATE,4907,begin climb
$GC,4911,1.13,146.0,453.3,0.0,294,5034,1.48,2.58,114.47,0.887,4,0.057,0.054,3024,547,2136
$GC,5102,0.59,146.0,446.3,12.1,298,5108,0.65,2.47,0.00,0.000,6,0.142,0.030,2911,1964,2136
$GC,5446,0.33,149.0,422.9,7.0,307,5455,0.28,2.53,2.75,0.805,4,0.129,0.047,2858,3345,2125
$GC,5512,0.16,149.0,417.7,8.1,308,5518,0.22,2.45,0.00,0.000,6,0.123,0.034,2817,1955,2125
$GC,5856,0.15,188.7,396.6,5.8,317,5889,0.00,0.00,31.23,0.899,6,0.000,0.000,2817,1954,1962
$GC,6181,0.17,239.3,379.6,5.4,325,6226,0.00,2.62,39.30,0.889,4,0.000,0.054,2817,535,1757
$GC,6261,0.10,239.3,373.7,8.6,326,6267,0.00,2.47,0.00,0.000,6,0.000,0.029,2817,1955,1756
$GC,6593,0.06,250.5,350.8,6.8,335,6608,0.12,2.53,9.57,0.871,4,0.135,0.048,2797,3351,1711
$GC,6677,0.14,296.9,345.9,5.5,336,6723,0.00,2.47,36.75,0.870,6,0.000,0.033,2797,1943,1522
$GC,7048,0.21,333.5,324.6,5.9,346,7080,0.12,0.00,29.08,0.857,6,0.085,0.000,2823,1943,1374
$GC,7374,0.17,340.2,301.6,6.9,354,7385,0.00,2.55,6.18,0.828,4,0.000,0.042,2823,3353,1345
$GC,7469,0.17,340.2,293.4,8.9,357,7474,0.00,2.47,0.00,0.000,6,0.000,0.032,2822,1940,1345
$GC,7786,0.13,340.2,266.7,9.5,372,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1939,1345
$GC,8095,0.09,340.2,241.4,7.2,387,8100,0.12,2.50,0.00,0.000,4,0.118,0.038,2801,3356,1345
$GC,8153,0.14,340.2,237.1,7.2,389,8159,0.00,2.45,0.00,0.000,6,0.000,0.034,2800,1950,1345
$GC,8470,0.14,340.2,213.7,7.2,405,8474,0.00,2.47,0.00,0.000,4,0.000,0.039,2801,3355,1345
$GC,8521,0.23,363.8,210.1,6.3,407,8545,0.12,2.45,18.80,0.784,6,0.083,0.030,2827,1936,1248
$GC,8868,0.23,363.8,183.5,8.2,434,8872,0.00,2.50,0.00,0.000,4,0.000,0.038,2827,3358,1248
$GC,8896,0.23,363.8,181.3,7.3,436,8901,0.00,2.45,0.00,0.000,6,0.000,0.028,2827,1941,1249
$GC,9224,0.23,363.8,156.6,8.4,466,9228,0.00,2.47,0.00,0.000,4,0.000,0.036,2827,3357,1249
$GC,9280,0.27,363.8,151.4,9.2,470,9287,0.00,2.42,0.00,0.000,6,0.000,0.028,2827,1940,1249
$GC,9608,0.28,375.1,127.9,6.8,501,9623,0.00,2.50,9.60,0.692,4,0.000,0.035,2827,3358,1202
$GC,9665,0.33,375.1,123.2,9.4,506,9670,0.12,2.42,0.00,0.000,6,0.075,0.027,2856,1952,1203
$GC,9991,0.33,375.1,96.3,7.5,536,9995,0.00,2.47,0.00,0.000,4,0.000,0.045,2855,547,1204
$GC,10042,0.33,375.1,92.4,7.4,540,10047,0.00,2.38,0.00,0.000,6,0.000,0.023,2855,1960,1204
$GC,10371,0.45,418.5,73.3,5.6,570,10414,0.00,2.50,32.92,0.618,4,0.000,0.035,2855,3351,1027
$GC,10443,0.52,424.9,68.5,6.9,576,10454,0.17,2.42,5.55,0.617,6,0.063,0.026,2895,1935,1001
$GC,10711,0.49,435.3,47.0,6.8,601,10721,0.00,0.00,8.30,0.591,6,0.000,0.000,2895,1935,957
$GC,10984,0.44,443.6,24.8,6.9,632,10997,0.00,2.47,7.10,0.571,4,0.000,0.033,2895,3352,923
$GC,11039,0.39,443.6,19.0,10.0,641,11046,0.15,2.40,0.00,0.000,6,0.094,0.025,2866,1936,923
$STATE,11208,end climb,SURFACE_DEPTH_REACHED
$STATE,11208,begin surface coast
$FINISH,0.7,1.011748
$STATE,11271,end surface coast,CONTROL_FINISHED_OK
$STATE,11271,begin surface
$SM_CCo,11355,0.00,0.000,0,0,923,443.99
$SM_GC,1.47,10.98,0.00,0.00,0.048,0.000,0.000,410,2072,923,-10.86,0.90,443.99
$IRIDIUM_FIX,2057.14,-15746.61,271297,101039
$TT8_MAMPS,0.027612
$HUMID,1677
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,25.00
$XPDR_PINGS,13
$24V_AH,23.8,12.672
$10V_AH,10.2,7.284
$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,18.775,117.675,465.700,0.000,0.000,0.000,0.000,0.000,12.250,0.000,0.000,0.000,1259.099,7812.506,522.440,1562.737,252.544,33.338,1304.499,0.000,1553.991,0.000,57.452
$DEVICE_MAMPS,141.895,54.457,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.417,450.011,799.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,682
$CAP_FILE_SIZE,100861,0
$CFSIZE,260165632,253931520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,162001,2107.857,-15751.528,37,1.0,37,9.8