version: 66.03
glider: 114
mission: 3
dive: 80
start: 10 2 108 16 29 2
data:
$ID,114
$MISSION,3
$DIVE,80
$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,-593462.81
$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,67
$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
$GPS1,162001,2107.857,-15751.528,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.3
$GPS2,162808,2107.923,-15751.632,11,1.1,28,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.220,-0.053
$KALMAN_X,-30466.9,453.4,-4254.1,37633.8,-715.4
$KALMAN_Y,-10471.6,-206.7,2096.1,-7452.3,3492.4
$MHEAD_RNG_PITCHd_Wd,93.6,4770,-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,29,-1.13,-146.0,0.0,0.0,0,101,0.00,0.00,-69.75,0.000,2,0.000,0.000,411,2074,3062
$GC,105,-1.13,-146.0,4.1,-5.8,13,130,11.95,2.55,-4.00,0.000,4,0.160,0.048,2524,634,3333
$GC,183,-1.28,-146.0,22.0,-8.1,26,190,0.12,2.33,0.00,0.000,6,0.059,0.023,2493,2015,3332
$GC,453,-1.28,-146.0,48.4,-9.5,58,457,0.00,2.47,0.00,0.000,4,0.000,0.037,2493,3448,3333
$GC,551,-1.33,-146.0,57.3,-8.3,66,555,0.00,2.40,0.00,0.000,6,0.000,0.023,2493,2026,3332
$GC,813,-1.33,-146.0,85.1,-10.9,90,817,0.00,2.45,0.00,0.000,4,0.000,0.035,2493,3439,3333
$GC,869,-1.40,-146.0,89.8,-7.8,94,875,0.00,2.35,0.00,0.000,6,0.000,0.023,2493,2034,3333
$GC,1198,-1.50,-146.0,117.2,-9.0,125,1203,0.15,2.40,0.00,0.000,4,0.056,0.037,2451,637,3333
$GC,1228,-1.54,-146.0,120.3,-10.4,127,1232,0.00,2.38,0.00,0.000,6,0.000,0.022,2451,2055,3333
$GC,1555,-1.57,-146.0,150.0,-8.7,157,1559,0.00,2.45,0.00,0.000,4,0.000,0.038,2451,643,3334
$GC,1574,-1.61,-146.0,152.0,-9.5,158,1578,0.00,2.35,0.00,0.000,6,0.000,0.023,2451,2046,3334
$GC,1908,-1.66,-146.0,180.6,-9.0,189,1912,0.15,2.40,0.00,0.000,4,0.058,0.036,2414,3446,3334
$GC,1948,-1.66,-146.0,184.6,-10.2,192,1952,0.00,2.38,0.00,0.000,6,0.000,0.025,2413,2036,3334
$GC,2270,-1.66,-146.0,217.4,-10.8,214,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2035,3334
$GC,2578,-1.66,-146.0,247.8,-8.6,229,2582,0.00,2.45,0.00,0.000,4,0.000,0.038,2413,3447,3333
$GC,2611,-1.66,-146.0,250.6,-7.8,230,2617,0.00,2.38,0.00,0.000,6,0.000,0.025,2413,2038,3333
$GC,2927,-1.66,-146.0,273.8,-7.7,246,2931,0.00,2.45,0.00,0.000,4,0.000,0.038,2413,3446,3332
$GC,2977,-1.72,-146.0,278.0,-8.5,248,2981,0.00,2.38,0.00,0.000,6,0.000,0.027,2413,2038,3331
$GC,3318,-1.72,-146.0,308.0,-8.9,263,3323,0.00,2.45,0.00,0.000,4,0.000,0.044,2414,637,3331
$GC,3359,-1.78,-146.0,311.7,-9.6,264,3363,0.00,2.40,0.00,0.000,6,0.000,0.028,2414,2040,3331
$GC,3685,-1.82,-146.0,339.2,-8.3,272,3689,0.15,2.45,0.00,0.000,4,0.067,0.044,2379,3447,3328
$GC,3712,-1.82,-146.0,341.7,-9.0,272,3716,0.00,2.40,0.00,0.000,6,0.000,0.028,2379,2039,3328
$GC,4045,-1.82,-146.0,370.7,-8.3,280,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2039,3326
$GC,4369,-1.82,-146.0,401.0,-9.8,288,4373,0.00,2.50,0.00,0.000,4,0.000,0.044,2379,3451,3324
$GC,4397,-1.82,-146.0,404.1,-11.1,288,4402,0.00,2.42,0.00,0.000,6,0.000,0.030,2379,2038,3323
$GC,4736,-1.82,-146.0,436.4,-9.3,297,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2038,3321
$STATE,4895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4895,begin apogee
$GC,4903,-0.33,0.0,450.1,8.4,301,5020,1.60,0.00,113.60,0.905,6,0.100,0.000,2703,1934,2732
$STATE,5021,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5024,1.13,146.0,453.8,0.0,304,5146,1.50,2.55,114.57,0.877,4,0.054,0.052,3028,551,2137
$GC,5327,0.59,146.0,431.0,13.8,311,5332,0.65,2.45,0.00,0.000,6,0.138,0.029,2913,1961,2135
$GC,5676,0.32,146.0,402.6,7.5,320,5681,0.30,2.58,0.00,0.000,4,0.127,0.052,2856,551,2133
$GC,5705,0.18,179.9,400.7,6.0,320,5737,0.17,2.42,26.08,0.876,6,0.129,0.031,2824,1956,1999
$GC,6080,0.15,203.2,378.9,6.3,330,6105,0.00,2.58,18.10,0.876,4,0.000,0.048,2824,3346,1904
$GC,6157,0.09,215.3,373.7,6.7,331,6173,0.12,2.45,10.05,0.864,6,0.127,0.033,2803,1953,1855
$GC,6493,0.14,245.8,353.9,6.1,340,6522,0.00,2.60,24.23,0.870,4,0.000,0.054,2803,544,1730
$GC,6537,0.12,253.3,351.1,6.9,341,6550,0.00,2.47,6.72,0.840,6,0.000,0.029,2804,1957,1700
$GC,6866,0.09,253.3,326.6,7.9,349,6870,0.00,2.47,0.00,0.000,4,0.000,0.045,2803,3348,1699
$GC,6944,0.09,253.3,320.2,7.5,350,6950,0.00,2.45,0.00,0.000,6,0.000,0.032,2803,1946,1698
$GC,7257,0.09,253.3,295.5,7.8,359,7261,0.00,2.53,0.00,0.000,4,0.000,0.054,2803,543,1698
$GC,7274,0.09,253.3,294.0,8.1,360,7278,0.00,2.45,0.00,0.000,6,0.000,0.029,2804,1959,1698
$GC,7601,0.12,271.2,271.6,6.5,376,7620,0.00,0.00,14.40,0.838,6,0.000,0.000,2803,1959,1626
$GC,7930,0.18,305.0,250.5,6.0,392,7962,0.00,2.53,26.40,0.818,4,0.000,0.044,2803,3351,1488
$GC,8002,0.22,325.9,246.0,6.4,395,8026,0.10,2.47,16.65,0.800,6,0.093,0.033,2823,1941,1403
$GC,8348,0.26,367.7,224.8,5.7,412,8389,0.00,2.62,32.38,0.784,4,0.000,0.041,2823,3355,1233
$GC,8459,0.34,414.8,218.4,5.5,417,8502,0.12,2.47,36.72,0.765,6,0.083,0.031,2850,1945,1041
$GC,8816,0.28,414.8,186.7,9.7,440,8820,0.00,2.50,0.00,0.000,4,0.000,0.040,2850,3353,1041
$GC,8845,0.20,414.8,183.5,10.9,442,8850,0.12,2.45,0.00,0.000,6,0.116,0.028,2827,1944,1041
$GC,9170,0.20,414.8,154.8,9.4,472,9174,0.00,2.47,0.00,0.000,4,0.000,0.038,2827,3352,1041
$GC,9227,0.23,414.8,149.2,10.0,476,9234,0.00,2.42,0.00,0.000,6,0.000,0.028,2827,1940,1042
$GC,9556,0.23,414.8,121.3,7.8,507,9560,0.00,2.47,0.00,0.000,4,0.000,0.038,2827,3352,1042
$GC,9597,0.23,414.8,117.7,8.4,510,9601,0.00,2.40,0.00,0.000,6,0.000,0.027,2827,1952,1042
$GC,9925,0.25,422.1,94.2,6.9,540,9938,0.00,2.47,6.68,0.659,4,0.000,0.035,2827,3359,1011
$GC,9974,0.31,422.1,90.5,7.6,544,9979,0.00,2.42,0.00,0.000,6,0.000,0.027,2827,1941,1011
$GC,10303,0.46,458.4,69.3,5.9,574,10341,0.20,2.55,27.92,0.619,4,0.061,0.035,2879,3357,864
$GC,10355,0.42,458.4,65.0,8.6,579,10359,0.00,2.42,0.00,0.000,6,0.000,0.025,2878,1943,864
$GC,10617,0.42,458.4,41.7,8.1,603,10622,0.00,2.45,0.00,0.000,4,0.000,0.034,2879,3353,864
$GC,10658,0.42,458.4,38.6,8.0,606,10663,0.00,2.40,0.00,0.000,6,0.000,0.025,2879,1945,864
$GC,10930,0.42,458.4,14.0,9.0,645,10936,0.00,2.45,0.00,0.000,4,0.000,0.034,2879,3364,864
$STATE,10975,end climb,FINISH_DEPTH_REACHED
$STATE,10975,begin subsurface finish
$FINISH1,9.8,1.023012,224
$GC,10986,0.39,224.0,9.8,-8.9,653,11009,0.00,0.00,-18.23,0.000,6,0.000,0.000,2879,1937,1820
$FINISH2,7.3
$STATE,11009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11010,begin surface
$IRIDIUM_FIX,2059.45,-15748.75,271297,101007
$TT8_MAMPS,0.027612
$HUMID,1747
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.40
$XPDR_PINGS,8
$24V_AH,23.8,12.804
$10V_AH,10.2,7.363
$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,17.425,127.800,474.500,0.000,0.000,22.285,34.344,253.054,11.000,0.000,0.000,30.170,1206.266,7527.659,554.942,1557.058,646.504,33.351,1334.332,0.000,1512.858,0.000,57.444
$DEVICE_MAMPS,160.303,53.690,905.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.893,429.410,772.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34815,657
$CAP_FILE_SIZE,104180,0
$CFSIZE,260165632,253874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,162808,2107.923,-15751.632,11,1.1,28,9.8