version: 66.03
glider: 114
mission: 3
dive: 82
start: 10 2 108 22 58 24
data:
$ID,114
$MISSION,3
$DIVE,82
$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,-593476.5
$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,33
$R_STBD_OVSHOOT,75
$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
$GPS1,224937,2107.328,-15748.505,35,1.4,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.5
$GPS2,225727,2107.252,-15748.516,11,1.4,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.196,0.114
$KALMAN_X,-37238.4,-422.9,3967.3,42413.7,7969.7
$KALMAN_Y,-8405.8,91.8,-695.4,-8257.2,-1034.0
$MHEAD_RNG_PITCHd_Wd,290.4,5698,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.20,0.000,2,0.000,0.000,411,2073,2946
$GC,98,-1.13,-146.0,3.6,-4.7,12,122,12.00,2.33,-6.15,0.000,4,0.162,0.048,2523,3410,3330
$GC,264,-1.27,-146.0,28.6,-10.0,40,270,0.00,2.33,0.00,0.000,6,0.000,0.023,2523,2026,3330
$GC,533,-1.35,-146.0,54.8,-8.1,66,534,0.17,0.00,0.00,0.000,6,0.053,0.000,2481,2024,3330
$GC,786,-1.35,-146.0,79.4,-10.1,90,790,0.00,2.38,0.00,0.000,4,0.000,0.035,2481,3409,3331
$GC,860,-1.42,-146.0,86.3,-8.5,96,866,0.00,2.30,0.00,0.000,6,0.000,0.022,2481,2031,3331
$GC,1186,-1.49,-146.0,113.3,-7.7,127,1191,0.12,2.38,0.00,0.000,4,0.059,0.033,2449,3408,3332
$GC,1239,-1.53,-146.0,117.9,-8.9,131,1243,0.00,2.30,0.00,0.000,6,0.000,0.023,2448,2037,3332
$GC,1564,-1.53,-146.0,147.0,-9.3,161,1568,0.00,2.35,0.00,0.000,4,0.000,0.035,2448,3402,3332
$GC,1594,-1.56,-146.0,149.8,-10.0,163,1602,0.00,2.30,0.00,0.000,6,0.000,0.024,2448,2032,3332
$GC,1928,-1.60,-146.0,179.1,-8.2,194,1932,0.00,2.38,0.00,0.000,4,0.000,0.035,2448,3411,3332
$GC,1948,-1.64,-146.0,180.6,-8.3,195,1953,0.12,2.33,0.00,0.000,6,0.061,0.024,2417,2028,3332
$GC,2270,-1.64,-146.0,209.9,-8.8,220,2277,0.00,2.38,0.00,0.000,4,0.000,0.036,2417,3402,3332
$GC,2306,-1.64,-146.0,213.3,-9.0,221,2310,0.00,2.28,0.00,0.000,6,0.000,0.025,2417,2043,3332
$GC,2629,-1.64,-146.0,241.3,-8.1,237,2633,0.00,2.42,0.00,0.000,4,0.000,0.041,2417,641,3332
$GC,2662,-1.64,-146.0,244.6,-9.6,238,2668,0.00,2.30,0.00,0.000,6,0.000,0.026,2417,2007,3332
$GC,2978,-1.64,-146.0,274.5,-9.7,254,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2008,3332
$GC,3307,-1.64,-146.0,304.9,-8.6,269,3311,0.00,2.50,0.00,0.000,4,0.000,0.041,2417,3442,3330
$GC,3352,-1.70,-146.0,308.7,-8.5,270,3356,0.00,2.38,0.00,0.000,6,0.000,0.028,2417,2043,3330
$GC,3673,-1.73,-146.0,333.1,-7.4,278,3677,0.00,2.45,0.00,0.000,4,0.000,0.041,2417,3441,3328
$GC,3701,-1.78,-146.0,335.5,-8.4,278,3706,0.12,2.40,0.00,0.000,6,0.067,0.028,2388,2033,3328
$GC,4032,-1.78,-146.0,364.7,-8.7,286,4037,0.00,2.47,0.00,0.000,4,0.000,0.041,2388,3442,3325
$GC,4066,-1.78,-146.0,367.8,-9.0,286,4072,0.00,2.40,0.00,0.000,6,0.000,0.030,2388,2039,3325
$GC,4398,-1.78,-146.0,396.3,-9.0,295,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2038,3323
$GC,4723,-1.78,-146.0,425.5,-8.5,303,4727,0.00,2.50,0.00,0.000,4,0.000,0.044,2388,3450,3321
$GC,4768,-1.81,-146.0,429.2,-8.0,304,4772,0.00,2.42,0.00,0.000,6,0.000,0.031,2388,2042,3320
$STATE,5043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5043,begin apogee
$GC,5051,-0.33,0.0,453.0,8.8,311,5168,1.55,0.00,113.20,0.918,6,0.099,0.000,2703,1938,2733
$STATE,5169,end apogee,CONTROL_FINISHED_OK
$STATE,5169,begin climb
$GC,5172,1.13,146.0,457.8,0.0,314,5295,1.45,2.58,113.90,0.892,4,0.056,0.041,3020,3352,2136
$GC,5391,0.64,146.0,445.9,14.5,319,5397,0.55,2.45,0.00,0.000,6,0.131,0.034,2923,1965,2136
$GC,5711,0.35,146.0,413.1,10.0,327,5716,0.32,2.60,0.00,0.000,4,0.127,0.054,2860,534,2135
$GC,5773,0.14,146.0,406.8,9.6,328,5778,0.25,2.45,0.00,0.000,6,0.127,0.030,2816,1952,2134
$GC,6116,0.14,186.1,384.6,5.8,337,6152,0.00,2.55,30.62,0.891,4,0.000,0.048,2815,3355,1973
$GC,6187,0.14,224.2,380.8,5.8,337,6222,0.00,2.50,29.92,0.876,6,0.000,0.034,2815,1940,1819
$GC,6560,0.17,269.3,360.2,5.6,347,6602,0.00,2.58,35.53,0.879,4,0.000,0.043,2815,3348,1635
$GC,6631,0.12,269.3,355.1,7.9,348,6635,0.00,2.47,0.00,0.000,6,0.000,0.034,2815,1949,1635
$GC,6968,0.07,269.3,329.3,7.5,357,6972,0.00,2.50,0.00,0.000,4,0.000,0.042,2815,3349,1634
$GC,7019,0.07,288.5,325.8,6.5,358,7040,0.00,2.47,15.48,0.870,6,0.000,0.033,2815,1938,1556
$GC,7372,0.03,288.5,297.9,8.4,367,7377,0.15,2.53,0.00,0.000,4,0.123,0.041,2789,3352,1556
$GC,7430,0.06,288.5,293.5,7.2,369,7436,0.00,2.45,0.00,0.000,6,0.000,0.032,2789,1948,1556
$GC,7747,0.15,320.7,274.8,6.0,385,7778,0.10,2.55,25.02,0.841,4,0.087,0.040,2810,3355,1424
$GC,7818,0.15,320.7,269.8,7.5,388,7822,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1942,1424
$GC,8134,0.15,320.7,246.6,8.5,403,8138,0.00,2.50,0.00,0.000,4,0.000,0.039,2810,3357,1424
$GC,8184,0.15,320.7,242.1,8.8,405,8188,0.00,2.45,0.00,0.000,6,0.000,0.031,2810,1949,1424
$GC,8500,0.18,336.3,218.6,6.6,420,8519,0.00,0.00,12.65,0.796,6,0.000,0.000,2810,1949,1361
$GC,8831,0.18,336.3,194.8,7.6,439,8835,0.00,2.47,0.00,0.000,4,0.000,0.037,2810,3362,1361
$GC,8895,0.22,336.3,190.2,7.3,444,8899,0.00,2.45,0.00,0.000,6,0.000,0.029,2810,1943,1361
$GC,9222,0.30,382.3,171.4,5.6,474,9266,0.15,2.55,35.60,0.730,4,0.071,0.048,2848,544,1174
$GC,9280,0.25,382.3,167.1,7.8,479,9284,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1955,1174
$GC,9608,0.22,393.3,140.6,6.8,509,9623,0.00,2.50,9.18,0.700,4,0.000,0.039,2849,3346,1129
$GC,9682,0.22,393.3,133.9,9.6,515,9688,0.00,2.42,0.00,0.000,6,0.000,0.028,2848,1938,1129
$GC,10011,0.20,399.5,104.4,6.9,546,10023,0.12,2.47,5.72,0.660,4,0.104,0.035,2825,3346,1103
$GC,10082,0.40,480.9,100.8,4.3,552,10150,0.20,2.40,61.33,0.641,6,0.062,0.028,2871,1945,772
$GC,10476,0.35,480.9,61.0,10.1,589,10480,0.00,2.45,0.00,0.000,4,0.000,0.036,2871,3345,772
$GC,10528,0.35,480.9,55.6,10.7,593,10532,0.00,2.40,0.00,0.000,6,0.000,0.026,2871,1939,772
$GC,10790,0.35,480.9,30.0,7.9,617,10794,0.00,2.45,0.00,0.000,4,0.000,0.035,2871,3348,772
$GC,10847,0.35,480.9,25.8,7.6,626,10854,0.00,2.38,0.00,0.000,6,0.000,0.026,2871,1950,772
$STATE,11049,end climb,FINISH_DEPTH_REACHED
$STATE,11049,begin subsurface finish
$FINISH1,10.0,1.022993,225
$GC,11058,0.39,224.9,10.0,-8.1,662,11081,0.00,0.00,-19.25,0.000,6,0.000,0.000,2871,1951,1819
$FINISH2,7.9
$STATE,11081,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11081,begin surface
$IRIDIUM_FIX,2059.45,-15750.89,271297,161619
$TT8_MAMPS,0.028379
$HUMID,1754
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.30
$XPDR_PINGS,11
$24V_AH,23.8,13.048
$10V_AH,10.2,7.518
$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,17.400,121.875,488.150,0.000,0.000,23.233,29.636,246.079,11.750,0.000,0.000,13.072,1213.931,7617.396,538.398,1548.178,632.116,33.361,1337.992,0.000,1513.783,0.000,57.463
$DEVICE_MAMPS,161.837,53.690,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.660,441.166,773.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34793,666
$CAP_FILE_SIZE,105265,0
$CFSIZE,260165632,253763584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,225727,2107.252,-15748.516,11,1.4,11,9.8