version: 66.03
glider: 114
mission: 3
dive: 83
start: 10 3 108 2 5 16
data:
$ID,114
$MISSION,3
$DIVE,83
$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,39
$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
$GPS1,225727,2107.252,-15748.516,11,1.4,11,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.31
$_SM_ANGLEo,12.7
$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,-0.187,0.128
$KALMAN_X,-36409.6,-482.5,5583.8,40045.6,16866.5
$KALMAN_Y,-8261.0,86.8,-2276.2,-6817.3,-8224.4
$MHEAD_RNG_PITCHd_Wd,294.6,5698,-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,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,-66.45,0.000,6,0.000,0.000,2871,1944,3328
$GC,103,-1.13,-146.0,0.8,0.1,13,110,1.58,2.30,0.00,0.000,4,0.087,0.041,2540,626,3328
$GC,157,-1.25,-146.0,5.7,-10.5,22,164,0.15,2.38,0.00,0.000,6,0.057,0.023,2503,2048,3328
$GC,440,-1.29,-146.0,33.9,-10.2,69,444,0.00,2.40,0.00,0.000,4,0.000,0.038,2503,3443,3328
$GC,553,-1.40,-146.0,45.0,-9.0,78,560,0.12,2.35,0.00,0.000,6,0.064,0.023,2474,2032,3328
$GC,815,-1.40,-146.0,73.6,-11.4,103,819,0.00,2.42,0.00,0.000,4,0.000,0.036,2474,3437,3329
$GC,884,-1.46,-146.0,81.2,-10.7,109,888,0.00,2.35,0.00,0.000,6,0.000,0.023,2474,2034,3330
$GC,1211,-1.52,-146.0,115.2,-10.9,139,1215,0.12,2.40,0.00,0.000,4,0.061,0.038,2442,637,3331
$GC,1235,-1.58,-146.0,117.8,-10.9,140,1241,0.00,2.35,0.00,0.000,6,0.000,0.023,2442,2047,3331
$GC,1560,-1.58,-146.0,149.2,-8.0,171,1565,0.00,2.40,0.00,0.000,4,0.000,0.036,2442,3447,3332
$GC,1595,-1.62,-146.0,152.3,-8.7,173,1600,0.00,2.38,0.00,0.000,6,0.000,0.025,2442,2031,3332
$GC,1920,-1.67,-146.0,184.9,-9.5,204,1922,0.12,0.00,0.00,0.000,6,0.062,0.000,2410,2029,3333
$GC,2235,-1.67,-146.0,217.3,-10.2,226,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2029,3333
$GC,2543,-1.67,-146.0,245.2,-8.9,241,2547,0.00,2.45,0.00,0.000,4,0.000,0.038,2410,3438,3333
$GC,2588,-1.71,-146.0,249.6,-9.9,243,2592,0.00,2.38,0.00,0.000,6,0.000,0.027,2410,2034,3333
$GC,2915,-1.71,-146.0,278.6,-7.9,259,2919,0.00,2.45,0.00,0.000,4,0.000,0.039,2410,3439,3333
$GC,2942,-1.71,-146.0,280.9,-8.6,260,2946,0.00,2.38,0.00,0.000,6,0.000,0.027,2410,2038,3333
$GC,3278,-1.75,-146.0,307.0,-7.4,274,3282,0.00,2.45,0.00,0.000,4,0.000,0.040,2410,3438,3332
$GC,3321,-1.81,-146.0,310.3,-7.9,275,3326,0.12,2.40,0.00,0.000,6,0.072,0.028,2381,2034,3332
$GC,3645,-1.81,-146.0,339.5,-9.5,283,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2034,3331
$GC,3971,-1.81,-146.0,372.7,-10.3,291,3975,0.00,2.47,0.00,0.000,4,0.000,0.043,2382,3443,3329
$GC,3993,-1.81,-146.0,375.6,-12.0,291,3997,0.00,2.40,0.00,0.000,6,0.000,0.030,2382,2041,3329
$GC,4338,-1.81,-146.0,412.5,-10.3,300,4343,0.00,2.47,0.00,0.000,4,0.000,0.043,2382,3441,3327
$GC,4389,-1.81,-146.0,417.9,-10.2,301,4393,0.00,2.42,0.00,0.000,6,0.000,0.031,2382,2033,3326
$GC,4702,-1.81,-146.0,447.4,-9.5,309,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2032,3324
$STATE,4742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4749,-0.33,0.0,451.0,9.4,310,4868,1.60,0.00,114.30,0.915,6,0.099,0.000,2706,1930,2733
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4872,1.13,146.0,455.8,0.0,313,4996,1.48,2.62,114.25,0.890,4,0.054,0.040,3026,3342,2137
$GC,5029,0.63,146.0,453.0,10.4,317,5035,0.60,2.45,0.00,0.000,6,0.143,0.033,2920,1962,2137
$GC,5354,0.34,146.0,421.3,9.5,325,5357,0.35,0.00,0.00,0.000,6,0.127,0.000,2857,1962,2135
$GC,5680,0.22,160.9,398.8,6.6,333,5699,0.15,2.60,11.40,0.887,4,0.132,0.053,2827,544,2077
$GC,5712,0.19,207.0,396.8,5.5,333,5753,0.00,2.45,35.85,0.886,6,0.000,0.029,2826,1952,1889
$GC,6086,0.12,219.1,373.3,6.7,343,6101,0.00,2.53,10.27,0.877,4,0.000,0.046,2826,3345,1838
$GC,6158,0.07,231.0,368.1,6.7,344,6174,0.15,2.45,9.82,0.874,6,0.123,0.035,2800,1948,1791
$GC,6493,0.19,299.7,350.3,4.8,353,6553,0.10,2.60,53.55,0.875,4,0.091,0.043,2820,3348,1510
$GC,6613,0.16,299.7,341.8,8.0,355,6617,0.00,2.47,0.00,0.000,6,0.000,0.034,2820,1946,1510
$GC,6950,0.11,299.7,315.7,8.0,364,6954,0.00,2.50,0.00,0.000,4,0.000,0.042,2820,3346,1511
$GC,6984,0.06,299.7,312.0,10.4,364,6989,0.12,2.45,0.00,0.000,6,0.119,0.031,2798,1944,1511
$GC,7298,0.09,314.4,286.8,6.6,375,7319,0.00,2.60,11.90,0.851,4,0.000,0.040,2798,3354,1451
$GC,7337,0.16,353.7,284.5,5.8,376,7373,0.00,2.47,30.90,0.841,6,0.000,0.031,2798,1939,1291
$GC,7689,0.16,353.7,260.1,7.5,394,7694,0.00,2.50,0.00,0.000,4,0.000,0.041,2798,3357,1291
$GC,7757,0.20,354.3,255.1,7.1,397,7762,0.12,2.45,0.00,0.000,6,0.082,0.031,2823,1950,1291
$GC,8081,0.21,359.7,231.3,7.0,413,8091,0.00,2.50,5.70,0.798,4,0.000,0.038,2824,3352,1264
$GC,8131,0.24,371.9,227.5,6.7,415,8146,0.00,2.42,9.95,0.798,6,0.000,0.031,2823,1950,1216
$GC,8468,0.24,371.9,204.2,8.1,432,8472,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3348,1216
$GC,8535,0.24,371.9,198.3,8.2,435,8541,0.00,2.42,0.00,0.000,6,0.000,0.029,2824,1946,1217
$GC,8863,0.24,371.9,172.3,7.9,466,8867,0.00,2.45,0.00,0.000,4,0.000,0.036,2824,3350,1217
$GC,8903,0.24,371.9,168.9,7.7,469,8908,0.00,2.42,0.00,0.000,6,0.000,0.028,2824,1942,1217
$GC,9233,0.25,378.7,148.9,6.9,499,9246,0.00,2.47,6.18,0.716,4,0.000,0.035,2824,3352,1189
$GC,9270,0.25,378.7,145.6,8.9,502,9274,0.00,2.42,0.00,0.000,6,0.000,0.027,2824,1945,1189
$GC,9600,0.28,378.7,119.9,7.2,532,9604,0.00,2.45,0.00,0.000,4,0.000,0.035,2824,3355,1190
$GC,9645,0.34,378.7,116.5,7.4,535,9652,0.12,2.40,0.00,0.000,6,0.071,0.027,2853,1938,1191
$GC,9971,0.45,445.0,98.5,4.9,566,10024,0.12,0.00,50.80,0.643,6,0.069,0.000,2883,1937,918
$GC,10340,0.41,445.0,67.1,9.7,601,10344,0.00,2.47,0.00,0.000,4,0.000,0.035,2884,3362,918
$GC,10420,0.41,445.0,58.7,10.5,608,10424,0.00,2.40,0.00,0.000,6,0.000,0.026,2883,1946,918
$GC,10687,0.41,445.0,31.6,8.6,633,10691,0.00,2.45,0.00,0.000,4,0.000,0.037,2883,3353,918
$GC,10733,0.41,445.0,27.0,10.0,639,10740,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1930,918
$STATE,10969,end climb,SURFACE_DEPTH_REACHED
$STATE,10969,begin surface coast
$FINISH,0.8,1.022930
$STATE,11032,end surface coast,CONTROL_FINISHED_OK
$STATE,11032,begin surface
$SM_CCo,11116,0.00,0.000,0,0,921,444.48
$SM_GC,1.29,10.98,0.00,0.00,0.045,0.000,0.000,412,2083,921,-10.85,1.22,444.48
$IRIDIUM_FIX,2059.45,-15750.89,271297,161619
$TT8_MAMPS,0.027612
$HUMID,1686
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,14
$24V_AH,23.8,13.162
$10V_AH,10.2,7.592
$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,18.125,117.650,464.875,0.000,0.000,0.000,0.000,0.000,12.500,0.000,0.000,0.000,1260.350,7581.768,513.417,1560.202,254.052,33.328,1295.255,0.000,1550.884,0.000,60.084
$DEVICE_MAMPS,143.429,52.923,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.864,466.134,827.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34747,692
$CAP_FILE_SIZE,98043,0
$CFSIZE,260165632,253718528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,051138,2108.128,-15753.175,27,1.5,27,9.8