version: 66.03
glider: 114
mission: 3
dive: 84
start: 10 3 108 5 20 43
data:
$ID,114
$MISSION,3
$DIVE,84
$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,-593491
$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
$GPS1,051138,2108.128,-15753.175,27,1.5,27,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.9
$GPS2,051945,2108.136,-15753.317,12,1.4,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.217,0.063
$KALMAN_X,-31636.2,483.2,-6763.5,38373.2,-12186.6
$KALMAN_Y,-10101.8,-268.8,186.0,-5452.5,-1714.7
$MHEAD_RNG_PITCHd_Wd,64.1,6689,-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,26,-1.13,-146.0,0.0,0.0,0,99,0.00,0.00,-70.50,0.000,2,0.000,0.000,412,2085,3071
$GC,103,-1.13,-146.0,4.0,-5.1,13,128,12.07,2.55,-3.83,0.000,4,0.164,0.047,2524,638,3333
$GC,198,-1.31,-146.0,25.4,-9.9,29,205,0.12,2.33,0.00,0.000,6,0.060,0.021,2493,2026,3332
$GC,466,-1.31,-146.0,51.9,-9.9,58,470,0.00,2.42,0.00,0.000,4,0.000,0.037,2492,3433,3333
$GC,556,-1.38,-146.0,60.8,-9.5,65,563,0.00,2.35,0.00,0.000,6,0.000,0.023,2492,2027,3333
$GC,819,-1.43,-146.0,84.0,-9.3,90,824,0.10,2.45,0.00,0.000,4,0.067,0.035,2467,3442,3333
$GC,849,-1.43,-146.0,86.9,-9.9,92,853,0.00,2.38,0.00,0.000,6,0.000,0.023,2467,2032,3334
$GC,1175,-1.47,-146.0,115.4,-7.6,122,1179,0.00,2.42,0.00,0.000,4,0.000,0.035,2467,3433,3334
$GC,1198,-1.52,-146.0,117.2,-7.5,123,1204,0.00,2.35,0.00,0.000,6,0.000,0.023,2467,2026,3333
$GC,1525,-1.58,-146.0,140.2,-8.1,154,1530,0.15,2.45,0.00,0.000,4,0.057,0.034,2425,3442,3334
$GC,1577,-1.58,-146.0,145.2,-9.8,158,1581,0.00,2.38,0.00,0.000,6,0.000,0.024,2425,2029,3334
$GC,1902,-1.58,-146.0,177.0,-10.0,188,1906,0.00,2.42,0.00,0.000,4,0.000,0.036,2425,3433,3334
$GC,1946,-1.58,-146.0,181.5,-10.2,191,1952,0.00,2.35,0.00,0.000,6,0.000,0.024,2425,2035,3334
$GC,2273,-1.58,-146.0,211.9,-9.3,216,2277,0.00,2.40,0.00,0.000,4,0.000,0.039,2425,643,3334
$GC,2303,-1.62,-146.0,214.9,-9.4,217,2307,0.00,2.35,0.00,0.000,6,0.000,0.025,2425,2039,3334
$GC,2619,-1.62,-146.0,244.2,-9.2,232,2623,0.00,2.42,0.00,0.000,4,0.000,0.040,2425,3442,3334
$GC,2659,-1.69,-146.0,247.9,-8.7,234,2663,0.00,2.38,0.00,0.000,6,0.000,0.027,2425,2043,3334
$GC,2986,-1.73,-146.0,273.5,-8.1,250,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2042,3332
$GC,3296,-1.78,-146.0,298.2,-7.0,265,3301,0.15,2.45,0.00,0.000,4,0.062,0.039,2384,3448,3331
$GC,3363,-1.78,-146.0,303.4,-7.6,267,3367,0.00,2.40,0.00,0.000,6,0.000,0.028,2384,2040,3331
$GC,3700,-1.78,-146.0,330.5,-8.5,276,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2039,3330
$GC,4025,-1.78,-146.0,359.4,-8.9,284,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2039,3328
$GC,4350,-1.78,-146.0,387.4,-8.7,292,4354,0.00,2.47,0.00,0.000,4,0.000,0.044,2384,3441,3325
$GC,4366,-1.78,-146.0,389.0,-8.7,292,4370,0.00,2.40,0.00,0.000,6,0.000,0.030,2384,2041,3325
$GC,4708,-1.78,-146.0,418.3,-8.7,301,4712,0.00,2.47,0.00,0.000,4,0.000,0.050,2384,640,3322
$GC,4752,-1.78,-146.0,422.7,-9.2,302,4757,0.00,2.40,0.00,0.000,6,0.000,0.031,2384,2034,3322
$GC,5073,-1.78,-146.0,449.2,-8.4,310,5077,0.00,2.53,0.00,0.000,4,0.000,0.050,2384,3454,3320
$STATE,5081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5081,begin apogee
$GC,5092,-0.33,0.0,450.2,8.1,310,5209,1.55,0.00,113.35,0.924,6,0.102,0.000,2700,1953,2732
$STATE,5210,end apogee,CONTROL_FINISHED_OK
$STATE,5210,begin climb
$GC,5213,1.13,146.0,452.3,0.0,313,5337,1.48,2.62,114.28,0.889,4,0.056,0.054,3022,536,2136
$GC,5593,0.60,146.0,419.1,12.7,321,5598,0.60,2.50,0.00,0.000,6,0.142,0.031,2916,1966,2135
$GC,5931,0.33,146.0,392.7,7.5,330,5936,0.32,2.60,0.00,0.000,4,0.139,0.053,2855,544,2133
$GC,6076,0.20,175.9,383.7,6.1,333,6108,0.17,2.45,22.73,0.890,6,0.137,0.031,2825,1955,2016
$GC,6433,0.21,227.7,364.9,5.4,342,6479,0.00,2.55,40.25,0.879,4,0.000,0.049,2825,3348,1803
$GC,6525,0.17,240.2,359.4,6.7,344,6540,0.00,2.47,10.43,0.863,6,0.000,0.034,2825,1946,1753
$GC,6878,0.10,240.2,332.1,8.4,353,6883,0.12,2.53,0.00,0.000,4,0.130,0.044,2805,3348,1752
$GC,6918,0.10,240.2,328.9,8.3,354,6922,0.00,2.47,0.00,0.000,6,0.000,0.031,2805,1938,1752
$GC,7243,0.12,250.3,306.6,6.8,362,7257,0.00,2.58,8.27,0.858,4,0.000,0.041,2805,3345,1712
$GC,7327,0.12,250.3,300.7,7.1,363,7333,0.00,2.45,0.00,0.000,6,0.000,0.032,2805,1946,1712
$GC,7643,0.13,258.3,279.4,6.9,378,7656,0.00,2.58,6.95,0.842,4,0.000,0.041,2805,3352,1679
$GC,7698,0.13,259.0,275.6,7.1,380,7702,0.00,2.45,0.00,0.000,6,0.000,0.031,2805,1941,1679
$GC,8014,0.20,297.1,256.8,5.8,395,8050,0.00,2.55,30.55,0.831,4,0.000,0.041,2805,3350,1520
$GC,8067,0.22,307.7,253.2,6.8,396,8083,0.10,2.47,8.70,0.808,6,0.090,0.031,2825,1940,1478
$GC,8407,0.23,314.3,227.1,6.9,413,8415,0.00,0.00,5.97,0.792,6,0.000,0.000,2825,1939,1451
$GC,8714,0.23,314.3,206.3,7.2,428,8718,0.00,2.50,0.00,0.000,4,0.000,0.038,2825,3361,1451
$GC,8741,0.23,314.3,204.2,7.5,429,8746,0.00,2.45,0.00,0.000,6,0.000,0.029,2825,1944,1451
$GC,9068,0.32,365.5,183.7,5.4,456,9113,0.10,2.55,39.58,0.743,4,0.081,0.035,2848,3365,1242
$GC,9137,0.27,365.5,178.9,7.9,462,9143,0.00,2.45,0.00,0.000,6,0.000,0.028,2848,1951,1242
$GC,9467,0.23,365.5,152.1,8.1,493,9471,0.00,2.47,0.00,0.000,4,0.000,0.036,2848,3363,1244
$GC,9518,0.23,365.5,147.6,8.6,497,9523,0.00,2.45,0.00,0.000,6,0.000,0.028,2848,1935,1244
$GC,9853,0.23,367.5,123.8,7.1,528,9859,0.00,0.00,2.72,0.666,6,0.000,0.000,2848,1935,1234
$GC,10182,0.23,367.5,99.3,7.8,559,10187,0.00,2.47,0.00,0.000,4,0.000,0.035,2848,3362,1235
$GC,10246,0.27,367.5,94.2,7.4,564,10250,0.00,2.42,0.00,0.000,6,0.000,0.026,2848,1941,1236
$GC,10575,0.37,406.8,72.9,5.8,594,10610,0.00,2.50,30.12,0.613,4,0.000,0.034,2848,3355,1073
$GC,10671,0.50,439.6,67.3,6.0,602,10702,0.17,2.40,24.98,0.604,6,0.063,0.025,2888,1951,940
$GC,10965,0.45,439.6,47.2,7.2,630,10969,0.00,2.45,0.00,0.000,4,0.000,0.035,2888,3356,941
$GC,10994,0.41,439.6,44.9,8.2,632,10999,0.00,2.40,0.00,0.000,6,0.000,0.024,2888,1947,941
$GC,11262,0.37,439.6,21.8,8.9,664,11269,0.12,2.45,0.00,0.000,4,0.101,0.032,2864,3366,942
$GC,11299,0.37,439.6,18.5,8.7,670,11306,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,1939,942
$STATE,11417,end climb,FINISH_DEPTH_REACHED
$STATE,11417,begin subsurface finish
$FINISH1,9.6,1.023029,223
$GC,11425,0.39,223.1,9.6,-5.8,691,11448,0.00,0.00,-16.62,0.000,6,0.000,0.000,2864,1940,1825
$FINISH2,7.1
$STATE,11449,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11449,begin surface
$IRIDIUM_FIX,2059.45,-15750.89,271297,232303
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.8,13.291
$10V_AH,10.2,7.674
$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,17.350,127.825,458.875,0.000,0.000,24.636,33.236,268.484,11.750,0.000,0.000,13.849,1269.748,7811.558,512.381,1667.814,674.228,33.352,1356.829,0.000,1634.583,0.000,57.440
$DEVICE_MAMPS,164.138,54.457,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.761,454.699,825.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34823,695
$CAP_FILE_SIZE,108563,0
$CFSIZE,260165632,253657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,051945,2108.136,-15753.317,12,1.4,12,9.8