version: 66.03
glider: 114
mission: 3
dive: 85
start: 10 3 108 8 33 46
data:
$ID,114
$MISSION,3
$DIVE,85
$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,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
$GPS1,051945,2108.136,-15753.317,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,13.0
$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,0.226,0.003
$KALMAN_X,-33819.8,338.7,-7010.5,40915.3,-56611.1
$KALMAN_Y,-10531.4,-220.2,-200.8,-4680.6,2749.0
$MHEAD_RNG_PITCHd_Wd,79.6,6689,-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,27,-1.13,-146.0,0.0,0.0,0,93,0.00,0.00,-63.38,0.000,6,0.000,0.000,2865,1932,3329
$GC,97,-1.13,-146.0,1.1,-1.0,12,104,1.52,2.28,0.00,0.000,4,0.079,0.041,2538,629,3329
$GC,123,-1.72,-146.0,4.0,-7.5,16,130,0.60,2.38,0.00,0.000,6,0.047,0.022,2400,2067,3329
$GC,396,-1.53,-146.0,47.6,-18.3,56,401,0.17,2.35,0.00,0.000,4,0.106,0.038,2438,3428,3329
$GC,430,-1.41,-146.0,53.6,-17.0,58,437,0.15,2.33,0.00,0.000,6,0.104,0.023,2467,2034,3329
$GC,692,-1.41,-146.0,85.6,-11.7,83,696,0.00,2.40,0.00,0.000,4,0.000,0.037,2468,634,3330
$GC,711,-1.41,-146.0,87.6,-11.2,84,715,0.00,2.33,0.00,0.000,6,0.000,0.021,2467,2031,3330
$GC,1037,-1.46,-146.0,114.9,-7.3,114,1041,0.00,2.40,0.00,0.000,4,0.000,0.035,2466,3434,3331
$GC,1071,-1.53,-146.0,117.2,-6.6,116,1077,0.00,2.33,0.00,0.000,6,0.000,0.023,2467,2040,3331
$GC,1398,-1.58,-146.0,140.1,-9.1,147,1400,0.15,0.00,0.00,0.000,6,0.057,0.000,2430,2039,3331
$GC,1716,-1.58,-146.0,175.7,-11.8,177,1720,0.00,2.42,0.00,0.000,4,0.000,0.035,2430,3442,3332
$GC,1780,-1.62,-146.0,183.5,-11.0,182,1784,0.00,2.38,0.00,0.000,6,0.000,0.024,2429,2031,3332
$GC,2114,-1.62,-146.0,216.5,-9.3,205,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2028,3332
$GC,2421,-1.65,-146.0,243.6,-8.8,220,2425,0.00,2.42,0.00,0.000,4,0.000,0.036,2429,3433,3332
$GC,2467,-1.74,-146.0,247.9,-9.5,222,2472,0.12,2.35,0.00,0.000,6,0.066,0.025,2400,2043,3332
$GC,2797,-1.74,-146.0,277.9,-7.9,238,2801,0.00,2.42,0.00,0.000,4,0.000,0.041,2399,642,3331
$GC,2860,-1.78,-146.0,283.4,-8.4,241,2865,0.00,2.35,0.00,0.000,6,0.000,0.026,2399,2031,3332
$GC,3188,-1.78,-146.0,312.3,-8.9,254,3192,0.00,2.47,0.00,0.000,4,0.000,0.042,2400,3448,3331
$GC,3267,-1.84,-146.0,320.3,-9.8,255,3273,0.00,2.40,0.00,0.000,6,0.000,0.029,2399,2043,3331
$GC,3600,-1.84,-146.0,350.4,-8.8,264,3604,0.00,2.45,0.00,0.000,4,0.000,0.046,2399,634,3330
$GC,3651,-1.88,-146.0,355.4,-9.6,265,3656,0.12,2.38,0.00,0.000,6,0.071,0.029,2371,2034,3329
$GC,3973,-1.84,-146.0,391.3,-11.7,273,3978,0.00,2.50,0.00,0.000,4,0.000,0.046,2371,3452,3328
$GC,4059,-1.84,-146.0,401.4,-11.2,275,4063,0.00,2.45,0.00,0.000,6,0.000,0.031,2370,2033,3328
$GC,4385,-1.84,-146.0,431.8,-8.8,283,4389,0.00,2.47,0.00,0.000,4,0.000,0.050,2370,633,3324
$GC,4425,-1.84,-146.0,435.3,-7.7,284,4430,0.00,2.42,0.00,0.000,6,0.000,0.031,2370,2038,3324
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4627,begin apogee
$GC,4635,-0.33,0.0,453.4,8.9,289,4753,1.65,0.00,113.65,0.913,6,0.100,0.000,2705,1933,2733
$STATE,4754,end apogee,CONTROL_FINISHED_OK
$STATE,4754,begin climb
$GC,4757,1.13,146.0,458.5,0.0,292,4880,1.45,2.55,114.05,0.887,4,0.054,0.053,3024,553,2136
$GC,4948,0.59,146.0,454.6,11.2,296,4953,0.62,2.45,0.00,0.000,6,0.140,0.029,2914,1956,2136
$GC,5291,0.32,146.0,429.9,7.2,305,5296,0.30,2.55,0.00,0.000,4,0.129,0.052,2856,561,2134
$GC,5377,0.21,192.6,424.6,5.5,307,5420,0.15,2.42,35.78,0.892,6,0.127,0.030,2830,1956,1947
$GC,5745,0.20,235.0,404.7,5.7,316,5783,0.00,0.00,33.40,0.894,6,0.000,0.000,2830,1956,1774
$GC,6110,0.13,246.9,381.0,6.7,325,6124,0.00,2.53,9.68,0.882,4,0.000,0.048,2829,3350,1726
$GC,6159,0.05,246.9,377.2,8.0,326,6164,0.20,2.45,0.00,0.000,6,0.119,0.033,2794,1957,1726
$GC,6478,0.05,246.9,354.1,7.4,334,6482,0.00,2.47,0.00,0.000,4,0.000,0.042,2794,3351,1725
$GC,6529,0.05,246.9,350.3,7.8,335,6533,0.00,2.45,0.00,0.000,6,0.000,0.033,2793,1950,1724
$GC,6842,0.11,279.5,330.3,6.0,343,6871,0.00,0.00,25.70,0.878,6,0.000,0.000,2794,1951,1592
$GC,7211,0.31,394.5,316.7,3.2,352,7306,0.20,2.58,89.00,0.846,4,0.077,0.042,2841,3359,1124
$GC,7357,0.25,394.5,305.6,9.7,355,7361,0.00,2.47,0.00,0.000,6,0.000,0.032,2841,1945,1124
$GC,7683,0.16,394.5,275.0,9.1,369,7688,0.12,2.53,0.00,0.000,4,0.122,0.040,2820,3360,1125
$GC,7762,0.16,394.5,268.4,8.4,372,7768,0.00,2.47,0.00,0.000,6,0.000,0.032,2819,1939,1125
$GC,8078,0.16,394.5,242.1,8.4,388,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1939,1125
$GC,8387,0.16,394.5,215.1,8.8,403,8392,0.00,2.50,0.00,0.000,4,0.000,0.038,2820,3362,1125
$GC,8445,0.16,394.5,210.1,8.6,405,8451,0.00,2.45,0.00,0.000,6,0.000,0.030,2819,1944,1125
$GC,8768,0.16,394.5,184.3,8.2,430,8772,0.00,2.47,0.00,0.000,4,0.000,0.037,2820,3357,1125
$GC,8819,0.18,405.7,180.3,6.8,434,8834,0.00,2.45,9.57,0.746,6,0.000,0.029,2820,1938,1079
$GC,9161,0.18,405.7,154.1,7.2,466,9165,0.00,2.47,0.00,0.000,4,0.000,0.036,2820,3354,1079
$GC,9217,0.22,405.7,149.9,7.1,470,9224,0.00,2.40,0.00,0.000,6,0.000,0.028,2819,1948,1079
$GC,9546,0.28,439.4,129.3,6.0,501,9579,0.00,2.50,26.40,0.686,4,0.000,0.035,2820,3352,941
$GC,9626,0.35,439.4,123.5,7.8,508,9631,0.17,2.42,0.00,0.000,6,0.068,0.027,2858,1951,941
$GC,9952,0.30,439.4,91.9,11.6,538,9956,0.00,2.45,0.00,0.000,4,0.000,0.038,2859,3360,941
$GC,10014,0.30,439.4,85.0,11.0,543,10020,0.00,2.42,0.00,0.000,6,0.000,0.027,2858,1936,941
$GC,10342,0.30,439.4,56.7,7.4,574,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1936,941
$GC,10604,0.35,464.7,39.9,6.3,599,10629,0.00,2.53,19.75,0.591,4,0.000,0.035,2858,3359,838
$GC,10683,0.41,464.7,33.9,9.4,606,10687,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1940,838
$GC,10958,0.46,464.7,13.0,8.2,650,10966,0.10,2.47,0.00,0.000,4,0.076,0.035,2882,3364,839
$GC,10985,0.46,464.7,10.9,8.2,654,10991,0.00,2.40,0.00,0.000,6,0.000,0.024,2882,1942,839
$STATE,11040,end climb,SURFACE_DEPTH_REACHED
$STATE,11040,begin surface coast
$FINISH,0.7,1.023490
$STATE,11087,end surface coast,CONTROL_FINISHED_OK
$STATE,11087,begin surface
$SM_CCo,11171,0.00,0.000,0,0,842,463.86
$SM_GC,1.40,11.00,0.00,0.00,0.046,0.000,0.000,412,2060,842,-10.85,0.59,463.86
$IRIDIUM_FIX,2059.45,-15750.89,271297,232303
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.8,13.408
$10V_AH,10.2,7.748
$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,18.825,117.300,476.975,0.000,0.000,0.000,0.000,0.000,11.250,0.000,0.000,0.000,1240.963,7616.942,522.350,1590.677,256.028,33.317,1322.430,0.000,1580.585,0.000,59.918
$DEVICE_MAMPS,139.594,52.923,912.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.363,437.663,794.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34738,672
$CAP_FILE_SIZE,97738,0
$CFSIZE,260165632,253616128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,114107,2108.533,-15749.893,31,1.1,31,9.8