version: 66.03
glider: 114
mission: 3
dive: 90
start: 10 4 108 1 8 54
data:
$ID,114
$MISSION,3
$DIVE,90
$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,-593554.25
$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,73
$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
$GPS1,010007,2107.993,-15750.770,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-62.4
$GPS2,010757,2107.897,-15750.870,12,1.5,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.023,0.225
$KALMAN_X,-40567.0,-209.6,2380.1,43031.9,360.0
$KALMAN_Y,-10298.6,67.8,-1604.6,-4233.0,-1174.7
$MHEAD_RNG_PITCHd_Wd,356.1,4175,-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,-64.22,0.000,2,0.000,0.000,412,2079,2841
$GC,98,-1.13,-146.0,3.1,-3.7,12,128,11.95,2.38,-8.25,0.000,4,0.161,0.048,2523,3416,3332
$GC,198,-1.23,-146.0,20.2,-8.9,29,204,0.00,2.33,0.00,0.000,6,0.000,0.023,2523,2027,3331
$GC,475,-1.31,-146.0,45.2,-9.6,64,480,0.12,2.40,0.00,0.000,4,0.060,0.034,2492,3411,3331
$GC,520,-1.37,-146.0,50.1,-10.4,67,526,0.00,2.30,0.00,0.000,6,0.000,0.024,2492,2037,3331
$GC,782,-1.42,-146.0,73.6,-7.1,92,787,0.00,2.38,0.00,0.000,4,0.000,0.035,2492,3412,3332
$GC,824,-1.51,-146.0,76.0,-5.5,95,829,0.17,2.30,0.00,0.000,6,0.056,0.023,2450,2040,3333
$GC,1086,-1.51,-146.0,97.6,-9.7,119,1090,0.00,2.38,0.00,0.000,4,0.000,0.035,2450,3416,3333
$GC,1139,-1.54,-146.0,103.0,-10.5,123,1143,0.00,2.33,0.00,0.000,6,0.000,0.022,2451,2029,3333
$GC,1464,-1.54,-146.0,137.0,-9.2,153,1468,0.00,2.38,0.00,0.000,4,0.000,0.037,2450,644,3334
$GC,1515,-1.63,-146.0,141.9,-9.7,157,1522,0.10,2.28,0.00,0.000,6,0.067,0.022,2424,2011,3333
$GC,1841,-1.63,-146.0,178.7,-11.7,188,1845,0.00,2.45,0.00,0.000,4,0.000,0.035,2424,3447,3334
$GC,1915,-1.66,-146.0,187.4,-11.1,194,1919,0.00,2.38,0.00,0.000,6,0.000,0.025,2423,2034,3334
$GC,2252,-1.66,-146.0,216.6,-7.7,216,2256,0.00,2.42,0.00,0.000,4,0.000,0.036,2423,3438,3334
$GC,2292,-1.66,-146.0,219.6,-7.1,217,2298,0.00,2.35,0.00,0.000,6,0.000,0.025,2423,2040,3334
$GC,2609,-1.69,-146.0,243.2,-8.4,233,2613,0.00,2.42,0.00,0.000,4,0.000,0.041,2423,637,3334
$GC,2637,-1.74,-146.0,245.9,-9.6,234,2642,0.12,2.38,0.00,0.000,6,0.063,0.026,2392,2040,3334
$GC,2954,-1.74,-146.0,278.6,-10.7,249,2958,0.00,2.45,0.00,0.000,4,0.000,0.041,2392,3455,3334
$GC,2994,-1.74,-146.0,282.9,-9.7,251,2999,0.00,2.42,0.00,0.000,6,0.000,0.028,2392,2033,3334
$GC,3340,-1.74,-146.0,315.3,-8.7,264,3344,0.00,2.47,0.00,0.000,4,0.000,0.040,2392,3447,3332
$GC,3362,-1.74,-146.0,317.2,-8.2,264,3366,0.00,2.38,0.00,0.000,6,0.000,0.028,2392,2041,3332
$GC,3705,-1.74,-146.0,344.7,-7.8,273,3709,0.00,2.47,0.00,0.000,4,0.000,0.047,2391,633,3329
$GC,3734,-1.74,-146.0,347.1,-8.7,273,3738,0.00,2.42,0.00,0.000,6,0.000,0.030,2392,2051,3329
$GC,4066,-1.74,-146.0,377.4,-9.0,281,4070,0.00,2.45,0.00,0.000,4,0.000,0.047,2392,3444,3327
$GC,4087,-1.74,-146.0,379.4,-8.9,281,4092,0.00,2.40,0.00,0.000,6,0.000,0.031,2391,2044,3327
$GC,4425,-1.74,-146.0,405.5,-7.7,290,4429,0.00,2.47,0.00,0.000,4,0.000,0.044,2392,3445,3324
$GC,4465,-1.78,-146.0,408.7,-7.4,291,4469,0.00,2.42,0.00,0.000,6,0.000,0.031,2392,2040,3324
$GC,4791,-1.78,-146.0,434.7,-7.9,299,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2038,3321
$STATE,5030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5031,begin apogee
$GC,5039,-0.33,0.0,452.8,7.5,305,5156,1.55,0.00,113.80,0.920,6,0.100,0.000,2705,1935,2733
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5160,1.13,146.0,457.4,0.0,308,5284,1.45,2.60,114.55,0.890,4,0.054,0.041,3023,3361,2136
$GC,5352,0.63,146.0,452.1,10.2,312,5358,0.57,2.47,0.00,0.000,6,0.140,0.034,2922,1962,2135
$GC,5695,0.35,146.0,424.7,8.2,321,5698,0.35,0.00,0.00,0.000,6,0.128,0.000,2859,1962,2135
$GC,6021,0.25,182.8,404.8,5.9,329,6052,0.12,0.00,28.70,0.898,6,0.137,0.000,2838,1962,1987
$GC,6346,0.20,216.4,384.8,6.0,337,6379,0.00,2.55,26.30,0.894,4,0.000,0.041,2837,3361,1849
$GC,6414,0.10,216.4,380.1,7.2,338,6419,0.20,2.50,0.00,0.000,6,0.121,0.034,2802,1945,1849
$GC,6751,0.16,252.3,360.2,5.9,347,6782,0.00,0.00,28.25,0.888,6,0.000,0.000,2802,1945,1704
$GC,7114,0.20,276.5,336.3,6.3,356,7139,0.00,2.58,19.70,0.875,4,0.000,0.041,2802,3357,1604
$GC,7197,0.23,291.7,331.2,6.6,358,7217,0.12,2.47,12.88,0.863,6,0.091,0.033,2827,1944,1543
$GC,7527,0.17,291.7,301.6,10.4,366,7531,0.00,2.53,0.00,0.000,4,0.000,0.041,2827,3363,1543
$GC,7572,0.14,291.7,297.0,9.9,367,7576,0.00,2.47,0.00,0.000,6,0.000,0.032,2827,1946,1543
$GC,7894,0.09,291.7,270.4,7.2,383,7899,0.15,2.50,0.00,0.000,4,0.117,0.040,2800,3358,1543
$GC,7936,0.14,320.8,267.7,6.1,385,7965,0.00,2.47,22.55,0.833,6,0.000,0.032,2801,1941,1425
$GC,8288,0.15,324.0,245.7,7.0,402,8297,0.00,2.55,3.45,0.779,4,0.000,0.038,2800,3352,1411
$GC,8334,0.19,330.8,242.6,6.9,404,8345,0.10,2.45,6.00,0.802,6,0.091,0.031,2821,1949,1384
$GC,8662,0.20,333.9,219.0,7.0,420,8667,0.00,0.00,3.40,0.762,6,0.000,0.000,2821,1949,1371
$GC,8972,0.20,333.9,195.2,7.4,437,8976,0.00,2.47,0.00,0.000,4,0.000,0.037,2821,3362,1372
$GC,9025,0.23,333.9,191.4,7.2,441,9029,0.00,2.45,0.00,0.000,6,0.000,0.029,2821,1941,1371
$GC,9354,0.24,337.7,171.0,7.0,471,9360,0.00,0.00,3.78,0.726,6,0.000,0.000,2821,1941,1355
$GC,9683,0.29,345.9,148.6,6.9,502,9695,0.00,2.55,7.03,0.709,4,0.000,0.035,2821,3362,1322
$GC,9765,0.41,378.8,143.2,6.0,509,9799,0.22,2.45,25.55,0.696,6,0.065,0.028,2871,1936,1187
$GC,10117,0.33,378.8,113.8,8.3,542,10121,0.00,2.47,0.00,0.000,4,0.000,0.035,2871,3355,1189
$GC,10141,0.26,378.8,111.8,8.4,544,10146,0.17,2.42,0.00,0.000,6,0.100,0.026,2837,1942,1190
$GC,10467,0.36,434.5,91.9,5.2,574,10515,0.00,2.53,42.45,0.627,4,0.000,0.034,2837,3365,960
$GC,10574,0.48,466.1,85.7,6.1,583,10607,0.20,2.42,24.45,0.616,6,0.063,0.026,2884,1945,831
$GC,10925,0.45,466.1,51.0,8.6,616,10929,0.00,2.45,0.00,0.000,4,0.000,0.035,2883,3357,831
$GC,10983,0.45,466.1,45.9,9.0,621,10988,0.00,2.42,0.00,0.000,6,0.000,0.025,2883,1940,832
$GC,11252,0.41,466.1,19.4,10.3,654,11258,0.00,2.45,0.00,0.000,4,0.000,0.034,2883,3358,832
$GC,11283,0.37,466.1,16.3,9.7,659,11289,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1943,832
$STATE,11350,end climb,FINISH_DEPTH_REACHED
$STATE,11350,begin subsurface finish
$FINISH1,10.0,1.022992,225
$GC,11359,0.39,224.9,10.0,-9.5,671,11381,0.00,0.00,-18.23,0.000,6,0.000,0.000,2883,1942,1817
$FINISH2,7.6
$STATE,11382,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11382,begin surface
$IRIDIUM_FIX,2101.76,-15756.04,281297,181840
$TT8_MAMPS,0.027612
$HUMID,1722
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.8,14.045
$10V_AH,10.2,8.143
$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,17.700,122.000,482.825,0.000,0.000,30.386,34.230,230.742,11.750,0.000,0.000,14.047,1230.818,7896.803,534.837,1542.396,644.245,33.350,1329.399,0.000,1514.006,0.000,59.956
$DEVICE_MAMPS,161.070,51.389,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.730,435.911,779.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34721,675
$CAP_FILE_SIZE,106717,0
$CFSIZE,260165632,253333504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,010757,2107.897,-15750.870,12,1.5,12,9.8