version: 66.03
glider: 114
mission: 3
dive: 93
start: 10 4 108 10 49 1
data:
$ID,114
$MISSION,3
$DIVE,93
$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,-593571.5
$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,38
$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
$GPS1,074438,2110.196,-15752.598,10,1.8,15,9.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,3.30
$_SM_ANGLEo,12.4
$GPS2,074438,2110.196,-15752.598,10,1.8,15,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.202,-0.101
$KALMAN_X,-38134.9,239.2,-6098.6,45688.5,-16290.0
$KALMAN_Y,-14652.8,-155.1,2984.4,6.6,10050.4
$MHEAD_RNG_PITCHd_Wd,106.8,4502,-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,-65.30,0.000,6,0.000,0.000,2854,1930,3329
$GC,103,-1.13,-146.0,0.7,0.1,13,109,1.50,2.25,0.00,0.000,4,0.087,0.039,2539,633,3329
$GC,145,-1.48,-146.0,3.8,-7.4,20,153,0.38,2.38,0.00,0.000,6,0.043,0.022,2451,2057,3329
$GC,426,-1.42,-146.0,40.5,-12.9,62,430,0.00,2.38,0.00,0.000,4,0.000,0.038,2450,3435,3329
$GC,489,-1.39,-146.0,48.7,-13.1,67,494,0.12,2.35,0.00,0.000,6,0.111,0.023,2473,2031,3330
$GC,751,-1.39,-146.0,77.5,-10.9,91,756,0.00,2.45,0.00,0.000,4,0.000,0.036,2472,3447,3330
$GC,815,-1.46,-146.0,84.6,-10.6,96,819,0.00,2.38,0.00,0.000,6,0.000,0.024,2472,2033,3330
$GC,1141,-1.52,-146.0,112.9,-8.1,126,1143,0.10,0.00,0.00,0.000,6,0.066,0.000,2446,2032,3331
$GC,1459,-1.55,-146.0,142.2,-7.8,156,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2033,3332
$GC,1780,-1.59,-146.0,168.4,-8.1,186,1784,0.00,2.42,0.00,0.000,4,0.000,0.036,2446,3437,3332
$GC,1814,-1.66,-146.0,171.0,-7.4,188,1820,0.12,2.35,0.00,0.000,6,0.063,0.024,2416,2032,3332
$GC,2149,-1.66,-146.0,202.6,-9.6,219,2154,0.00,2.40,0.00,0.000,4,0.000,0.039,2415,637,3332
$GC,2195,-1.71,-146.0,207.4,-9.8,221,2199,0.00,2.35,0.00,0.000,6,0.000,0.025,2415,2034,3332
$GC,2517,-1.71,-146.0,238.4,-10.7,237,2521,0.00,2.42,0.00,0.000,4,0.000,0.038,2415,3443,3332
$GC,2573,-1.74,-146.0,243.3,-8.5,239,2579,0.00,2.38,0.00,0.000,6,0.000,0.025,2416,2035,3332
$GC,2891,-1.74,-146.0,270.9,-8.5,255,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2033,3332
$GC,3198,-1.74,-146.0,293.8,-7.8,270,3202,0.00,2.45,0.00,0.000,4,0.000,0.038,2415,3442,3332
$GC,3216,-1.74,-146.0,295.2,-8.2,271,3220,0.00,2.38,0.00,0.000,6,0.000,0.026,2415,2043,3332
$GC,3561,-1.78,-146.0,324.4,-8.1,281,3565,0.10,2.45,0.00,0.000,4,0.074,0.038,2391,3444,3332
$GC,3577,-1.78,-146.0,325.9,-7.5,281,3581,0.00,2.40,0.00,0.000,6,0.000,0.027,2391,2031,3332
$GC,3919,-1.78,-146.0,353.4,-8.1,290,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2031,3330
$GC,4244,-1.78,-146.0,379.4,-8.1,298,4249,0.00,2.47,0.00,0.000,4,0.000,0.042,2391,3440,3328
$GC,4274,-1.78,-146.0,381.8,-8.7,298,4278,0.00,2.40,0.00,0.000,6,0.000,0.031,2391,2039,3327
$GC,4605,-1.78,-146.0,409.0,-8.0,306,4610,0.00,2.47,0.00,0.000,4,0.000,0.043,2391,3445,3326
$GC,4623,-1.78,-146.0,410.6,-7.9,306,4627,0.00,2.40,0.00,0.000,6,0.000,0.031,2391,2042,3325
$GC,4971,-1.78,-146.0,437.3,-7.8,315,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2040,3322
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5180,-0.33,0.0,453.0,7.8,320,5298,1.52,0.00,114.00,0.919,6,0.097,0.000,2702,1938,2733
$STATE,5298,end apogee,CONTROL_FINISHED_OK
$STATE,5299,begin climb
$GC,5302,1.13,146.0,458.0,0.0,323,5425,1.45,2.55,114.47,0.894,4,0.054,0.053,3021,558,2136
$GC,5681,0.60,146.0,426.3,13.5,331,5686,0.60,2.42,0.00,0.000,6,0.159,0.029,2916,1953,2135
$GC,6018,0.32,146.0,396.6,8.5,340,6024,0.32,2.55,0.00,0.000,4,0.131,0.053,2855,558,2132
$GC,6108,0.14,146.0,389.0,7.9,342,6113,0.22,2.42,0.00,0.000,6,0.133,0.030,2814,1955,2131
$GC,6428,0.18,206.3,370.9,5.1,350,6479,0.00,2.55,45.60,0.892,4,0.000,0.048,2814,3349,1891
$GC,6502,0.16,228.6,366.8,6.4,351,6527,0.00,2.45,18.25,0.868,6,0.000,0.034,2814,1964,1799
$GC,6836,0.10,228.6,340.0,8.3,360,6841,0.00,2.58,0.00,0.000,4,0.000,0.054,2814,540,1798
$GC,6877,0.05,228.6,336.4,9.3,361,6882,0.12,2.45,0.00,0.000,6,0.138,0.030,2794,1947,1798
$GC,7202,0.17,296.6,317.5,4.8,369,7262,0.10,2.58,52.83,0.858,4,0.095,0.046,2814,3341,1523
$GC,7327,0.17,298.5,309.9,7.1,371,7333,0.00,2.45,0.00,0.000,6,0.000,0.033,2814,1949,1523
$GC,7641,0.17,298.5,288.0,7.7,383,7645,0.00,2.50,0.00,0.000,4,0.000,0.043,2814,3352,1523
$GC,7669,0.13,298.5,285.8,7.3,384,7673,0.00,2.45,0.00,0.000,6,0.000,0.031,2814,1947,1523
$GC,7985,0.13,298.5,262.3,8.0,399,7990,0.00,2.50,0.00,0.000,4,0.000,0.041,2814,3359,1523
$GC,8036,0.13,298.5,258.3,7.5,401,8040,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1947,1523
$GC,8352,0.22,348.7,239.8,5.4,416,8394,0.00,0.00,40.38,0.804,6,0.000,0.000,2814,1947,1310
$GC,8702,0.22,348.7,214.4,7.3,433,8706,0.00,2.47,0.00,0.000,4,0.000,0.038,2814,3354,1311
$GC,8775,0.25,348.7,209.0,7.8,436,8780,0.10,2.42,0.00,0.000,6,0.087,0.029,2836,1949,1311
$GC,9102,0.25,348.7,180.4,8.4,461,9106,0.00,2.45,0.00,0.000,4,0.000,0.035,2835,3356,1311
$GC,9132,0.25,348.7,177.5,9.2,463,9137,0.00,2.45,0.00,0.000,6,0.000,0.029,2835,1938,1312
$GC,9461,0.25,348.7,151.0,8.1,493,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1937,1312
$GC,9787,0.28,364.3,125.1,6.6,524,9809,0.00,2.58,12.82,0.689,4,0.000,0.035,2835,3366,1248
$GC,9868,0.34,398.8,119.9,5.9,531,9901,0.00,2.42,26.67,0.673,6,0.000,0.027,2835,1946,1106
$GC,10219,0.34,398.8,95.5,7.3,564,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1946,1108
$GC,10538,0.35,402.9,73.1,7.0,594,10550,0.00,2.50,4.32,0.622,4,0.000,0.035,2835,3356,1089
$GC,10620,0.43,406.9,67.2,7.0,601,10632,0.17,2.42,3.60,0.625,6,0.063,0.025,2875,1935,1073
$GC,10887,0.40,406.9,47.0,7.2,626,10892,0.00,2.42,0.00,0.000,4,0.000,0.043,2875,548,1074
$GC,10917,0.40,406.9,44.7,7.8,628,10921,0.00,2.38,0.00,0.000,6,0.000,0.023,2876,1964,1074
$GC,11184,0.40,406.9,21.3,8.9,660,11191,0.00,2.38,0.00,0.000,4,0.000,0.038,2876,3345,1075
$GC,11249,0.40,406.9,15.4,9.1,671,11255,0.00,2.35,0.00,0.000,6,0.000,0.025,2876,1953,1076
$STATE,11377,end climb,SURFACE_DEPTH_REACHED
$STATE,11377,begin surface coast
$FINISH,0.8,1.011183
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11465,3.25,0.579,0,0,1060,410.14
$SM_GC,1.54,0.00,0.00,3.25,0.000,0.000,0.579,409,2078,1060,-10.91,1.07,410.14
$IRIDIUM_FIX,2057.14,-15748.75,291297,010145
$TT8_MAMPS,0.027612
$HUMID,1714
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,20
$24V_AH,23.8,14.405
$10V_AH,10.2,8.375
$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,18.000,112.375,432.950,3.250,0.000,0.000,0.000,0.000,14.000,0.000,0.000,0.000,1280.902,7880.797,496.436,1621.370,247.236,33.316,1292.248,0.000,1603.208,0.000,57.441
$DEVICE_MAMPS,158.769,53.690,918.866,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.800,464.957,842.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37872,705
$CAP_FILE_SIZE,98522,0
$CFSIZE,260165632,253173760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,140131,2109.063,-15749.105,39,1.3,39,9.8