version: 66.03
glider: 114
mission: 3
dive: 98
start: 10 5 108 3 24 31
data:
$ID,114
$MISSION,3
$DIVE,98
$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,-593614.94
$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,36
$R_STBD_OVSHOOT,68
$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
$GPS1,031532,2108.420,-15750.139,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.2
$GPS2,032333,2108.363,-15750.258,12,1.5,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.119,0.192
$KALMAN_X,-43004.9,-442.9,1157.4,47984.2,-1392.4
$KALMAN_Y,-13221.7,-158.6,-1820.1,-2.9,-1751.7
$MHEAD_RNG_PITCHd_Wd,21.9,3065,-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,-69.82,0.000,2,0.000,0.000,410,2083,3078
$GC,103,-1.13,-146.0,3.7,-4.6,13,127,11.95,2.33,-3.85,0.000,4,0.160,0.047,2525,3403,3332
$GC,163,-0.96,-146.0,21.6,-19.6,23,170,0.22,2.30,0.00,0.000,6,0.085,0.022,2570,2032,3332
$GC,438,-1.14,-146.0,40.9,-7.1,58,443,0.15,2.40,0.00,0.000,4,0.054,0.035,2529,3416,3332
$GC,480,-1.27,-146.0,44.0,-8.0,61,484,0.10,2.33,0.00,0.000,6,0.065,0.022,2502,2030,3332
$GC,744,-1.34,-146.0,65.8,-7.8,85,749,0.00,2.40,0.00,0.000,4,0.000,0.035,2502,3417,3332
$GC,791,-1.43,-146.0,69.7,-7.5,88,798,0.15,2.30,0.00,0.000,6,0.057,0.022,2465,2035,3333
$GC,1053,-1.43,-146.0,94.5,-10.3,113,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2035,3333
$GC,1375,-1.48,-146.0,125.9,-9.6,143,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2034,3334
$GC,1703,-1.53,-146.0,153.2,-7.1,174,1707,0.00,2.38,0.00,0.000,4,0.000,0.035,2466,3414,3334
$GC,1760,-1.62,-146.0,157.6,-7.1,178,1767,0.17,2.30,0.00,0.000,6,0.056,0.024,2423,2039,3334
$GC,2085,-1.62,-146.0,187.2,-9.9,209,2089,0.00,2.38,0.00,0.000,4,0.000,0.035,2423,3416,3334
$GC,2138,-1.62,-146.0,192.3,-9.7,213,2142,0.00,2.33,0.00,0.000,6,0.000,0.025,2423,2037,3334
$GC,2457,-1.62,-146.0,221.8,-9.4,232,2461,0.00,2.38,0.00,0.000,4,0.000,0.036,2423,3411,3334
$GC,2490,-1.62,-146.0,225.1,-9.4,233,2496,0.00,2.33,0.00,0.000,6,0.000,0.025,2423,2030,3333
$GC,2809,-1.65,-146.0,251.2,-7.7,249,2813,0.00,2.40,0.00,0.000,4,0.000,0.038,2423,3414,3333
$GC,2843,-1.69,-146.0,254.1,-7.8,250,2850,0.00,2.33,0.00,0.000,6,0.000,0.026,2423,2040,3333
$GC,3160,-1.73,-146.0,278.8,-9.1,266,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2039,3332
$GC,3488,-1.77,-146.0,307.6,-8.4,280,3493,0.12,2.40,0.00,0.000,4,0.067,0.038,2393,3413,3331
$GC,3505,-1.77,-146.0,309.2,-8.8,280,3509,0.00,2.35,0.00,0.000,6,0.000,0.028,2392,2033,3331
$GC,3847,-1.77,-146.0,338.3,-7.7,289,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2032,3329
$GC,4172,-1.77,-146.0,363.9,-8.1,297,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2032,3327
$GC,4497,-1.77,-146.0,388.1,-7.4,305,4502,0.00,2.47,0.00,0.000,4,0.000,0.048,2392,631,3325
$GC,4531,-1.77,-146.0,390.7,-7.5,305,4537,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,2000,3325
$GC,4863,-1.77,-146.0,419.8,-9.4,314,4870,0.00,2.58,0.00,0.000,4,0.000,0.048,2393,3454,3322
$GC,4956,-1.82,-146.0,429.1,-10.4,316,4961,0.00,2.45,0.00,0.000,6,0.000,0.033,2393,2040,3321
$STATE,5199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5199,begin apogee
$GC,5207,-0.33,0.0,451.9,9.2,322,5325,1.55,0.00,113.75,0.923,6,0.102,0.000,2705,1939,2733
$STATE,5325,end apogee,CONTROL_FINISHED_OK
$STATE,5325,begin climb
$GC,5329,1.13,146.0,457.5,0.0,325,5452,1.45,2.58,114.43,0.894,4,0.054,0.053,3023,546,2137
$GC,5707,0.60,146.0,426.9,13.1,333,5713,0.62,2.45,0.00,0.000,6,0.153,0.030,2915,1955,2134
$GC,6045,0.32,146.0,398.0,7.7,342,6048,0.35,0.00,0.00,0.000,6,0.132,0.000,2853,1955,2133
$GC,6371,0.23,175.5,378.7,6.1,350,6400,0.12,2.65,22.42,0.893,4,0.140,0.054,2832,554,2017
$GC,6446,0.11,175.5,373.2,8.1,351,6451,0.15,2.45,0.00,0.000,6,0.140,0.031,2808,1957,2017
$GC,6779,0.13,208.4,353.6,6.0,359,6806,0.00,0.00,25.80,0.883,6,0.000,0.000,2808,1957,1883
$GC,7103,0.09,208.4,330.2,7.3,367,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1957,1882
$GC,7428,0.09,208.5,305.9,7.1,375,7432,0.00,2.50,0.00,0.000,4,0.000,0.048,2808,3354,1881
$GC,7484,0.09,208.5,301.9,7.7,376,7488,0.00,2.45,0.00,0.000,6,0.000,0.033,2808,1952,1881
$GC,7816,0.18,260.5,281.8,5.3,391,7862,0.00,2.58,40.50,0.849,4,0.000,0.044,2807,3355,1670
$GC,7879,0.28,314.4,278.5,5.3,394,7929,0.15,2.47,42.12,0.824,6,0.081,0.032,2838,1950,1451
$GC,8250,0.21,314.4,247.3,8.3,412,8254,0.00,2.53,0.00,0.000,4,0.000,0.043,2838,3360,1451
$GC,8284,0.14,314.4,244.3,8.3,413,8291,0.15,2.47,0.00,0.000,6,0.113,0.033,2811,1947,1451
$GC,8601,0.14,314.4,220.2,7.6,429,8605,0.00,2.53,0.00,0.000,4,0.000,0.041,2811,3366,1451
$GC,8651,0.14,314.4,215.9,8.5,431,8655,0.00,2.47,0.00,0.000,6,0.000,0.032,2811,1942,1450
$GC,8969,0.14,314.4,192.1,7.8,450,8973,0.00,2.50,0.00,0.000,4,0.000,0.039,2811,3363,1451
$GC,9021,0.18,314.4,188.3,7.5,454,9025,0.00,2.45,0.00,0.000,6,0.000,0.031,2811,1950,1450
$GC,9349,0.40,418.0,171.9,3.6,484,9436,0.22,2.60,79.15,0.731,4,0.067,0.038,2866,3363,1029
$GC,9480,0.34,418.0,162.1,9.9,496,9485,0.00,2.47,0.00,0.000,6,0.000,0.029,2866,1946,1030
$GC,9809,0.28,418.0,127.0,11.3,526,9814,0.12,2.50,0.00,0.000,4,0.107,0.036,2843,3365,1030
$GC,9842,0.28,418.0,122.9,10.5,528,9849,0.00,2.45,0.00,0.000,6,0.000,0.028,2843,1941,1030
$GC,10171,0.28,418.0,94.5,9.1,559,10175,0.00,2.47,0.00,0.000,4,0.000,0.036,2843,3357,1030
$GC,10234,0.34,418.0,88.2,10.4,564,10238,0.00,2.42,0.00,0.000,6,0.000,0.027,2843,1940,1030
$GC,10569,0.44,438.4,65.7,6.4,595,10592,0.15,2.50,17.15,0.615,4,0.064,0.035,2883,3360,945
$GC,10662,0.44,438.4,58.7,7.3,603,10666,0.00,2.42,0.00,0.000,6,0.000,0.027,2882,1944,945
$GC,10925,0.40,438.4,39.1,7.6,627,10929,0.00,2.47,0.00,0.000,4,0.000,0.036,2883,3366,945
$GC,10965,0.42,449.2,36.5,6.8,630,10980,0.00,2.42,8.98,0.587,6,0.000,0.025,2883,1936,901
$GC,11250,0.39,449.2,12.6,8.8,674,11256,0.00,2.47,0.00,0.000,4,0.000,0.036,2883,3362,901
$STATE,11272,end climb,FINISH_DEPTH_REACHED
$STATE,11272,begin subsurface finish
$FINISH1,9.9,1.023060,222
$GC,11284,0.39,221.5,9.9,-9.7,678,11307,0.00,2.45,-17.83,0.000,4,0.000,0.045,2883,3365,1830
$FINISH2,6.9
$STATE,11308,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11308,begin surface
$IRIDIUM_FIX,2104.07,-15753.03,291297,202008
$TT8_MAMPS,0.027612
$HUMID,1733
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.80
$XPDR_PINGS,13
$24V_AH,23.8,15.026
$10V_AH,10.2,8.769
$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,17.925,114.800,464.300,0.000,0.000,22.968,30.018,253.171,12.500,0.000,0.000,13.571,1223.058,7805.915,528.370,1573.407,657.194,33.353,1320.056,0.000,1546.204,0.000,60.308
$DEVICE_MAMPS,160.303,53.690,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.917,447.202,797.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34912,682
$CAP_FILE_SIZE,102997,0
$CFSIZE,260165632,252903424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,032333,2108.363,-15750.258,12,1.5,12,9.8