version: 66.03
glider: 114
mission: 3
dive: 99
start: 10 5 108 6 35 11
data:
$ID,114
$MISSION,3
$DIVE,99
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,032333,2108.363,-15750.258,12,1.5,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,14.4
$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,-0.150,0.170
$KALMAN_X,-43208.6,-524.7,-28.4,49483.2,-17.8
$KALMAN_Y,-12959.8,50.1,-4732.4,2433.8,-15091.6
$MHEAD_RNG_PITCHd_Wd,308.7,3065,-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,27,-1.13,-146.0,0.0,0.0,0,93,0.00,0.00,-62.03,0.000,6,0.000,0.000,2884,3366,3329
$GC,97,-1.13,-146.0,1.8,-2.0,12,104,1.65,0.12,0.00,0.000,4,0.091,0.049,2538,3457,3329
$GC,179,-1.42,-146.0,7.6,-6.4,26,187,0.30,2.40,0.00,0.000,6,0.052,0.023,2470,2023,3329
$GC,454,-1.38,-146.0,41.7,-13.2,67,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2016,3329
$GC,708,-1.38,-146.0,73.5,-13.1,91,713,0.00,2.47,0.00,0.000,4,0.000,0.035,2471,3453,3330
$GC,765,-1.47,-146.0,79.6,-8.9,95,771,0.00,2.35,0.00,0.000,6,0.000,0.023,2470,2044,3331
$GC,1028,-1.52,-146.0,104.1,-10.4,120,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2043,3332
$GC,1348,-1.58,-146.0,131.1,-7.2,150,1353,0.15,2.42,0.00,0.000,4,0.056,0.035,2432,3447,3333
$GC,1382,-1.61,-146.0,134.0,-8.2,152,1388,0.00,2.38,0.00,0.000,6,0.000,0.024,2432,2029,3333
$GC,1709,-1.61,-146.0,159.3,-8.6,183,1713,0.00,2.45,0.00,0.000,4,0.000,0.035,2431,3448,3333
$GC,1742,-1.65,-146.0,162.2,-8.1,185,1748,0.00,2.38,0.00,0.000,6,0.000,0.024,2431,2033,3334
$GC,2068,-1.68,-146.0,194.0,-10.2,216,2072,0.00,2.45,0.00,0.000,4,0.000,0.035,2431,3450,3334
$GC,2088,-1.72,-146.0,195.8,-10.6,217,2093,0.12,2.38,0.00,0.000,6,0.064,0.025,2401,2040,3334
$GC,2415,-1.72,-146.0,229.6,-9.5,234,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2040,3334
$GC,2725,-1.72,-146.0,258.5,-9.2,249,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2039,3334
$GC,3034,-1.72,-146.0,284.9,-8.2,264,3038,0.00,2.45,0.00,0.000,4,0.000,0.040,2401,3447,3334
$GC,3080,-1.75,-146.0,288.9,-8.7,266,3084,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2043,3334
$GC,3424,-1.75,-146.0,315.7,-7.5,278,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2042,3333
$GC,3750,-1.78,-146.0,343.0,-8.9,286,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2042,3331
$GC,4076,-1.82,-146.0,372.7,-9.1,294,4079,0.00,2.47,0.00,0.000,4,0.000,0.044,2401,3453,3328
$GC,4110,-1.87,-146.0,376.0,-9.0,294,4114,0.12,2.42,0.00,0.000,6,0.081,0.031,2374,2041,3327
$GC,4443,-1.87,-146.0,409.4,-10.4,302,4447,0.00,2.50,0.00,0.000,4,0.000,0.051,2374,630,3325
$GC,4472,-1.87,-146.0,412.3,-10.4,302,4476,0.00,2.42,0.00,0.000,6,0.000,0.032,2374,2035,3325
$GC,4804,-1.87,-146.0,441.3,-8.4,310,4808,0.00,2.53,0.00,0.000,4,0.000,0.051,2375,3455,3322
$GC,4860,-1.87,-146.0,446.7,-10.2,311,4865,0.00,2.45,0.00,0.000,6,0.000,0.033,2374,2039,3322
$STATE,4922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4922,begin apogee
$GC,4930,-0.33,0.0,452.7,9.5,313,5049,1.62,0.00,114.57,0.923,6,0.102,0.000,2702,1936,2733
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5050,begin climb
$GC,5053,1.13,146.0,458.3,0.0,316,5176,1.48,2.55,114.38,0.900,4,0.059,0.053,3023,558,2136
$GC,5222,0.59,146.0,456.2,10.9,320,5228,0.62,2.47,0.00,0.000,6,0.142,0.031,2913,1966,2136
$GC,5548,0.31,146.0,429.8,8.2,328,5553,0.30,2.58,0.00,0.000,4,0.130,0.053,2855,553,2134
$GC,5570,0.09,146.0,428.0,7.6,328,5576,0.28,2.45,0.00,0.000,6,0.150,0.032,2804,1956,2134
$GC,5908,0.18,228.8,411.9,4.3,337,5978,0.00,2.60,63.70,0.903,4,0.000,0.049,2804,3354,1800
$GC,6050,0.19,254.5,405.0,6.3,340,6076,0.00,2.47,20.85,0.890,6,0.000,0.035,2804,1956,1695
$GC,6402,0.25,304.1,385.5,5.4,348,6449,0.12,2.62,39.58,0.891,4,0.087,0.046,2830,3353,1493
$GC,6461,0.16,304.1,381.3,7.4,349,6466,0.00,2.50,0.00,0.000,6,0.000,0.034,2830,1944,1494
$GC,6805,0.08,304.1,351.6,8.9,358,6810,0.15,2.55,0.00,0.000,4,0.119,0.045,2801,3359,1493
$GC,6861,0.08,304.1,346.9,8.4,359,6865,0.00,2.50,0.00,0.000,6,0.000,0.035,2800,1936,1493
$GC,7209,0.09,307.1,322.0,7.0,368,7218,0.00,2.60,3.05,0.819,4,0.000,0.044,2800,3356,1481
$GC,7247,0.09,307.1,319.2,7.7,368,7253,0.00,2.47,0.00,0.000,6,0.000,0.034,2800,1946,1481
$GC,7579,0.18,361.1,300.1,5.3,377,7629,0.00,2.62,42.40,0.859,4,0.000,0.044,2800,3357,1260
$GC,7682,0.24,393.3,294.2,6.0,380,7714,0.15,2.47,25.80,0.843,6,0.084,0.034,2830,1950,1129
$GC,8039,0.18,393.3,260.5,10.8,398,8043,0.00,2.53,0.00,0.000,4,0.000,0.045,2830,3354,1129
$GC,8123,0.18,393.3,251.6,10.1,402,8128,0.00,2.47,0.00,0.000,6,0.000,0.033,2830,1945,1129
$GC,8451,0.15,393.3,223.6,7.7,418,8455,0.00,2.50,0.00,0.000,4,0.000,0.041,2830,3355,1129
$GC,8479,0.12,393.3,221.4,7.8,419,8484,0.12,2.45,0.00,0.000,6,0.112,0.031,2808,1942,1129
$GC,8795,0.20,441.2,203.6,5.5,434,8838,0.00,2.62,37.47,0.776,4,0.000,0.038,2808,3367,934
$GC,8878,0.29,460.1,198.8,6.5,438,8899,0.17,2.47,15.45,0.761,6,0.071,0.030,2846,1944,857
$GC,9219,0.25,460.1,168.2,9.6,470,9224,0.00,2.50,0.00,0.000,4,0.000,0.038,2846,3364,857
$GC,9271,0.25,460.1,163.3,9.6,474,9275,0.00,2.45,0.00,0.000,6,0.000,0.028,2846,1949,857
$GC,9599,0.25,460.1,130.8,11.3,504,9603,0.00,2.47,0.00,0.000,4,0.000,0.037,2846,3362,857
$GC,9669,0.28,460.1,123.1,10.6,509,9675,0.00,2.42,0.00,0.000,6,0.000,0.028,2846,1947,858
$GC,9997,0.28,460.1,95.0,8.6,540,10001,0.00,2.47,0.00,0.000,4,0.000,0.037,2846,3367,859
$GC,10082,0.34,460.1,87.1,8.9,547,10087,0.00,2.42,0.00,0.000,6,0.000,0.026,2846,1947,860
$GC,10409,0.41,463.9,66.9,7.0,577,10421,0.10,2.47,4.65,0.617,4,0.074,0.035,2870,3366,841
$GC,10458,0.44,463.9,63.3,7.4,581,10462,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,1939,841
$GC,10720,0.44,463.9,41.6,8.2,605,10724,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3370,840
$GC,10771,0.44,463.9,37.5,8.3,609,10776,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,1940,841
$GC,11044,0.44,463.9,12.4,9.7,649,11050,0.00,2.45,0.00,0.000,4,0.000,0.034,2870,3366,842
$GC,11086,0.44,463.9,8.6,9.4,656,11092,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,1940,842
$STATE,11124,end climb,SURFACE_DEPTH_REACHED
$STATE,11124,begin surface coast
$FINISH,0.7,1.009508
$STATE,11193,end surface coast,CONTROL_FINISHED_OK
$STATE,11193,begin surface
$SM_CCo,11277,0.00,0.000,0,0,845,463.13
$SM_GC,1.45,10.90,0.00,0.00,0.046,0.000,0.000,412,2091,845,-10.85,1.44,463.13
$IRIDIUM_FIX,2104.07,-15753.03,291297,202008
$TT8_MAMPS,0.027612
$HUMID,1680
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,14
$24V_AH,23.8,15.147
$10V_AH,10.2,8.842
$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,18.375,121.725,481.900,0.000,0.000,0.000,0.000,0.000,12.500,0.000,0.000,0.000,1250.596,7753.726,526.676,1541.856,258.920,33.328,1309.017,0.000,1533.054,0.000,57.437
$DEVICE_MAMPS,149.565,52.923,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.903,447.710,801.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34956,675
$CAP_FILE_SIZE,99587,0
$CFSIZE,260165632,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,094427,2110.310,-15750.883,38,1.4,40,9.8