version: 66.03
glider: 114
mission: 3
dive: 101
start: 10 5 108 12 47 27
data:
$ID,114
$MISSION,3
$DIVE,101
$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,-593631.12
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,095514,2110.226,-15750.808,9,1.4,14,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.14
$_SM_ANGLEo,14.1
$GPS2,095514,2110.226,-15750.808,9,1.4,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.109,-0.198
$KALMAN_X,-43345.4,502.7,1528.8,46092.6,7500.8
$KALMAN_Y,-17539.2,12.6,3031.8,2731.5,10689.9
$MHEAD_RNG_PITCHd_Wd,199.0,1456,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.25,0.000,6,0.000,0.000,2870,547,3329
$GC,97,-1.13,-146.0,0.9,-0.9,12,104,1.52,0.10,0.00,0.000,4,0.072,0.031,2538,655,3329
$GC,162,-1.40,-146.0,8.5,-10.7,23,170,0.28,2.33,0.00,0.000,6,0.048,0.023,2473,2066,3329
$GC,437,-1.40,-146.0,40.9,-12.6,64,441,0.00,2.35,0.00,0.000,4,0.000,0.039,2473,3432,3330
$GC,515,-1.40,-146.0,50.1,-11.0,70,521,0.00,2.35,0.00,0.000,6,0.000,0.024,2473,2028,3330
$GC,778,-1.44,-146.0,78.2,-10.3,95,782,0.00,2.45,0.00,0.000,4,0.000,0.036,2473,3445,3331
$GC,847,-1.52,-146.0,83.9,-7.8,100,854,0.12,2.35,0.00,0.000,6,0.064,0.023,2443,2034,3331
$GC,1172,-1.52,-146.0,117.9,-8.5,131,1177,0.00,2.42,0.00,0.000,4,0.000,0.035,2443,3438,3333
$GC,1251,-1.57,-146.0,124.5,-7.9,137,1258,0.00,2.35,0.00,0.000,6,0.000,0.024,2443,2032,3333
$GC,1577,-1.61,-146.0,153.6,-9.2,168,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2030,3334
$GC,1898,-1.66,-146.0,181.2,-9.0,198,1903,0.10,2.42,0.00,0.000,4,0.067,0.035,2417,3434,3334
$GC,1976,-1.66,-146.0,189.9,-10.5,204,1983,0.00,2.35,0.00,0.000,6,0.000,0.025,2416,2032,3334
$GC,2307,-1.66,-146.0,221.4,-9.5,225,2311,0.00,2.40,0.00,0.000,4,0.000,0.041,2416,635,3334
$GC,2340,-1.66,-146.0,225.3,-11.3,226,2345,0.00,2.35,0.00,0.000,6,0.000,0.025,2416,2032,3335
$GC,2657,-1.66,-146.0,253.3,-8.9,241,2661,0.00,2.42,0.00,0.000,4,0.000,0.038,2416,3444,3334
$GC,2735,-1.72,-146.0,261.1,-9.7,244,2741,0.00,2.38,0.00,0.000,6,0.000,0.027,2416,2035,3334
$GC,3052,-1.76,-146.0,286.2,-6.7,260,3056,0.00,2.45,0.00,0.000,4,0.000,0.038,2416,3444,3334
$GC,3075,-1.81,-146.0,287.9,-7.0,261,3079,0.12,2.38,0.00,0.000,6,0.067,0.028,2386,2042,3334
$GC,3395,-1.81,-146.0,318.3,-10.3,273,3399,0.00,2.45,0.00,0.000,4,0.000,0.044,2386,636,3334
$GC,3456,-1.81,-146.0,325.1,-9.9,274,3460,0.00,2.40,0.00,0.000,6,0.000,0.029,2386,2043,3334
$GC,3800,-1.81,-146.0,354.1,-7.8,283,3804,0.00,2.47,0.00,0.000,4,0.000,0.045,2386,3453,3333
$GC,3822,-1.81,-146.0,355.9,-7.7,283,3826,0.00,2.42,0.00,0.000,6,0.000,0.030,2386,2038,3333
$GC,4161,-1.81,-146.0,383.1,-8.8,292,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2036,3330
$GC,4484,-1.81,-146.0,413.2,-9.5,300,4488,0.00,2.50,0.00,0.000,4,0.000,0.044,2386,3448,3328
$GC,4535,-1.84,-146.0,417.8,-8.4,301,4539,0.00,2.42,0.00,0.000,6,0.000,0.031,2386,2038,3327
$GC,4849,-1.84,-146.0,442.0,-7.4,309,4853,0.00,2.50,0.00,0.000,4,0.000,0.044,2386,3449,3325
$GC,4877,-1.84,-146.0,444.3,-8.0,309,4881,0.00,2.42,0.00,0.000,6,0.000,0.031,2386,2041,3325
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4975,-0.33,0.0,451.0,7.4,312,5094,1.55,0.00,114.97,0.920,6,0.097,0.000,2702,1936,2733
$STATE,5095,end apogee,CONTROL_FINISHED_OK
$STATE,5095,begin climb
$GC,5098,1.13,146.0,454.4,0.0,315,5222,1.48,2.58,114.68,0.891,4,0.055,0.041,3025,3354,2137
$GC,5397,0.64,146.0,432.2,12.7,321,5403,0.57,2.45,0.00,0.000,6,0.133,0.034,2923,1965,2135
$GC,5729,0.35,146.0,401.7,9.0,330,5731,0.35,0.00,0.00,0.000,6,0.124,0.000,2859,1964,2134
$GC,6054,0.33,231.0,384.5,4.2,338,6126,0.00,2.67,65.60,0.885,4,0.000,0.054,2859,541,1790
$GC,6139,0.29,304.2,380.9,4.6,340,6203,0.00,2.47,58.00,0.864,6,0.000,0.031,2859,1953,1491
$GC,6545,0.16,304.2,347.2,9.3,350,6550,0.20,2.53,0.00,0.000,4,0.122,0.048,2820,3355,1491
$GC,6624,0.12,304.2,340.2,8.4,351,6630,0.00,2.47,0.00,0.000,6,0.000,0.034,2820,1947,1491
$GC,6956,0.09,317.1,315.2,6.7,360,6972,0.00,2.55,10.45,0.854,4,0.000,0.043,2820,3352,1439
$GC,7001,0.03,317.1,312.0,7.3,361,7006,0.17,2.47,0.00,0.000,6,0.114,0.031,2788,1941,1439
$GC,7322,0.05,328.3,292.6,6.8,371,7336,0.00,2.55,9.40,0.848,4,0.000,0.041,2788,3350,1394
$GC,7367,0.05,328.3,289.5,7.2,373,7371,0.00,2.47,0.00,0.000,6,0.000,0.032,2788,1941,1394
$GC,7695,0.16,371.8,270.1,5.6,389,7737,0.12,2.60,33.95,0.831,4,0.082,0.042,2814,3347,1217
$GC,7771,0.16,371.8,264.1,9.2,392,7776,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1952,1217
$GC,8088,0.16,371.8,238.8,7.5,407,8091,0.00,2.47,0.00,0.000,4,0.000,0.039,2815,3353,1217
$GC,8127,0.16,371.8,235.8,7.5,408,8134,0.00,2.45,0.00,0.000,6,0.000,0.031,2815,1944,1217
$GC,8443,0.16,371.8,209.9,8.0,424,8447,0.00,2.47,0.00,0.000,4,0.000,0.039,2815,3353,1217
$GC,8505,0.20,374.8,205.4,7.0,426,8515,0.00,2.42,3.35,0.755,6,0.000,0.031,2815,1949,1204
$GC,8840,0.20,374.8,180.1,8.6,454,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1949,1204
$GC,9159,0.20,374.8,157.6,7.2,484,9163,0.00,2.45,0.00,0.000,4,0.000,0.036,2815,3356,1206
$GC,9233,0.30,386.9,152.7,6.7,490,9249,0.12,2.42,10.23,0.722,6,0.075,0.028,2843,1943,1155
$GC,9570,0.30,386.9,121.9,10.3,521,9574,0.00,2.47,0.00,0.000,4,0.000,0.036,2842,3357,1156
$GC,9614,0.30,386.9,117.3,10.5,524,9621,0.00,2.42,0.00,0.000,6,0.000,0.028,2843,1941,1156
$GC,9942,0.30,386.9,91.9,7.5,555,9946,0.00,2.45,0.00,0.000,4,0.000,0.036,2843,3354,1158
$GC,9978,0.30,389.7,89.2,7.0,558,9989,0.00,2.40,3.25,0.646,6,0.000,0.026,2843,1948,1143
$GC,10309,0.39,409.0,68.7,6.5,589,10331,0.00,2.47,15.07,0.621,4,0.000,0.035,2843,3355,1065
$GC,10372,0.54,435.8,65.1,6.2,594,10400,0.25,2.40,20.55,0.611,6,0.056,0.025,2900,1945,956
$GC,10657,0.48,435.8,40.7,10.0,621,10661,0.00,2.45,0.00,0.000,4,0.000,0.035,2900,3354,956
$GC,10702,0.43,435.8,35.5,11.5,624,10709,0.12,2.38,0.00,0.000,6,0.101,0.025,2877,1946,957
$GC,10975,0.43,435.8,12.6,8.3,667,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1946,957
$STATE,11080,end climb,SURFACE_DEPTH_REACHED
$STATE,11081,begin surface coast
$FINISH,0.7,0.999939
$STATE,11159,end surface coast,CONTROL_FINISHED_OK
$STATE,11159,begin surface
$SM_CCo,11243,0.00,0.000,0,0,958,435.41
$SM_GC,1.42,10.95,0.00,0.00,0.044,0.000,0.000,407,2085,958,-10.87,1.27,435.41
$IRIDIUM_FIX,2104.07,-15750.02,301297,090952
$TT8_MAMPS,0.027612
$HUMID,1675
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,6
$24V_AH,23.8,15.352
$10V_AH,10.2,8.990
$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,18.050,120.200,459.500,0.000,0.000,0.000,0.000,0.000,10.500,0.000,0.000,0.000,1283.628,7612.893,519.082,1625.526,256.041,33.331,1331.950,0.000,1613.038,0.000,57.444
$DEVICE_MAMPS,132.691,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.513,464.467,835.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34841,699
$CAP_FILE_SIZE,100059,0
$CFSIZE,260165632,252760064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,155608,2107.808,-15751.588,39,0.9,39,9.8