version: 66.03
glider: 114
mission: 3
dive: 102
start: 10 5 108 16 7 18
data:
$ID,114
$MISSION,3
$DIVE,102
$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,-593644.62
$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,69
$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
$GPS1,155608,2107.808,-15751.588,39,0.9,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.3
$GPS2,160621,2107.760,-15751.633,11,1.0,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.030,0.092
$KALMAN_X,-41602.5,689.0,-652.7,44918.2,3196.3
$KALMAN_Y,-14819.5,463.4,-2536.3,572.1,2977.2
$MHEAD_RNG_PITCHd_Wd,332.0,5016,-33.9,-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,24,begin dive
$GC,27,-2.30,-24.2,0.0,0.0,0,93,0.00,0.00,-62.08,0.000,6,0.000,0.000,408,2080,2833
$GC,97,-2.32,-34.7,3.7,-5.1,12,116,10.60,2.30,-0.75,0.000,4,0.163,0.044,2269,3417,2877
$GC,243,-2.52,-34.7,39.6,-22.4,33,250,0.17,2.33,0.00,0.000,6,0.066,0.023,2231,2031,2877
$GC,507,-2.70,-34.7,88.7,-16.0,58,512,0.15,2.40,0.00,0.000,4,0.062,0.036,2192,632,2878
$GC,651,-2.81,-34.7,116.9,-18.5,70,656,0.12,2.33,0.00,0.000,6,0.067,0.022,2164,2020,2878
$GC,977,-2.93,-34.7,177.7,-17.1,100,981,0.00,2.40,0.00,0.000,4,0.000,0.036,2164,632,2879
$GC,1235,-3.04,-34.7,225.2,-18.4,116,1242,0.20,2.38,0.00,0.000,6,0.059,0.023,2119,2057,2879
$GC,1555,-3.12,-34.7,278.0,-15.8,132,1559,0.00,2.47,0.00,0.000,4,0.000,0.039,2118,635,2879
$GC,1813,-3.17,-34.7,319.7,-16.0,141,1820,0.12,2.38,0.00,0.000,6,0.072,0.026,2092,2039,2879
$GC,2145,-3.21,-34.7,368.1,-15.2,150,2149,0.00,2.45,0.00,0.000,4,0.000,0.043,2092,645,2877
$GC,2403,-3.21,-34.7,412.2,-17.1,155,2409,0.00,2.40,0.00,0.000,6,0.000,0.030,2092,2049,2876
$STATE,2652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2652,begin apogee
$GC,2660,-0.33,0.0,450.8,14.9,162,2693,3.20,0.00,27.77,0.889,6,0.128,0.000,2702,1947,2733
$STATE,2694,end apogee,CONTROL_FINISHED_OK
$STATE,2694,begin climb
$GC,2697,2.32,34.7,452.4,0.0,163,2733,2.60,2.55,27.67,0.876,4,0.051,0.043,3284,3356,2591
$GC,2986,2.17,102.4,459.3,-6.3,168,3046,0.17,2.45,52.70,0.894,6,0.162,0.033,3257,1951,2315
$GC,3376,1.95,102.4,421.5,12.9,178,3378,0.30,0.00,0.00,0.000,6,0.166,0.000,3208,1951,2312
$GC,3697,1.80,102.4,383.3,12.2,186,3702,0.17,2.53,0.00,0.000,4,0.173,0.051,3177,544,2309
$GC,3955,1.63,102.4,350.8,12.4,191,3962,0.22,2.42,0.00,0.000,6,0.173,0.028,3141,1958,2307
$GC,4287,1.59,102.4,319.8,8.4,200,4292,0.00,2.55,0.00,0.000,4,0.000,0.051,3141,547,2305
$GC,4546,1.49,102.4,297.9,7.7,205,4552,0.20,2.40,0.00,0.000,6,0.171,0.028,3108,1949,2304
$GC,4863,1.50,108.4,278.4,5.9,221,4868,0.00,0.00,3.17,0.808,6,0.000,0.000,3108,1950,2291
$GC,5171,1.50,112.8,259.4,6.3,236,5181,0.00,2.58,3.92,0.810,4,0.000,0.050,3108,546,2273
$GC,5420,1.49,127.7,246.2,4.2,247,5441,0.00,2.42,12.12,0.825,6,0.000,0.028,3108,1963,2212
$GC,5752,1.53,127.7,222.1,9.0,263,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1962,2210
$GC,6061,1.61,143.3,201.7,4.0,278,6083,0.00,2.47,12.65,0.783,4,0.000,0.038,3108,3341,2148
$GC,6112,1.67,155.0,199.4,4.8,280,6130,0.17,2.42,9.57,0.772,6,0.087,0.030,3143,1942,2100
$GC,6448,1.67,155.0,169.8,9.7,312,6452,0.00,2.47,0.00,0.000,4,0.000,0.048,3143,547,2100
$GC,6706,1.63,155.0,144.9,10.1,334,6712,0.00,2.38,0.00,0.000,6,0.000,0.025,3143,1954,2101
$GC,7034,1.64,158.6,121.9,6.4,365,7046,0.00,2.55,3.33,0.685,4,0.000,0.044,3143,547,2086
$GC,7266,1.66,167.3,106.5,5.4,385,7282,0.00,2.35,7.43,0.674,6,0.000,0.024,3143,1956,2051
$GC,7603,1.72,171.4,88.1,6.3,417,7615,0.00,2.55,3.95,0.643,4,0.000,0.042,3143,540,2033
$GC,7622,1.76,172.0,86.5,7.0,418,7628,0.00,2.38,0.00,0.000,6,0.000,0.023,3144,1957,2033
$GC,7951,1.86,186.3,65.6,4.3,449,7968,0.15,0.00,11.77,0.615,6,0.078,0.000,3180,1964,1972
$GC,8226,1.90,186.3,47.1,8.0,475,8230,0.00,2.50,0.00,0.000,4,0.000,0.041,3180,534,1973
$GC,8486,1.86,187.4,26.8,6.9,501,8493,0.00,2.38,0.00,0.000,6,0.000,0.022,3180,1962,1973
$STATE,8716,end climb,FINISH_DEPTH_REACHED
$STATE,8717,begin subsurface finish
$FINISH1,9.9,1.023009,0
$GC,8725,0.00,0.0,9.9,-7.6,542,8749,2.03,2.35,-14.65,0.000,4,0.123,0.042,2787,3349,2734
$FINISH2,8.5
$STATE,8750,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8750,begin surface
$IRIDIUM_FIX,2101.76,-15753.03,301297,161619
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.9,15.417
$10V_AH,10.2,9.061
$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,20.600,70.700,176.075,0.000,0.000,47.596,59.092,281.969,11.750,0.000,0.000,12.849,1061.030,5776.340,275.077,1569.700,679.085,33.351,997.230,0.000,1534.162,0.000,57.463
$DEVICE_MAMPS,172.575,51.389,894.322,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.284,368.646,670.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28481,546
$CAP_FILE_SIZE,87665,0
$CFSIZE,260165632,252735488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,160621,2107.760,-15751.633,11,1.0,11,9.8