version: 66.03
glider: 114
mission: 3
dive: 106
start: 10 6 108 4 40 16
data:
$ID,114
$MISSION,3
$DIVE,106
$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,-593672.31
$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
$GPS1,043101,2107.758,-15751.222,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.3
$GPS2,043921,2107.726,-15751.298,12,1.4,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.125,0.188
$KALMAN_X,-41785.8,-472.1,732.4,45460.4,193.7
$KALMAN_Y,-19253.8,-450.2,679.0,2639.6,973.7
$MHEAD_RNG_PITCHd_Wd,23.9,4772,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.42,0.000,2,0.000,0.000,409,2028,2847
$GC,92,-1.13,-146.0,3.6,-4.8,11,117,12.02,2.53,-7.88,0.000,4,0.162,0.058,2525,3447,3332
$GC,187,-1.24,-146.0,20.8,-9.4,27,194,0.00,2.38,0.00,0.000,6,0.000,0.022,2525,2033,3332
$GC,464,-1.33,-146.0,46.4,-9.8,61,469,0.15,2.45,0.00,0.000,4,0.058,0.034,2484,3446,3332
$GC,527,-1.39,-146.0,53.0,-9.1,66,531,0.00,2.38,0.00,0.000,6,0.000,0.023,2484,2028,3332
$GC,790,-1.45,-146.0,76.5,-7.9,90,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3333
$GC,1044,-1.53,-146.0,98.4,-8.7,114,1046,0.17,0.00,0.00,0.000,6,0.053,0.000,2441,2027,3334
$GC,1362,-1.53,-146.0,131.7,-10.9,144,1366,0.00,2.45,0.00,0.000,4,0.000,0.035,2441,3448,3334
$GC,1418,-1.58,-146.0,137.7,-10.1,148,1424,0.00,2.35,0.00,0.000,6,0.000,0.024,2441,2043,3334
$GC,1743,-1.58,-146.0,168.2,-8.3,179,1747,0.00,2.42,0.00,0.000,4,0.000,0.035,2441,3450,3334
$GC,1777,-1.61,-146.0,171.3,-9.1,181,1783,0.00,2.38,0.00,0.000,6,0.000,0.025,2441,2038,3334
$GC,2103,-1.65,-146.0,199.2,-7.2,212,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2037,3334
$GC,2413,-1.72,-146.0,222.1,-7.9,228,2418,0.15,2.45,0.00,0.000,4,0.057,0.035,2399,3453,3334
$GC,2487,-1.72,-146.0,229.1,-9.5,231,2491,0.00,2.38,0.00,0.000,6,0.000,0.025,2399,2042,3334
$GC,2803,-1.72,-146.0,257.9,-8.7,246,2807,0.00,2.45,0.00,0.000,4,0.000,0.043,2398,631,3334
$GC,2826,-1.72,-146.0,260.0,-9.3,247,2830,0.00,2.40,0.00,0.000,6,0.000,0.027,2398,2052,3334
$GC,3148,-1.72,-146.0,287.1,-8.5,263,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2052,3333
$GC,3454,-1.72,-146.0,316.4,-9.8,274,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2052,3331
$GC,3779,-1.72,-146.0,345.7,-8.9,282,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2053,3329
$GC,4104,-1.72,-146.0,377.0,-9.5,290,4108,0.00,2.45,0.00,0.000,4,0.000,0.046,2399,3447,3326
$GC,4160,-1.75,-146.0,382.8,-10.1,291,4164,0.00,2.40,0.00,0.000,6,0.000,0.031,2399,2045,3326
$GC,4473,-1.75,-146.0,414.5,-10.5,299,4477,0.00,2.50,0.00,0.000,4,0.000,0.050,2398,629,3324
$GC,4501,-1.75,-146.0,417.4,-10.0,299,4505,0.00,2.42,0.00,0.000,6,0.000,0.031,2398,2037,3324
$GC,4833,-1.78,-146.0,449.7,-9.4,307,4838,0.00,2.50,0.00,0.000,4,0.000,0.049,2398,3447,3321
$STATE,4841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4841,begin apogee
$GC,4851,-0.33,0.0,450.7,9.1,307,4969,1.48,0.00,114.00,0.909,6,0.097,0.000,2702,1941,2734
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4974,1.13,146.0,455.8,0.0,310,5097,1.48,2.58,114.72,0.884,4,0.056,0.052,3025,544,2136
$GC,5353,0.59,146.0,425.9,12.2,318,5359,0.62,2.47,0.00,0.000,6,0.150,0.029,2915,1967,2135
$GC,5691,0.33,146.0,395.6,8.9,327,5696,0.30,2.60,0.00,0.000,4,0.133,0.052,2859,540,2132
$GC,5804,0.17,160.5,387.0,6.6,329,5821,0.22,2.45,11.05,0.880,6,0.130,0.030,2818,1956,2078
$GC,6146,0.23,233.0,370.6,4.6,338,6208,0.00,2.55,56.05,0.877,4,0.000,0.048,2818,3356,1782
$GC,6290,0.19,235.4,361.7,7.1,341,6295,0.00,2.47,0.00,0.000,6,0.000,0.033,2818,1949,1781
$GC,6639,0.14,235.4,335.3,7.5,350,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1948,1780
$GC,6964,0.17,275.8,314.9,5.7,358,7006,0.00,2.58,33.47,0.857,4,0.000,0.042,2818,3342,1608
$GC,7036,0.18,304.3,310.7,6.2,359,7065,0.00,2.45,22.88,0.834,6,0.000,0.032,2818,1948,1491
$GC,7382,0.18,304.3,287.9,8.0,372,7387,0.00,2.50,0.00,0.000,4,0.000,0.042,2818,3354,1491
$GC,7424,0.18,304.3,284.3,8.9,374,7428,0.00,2.47,0.00,0.000,6,0.000,0.031,2818,1940,1491
$GC,7751,0.18,304.3,260.0,7.2,390,7755,0.00,2.50,0.00,0.000,4,0.000,0.041,2818,3351,1491
$GC,7773,0.21,318.3,258.5,6.7,391,7790,0.00,2.45,11.27,0.818,6,0.000,0.031,2818,1939,1435
$GC,8099,0.21,318.3,233.1,8.2,407,8103,0.00,2.50,0.00,0.000,4,0.000,0.040,2818,3356,1435
$GC,8161,0.21,318.3,228.2,7.7,409,8167,0.00,2.45,0.00,0.000,6,0.000,0.031,2818,1941,1435
$GC,8478,0.21,318.3,205.9,7.7,425,8482,0.00,2.47,0.00,0.000,4,0.000,0.038,2818,3352,1435
$GC,8522,0.21,318.3,202.0,8.9,427,8527,0.00,2.42,0.00,0.000,6,0.000,0.030,2818,1938,1435
$GC,8858,0.24,336.1,177.9,6.5,457,8880,0.00,2.55,14.18,0.751,4,0.000,0.037,2818,3351,1362
$GC,8916,0.30,353.1,174.1,6.6,462,8938,0.12,2.42,13.82,0.739,6,0.080,0.028,2845,1945,1292
$GC,9257,0.33,373.3,147.4,6.4,494,9279,0.00,2.50,16.00,0.711,4,0.000,0.035,2845,3353,1210
$GC,9315,0.33,373.3,143.4,7.5,499,9319,0.00,2.42,0.00,0.000,6,0.000,0.028,2845,1952,1211
$GC,9643,0.33,373.3,118.0,7.4,529,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1951,1211
$GC,9969,0.35,383.6,93.0,6.8,560,9984,0.00,2.50,8.75,0.652,4,0.000,0.035,2845,3353,1169
$GC,10049,0.42,387.4,87.7,7.0,567,10062,0.12,2.42,3.70,0.647,6,0.071,0.026,2874,1936,1152
$GC,10380,0.42,387.4,62.1,7.8,598,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1936,1153
$GC,10635,0.43,393.3,43.8,6.9,622,10647,0.00,2.47,5.30,0.597,4,0.000,0.034,2874,3358,1128
$GC,10672,0.48,425.7,41.5,6.0,625,10704,0.00,2.40,24.40,0.581,6,0.000,0.025,2874,1948,996
$GC,10968,0.48,425.7,20.8,7.6,664,10974,0.00,2.42,0.00,0.000,4,0.000,0.033,2874,3356,997
$GC,11038,0.53,425.7,15.5,7.4,676,11044,0.00,2.38,0.00,0.000,6,0.000,0.024,2874,1950,998
$STATE,11167,end climb,FINISH_DEPTH_REACHED
$STATE,11167,begin subsurface finish
$FINISH1,9.9,1.022845,232
$GC,11175,0.41,232.3,9.9,-3.3,699,11193,0.00,0.00,-14.15,0.000,6,0.000,0.000,2874,1950,1787
$FINISH2,8.6
$STATE,11194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11194,begin surface
$IRIDIUM_FIX,2059.45,-15748.75,301297,212101
$TT8_MAMPS,0.027612
$HUMID,1702
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,24.90
$XPDR_PINGS,16
$24V_AH,23.8,15.901
$10V_AH,10.2,9.374
$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,16.850,108.350,449.600,0.000,0.000,26.484,28.851,267.527,13.000,0.000,0.000,13.991,1257.451,7639.029,496.285,1631.016,665.478,33.358,1311.406,0.000,1602.182,0.000,57.454
$DEVICE_MAMPS,161.837,57.525,908.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.641,473.014,842.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,702
$CAP_FILE_SIZE,102967,0
$CFSIZE,260165632,252493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,043921,2107.726,-15751.298,12,1.4,12,9.8