version: 66.03
glider: 114
mission: 3
dive: 107
start: 10 6 108 7 49 1
data:
$ID,114
$MISSION,3
$DIVE,107
$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,34
$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
$GPS1,043921,2107.726,-15751.298,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,4.82
$_SM_ANGLEo,13.0
$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,0.186,0.128
$KALMAN_X,-42441.8,-334.0,-209.3,46929.9,-1467.3
$KALMAN_Y,-20655.8,-467.5,-34.7,4800.9,41.2
$MHEAD_RNG_PITCHd_Wd,45.7,4772,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-66.45,0.000,6,0.000,0.000,2874,1943,3327
$GC,103,-1.13,-146.0,0.6,0.1,13,109,1.55,0.00,0.00,0.000,6,0.071,0.000,2536,1944,3327
$GC,381,-1.24,-146.0,21.5,-9.5,62,388,0.12,2.58,0.00,0.000,4,0.061,0.036,2506,3443,3328
$GC,447,-1.33,-146.0,28.3,-10.0,73,453,0.00,2.35,0.00,0.000,6,0.000,0.023,2506,2031,3328
$GC,711,-1.39,-146.0,52.1,-8.3,99,713,0.12,0.00,0.00,0.000,6,0.061,0.000,2474,2031,3329
$GC,965,-1.39,-146.0,77.2,-9.0,123,969,0.00,2.45,0.00,0.000,4,0.000,0.038,2474,3450,3329
$GC,1022,-1.46,-146.0,82.8,-9.6,127,1028,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2039,3330
$GC,1351,-1.51,-146.0,111.9,-9.0,158,1357,0.10,0.00,0.00,0.000,6,0.066,0.000,2447,2038,3331
$GC,1678,-1.54,-146.0,140.5,-9.0,189,1682,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3447,3332
$GC,1700,-1.54,-146.0,143.0,-10.0,190,1706,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2035,3332
$GC,2028,-1.59,-146.0,171.4,-7.7,221,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2034,3332
$GC,2356,-1.65,-146.0,196.6,-7.3,252,2361,0.12,2.45,0.00,0.000,4,0.063,0.035,2416,3450,3332
$GC,2407,-1.69,-146.0,201.0,-8.5,255,2411,0.00,2.38,0.00,0.000,6,0.000,0.025,2415,2038,3332
$GC,2723,-1.69,-146.0,227.2,-7.5,270,2727,0.00,2.42,0.00,0.000,4,0.000,0.036,2416,3443,3332
$GC,2779,-1.76,-146.0,231.2,-6.4,272,2785,0.00,2.38,0.00,0.000,6,0.000,0.026,2416,2032,3332
$GC,3096,-1.80,-146.0,257.1,-7.9,288,3100,0.12,2.47,0.00,0.000,4,0.067,0.037,2385,3453,3331
$GC,3118,-1.80,-146.0,259.3,-9.1,289,3122,0.00,2.40,0.00,0.000,6,0.000,0.027,2385,2036,3332
$GC,3440,-1.80,-146.0,287.3,-8.7,305,3444,0.00,2.45,0.00,0.000,4,0.000,0.044,2385,633,3332
$GC,3481,-1.80,-146.0,291.1,-9.1,307,3485,0.00,2.40,0.00,0.000,6,0.000,0.028,2385,2037,3332
$GC,3825,-1.80,-146.0,322.8,-9.1,318,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2037,3330
$GC,4150,-1.80,-146.0,349.9,-8.2,326,4157,0.00,2.47,0.00,0.000,4,0.000,0.046,2385,3446,3327
$GC,4180,-1.80,-146.0,352.9,-9.7,326,4184,0.00,2.42,0.00,0.000,6,0.000,0.030,2385,2031,3327
$GC,4518,-1.80,-146.0,384.0,-9.4,335,4522,0.00,2.47,0.00,0.000,4,0.000,0.049,2385,627,3325
$GC,4581,-1.80,-146.0,390.1,-9.4,336,4585,0.00,2.45,0.00,0.000,6,0.000,0.032,2385,2051,3324
$GC,4925,-1.80,-146.0,420.3,-8.6,345,4930,0.00,2.47,0.00,0.000,4,0.000,0.051,2385,3444,3322
$GC,4948,-1.80,-146.0,422.5,-8.6,345,4952,0.00,2.42,0.00,0.000,6,0.000,0.031,2385,2033,3322
$GC,5284,-1.80,-146.0,447.9,-7.5,354,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2033,3319
$STATE,5323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5323,begin apogee
$GC,5331,-0.33,0.0,451.0,7.4,355,5448,1.58,0.00,113.78,0.926,6,0.100,0.000,2705,1930,2733
$STATE,5449,end apogee,CONTROL_FINISHED_OK
$STATE,5449,begin climb
$GC,5453,1.13,146.0,455.1,0.0,358,5576,1.45,2.55,114.62,0.896,4,0.054,0.052,3023,548,2137
$GC,5832,0.60,146.0,425.4,12.3,366,5838,0.62,2.45,0.00,0.000,6,0.146,0.030,2916,1955,2135
$GC,6170,0.33,146.0,397.5,8.3,375,6175,0.32,2.55,0.00,0.000,4,0.151,0.053,2857,559,2133
$GC,6211,0.16,153.9,394.7,6.9,376,6223,0.22,2.42,6.12,0.878,6,0.140,0.031,2818,1950,2105
$GC,6537,0.24,243.0,379.6,4.1,384,6612,0.00,2.62,69.28,0.889,4,0.000,0.054,2818,548,1742
$GC,6653,0.17,243.0,373.0,7.4,386,6657,0.00,2.45,0.00,0.000,6,0.000,0.031,2818,1947,1741
$GC,6985,0.12,243.0,346.8,8.2,394,6989,0.00,2.55,0.00,0.000,4,0.000,0.051,2818,3364,1740
$GC,7035,0.07,243.0,342.1,9.5,395,7040,0.12,2.47,0.00,0.000,6,0.135,0.034,2798,1955,1739
$GC,7349,0.09,252.9,318.5,6.8,403,7363,0.00,2.58,8.05,0.864,4,0.000,0.044,2798,3352,1701
$GC,7398,0.11,262.2,315.2,6.8,404,7413,0.00,2.47,8.05,0.860,6,0.000,0.033,2798,1943,1663
$GC,7723,0.19,311.5,295.3,5.4,414,7768,0.10,2.60,38.45,0.853,4,0.090,0.043,2818,3349,1463
$GC,7792,0.16,311.5,290.8,7.4,417,7796,0.00,2.47,0.00,0.000,6,0.000,0.032,2818,1943,1463
$GC,8114,0.21,342.6,269.4,6.1,433,8144,0.00,2.60,24.88,0.830,4,0.000,0.043,2818,3366,1336
$GC,8178,0.25,361.9,265.3,6.5,436,8199,0.00,2.50,15.75,0.815,6,0.000,0.031,2818,1940,1257
$GC,8521,0.25,361.9,238.4,7.3,453,8526,0.00,2.53,0.00,0.000,4,0.000,0.040,2818,3362,1257
$GC,8578,0.30,394.0,234.7,6.0,455,8609,0.12,2.47,25.65,0.799,6,0.084,0.031,2845,1943,1126
$GC,8936,0.26,394.0,204.3,9.4,473,8940,0.00,2.50,0.00,0.000,4,0.000,0.039,2845,3356,1126
$GC,8977,0.22,394.0,199.9,10.2,475,8981,0.00,2.45,0.00,0.000,6,0.000,0.029,2845,1939,1126
$GC,9305,0.18,394.0,171.0,8.2,505,9310,0.12,2.50,0.00,0.000,4,0.110,0.036,2822,3362,1126
$GC,9373,0.27,414.3,166.0,6.4,510,9394,0.00,2.42,16.35,0.732,6,0.000,0.028,2822,1949,1043
$GC,9714,0.30,432.8,145.6,6.5,542,9737,0.10,2.53,14.77,0.700,4,0.082,0.037,2845,3365,968
$GC,9773,0.30,432.8,140.0,10.4,547,9777,0.00,2.45,0.00,0.000,6,0.000,0.027,2845,1948,968
$GC,10101,0.30,432.8,108.6,9.5,577,10105,0.00,2.47,0.00,0.000,4,0.000,0.036,2845,3366,968
$GC,10142,0.30,432.8,104.4,10.3,580,10146,0.00,2.42,0.00,0.000,6,0.000,0.026,2845,1945,968
$GC,10470,0.30,432.8,77.7,8.5,610,10474,0.00,2.47,0.00,0.000,4,0.000,0.035,2845,3370,969
$GC,10499,0.30,432.8,75.2,7.8,612,10503,0.00,2.42,0.00,0.000,6,0.000,0.025,2844,1945,969
$GC,10764,0.44,483.7,59.8,5.4,636,10809,0.12,2.58,38.90,0.598,4,0.067,0.035,2876,3365,760
$GC,10833,0.44,483.7,54.1,9.0,642,10837,0.00,2.45,0.00,0.000,6,0.000,0.025,2875,1938,760
$GC,11095,0.44,483.7,30.2,8.8,666,11099,0.00,2.45,0.00,0.000,4,0.000,0.033,2876,3359,761
$GC,11119,0.44,483.7,28.2,8.8,669,11125,0.00,2.40,0.00,0.000,6,0.000,0.025,2875,1942,761
$STATE,11388,end climb,SURFACE_DEPTH_REACHED
$STATE,11388,begin surface coast
$FINISH,0.8,1.009885
$STATE,11468,end surface coast,CONTROL_FINISHED_OK
$STATE,11468,begin surface
$SM_CCo,11553,0.00,0.000,0,0,765,482.75
$SM_GC,1.33,10.95,0.00,0.00,0.045,0.000,0.000,412,2094,765,-10.85,1.50,482.75
$IRIDIUM_FIX,2059.45,-15748.75,301297,212101
$TT8_MAMPS,0.027612
$HUMID,1689
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,25.00
$XPDR_PINGS,14
$24V_AH,23.8,16.021
$10V_AH,10.2,9.453
$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,18.000,123.750,494.650,0.000,0.000,0.000,0.000,0.000,12.500,0.000,0.000,0.000,1317.345,7807.771,531.411,1690.363,259.884,33.334,1378.216,0.000,1673.798,0.000,57.449
$DEVICE_MAMPS,151.099,54.457,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.698,487.173,882.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,731
$CAP_FILE_SIZE,102409,0
$CFSIZE,260165632,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,110237,2109.271,-15748.621,24,1.5,24,9.8