version: 66.03
glider: 114
mission: 3
dive: 113
start: 10 7 108 3 57 41
data:
$ID,114
$MISSION,3
$DIVE,113
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,0
$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,0
$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,-593772.94
$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,33
$R_STBD_OVSHOOT,75
$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
$GPS1,034417,2108.564,-15749.611,9,3.3,28,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.1
$GPS2,035647,2108.524,-15749.670,10,2.2,29,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.219,0.057
$KALMAN_X,-41972.1,-632.0,3578.2,45783.2,-5970.9
$KALMAN_Y,-22296.4,-190.7,-895.5,8472.2,1330.8
$MHEAD_RNG_PITCHd_Wd,65.6,2792,-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,-59.28,0.000,2,0.000,0.000,410,2089,2749
$GC,93,-1.13,-146.0,3.0,-3.6,11,123,11.98,2.30,-10.02,0.000,4,0.161,0.046,2524,3400,3331
$GC,176,-1.22,-146.0,18.3,-10.6,25,182,0.00,2.30,0.00,0.000,6,0.000,0.024,2524,2032,3331
$GC,447,-1.31,-146.0,43.9,-8.0,59,452,0.15,2.38,0.00,0.000,4,0.055,0.034,2488,3405,3331
$GC,503,-1.38,-146.0,49.0,-8.1,63,510,0.00,2.30,0.00,0.000,6,0.000,0.022,2488,2027,3331
$GC,766,-1.44,-146.0,70.9,-8.7,88,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2025,3331
$GC,1021,-1.52,-146.0,95.1,-9.4,112,1022,0.17,0.00,0.00,0.000,6,0.051,0.000,2443,2025,3332
$GC,1338,-1.52,-146.0,128.6,-10.2,142,1342,0.00,2.38,0.00,0.000,4,0.000,0.035,2443,3404,3332
$GC,1435,-1.56,-146.0,138.1,-10.2,150,1439,0.00,2.30,0.00,0.000,6,0.000,0.024,2443,2030,3332
$GC,1761,-1.56,-146.0,170.3,-9.5,180,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2028,3332
$GC,2081,-1.60,-146.0,199.9,-10.4,210,2089,0.00,2.38,0.00,0.000,4,0.000,0.035,2443,3408,3332
$GC,2112,-1.65,-146.0,203.4,-10.6,212,2117,0.10,2.30,0.00,0.000,6,0.068,0.024,2418,2033,3332
$GC,2439,-1.65,-146.0,233.7,-8.9,228,2443,0.00,2.38,0.00,0.000,4,0.000,0.035,2418,3412,3332
$GC,2472,-1.65,-146.0,236.9,-9.1,229,2478,0.00,2.33,0.00,0.000,6,0.000,0.025,2418,2027,3332
$GC,2788,-1.65,-146.0,263.4,-8.5,245,2792,0.00,2.38,0.00,0.000,4,0.000,0.037,2418,3401,3332
$GC,2806,-1.65,-146.0,264.9,-8.0,246,2810,0.00,2.30,0.00,0.000,6,0.000,0.025,2418,2041,3332
$GC,3139,-1.69,-146.0,294.2,-9.1,262,3143,0.00,2.45,0.00,0.000,4,0.000,0.044,2418,634,3330
$GC,3161,-1.73,-146.0,296.4,-9.3,263,3165,0.00,2.33,0.00,0.000,6,0.000,0.028,2418,2006,3330
$GC,3501,-1.76,-146.0,323.0,-7.6,273,3506,0.00,2.50,0.00,0.000,4,0.000,0.042,2418,3443,3329
$GC,3547,-1.82,-146.0,326.7,-7.7,274,3552,0.15,2.40,0.00,0.000,6,0.067,0.028,2384,2035,3328
$GC,3865,-1.82,-146.0,356.4,-9.4,282,3870,0.00,2.47,0.00,0.000,4,0.000,0.041,2384,3445,3326
$GC,3893,-1.82,-146.0,359.1,-9.2,282,3898,0.00,2.40,0.00,0.000,6,0.000,0.028,2384,2038,3326
$GC,4225,-1.82,-146.0,386.0,-8.0,290,4229,0.00,2.47,0.00,0.000,4,0.000,0.042,2384,3447,3323
$GC,4247,-1.82,-146.0,388.0,-8.4,290,4251,0.00,2.42,0.00,0.000,6,0.000,0.030,2383,2031,3324
$GC,4584,-1.82,-146.0,414.2,-7.9,299,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2029,3320
$GC,4909,-1.82,-146.0,442.2,-8.7,307,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2029,3319
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5036,-0.33,0.0,452.1,8.2,310,5153,1.58,0.00,113.65,0.917,6,0.099,0.000,2704,1936,2733
$STATE,5154,end apogee,CONTROL_FINISHED_OK
$STATE,5154,begin climb
$GC,5158,1.13,146.0,455.5,0.0,313,5281,1.45,2.55,114.47,0.891,4,0.052,0.053,3024,555,2136
$GC,5377,0.59,146.0,443.9,12.7,318,5383,0.62,2.42,0.00,0.000,6,0.140,0.030,2915,1952,2135
$GC,5697,0.32,146.0,417.3,7.9,326,5702,0.30,2.55,0.00,0.000,4,0.132,0.053,2857,560,2134
$GC,5754,0.15,158.5,413.3,6.7,327,5769,0.22,2.42,9.98,0.883,6,0.125,0.031,2816,1956,2086
$GC,6102,0.20,234.4,397.2,4.5,336,6166,0.00,2.62,58.72,0.892,4,0.000,0.054,2816,566,1777
$GC,6175,0.21,278.8,393.6,5.6,337,6215,0.00,2.42,35.65,0.872,6,0.000,0.031,2816,1950,1596
$GC,6548,0.16,278.8,366.9,7.7,347,6552,0.00,2.50,0.00,0.000,4,0.000,0.049,2816,3349,1596
$GC,6621,0.12,278.8,360.8,8.8,348,6625,0.00,2.42,0.00,0.000,6,0.000,0.034,2816,1966,1595
$GC,6953,0.08,278.8,331.1,9.2,356,6957,0.00,2.58,0.00,0.000,4,0.000,0.054,2816,536,1594
$GC,6981,0.03,278.8,328.3,10.0,356,6986,0.15,2.45,0.00,0.000,6,0.130,0.031,2790,1950,1594
$GC,7313,0.03,282.0,303.3,7.0,364,7322,0.00,2.53,2.88,0.814,4,0.000,0.048,2791,3345,1583
$GC,7403,0.09,312.3,297.5,6.1,366,7433,0.00,2.45,24.00,0.859,6,0.000,0.032,2791,1937,1458
$GC,7757,0.20,376.4,277.9,4.9,383,7813,0.15,2.58,49.85,0.834,4,0.080,0.043,2826,3352,1198
$GC,7841,0.15,376.4,272.0,8.1,386,7846,0.00,2.47,0.00,0.000,6,0.000,0.031,2826,1944,1198
$GC,8163,0.11,376.4,244.8,8.9,402,8168,0.00,2.50,0.00,0.000,4,0.000,0.041,2826,3353,1198
$GC,8186,0.06,376.4,242.4,10.1,403,8192,0.15,2.45,0.00,0.000,6,0.109,0.031,2798,1944,1198
$GC,8509,0.10,376.4,217.1,7.5,419,8512,0.00,2.47,0.00,0.000,4,0.000,0.038,2799,3361,1198
$GC,8560,0.17,376.4,213.1,7.9,421,8564,0.00,2.45,0.00,0.000,6,0.000,0.030,2798,1944,1198
$GC,8886,0.22,376.4,188.6,8.3,443,8891,0.12,2.47,0.00,0.000,4,0.076,0.035,2826,3360,1199
$GC,8930,0.22,376.4,184.2,9.7,446,8937,0.00,2.42,0.00,0.000,6,0.000,0.029,2826,1947,1199
$GC,9259,0.22,376.4,156.3,8.4,477,9263,0.00,2.45,0.00,0.000,4,0.000,0.036,2827,3356,1198
$GC,9292,0.22,376.4,153.4,8.6,479,9298,0.00,2.42,0.00,0.000,6,0.000,0.027,2826,1935,1199
$GC,9620,0.22,376.4,129.5,7.5,510,9624,0.00,2.47,0.00,0.000,4,0.000,0.035,2826,3362,1199
$GC,9677,0.28,376.4,125.0,7.2,514,9683,0.00,2.40,0.00,0.000,6,0.000,0.027,2827,1950,1199
$GC,10006,0.37,398.6,102.5,6.4,545,10026,0.15,0.00,17.98,0.657,6,0.065,0.000,2862,1950,1108
$GC,10343,0.37,398.6,70.3,8.8,577,10347,0.00,2.45,0.00,0.000,4,0.000,0.035,2862,3359,1109
$GC,10424,0.41,403.9,63.8,7.0,583,10434,0.00,2.40,4.97,0.623,6,0.000,0.025,2862,1942,1086
$GC,10700,0.41,403.9,44.6,7.7,609,10704,0.00,2.45,0.00,0.000,4,0.000,0.034,2862,3360,1087
$GC,10722,0.43,410.8,42.7,6.9,610,10732,0.00,2.40,5.60,0.595,6,0.000,0.025,2862,1937,1058
$GC,10994,0.50,430.6,25.4,6.5,641,11013,0.12,0.00,15.38,0.570,6,0.067,0.000,2892,1937,977
$STATE,11231,end climb,SURFACE_DEPTH_REACHED
$STATE,11231,begin surface coast
$FINISH,0.8,1.022895
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11379,0.00,0.000,0,0,977,430.50
$SM_GC,1.55,11.00,0.00,0.00,0.044,0.000,0.000,412,2079,977,-10.85,1.10,430.50
$IRIDIUM_FIX,2059.45,-15750.89,010198,040424
$TT8_MAMPS,0.027612
$HUMID,1695
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.8,16.806
$10V_AH,10.2,9.932
$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,28.575,116.975,453.125,0.000,0.000,76.941,99.098,289.609,12.750,0.000,0.000,32.252,1262.127,7976.153,500.850,1599.224,789.048,33.352,1296.074,0.000,1555.732,0.000,57.792
$DEVICE_MAMPS,161.070,56.758,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.162,470.896,828.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34724,694
$CAP_FILE_SIZE,108421,0
$CFSIZE,260165632,252116992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,070838,2108.590,-15748.724,39,1.3,39,9.8