version: 66.03
glider: 114
mission: 3
dive: 42
start: 9 27 108 15 56 31
data:
$ID,114
$MISSION,3
$DIVE,42
$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,200
$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,420
$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,-592748.88
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2710
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,55
$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
$GPS1,154947,2103.167,-15747.539,11,6.8,30,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.8
$GPS2,155537,2103.138,-15747.587,13,0.9,29,9.8
$SPEED_LIMITS,0.063,0.231
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.000,0.231
$KALMAN_X,-3111.5,-94.4,-610.4,14154.4,-782.9
$KALMAN_Y,-2795.5,245.6,-443.0,-21896.1,-385.7
$MHEAD_RNG_PITCHd_Wd,350.2,13374,-13.8,-7.500
$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,-1.18,-146.0,0.0,0.0,0,99,0.00,0.00,-69.78,0.000,2,0.000,0.000,409,2078,3023
$GC,103,-1.18,-146.0,3.7,-5.7,13,128,11.68,2.38,-4.68,0.000,4,0.165,0.050,2447,3420,3332
$GC,192,-1.13,-146.0,25.8,-12.4,28,198,0.00,2.35,0.00,0.000,6,0.000,0.023,2446,2021,3331
$GC,462,-1.10,-146.0,56.0,-9.4,56,467,0.10,2.42,0.00,0.000,4,0.118,0.034,2465,3422,3332
$GC,484,-1.10,-146.0,58.3,-9.8,57,490,0.00,2.33,0.00,0.000,6,0.000,0.023,2465,2032,3332
$GC,746,-1.13,-146.0,83.9,-10.5,82,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2032,3332
$GC,1069,-1.20,-146.0,117.7,-11.3,112,1073,0.00,2.40,0.00,0.000,4,0.000,0.035,2465,3421,3333
$GC,1115,-1.28,-146.0,123.4,-11.2,115,1122,0.15,2.33,0.00,0.000,6,0.060,0.023,2428,2028,3333
$GC,1440,-1.28,-146.0,158.2,-9.8,146,1445,0.00,2.40,0.00,0.000,4,0.000,0.035,2428,3422,3333
$GC,1520,-1.33,-146.0,165.8,-9.2,152,1526,0.00,2.33,0.00,0.000,6,0.000,0.025,2428,2034,3333
$GC,1847,-1.37,-146.0,195.8,-8.7,183,1851,0.00,2.40,0.00,0.000,4,0.000,0.040,2429,640,3333
$GC,1869,-1.43,-146.0,198.0,-8.5,184,1877,0.15,2.35,0.00,0.000,6,0.060,0.025,2393,2026,3334
$GC,2186,-1.43,-146.0,228.2,-9.2,201,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2026,3333
$GC,2495,-1.43,-146.0,255.0,-9.1,216,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2026,3334
$GC,2805,-1.43,-146.0,287.2,-11.5,231,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2026,3332
$GC,3132,-1.43,-146.0,323.2,-10.7,242,3136,0.00,2.47,0.00,0.000,4,0.000,0.043,2393,3442,3332
$GC,3183,-1.48,-146.0,328.1,-9.6,243,3187,0.00,2.38,0.00,0.000,6,0.000,0.030,2392,2045,3331
$GC,3507,-1.48,-146.0,355.1,-7.8,251,3511,0.00,2.47,0.00,0.000,4,0.000,0.048,2392,638,3330
$GC,3564,-1.51,-146.0,359.2,-7.4,252,3568,0.00,2.40,0.00,0.000,6,0.000,0.031,2392,2036,3330
$GC,3915,-1.51,-146.0,382.7,-6.8,261,3919,0.00,2.50,0.00,0.000,4,0.000,0.049,2392,3453,3327
$GC,4033,-1.56,-146.0,391.9,-8.7,263,4037,0.00,2.42,0.00,0.000,6,0.000,0.031,2392,2043,3326
$GC,4365,-1.59,-146.0,417.8,-7.7,271,4370,0.12,2.50,0.00,0.000,4,0.079,0.044,2366,3453,3323
$GC,4415,-1.59,-146.0,422.1,-8.1,272,4419,0.00,2.45,0.00,0.000,6,0.000,0.031,2365,2028,3323
$GC,4728,-1.59,-146.0,445.8,-7.5,280,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2027,3320
$STATE,4806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4815,-0.33,0.0,452.5,8.0,282,4932,1.35,0.00,113.57,0.935,6,0.114,0.000,2632,1788,2733
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4933,begin climb
$GC,4936,1.18,146.0,456.4,0.0,285,5058,1.55,2.60,114.50,0.901,4,0.063,0.058,2963,395,2136
$GC,5084,0.76,147.3,455.2,7.5,288,5091,0.47,2.47,0.00,0.000,6,0.138,0.028,2881,1816,2136
$GC,5417,0.57,147.3,431.4,7.7,297,5419,0.25,0.00,0.00,0.000,6,0.128,0.000,2836,1816,2135
$GC,5741,0.47,147.3,406.9,7.5,305,5746,0.12,2.47,0.00,0.000,4,0.133,0.046,2815,3205,2134
$GC,5848,0.45,166.5,399.3,6.8,307,5870,0.00,2.47,15.70,0.913,6,0.000,0.035,2815,1797,2054
$GC,6196,0.53,248.6,380.7,4.5,316,6265,0.00,2.58,63.70,0.906,4,0.000,0.041,2815,3212,1718
$GC,6338,0.58,294.5,374.0,5.8,319,6381,0.00,2.50,36.33,0.883,6,0.000,0.035,2815,1797,1532
$GC,6696,0.58,294.5,346.7,7.7,328,6701,0.00,2.53,0.00,0.000,4,0.000,0.042,2815,3211,1532
$GC,6832,0.60,305.5,337.0,7.1,331,6846,0.12,2.50,9.25,0.878,6,0.090,0.035,2840,1793,1486
$GC,7155,0.53,305.5,310.6,8.4,339,7159,0.00,2.50,0.00,0.000,4,0.000,0.041,2840,3201,1486
$GC,7206,0.47,305.5,305.4,10.4,340,7211,0.15,2.47,0.00,0.000,6,0.122,0.034,2813,1789,1485
$GC,7523,0.47,305.5,274.3,9.6,354,7528,0.00,2.50,0.00,0.000,4,0.000,0.040,2813,3203,1485
$GC,7613,0.47,305.5,265.8,9.5,358,7617,0.00,2.45,0.00,0.000,6,0.000,0.032,2814,1797,1485
$GC,7934,0.52,334.9,243.8,6.4,374,7964,0.00,2.58,22.70,0.836,4,0.000,0.037,2814,3207,1367
$GC,8056,0.59,349.3,235.4,7.0,379,8075,0.10,2.45,11.68,0.818,6,0.092,0.032,2834,1798,1308
$GC,8397,0.59,349.3,206.3,9.1,396,8401,0.00,2.47,0.00,0.000,4,0.000,0.037,2834,3212,1308
$GC,8471,0.59,349.3,199.4,8.9,399,8475,0.00,2.45,0.00,0.000,6,0.000,0.031,2834,1799,1309
$GC,8799,0.66,388.7,176.6,6.1,429,8835,0.00,2.53,31.00,0.752,4,0.000,0.035,2834,3217,1147
$GC,8917,0.69,388.7,167.8,8.5,439,8922,0.12,2.47,0.00,0.000,6,0.080,0.030,2861,1800,1147
$GC,9243,0.65,388.7,137.0,8.6,469,9247,0.00,2.45,0.00,0.000,4,0.000,0.035,2861,3205,1148
$GC,9334,0.65,388.7,129.3,8.2,477,9338,0.00,2.45,0.00,0.000,6,0.000,0.028,2861,1790,1148
$GC,9662,0.65,388.7,100.5,9.7,507,9666,0.00,2.47,0.00,0.000,4,0.000,0.033,2861,3216,1148
$GC,9741,0.65,388.7,92.9,9.1,513,9747,0.00,2.42,0.00,0.000,6,0.000,0.028,2861,1797,1148
$GC,10071,0.70,413.6,65.9,6.6,544,10096,0.00,2.50,19.75,0.624,4,0.000,0.033,2861,3213,1046
$GC,10223,0.75,413.6,51.2,9.3,557,10230,0.00,2.42,0.00,0.000,6,0.000,0.027,2861,1795,1046
$GC,10486,0.85,438.7,31.9,6.6,582,10512,0.15,2.53,19.42,0.584,4,0.062,0.032,2902,3209,944
$GC,10598,0.85,438.7,21.8,9.8,599,10605,0.00,2.42,0.00,0.000,6,0.000,0.026,2902,1790,944
$STATE,10761,end climb,SURFACE_DEPTH_REACHED
$STATE,10761,begin surface coast
$FINISH,0.6,1.009505
$STATE,10813,end surface coast,CONTROL_FINISHED_OK
$STATE,10814,begin surface
$SM_CCo,10898,0.00,0.000,0,0,944,438.84
$SM_GC,1.53,11.20,0.00,0.00,0.050,0.000,0.000,408,2090,944,-10.55,1.41,438.84
$IRIDIUM_FIX,2054.83,-15744.48,221297,121257
$TT8_MAMPS,0.027612
$HUMID,1678
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,23.7,8.309
$10V_AH,10.2,4.409
$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,27.800,108.800,457.600,0.000,0.000,22.235,32.069,157.751,11.000,0.000,0.000,31.028,1188.236,7477.031,510.565,1580.376,493.983,33.359,1297.589,0.000,1533.671,0.000,57.437
$DEVICE_MAMPS,164.905,57.525,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.593,418.235,732.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,637
$CAP_FILE_SIZE,99167,0
$CFSIZE,260165632,255852544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,185926,2104.583,-15747.708,38,1.4,38,9.8