version: 66.03
glider: 114
mission: 3
dive: 43
start: 9 27 108 19 5 17
data:
$ID,114
$MISSION,3
$DIVE,43
$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,-592760.81
$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,25
$R_STBD_OVSHOOT,66
$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
$GPS1,185926,2104.583,-15747.708,38,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.1
$GPS2,190421,2104.562,-15747.715,9,1.7,9,9.8
$SPEED_LIMITS,0.063,0.231
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.005,0.231
$KALMAN_X,-4118.5,-30.5,118.6,14136.6,-822.5
$KALMAN_Y,-3436.2,58.6,256.8,-19131.8,-821.7
$MHEAD_RNG_PITCHd_Wd,351.4,10817,-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,26,-1.18,-146.0,0.0,0.0,0,94,0.00,0.00,-64.78,0.000,2,0.000,0.000,408,2090,2894
$GC,98,-1.18,-146.0,3.5,-5.3,12,122,11.62,2.28,-7.03,0.000,4,0.163,0.043,2446,3424,3329
$GC,164,-1.10,-146.0,20.4,-15.6,23,171,0.10,2.35,0.00,0.000,6,0.113,0.024,2465,2026,3330
$GC,440,-1.10,-146.0,55.7,-11.4,54,444,0.00,2.40,0.00,0.000,4,0.000,0.035,2465,3412,3329
$GC,474,-1.14,-146.0,59.3,-8.6,56,481,0.00,2.30,0.00,0.000,6,0.000,0.023,2465,2037,3329
$GC,737,-1.17,-146.0,84.2,-9.8,81,741,0.00,2.38,0.00,0.000,4,0.000,0.035,2465,3412,3330
$GC,771,-1.22,-146.0,87.8,-10.3,83,777,0.00,2.30,0.00,0.000,6,0.000,0.023,2465,2034,3330
$GC,1100,-1.27,-146.0,121.1,-10.3,114,1105,0.15,2.38,0.00,0.000,4,0.058,0.034,2424,3411,3331
$GC,1122,-1.27,-146.0,124.2,-11.5,115,1128,0.00,2.30,0.00,0.000,6,0.000,0.024,2424,2034,3331
$GC,1447,-1.27,-146.0,163.0,-12.0,146,1451,0.00,2.38,0.00,0.000,4,0.000,0.035,2424,3416,3332
$GC,1492,-1.30,-146.0,168.4,-12.1,149,1498,0.00,2.33,0.00,0.000,6,0.000,0.024,2424,2031,3332
$GC,1827,-1.30,-146.0,204.3,-10.3,179,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2029,3332
$GC,2136,-1.35,-146.0,234.5,-9.6,194,2140,0.00,2.38,0.00,0.000,4,0.000,0.037,2424,3410,3332
$GC,2182,-1.41,-146.0,238.6,-9.0,196,2186,0.00,2.33,0.00,0.000,6,0.000,0.025,2424,2031,3332
$GC,2512,-1.46,-146.0,263.2,-7.5,212,2517,0.15,2.40,0.00,0.000,4,0.059,0.037,2387,3414,3331
$GC,2532,-1.49,-146.0,265.0,-7.7,213,2536,0.00,2.33,0.00,0.000,6,0.000,0.026,2387,2039,3331
$GC,2859,-1.49,-146.0,298.0,-10.3,229,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2037,3331
$GC,3166,-1.49,-146.0,330.0,-10.3,237,3170,0.00,2.45,0.00,0.000,4,0.000,0.046,2386,638,3330
$GC,3207,-1.49,-146.0,334.8,-11.2,238,3211,0.00,2.35,0.00,0.000,6,0.000,0.028,2387,2014,3330
$GC,3531,-1.49,-146.0,369.0,-9.9,246,3536,0.00,2.53,0.00,0.000,4,0.000,0.046,2387,3452,3328
$GC,3565,-1.49,-146.0,372.4,-10.2,246,3571,0.00,2.40,0.00,0.000,6,0.000,0.028,2386,2045,3328
$GC,3896,-1.49,-146.0,398.7,-7.9,255,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2043,3325
$GC,4221,-1.49,-146.0,427.2,-9.1,263,4226,0.00,2.47,0.00,0.000,4,0.000,0.045,2386,3444,3322
$GC,4250,-1.52,-146.0,429.8,-9.1,263,4255,0.00,2.42,0.00,0.000,6,0.000,0.031,2386,2034,3322
$STATE,4503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4503,begin apogee
$GC,4511,-0.33,0.0,451.4,8.3,270,4628,1.23,0.00,113.62,0.917,6,0.104,0.000,2632,1793,2733
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4632,1.18,146.0,455.0,0.0,273,4755,1.52,2.60,113.90,0.886,4,0.061,0.056,2962,394,2137
$GC,4873,0.77,146.0,441.3,11.9,278,4879,0.47,2.45,0.00,0.000,6,0.134,0.028,2880,1804,2136
$GC,5211,0.63,174.2,417.4,6.5,287,5241,0.15,2.60,21.95,0.886,4,0.137,0.045,2852,3207,2022
$GC,5276,0.62,239.7,414.0,5.1,288,5332,0.00,2.47,50.90,0.880,6,0.000,0.033,2851,1805,1755
$GC,5658,0.51,239.7,383.4,9.5,297,5663,0.15,2.50,0.00,0.000,4,0.133,0.038,2825,3212,1753
$GC,5782,0.47,239.7,373.2,7.7,299,5788,0.00,2.50,0.00,0.000,6,0.000,0.035,2825,1793,1753
$GC,6114,0.51,288.7,352.1,5.7,308,6159,0.00,2.60,38.03,0.882,4,0.000,0.040,2825,3203,1556
$GC,6258,0.47,288.7,342.4,7.9,311,6263,0.00,2.47,0.00,0.000,6,0.000,0.034,2826,1797,1556
$GC,6571,0.44,288.7,319.2,7.7,319,6576,0.00,2.50,0.00,0.000,4,0.000,0.041,2825,3207,1555
$GC,6650,0.44,288.7,312.7,8.1,320,6656,0.00,2.47,0.00,0.000,6,0.000,0.033,2825,1792,1555
$GC,6964,0.53,341.0,291.9,5.6,331,7009,0.00,2.55,40.30,0.848,4,0.000,0.038,2825,3205,1342
$GC,7071,0.58,371.7,285.5,6.4,336,7101,0.00,2.47,24.40,0.827,6,0.000,0.033,2825,1797,1217
$GC,7419,0.58,371.7,256.4,9.7,353,7422,0.00,2.47,0.00,0.000,4,0.000,0.038,2826,3204,1217
$GC,7548,0.58,371.7,244.7,9.0,358,7554,0.00,2.45,0.00,0.000,6,0.000,0.032,2825,1797,1217
$GC,7864,0.58,371.7,218.9,7.8,374,7868,0.00,2.47,0.00,0.000,4,0.000,0.036,2825,3213,1218
$GC,7949,0.63,398.5,212.8,6.5,378,7975,0.00,2.47,21.27,0.777,6,0.000,0.031,2825,1793,1108
$GC,8293,0.63,398.5,182.3,9.5,403,8297,0.00,2.47,0.00,0.000,4,0.000,0.035,2825,3212,1108
$GC,8337,0.63,398.5,178.2,9.2,406,8343,0.00,2.45,0.00,0.000,6,0.000,0.030,2825,1796,1109
$GC,8666,0.66,398.5,153.8,7.8,437,8670,0.12,2.47,0.00,0.000,4,0.074,0.035,2854,3215,1109
$GC,8773,0.66,398.5,143.3,9.1,446,8778,0.00,2.45,0.00,0.000,6,0.000,0.030,2854,1798,1109
$GC,9103,0.66,398.5,110.6,10.8,476,9107,0.00,2.45,0.00,0.000,4,0.000,0.035,2854,3214,1109
$GC,9204,0.66,398.5,99.1,10.8,484,9210,0.00,2.42,0.00,0.000,6,0.000,0.028,2854,1795,1110
$GC,9532,0.66,398.5,72.9,8.1,515,9536,0.00,2.45,0.00,0.000,4,0.000,0.033,2854,3218,1111
$GC,9628,0.70,398.8,64.9,7.5,523,9634,0.00,2.42,0.00,0.000,6,0.000,0.028,2854,1795,1111
$GC,9890,0.80,430.2,47.1,6.4,548,9924,0.12,2.50,25.12,0.595,4,0.066,0.032,2885,3216,978
$GC,9988,0.83,448.5,40.7,6.8,556,10008,0.00,2.45,14.25,0.588,6,0.000,0.027,2885,1788,903
$GC,10274,0.83,448.5,18.7,7.9,595,10280,0.00,2.45,0.00,0.000,4,0.000,0.032,2885,3209,903
$GC,10355,0.83,448.5,11.8,8.8,609,10362,0.00,2.42,0.00,0.000,6,0.000,0.026,2885,1792,904
$STATE,10444,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.7,1.023081
$STATE,10516,end surface coast,CONTROL_FINISHED_OK
$STATE,10516,begin surface
$SM_CCo,10600,0.00,0.000,0,0,906,448.41
$SM_GC,1.25,11.05,0.00,0.00,0.047,0.000,0.000,409,2078,906,-10.54,1.05,448.41
$IRIDIUM_FIX,2057.14,-15746.61,221297,161615
$TT8_MAMPS,0.027612
$HUMID,1677
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,8.432
$10V_AH,10.2,4.484
$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,26.850,117.775,463.750,0.000,0.000,26.412,32.066,121.121,11.500,0.000,0.000,11.286,1179.716,7185.352,516.549,1561.436,455.613,33.361,1309.011,0.000,1526.400,0.000,57.454
$DEVICE_MAMPS,163.371,55.991,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.904,419.552,751.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34785,637
$CAP_FILE_SIZE,98048,0
$CFSIZE,260165632,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,220308,2105.656,-15748.012,32,0.9,32,9.8