version: 66.03
glider: 114
mission: 3
dive: 44
start: 9 27 108 22 9 4
data:
$ID,114
$MISSION,3
$DIVE,44
$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,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,-592772.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2720
$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,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,52
$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
$GPS1,220308,2105.656,-15748.012,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.8
$GPS2,220809,2105.639,-15748.035,6,1.0,6,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.176,0.142
$KALMAN_X,-5314.1,11.7,666.6,14191.5,-2214.6
$KALMAN_Y,-4215.6,-156.2,476.0,-16361.3,-1797.5
$MHEAD_RNG_PITCHd_Wd,41.3,8761,-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,26,-1.13,-146.0,0.0,0.0,0,100,0.00,0.00,-70.60,0.000,2,0.000,0.000,409,2078,3048
$GC,104,-1.13,-146.0,3.9,-5.3,13,128,11.77,2.38,-4.28,0.000,4,0.165,0.052,2467,3423,3332
$GC,203,-1.13,-146.0,27.6,-12.8,30,210,0.00,2.35,0.00,0.000,6,0.000,0.024,2467,2023,3332
$GC,472,-1.13,-146.0,61.8,-12.0,57,476,0.00,2.42,0.00,0.000,4,0.000,0.035,2467,3425,3332
$GC,495,-1.13,-146.0,64.5,-11.6,58,501,0.00,2.33,0.00,0.000,6,0.000,0.023,2467,2036,3332
$GC,757,-1.13,-146.0,91.5,-9.4,83,761,0.00,2.40,0.00,0.000,4,0.000,0.039,2467,642,3332
$GC,779,-1.17,-146.0,93.8,-9.8,84,786,0.00,2.30,0.00,0.000,6,0.000,0.022,2467,2027,3332
$GC,1106,-1.21,-146.0,125.9,-8.0,115,1110,0.00,2.42,0.00,0.000,4,0.000,0.035,2467,3442,3333
$GC,1181,-1.30,-146.0,131.1,-6.4,121,1186,0.15,2.38,0.00,0.000,6,0.059,0.025,2430,2028,3333
$GC,1506,-1.30,-146.0,159.3,-8.8,151,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2027,3333
$GC,1827,-1.30,-146.0,188.8,-9.3,181,1831,0.00,2.45,0.00,0.000,4,0.000,0.037,2430,3444,3333
$GC,1850,-1.30,-146.0,191.8,-11.2,182,1856,0.00,2.35,0.00,0.000,6,0.000,0.025,2431,2040,3333
$GC,2179,-1.34,-146.0,224.6,-9.7,202,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2039,3334
$GC,2489,-1.38,-146.0,250.2,-7.5,217,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2039,3333
$GC,2797,-1.42,-146.0,273.9,-8.2,232,2801,0.00,2.45,0.00,0.000,4,0.000,0.040,2430,3446,3332
$GC,2820,-1.47,-146.0,275.8,-7.7,233,2825,0.15,2.38,0.00,0.000,6,0.061,0.027,2395,2043,3332
$GC,3160,-1.47,-146.0,308.4,-9.6,248,3165,0.00,2.45,0.00,0.000,4,0.000,0.039,2395,3447,3330
$GC,3189,-1.47,-146.0,311.0,-9.6,248,3193,0.00,2.40,0.00,0.000,6,0.000,0.027,2394,2031,3330
$GC,3521,-1.47,-146.0,340.1,-9.0,256,3525,0.00,2.47,0.00,0.000,4,0.000,0.041,2395,3441,3330
$GC,3548,-1.47,-146.0,342.7,-9.0,256,3553,0.00,2.40,0.00,0.000,6,0.000,0.028,2395,2032,3330
$GC,3880,-1.47,-146.0,369.6,-8.0,264,3885,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,638,3328
$GC,3902,-1.47,-146.0,371.4,-7.8,264,3906,0.00,2.40,0.00,0.000,6,0.000,0.030,2394,2038,3328
$GC,4245,-1.47,-146.0,402.3,-9.8,273,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2038,3325
$GC,4569,-1.47,-146.0,436.7,-10.6,281,4573,0.00,2.47,0.00,0.000,4,0.000,0.050,2395,3444,3323
$GC,4597,-1.47,-146.0,439.7,-10.5,281,4604,0.00,2.42,0.00,0.000,6,0.000,0.031,2394,2034,3322
$STATE,4696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4696,begin apogee
$GC,4704,-0.33,0.0,450.2,10.5,284,4821,1.25,0.00,113.95,0.917,6,0.104,0.000,2644,1808,2733
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4825,1.13,146.0,457.2,0.0,287,4947,1.45,0.00,114.35,0.886,6,0.060,0.000,2960,1808,2136
$GC,5276,0.77,146.0,431.0,9.7,298,5281,0.38,2.55,0.00,0.000,4,0.133,0.041,2892,3232,2135
$GC,5293,0.46,146.0,429.0,9.6,298,5298,0.38,2.47,0.00,0.000,6,0.143,0.035,2822,1827,2135
$GC,5636,0.50,220.1,411.2,4.6,307,5700,0.00,2.60,56.88,0.897,4,0.000,0.040,2822,3231,1835
$GC,5753,0.46,244.8,405.1,6.3,309,5778,0.00,2.50,19.70,0.880,6,0.000,0.035,2821,1817,1735
$GC,6087,0.38,244.8,381.7,7.7,318,6091,0.00,2.50,0.00,0.000,4,0.000,0.040,2821,3225,1734
$GC,6177,0.34,252.6,375.5,6.9,320,6191,0.15,2.47,6.68,0.877,6,0.124,0.035,2796,1819,1703
$GC,6500,0.45,314.0,358.7,5.0,328,6554,0.00,2.58,47.97,0.883,4,0.000,0.039,2796,3220,1452
$GC,6624,0.47,330.3,351.6,6.6,330,6644,0.12,2.47,13.62,0.868,6,0.088,0.034,2820,1818,1385
$GC,6958,0.43,330.3,321.2,9.6,339,6963,0.00,2.53,0.00,0.000,4,0.000,0.041,2821,3232,1384
$GC,7054,0.43,330.3,311.6,9.6,341,7058,0.00,2.47,0.00,0.000,6,0.000,0.034,2821,1819,1384
$GC,7370,0.43,330.3,283.2,9.3,353,7374,0.00,2.47,0.00,0.000,4,0.000,0.040,2821,3226,1384
$GC,7476,0.43,330.3,273.9,8.9,357,7482,0.00,2.45,0.00,0.000,6,0.000,0.032,2821,1818,1385
$GC,7793,0.43,330.3,249.4,7.9,373,7797,0.00,2.47,0.00,0.000,4,0.000,0.037,2821,3231,1384
$GC,7893,0.43,330.3,241.7,7.3,377,7899,0.00,2.45,0.00,0.000,6,0.000,0.032,2821,1819,1384
$GC,8210,0.51,378.6,222.7,5.5,393,8253,0.00,2.58,37.33,0.791,4,0.000,0.035,2821,3229,1189
$GC,8300,0.55,402.1,217.3,6.3,397,8324,0.00,2.47,18.67,0.769,6,0.000,0.031,2821,1817,1092
$GC,8648,0.55,402.1,188.9,9.1,419,8652,0.00,2.47,0.00,0.000,4,0.000,0.037,2821,3226,1093
$GC,8761,0.58,402.1,178.6,8.9,428,8768,0.12,2.45,0.00,0.000,6,0.081,0.030,2848,1810,1093
$GC,9089,0.55,402.1,147.5,9.3,459,9093,0.00,2.47,0.00,0.000,4,0.000,0.035,2848,3230,1093
$GC,9178,0.55,402.1,138.8,9.6,466,9185,0.00,2.42,0.00,0.000,6,0.000,0.029,2848,1817,1094
$GC,9508,0.55,402.1,110.1,9.3,497,9512,0.00,2.45,0.00,0.000,4,0.000,0.035,2848,3231,1094
$GC,9616,0.58,402.1,100.1,8.1,506,9620,0.00,2.40,0.00,0.000,6,0.000,0.028,2848,1820,1095
$GC,9950,0.58,402.1,73.6,8.0,537,9954,0.00,2.45,0.00,0.000,4,0.000,0.034,2848,3235,1095
$GC,10062,0.63,402.1,64.2,7.7,546,10069,0.00,2.42,0.00,0.000,6,0.000,0.028,2848,1810,1096
$GC,10325,0.78,459.3,49.2,5.2,571,10379,0.15,2.55,43.92,0.593,4,0.061,0.032,2889,3234,859
$GC,10403,0.78,459.3,43.3,9.0,578,10408,0.00,2.45,0.00,0.000,6,0.000,0.026,2889,1813,860
$GC,10672,0.74,459.3,19.2,8.7,612,10679,0.00,2.45,0.00,0.000,4,0.000,0.033,2889,3231,860
$GC,10754,0.74,459.3,12.2,8.5,626,10760,0.00,2.40,0.00,0.000,6,0.000,0.025,2889,1818,860
$STATE,10832,end climb,SURFACE_DEPTH_REACHED
$STATE,10832,begin surface coast
$FINISH,0.6,1.022838
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10981,0.00,0.000,0,0,861,459.20
$SM_GC,1.39,11.02,0.00,0.00,0.045,0.000,0.000,411,2087,861,-10.58,1.33,459.20
$IRIDIUM_FIX,2054.83,-15746.61,221297,191901
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,23.8,8.558
$10V_AH,10.2,4.559
$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,27.100,118.300,473.075,0.000,0.000,30.522,36.384,122.336,10.500,0.000,0.000,10.865,1193.904,7526.578,540.480,1555.071,468.979,33.360,1328.969,0.000,1530.230,0.000,57.464
$DEVICE_MAMPS,164.905,52.156,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.416,427.058,763.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,651
$CAP_FILE_SIZE,98301,0
$CFSIZE,260165632,255750144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280908,011256,2106.160,-15748.265,7,1.7,12,9.8