version: 66.03
glider: 114
mission: 3
dive: 91
start: 10 4 108 4 20 48
data:
$ID,114
$MISSION,3
$DIVE,91
$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,-593554.25
$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,31
$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
$GPS1,010757,2107.897,-15750.870,12,1.5,12,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,14.6
$GPS2,010757,2107.897,-15750.870,12,1.5,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.047,0.221
$KALMAN_X,-40682.4,-534.8,2554.0,43331.7,5319.1
$KALMAN_Y,-9638.5,-109.9,-4932.7,-1381.9,-13971.4
$MHEAD_RNG_PITCHd_Wd,338.1,4175,-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,-65.90,0.000,6,0.000,0.000,2884,1935,3328
$GC,103,-1.13,-146.0,1.1,-0.6,13,110,1.65,2.60,0.00,0.000,4,0.087,0.031,2537,3455,3328
$GC,163,-1.36,-146.0,6.1,-7.0,23,170,0.25,2.40,0.00,0.000,6,0.051,0.023,2479,2019,3328
$GC,444,-1.36,-146.0,36.7,-11.4,68,449,0.00,2.47,0.00,0.000,4,0.000,0.036,2479,3449,3328
$GC,475,-1.36,-146.0,40.3,-12.9,70,480,0.00,2.38,0.00,0.000,6,0.000,0.022,2479,2030,3328
$GC,737,-1.36,-146.0,70.2,-10.4,94,742,0.00,2.47,0.00,0.000,4,0.000,0.036,2479,3458,3329
$GC,816,-1.44,-146.0,78.8,-9.6,100,823,0.00,2.38,0.00,0.000,6,0.000,0.024,2479,2038,3329
$GC,1080,-1.51,-146.0,100.2,-7.7,125,1084,0.12,2.45,0.00,0.000,4,0.059,0.034,2446,3455,3331
$GC,1120,-1.51,-146.0,103.6,-8.9,128,1124,0.00,2.38,0.00,0.000,6,0.000,0.022,2446,2039,3331
$GC,1446,-1.51,-146.0,133.5,-9.4,158,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2038,3332
$GC,1767,-1.54,-146.0,161.3,-8.0,188,1771,0.00,2.45,0.00,0.000,4,0.000,0.035,2446,3455,3332
$GC,1830,-1.61,-146.0,166.3,-7.6,193,1834,0.00,2.40,0.00,0.000,6,0.000,0.024,2446,2028,3332
$GC,2159,-1.67,-146.0,190.2,-7.8,223,2163,0.12,2.40,0.00,0.000,4,0.061,0.039,2414,638,3333
$GC,2233,-1.70,-146.0,197.4,-9.6,229,2238,0.00,2.38,0.00,0.000,6,0.000,0.025,2414,2050,3332
$GC,2551,-1.70,-146.0,225.6,-8.0,245,2555,0.00,2.40,0.00,0.000,4,0.000,0.038,2414,3448,3332
$GC,2608,-1.76,-146.0,229.8,-7.0,247,2617,0.00,2.38,0.00,0.000,6,0.000,0.025,2414,2040,3333
$GC,2924,-1.76,-146.0,253.5,-8.1,263,2928,0.00,2.45,0.00,0.000,4,0.000,0.038,2414,3450,3332
$GC,2965,-1.82,-146.0,256.8,-7.7,265,2970,0.15,2.40,0.00,0.000,6,0.061,0.026,2378,2037,3332
$GC,3295,-1.79,-146.0,289.0,-10.1,281,3299,0.00,2.45,0.00,0.000,4,0.000,0.037,2378,3448,3332
$GC,3335,-1.79,-146.0,293.8,-11.7,283,3339,0.00,2.40,0.00,0.000,6,0.000,0.029,2378,2043,3332
$GC,3684,-1.79,-146.0,329.2,-9.8,293,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2041,3331
$GC,4010,-1.79,-146.0,361.7,-9.9,301,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2041,3329
$GC,4334,-1.79,-146.0,388.9,-7.7,309,4338,0.00,2.47,0.00,0.000,4,0.000,0.043,2378,3445,3327
$GC,4379,-1.79,-146.0,392.2,-7.1,310,4384,0.00,2.42,0.00,0.000,6,0.000,0.031,2378,2037,3326
$GC,4699,-1.79,-146.0,417.8,-8.8,318,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2036,3324
$GC,5023,-1.79,-146.0,444.9,-7.6,326,5028,0.00,2.47,0.00,0.000,4,0.000,0.044,2378,3437,3322
$GC,5085,-1.79,-146.0,449.6,-7.7,327,5089,0.00,2.42,0.00,0.000,6,0.000,0.033,2378,2033,3321
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5103,-0.33,0.0,450.3,7.9,327,5221,1.58,0.00,114.22,0.916,6,0.100,0.000,2700,1934,2733
$STATE,5222,end apogee,CONTROL_FINISHED_OK
$STATE,5222,begin climb
$GC,5225,1.13,146.0,452.7,0.0,330,5348,1.48,2.55,114.68,0.886,4,0.055,0.053,3022,546,2136
$GC,5376,0.58,146.0,450.2,11.5,333,5382,0.65,2.45,0.00,0.000,6,0.139,0.030,2909,1945,2136
$GC,5714,0.32,146.0,418.5,8.9,342,5719,0.30,2.53,0.00,0.000,4,0.127,0.047,2853,3355,2135
$GC,5788,0.19,162.0,413.1,6.6,343,5808,0.15,2.45,12.75,0.881,6,0.126,0.035,2826,1962,2071
$GC,6128,0.18,209.0,393.8,5.5,352,6170,0.00,2.53,36.20,0.889,4,0.000,0.042,2826,3352,1880
$GC,6205,0.10,211.6,388.7,7.1,353,6217,0.12,2.50,3.25,0.821,6,0.125,0.034,2805,1939,1870
$GC,6542,0.10,232.6,366.9,6.4,362,6566,0.00,2.65,16.48,0.881,4,0.000,0.054,2805,533,1784
$GC,6579,0.05,232.6,364.3,7.5,362,6585,0.00,2.47,0.00,0.000,6,0.000,0.031,2805,1952,1784
$GC,6911,0.05,251.3,342.4,6.5,371,6931,0.00,2.55,15.32,0.877,4,0.000,0.048,2805,3354,1708
$GC,6960,0.05,251.3,338.8,7.2,372,6964,0.00,2.47,0.00,0.000,6,0.000,0.034,2805,1949,1707
$GC,7273,0.12,289.4,319.2,5.8,380,7308,0.00,2.55,30.10,0.864,4,0.000,0.043,2805,3348,1553
$GC,7348,0.14,303.6,314.3,6.7,380,7367,0.00,2.47,11.95,0.845,6,0.000,0.033,2805,1943,1495
$GC,7684,0.20,337.8,292.8,6.0,391,7718,0.00,2.62,27.00,0.845,4,0.000,0.042,2805,3353,1355
$GC,7748,0.20,337.8,288.4,7.2,394,7752,0.00,2.47,0.00,0.000,6,0.000,0.031,2805,1947,1355
$GC,8076,0.24,358.0,266.3,6.4,410,8099,0.12,2.53,16.38,0.827,4,0.084,0.041,2832,3350,1272
$GC,8134,0.22,369.9,262.3,6.7,412,8148,0.00,2.47,9.98,0.811,6,0.000,0.033,2832,1941,1224
$GC,8478,0.18,369.9,233.9,9.6,429,8483,0.00,2.50,0.00,0.000,4,0.000,0.041,2832,3350,1224
$GC,8523,0.18,369.9,229.5,9.2,431,8528,0.00,2.45,0.00,0.000,6,0.000,0.031,2832,1944,1224
$GC,8845,0.18,369.9,203.9,7.7,447,8850,0.00,2.47,0.00,0.000,4,0.000,0.038,2832,3353,1224
$GC,8903,0.18,369.9,199.4,7.8,449,8909,0.00,2.42,0.00,0.000,6,0.000,0.030,2832,1948,1225
$GC,9231,0.18,369.9,173.3,8.2,480,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1225
$GC,9557,0.21,390.1,150.5,6.4,511,9579,0.00,2.50,16.45,0.717,4,0.000,0.035,2832,3359,1141
$GC,9630,0.22,391.3,145.5,7.1,517,9637,0.00,2.42,0.00,0.000,6,0.000,0.028,2832,1948,1141
$GC,9960,0.22,391.3,123.1,7.3,548,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1142
$GC,10289,0.27,391.3,98.2,7.5,579,10293,0.00,2.45,0.00,0.000,4,0.000,0.034,2832,3360,1144
$GC,10352,0.40,411.7,93.9,6.4,584,10375,0.15,2.40,16.98,0.647,6,0.068,0.026,2867,1945,1053
$GC,10694,0.42,420.3,69.0,6.8,616,10706,0.00,2.53,7.07,0.619,4,0.000,0.034,2867,3356,1019
$GC,10731,0.45,439.7,66.6,6.5,619,10753,0.00,2.40,15.30,0.607,6,0.000,0.025,2867,1950,940
$GC,11012,0.45,439.7,45.8,8.3,645,11016,0.00,2.47,0.00,0.000,4,0.000,0.044,2867,540,940
$GC,11034,0.45,439.7,43.3,9.0,646,11040,0.00,2.38,0.00,0.000,6,0.000,0.023,2867,1960,940
$GC,11303,0.45,439.7,17.4,8.7,682,11309,0.00,2.38,0.00,0.000,4,0.000,0.035,2867,3350,940
$GC,11362,0.50,439.7,12.4,9.1,692,11368,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,1939,940
$STATE,11451,end climb,SURFACE_DEPTH_REACHED
$STATE,11451,begin surface coast
$FINISH,0.7,1.007856
$STATE,11517,end surface coast,CONTROL_FINISHED_OK
$STATE,11517,begin surface
$SM_CCo,11601,0.00,0.000,0,0,942,439.33
$SM_GC,1.41,10.93,0.00,0.00,0.046,0.000,0.000,410,2070,942,-10.86,0.82,439.33
$IRIDIUM_FIX,2101.76,-15756.04,281297,181840
$TT8_MAMPS,0.027612
$HUMID,1674
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,16
$24V_AH,23.8,14.158
$10V_AH,10.2,8.220
$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,17.775,128.175,464.100,0.000,0.000,0.000,0.000,0.000,13.000,0.000,0.000,0.000,1309.582,7913.319,525.065,1641.611,265.847,33.323,1356.322,0.000,1630.244,0.000,57.443
$DEVICE_MAMPS,138.827,54.457,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.436,482.389,858.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37916,719
$CAP_FILE_SIZE,103298,0
$CFSIZE,260165632,253280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,073526,2110.214,-15752.555,38,1.8,38,9.8