version: 66.03
glider: 114
mission: 3
dive: 95
start: 10 4 108 17 22 44
data:
$ID,114
$MISSION,3
$DIVE,95
$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,-593585.94
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,140945,2109.037,-15749.150,12,1.3,12,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,12.7
$GPS2,140945,2109.037,-15749.150,12,1.3,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.210,0.085
$KALMAN_X,-44200.7,-161.4,7112.6,44881.5,49537.6
$KALMAN_Y,-11826.2,492.7,-2328.0,-300.7,-18877.8
$MHEAD_RNG_PITCHd_Wd,282.3,2310,-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,-65.28,0.000,6,0.000,0.000,2868,538,3328
$GC,103,-1.13,-146.0,0.8,-0.2,13,109,1.55,0.12,0.00,0.000,4,0.081,0.031,2539,656,3327
$GC,162,-1.25,-146.0,7.0,-11.2,23,169,0.15,2.35,0.00,0.000,6,0.057,0.021,2502,2080,3328
$GC,439,-1.29,-146.0,34.4,-10.1,68,443,0.00,2.33,0.00,0.000,4,0.000,0.036,2503,3435,3328
$GC,513,-1.40,-146.0,41.2,-9.1,74,518,0.12,2.38,0.00,0.000,6,0.064,0.024,2474,2021,3328
$GC,775,-1.40,-146.0,69.9,-12.6,98,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2020,3329
$GC,1031,-1.45,-146.0,95.8,-7.6,122,1035,0.00,2.45,0.00,0.000,4,0.000,0.035,2473,3437,3330
$GC,1087,-1.57,-146.0,100.2,-7.8,126,1094,0.15,2.35,0.00,0.000,6,0.059,0.023,2437,2033,3330
$GC,1413,-1.57,-146.0,133.9,-10.0,157,1417,0.00,2.42,0.00,0.000,4,0.000,0.035,2437,3439,3331
$GC,1442,-1.57,-146.0,136.9,-10.4,159,1446,0.00,2.35,0.00,0.000,6,0.000,0.023,2437,2038,3332
$GC,1768,-1.57,-146.0,166.4,-9.1,189,1772,0.00,2.40,0.00,0.000,4,0.000,0.038,2437,640,3331
$GC,1786,-1.60,-146.0,168.2,-9.6,190,1790,0.00,2.33,0.00,0.000,6,0.000,0.023,2437,2029,3332
$GC,2112,-1.64,-146.0,198.6,-7.5,220,2116,0.00,2.42,0.00,0.000,4,0.000,0.036,2437,3446,3332
$GC,2169,-1.72,-146.0,202.2,-6.0,223,2175,0.15,2.38,0.00,0.000,6,0.061,0.025,2401,2035,3332
$GC,2485,-1.72,-146.0,227.1,-8.2,239,2489,0.00,2.40,0.00,0.000,4,0.000,0.040,2401,643,3332
$GC,2518,-1.72,-146.0,229.8,-7.9,240,2529,0.00,2.35,0.00,0.000,6,0.000,0.025,2401,2039,3332
$GC,2834,-1.72,-146.0,258.5,-9.4,256,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2040,3331
$GC,3144,-1.72,-146.0,282.3,-7.1,271,3148,0.00,2.45,0.00,0.000,4,0.000,0.041,2401,3449,3332
$GC,3195,-1.75,-146.0,286.1,-7.1,273,3199,0.00,2.40,0.00,0.000,6,0.000,0.028,2401,2035,3331
$GC,3534,-1.75,-146.0,313.6,-8.3,286,3539,0.00,2.45,0.00,0.000,4,0.000,0.045,2401,634,3331
$GC,3585,-1.81,-146.0,318.1,-8.5,287,3590,0.00,2.40,0.00,0.000,6,0.000,0.029,2401,2037,3331
$GC,3899,-1.81,-146.0,344.6,-8.6,295,3903,0.00,2.47,0.00,0.000,4,0.000,0.046,2401,3447,3329
$GC,3927,-1.81,-146.0,347.2,-9.3,295,3931,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,2034,3328
$GC,4258,-1.81,-146.0,376.8,-8.6,303,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2033,3326
$GC,4584,-1.81,-146.0,400.2,-6.6,311,4589,0.00,2.50,0.00,0.000,4,0.000,0.044,2401,3445,3323
$GC,4630,-1.86,-146.0,403.0,-5.7,312,4635,0.12,2.42,0.00,0.000,6,0.079,0.031,2375,2035,3323
$GC,4950,-1.86,-146.0,426.0,-8.0,320,4955,0.00,2.50,0.00,0.000,4,0.000,0.044,2375,3448,3322
$GC,4973,-1.86,-146.0,428.4,-9.2,320,4977,0.00,2.42,0.00,0.000,6,0.000,0.031,2375,2038,3321
$STATE,5226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5226,begin apogee
$GC,5234,-0.33,0.0,452.5,9.3,327,5352,1.62,0.00,113.80,0.919,6,0.101,0.000,2704,1933,2732
$STATE,5352,end apogee,CONTROL_FINISHED_OK
$STATE,5352,begin climb
$GC,5356,1.13,146.0,456.9,0.0,330,5478,1.50,2.60,114.72,0.891,4,0.055,0.041,3027,3365,2136
$GC,5529,0.63,146.0,451.5,11.9,334,5534,0.60,2.47,0.00,0.000,6,0.140,0.035,2921,1966,2136
$GC,5872,0.35,146.0,419.2,8.8,343,5874,0.35,0.00,0.00,0.000,6,0.123,0.000,2857,1965,2134
$GC,6198,0.22,158.4,397.3,6.7,351,6213,0.15,2.62,9.60,0.882,4,0.132,0.055,2831,542,2087
$GC,6231,0.11,158.4,394.7,7.5,351,6237,0.15,2.47,0.00,0.000,6,0.132,0.030,2806,1964,2087
$GC,6563,0.20,233.5,377.4,4.5,360,6628,0.00,2.55,58.00,0.884,4,0.000,0.047,2806,3341,1781
$GC,6663,0.25,262.3,372.3,6.1,362,6693,0.12,2.47,23.48,0.867,6,0.087,0.033,2831,1939,1662
$GC,7021,0.17,262.3,346.8,7.4,371,7025,0.00,2.53,0.00,0.000,4,0.000,0.044,2831,3355,1662
$GC,7079,0.11,262.3,341.8,7.8,372,7084,0.15,2.47,0.00,0.000,6,0.117,0.034,2805,1945,1662
$GC,7428,0.13,275.8,318.3,6.7,381,7444,0.00,2.55,11.20,0.858,4,0.000,0.041,2805,3354,1607
$GC,7472,0.13,275.8,315.1,7.7,382,7476,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1945,1607
$GC,7793,0.13,275.8,292.4,7.4,392,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1945,1608
$GC,8103,0.13,275.8,269.1,7.2,407,8107,0.00,2.50,0.00,0.000,4,0.000,0.040,2805,3358,1607
$GC,8148,0.14,280.5,266.0,7.0,409,8157,0.00,2.45,4.25,0.814,6,0.000,0.031,2805,1949,1589
$GC,8475,0.19,308.6,246.4,6.2,425,8504,0.00,2.60,22.12,0.817,4,0.000,0.039,2805,3359,1474
$GC,8534,0.22,327.6,242.7,6.5,427,8555,0.10,2.47,15.23,0.802,6,0.091,0.031,2825,1943,1397
$GC,8866,0.27,358.8,220.9,6.1,443,8896,0.00,2.55,24.62,0.782,4,0.000,0.038,2826,3353,1270
$GC,8936,0.30,370.8,216.3,6.7,446,8951,0.00,2.45,10.02,0.768,6,0.000,0.031,2825,1949,1221
$GC,9270,0.30,370.8,185.8,9.5,469,9274,0.00,2.47,0.00,0.000,4,0.000,0.038,2825,3354,1221
$GC,9333,0.30,370.8,179.8,9.1,474,9337,0.00,2.45,0.00,0.000,6,0.000,0.028,2825,1936,1221
$GC,9666,0.30,370.8,152.9,8.0,505,9670,0.00,2.47,0.00,0.000,4,0.000,0.036,2825,3355,1222
$GC,9729,0.33,370.8,147.6,8.4,510,9734,0.12,2.42,0.00,0.000,6,0.077,0.028,2853,1949,1222
$GC,10055,0.33,370.8,119.0,8.3,540,10059,0.00,2.47,0.00,0.000,4,0.000,0.047,2853,537,1223
$GC,10084,0.33,370.8,116.6,8.2,542,10090,0.00,2.40,0.00,0.000,6,0.000,0.024,2854,1962,1223
$GC,10412,0.38,400.3,93.0,6.1,573,10445,0.00,2.47,23.27,0.650,4,0.000,0.035,2853,3350,1101
$GC,10504,0.46,414.8,87.2,6.6,581,10521,0.12,2.40,11.30,0.642,6,0.072,0.026,2881,1942,1041
$GC,10840,0.46,414.8,62.5,7.7,612,10844,0.00,2.42,0.00,0.000,4,0.000,0.034,2881,3348,1043
$GC,10887,0.46,414.8,58.8,8.8,616,10891,0.00,2.38,0.00,0.000,6,0.000,0.025,2881,1949,1043
$GC,11149,0.46,414.8,35.5,9.4,640,11153,0.00,2.42,0.00,0.000,4,0.000,0.032,2881,3355,1044
$GC,11188,0.46,414.8,31.7,9.6,643,11194,0.00,2.38,0.00,0.000,6,0.000,0.025,2881,1948,1045
$GC,11464,0.46,414.8,8.3,7.3,690,11470,0.00,2.40,0.00,0.000,4,0.000,0.030,2881,3352,1045
$GC,11489,0.47,422.0,6.8,6.9,694,11502,0.00,2.38,6.88,0.558,6,0.000,0.025,2881,1946,1012
$STATE,11512,end climb,SURFACE_DEPTH_REACHED
$STATE,11512,begin surface coast
$FINISH,0.8,1.022174
$STATE,11597,end surface coast,CONTROL_FINISHED_OK
$STATE,11600,begin surface
$SM_CCo,11684,0.00,0.000,0,0,1010,422.65
$SM_GC,1.44,10.93,0.00,0.00,0.043,0.000,0.000,412,2081,1010,-10.85,1.22,422.65
$IRIDIUM_FIX,2104.07,-15750.89,291297,070701
$TT8_MAMPS,0.027612
$HUMID,1668
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.90
$XPDR_PINGS,17
$24V_AH,23.8,14.654
$10V_AH,10.2,8.531
$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,18.175,130.000,448.500,0.000,0.000,0.000,0.000,0.000,13.250,0.000,0.000,0.000,1304.306,8046.903,507.007,1617.587,262.634,33.328,1323.781,0.000,1602.475,0.000,57.444
$DEVICE_MAMPS,140.361,55.224,918.866,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.593,471.898,846.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,713
$CAP_FILE_SIZE,104116,0
$CFSIZE,260165632,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,203837,2109.494,-15752.971,30,1.2,30,9.8