version: 66.03
glider: 114
mission: 3
dive: 97
start: 10 4 108 23 57 44
data:
$ID,114
$MISSION,3
$DIVE,97
$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,-593600.75
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,204715,2109.403,-15752.956,12,1.2,12,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,13.5
$GPS2,204715,2109.403,-15752.956,12,1.2,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.226,-0.012
$KALMAN_X,-38954.8,348.1,-5967.1,45630.5,-10181.1
$KALMAN_Y,-14335.5,-355.6,1406.5,-1.9,1927.4
$MHEAD_RNG_PITCHd_Wd,83.3,5224,-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,-64.78,0.000,6,0.000,0.000,2862,549,3329
$GC,103,-1.13,-146.0,1.0,-0.9,13,109,1.50,0.00,0.00,0.000,6,0.078,0.000,2539,549,3329
$GC,382,-1.30,-146.0,22.4,-6.5,62,389,0.15,0.08,0.00,0.000,4,0.055,0.033,2497,634,3329
$GC,408,-1.42,-146.0,24.3,-6.9,66,415,0.12,2.33,0.00,0.000,6,0.061,0.023,2465,2035,3329
$GC,683,-1.39,-146.0,56.6,-12.3,96,687,0.00,2.42,0.00,0.000,4,0.000,0.036,2465,3451,3329
$GC,716,-1.39,-146.0,61.2,-12.6,98,722,0.00,2.38,0.00,0.000,6,0.000,0.025,2465,2031,3330
$GC,979,-1.42,-146.0,85.0,-7.9,123,983,0.00,2.40,0.00,0.000,4,0.000,0.040,2465,631,3330
$GC,1048,-1.53,-146.0,89.9,-7.2,129,1052,0.00,2.38,0.00,0.000,6,0.000,0.023,2465,2053,3331
$GC,1374,-1.57,-146.0,117.5,-9.0,159,1378,0.12,2.38,0.00,0.000,4,0.061,0.035,2434,3444,3333
$GC,1441,-1.57,-146.0,124.6,-10.5,164,1447,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2038,3332
$GC,1766,-1.57,-146.0,159.0,-8.9,195,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2037,3333
$GC,2089,-1.57,-146.0,184.3,-7.9,225,2093,0.00,2.42,0.00,0.000,4,0.000,0.036,2434,3442,3333
$GC,2152,-1.64,-146.0,190.4,-8.9,230,2156,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2043,3333
$GC,2478,-1.69,-146.0,218.9,-8.8,251,2482,0.00,2.42,0.00,0.000,4,0.000,0.041,2433,632,3333
$GC,2502,-1.75,-146.0,221.3,-9.9,252,2507,0.15,2.38,0.00,0.000,6,0.059,0.026,2396,2034,3333
$GC,2831,-1.75,-146.0,252.4,-8.7,268,2836,0.00,2.45,0.00,0.000,4,0.000,0.040,2397,3453,3333
$GC,2859,-1.75,-146.0,255.2,-9.3,269,2864,0.00,2.40,0.00,0.000,6,0.000,0.026,2396,2034,3333
$GC,3175,-1.75,-146.0,284.2,-9.7,284,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2032,3332
$GC,3484,-1.75,-146.0,310.2,-8.1,296,3488,0.00,2.42,0.00,0.000,4,0.000,0.044,2396,638,3332
$GC,3545,-1.75,-146.0,315.1,-7.4,297,3549,0.00,2.40,0.00,0.000,6,0.000,0.028,2396,2052,3332
$GC,3894,-1.75,-146.0,344.3,-9.1,306,3898,0.00,2.45,0.00,0.000,4,0.000,0.045,2396,3447,3331
$GC,3921,-1.75,-146.0,347.2,-10.5,306,3926,0.00,2.42,0.00,0.000,6,0.000,0.030,2396,2036,3330
$GC,4253,-1.75,-146.0,377.4,-9.0,314,4257,0.00,2.50,0.00,0.000,4,0.000,0.043,2396,3453,3328
$GC,4275,-1.75,-146.0,379.4,-9.0,314,4279,0.00,2.42,0.00,0.000,6,0.000,0.031,2396,2038,3328
$GC,4612,-1.75,-146.0,406.0,-7.8,323,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2037,3325
$GC,4937,-1.79,-146.0,434.4,-8.9,331,4941,0.00,2.50,0.00,0.000,4,0.000,0.045,2396,3446,3323
$GC,4966,-1.84,-146.0,437.1,-9.2,331,4970,0.00,2.42,0.00,0.000,6,0.000,0.031,2396,2039,3322
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5181,-0.33,0.0,452.8,7.4,336,5299,1.52,0.00,113.97,0.927,6,0.100,0.000,2705,1935,2733
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5303,1.13,146.0,456.1,0.0,339,5426,1.45,2.58,114.50,0.897,4,0.057,0.041,3022,3354,2136
$GC,5466,0.63,146.0,451.5,12.6,342,5472,0.57,2.47,0.00,0.000,6,0.133,0.035,2921,1958,2136
$GC,5798,0.34,146.0,420.2,8.7,351,5803,0.30,2.55,0.00,0.000,4,0.127,0.054,2862,544,2135
$GC,5894,0.15,157.0,412.8,6.8,353,5909,0.28,2.45,8.98,0.887,6,0.127,0.030,2813,1956,2091
$GC,6253,0.21,232.3,396.0,4.5,362,6318,0.00,2.58,58.12,0.899,4,0.000,0.047,2813,3342,1784
$GC,6353,0.16,233.2,389.6,7.1,364,6358,0.00,2.47,0.00,0.000,6,0.000,0.034,2813,1945,1784
$GC,6703,0.16,260.9,367.3,6.2,373,6732,0.00,2.60,22.83,0.889,4,0.000,0.044,2813,3346,1669
$GC,6762,0.13,274.5,363.7,6.7,374,6780,0.00,2.47,11.65,0.871,6,0.000,0.033,2813,1943,1613
$GC,7114,0.16,312.9,343.8,5.8,383,7150,0.00,2.58,30.08,0.881,4,0.000,0.042,2812,3354,1456
$GC,7201,0.16,312.9,338.0,7.7,384,7205,0.00,2.47,0.00,0.000,6,0.000,0.033,2813,1950,1456
$GC,7520,0.13,312.9,315.3,7.2,392,7524,0.00,2.50,0.00,0.000,4,0.000,0.043,2813,3348,1456
$GC,7560,0.13,315.4,312.5,7.1,393,7569,0.00,2.45,3.03,0.813,6,0.000,0.032,2813,1948,1446
$GC,7891,0.13,315.4,288.6,7.5,404,7896,0.00,2.50,0.00,0.000,4,0.000,0.042,2813,3353,1446
$GC,7914,0.13,315.4,286.9,7.3,405,7918,0.00,2.45,0.00,0.000,6,0.000,0.031,2813,1945,1446
$GC,8235,0.13,315.4,262.3,7.5,421,8240,0.00,2.50,0.00,0.000,4,0.000,0.041,2813,3357,1446
$GC,8280,0.13,315.4,258.6,7.8,423,8285,0.00,2.45,0.00,0.000,6,0.000,0.032,2813,1947,1446
$GC,8603,0.13,315.4,234.1,7.5,439,8607,0.00,2.47,0.00,0.000,4,0.000,0.040,2813,3352,1446
$GC,8647,0.16,329.9,230.9,6.6,441,8664,0.00,2.42,11.80,0.815,6,0.000,0.031,2813,1949,1387
$GC,8974,0.19,348.5,211.0,6.5,457,8996,0.00,2.53,14.73,0.789,4,0.000,0.038,2813,3354,1312
$GC,9065,0.22,348.5,204.6,7.4,461,9070,0.00,2.45,0.00,0.000,6,0.000,0.029,2812,1945,1312
$GC,9392,0.22,348.5,180.3,8.5,488,9396,0.00,2.47,0.00,0.000,4,0.000,0.036,2813,3359,1312
$GC,9421,0.25,348.5,177.6,8.4,490,9426,0.10,2.45,0.00,0.000,6,0.088,0.028,2834,1939,1313
$GC,9746,0.30,378.8,152.9,6.1,520,9779,0.00,2.58,23.83,0.723,4,0.000,0.036,2834,3356,1188
$GC,9842,0.35,402.3,146.9,6.3,528,9870,0.00,2.42,18.58,0.707,6,0.000,0.028,2834,1953,1092
$GC,10189,0.35,402.3,119.0,8.0,561,10193,0.00,2.45,0.00,0.000,4,0.000,0.035,2834,3357,1093
$GC,10247,0.38,402.3,114.7,7.6,566,10252,0.12,2.42,0.00,0.000,6,0.074,0.026,2862,1939,1094
$GC,10573,0.38,402.3,83.9,9.9,596,10577,0.00,2.47,0.00,0.000,4,0.000,0.038,2862,3353,1094
$GC,10619,0.38,402.3,79.1,10.0,599,10625,0.00,2.40,0.00,0.000,6,0.000,0.027,2862,1944,1095
$GC,10881,0.40,414.5,58.0,6.7,624,10893,0.00,0.00,10.18,0.620,6,0.000,0.000,2863,1944,1043
$GC,11146,0.43,432.2,41.3,6.5,649,11168,0.00,2.50,13.85,0.597,4,0.000,0.034,2862,3345,971
$GC,11215,0.48,432.2,36.6,7.2,655,11219,0.00,2.38,0.00,0.000,6,0.000,0.023,2862,1945,971
$GC,11487,0.48,432.2,15.9,9.2,694,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1945,971
$STATE,11643,end climb,SURFACE_DEPTH_REACHED
$STATE,11643,begin surface coast
$FINISH,0.7,1.023075
$STATE,11706,end surface coast,CONTROL_FINISHED_OK
$STATE,11706,begin surface
$SM_CCo,11791,0.00,0.000,0,0,973,431.73
$SM_GC,1.49,10.95,0.00,0.00,0.048,0.000,0.000,410,2085,973,-10.86,1.27,431.73
$IRIDIUM_FIX,2059.45,-15748.75,291297,141448
$TT8_MAMPS,0.027612
$HUMID,1682
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.90
$XPDR_PINGS,13
$24V_AH,23.8,14.896
$10V_AH,10.2,8.689
$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,17.350,125.500,456.100,0.000,0.000,0.000,0.000,0.000,12.250,0.000,0.000,0.000,1327.712,8063.839,509.558,1680.992,263.657,33.329,1352.476,0.000,1666.821,0.000,57.440
$DEVICE_MAMPS,133.458,54.457,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.663,485.439,880.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,733
$CAP_FILE_SIZE,103266,0
$CFSIZE,260165632,252956672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,031532,2108.420,-15750.139,38,0.9,38,9.8