version: 66.03
glider: 114
mission: 3
dive: 100
start: 10 5 108 9 56 9
data:
$ID,114
$MISSION,3
$DIVE,100
$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,-593631.12
$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,65
$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
$GPS1,094427,2110.310,-15750.883,38,1.4,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.6
$GPS2,095514,2110.226,-15750.808,9,1.4,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.120,-0.111
$KALMAN_X,-43677.8,-317.7,1196.4,47571.8,2900.5
$KALMAN_Y,-17018.3,-360.6,1468.0,4142.0,991.7
$MHEAD_RNG_PITCHd_Wd,217.2,1456,-20.2,-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,-1.46,-67.3,0.0,0.0,0,100,0.00,0.00,-70.30,0.000,2,0.000,0.000,411,2093,2975
$GC,104,-1.53,-107.7,3.5,-4.2,13,128,11.52,2.60,-3.20,0.000,4,0.162,0.048,2439,632,3174
$GC,277,-1.68,-107.7,36.3,-13.3,39,282,0.12,2.33,0.00,0.000,6,0.061,0.024,2408,2015,3174
$GC,542,-1.72,-107.7,79.0,-17.2,63,546,0.00,2.45,0.00,0.000,4,0.000,0.036,2408,3444,3174
$GC,581,-1.82,-107.7,85.3,-13.6,66,588,0.12,2.38,0.00,0.000,6,0.066,0.023,2379,2026,3174
$GC,907,-1.89,-107.7,126.4,-11.1,97,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2024,3174
$GC,1226,-1.99,-107.7,165.3,-13.0,127,1228,0.15,0.00,0.00,0.000,6,0.055,0.000,2342,2024,3175
$GC,1542,-2.03,-107.7,207.0,-11.2,154,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2024,3175
$GC,1852,-2.09,-107.7,240.8,-11.8,169,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2024,3175
$GC,2160,-2.17,-107.7,275.1,-10.7,184,2162,0.15,0.00,0.00,0.000,6,0.059,0.000,2306,2024,3174
$GC,2488,-2.17,-107.7,319.7,-14.6,197,2496,0.00,2.40,0.00,0.000,4,0.000,0.043,2306,643,3173
$GC,2608,-2.17,-107.7,334.7,-11.7,199,2613,0.00,2.38,0.00,0.000,6,0.000,0.028,2306,2037,3173
$GC,2947,-2.20,-107.7,370.4,-10.6,208,2951,0.00,2.47,0.00,0.000,4,0.000,0.046,2305,640,3172
$GC,3005,-2.26,-107.7,377.1,-11.6,209,3009,0.00,2.40,0.00,0.000,6,0.000,0.031,2306,2040,3171
$GC,3319,-2.30,-107.7,410.5,-10.8,217,3324,0.12,2.47,0.00,0.000,4,0.074,0.047,2279,644,3169
$GC,3347,-2.30,-107.7,414.3,-13.7,217,3351,0.00,2.40,0.00,0.000,6,0.000,0.031,2279,2038,3169
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3644,-0.33,0.0,450.7,12.1,224,3732,2.15,0.00,84.15,0.900,6,0.112,0.000,2706,1951,2733
$STATE,3733,end apogee,CONTROL_FINISHED_OK
$STATE,3733,begin climb
$GC,3736,1.53,107.7,452.6,0.0,226,3828,1.83,2.58,84.03,0.881,4,0.051,0.044,3109,3360,2293
$GC,3866,1.09,110.2,453.0,7.0,229,3876,0.50,2.50,2.65,0.803,6,0.143,0.034,3022,1944,2283
$GC,4190,0.82,110.2,427.8,7.8,237,4195,0.32,2.55,0.00,0.000,4,0.138,0.052,2963,536,2281
$GC,4297,0.59,110.2,419.2,8.0,239,4303,0.30,2.47,0.00,0.000,6,0.157,0.031,2912,1961,2280
$GC,4641,0.55,125.0,398.9,6.1,248,4659,0.00,2.62,11.30,0.890,4,0.000,0.054,2911,540,2223
$GC,4745,0.45,125.0,391.0,8.2,250,4750,0.17,2.45,0.00,0.000,6,0.136,0.031,2882,1950,2222
$GC,5093,0.51,162.6,372.8,4.4,259,5126,0.00,0.00,29.42,0.894,6,0.000,0.000,2883,1950,2069
$GC,5461,0.52,167.1,350.6,6.8,268,5467,0.00,0.00,4.07,0.854,6,0.000,0.000,2882,1950,2051
$GC,5786,0.54,176.9,328.0,6.4,276,5800,0.00,2.62,8.07,0.879,4,0.000,0.053,2882,547,2011
$GC,5869,0.56,187.7,322.5,6.4,277,5883,0.00,2.45,9.02,0.870,6,0.000,0.031,2882,1958,1967
$GC,6204,0.60,187.7,297.7,8.7,286,6209,0.12,2.58,0.00,0.000,4,0.088,0.052,2907,543,1966
$GC,6238,0.55,187.7,294.7,9.1,287,6244,0.00,2.45,0.00,0.000,6,0.000,0.030,2908,1960,1966
$GC,6555,0.55,187.7,268.7,8.9,303,6559,0.00,2.45,0.00,0.000,4,0.000,0.044,2908,3350,1966
$GC,6618,0.55,187.7,263.5,8.5,306,6622,0.00,2.45,0.00,0.000,6,0.000,0.031,2908,1941,1965
$GC,6945,0.56,194.2,241.6,6.7,322,6955,0.00,2.50,5.32,0.810,4,0.000,0.038,2908,3354,1940
$GC,7063,0.57,196.2,233.5,7.0,327,7067,0.00,2.45,0.00,0.000,6,0.000,0.031,2907,1938,1940
$GC,7379,0.58,205.6,213.9,6.5,342,7390,0.00,0.00,9.27,0.787,6,0.000,0.000,2908,1937,1894
$GC,7691,0.58,205.6,191.7,9.1,361,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1938,1894
$GC,8013,0.63,205.6,162.6,9.0,391,8016,0.00,2.47,0.00,0.000,4,0.000,0.035,2909,3359,1894
$GC,8087,0.67,205.6,155.7,9.2,397,8094,0.00,2.42,0.00,0.000,6,0.000,0.028,2908,1940,1895
$GC,8418,0.75,218.7,132.8,6.2,428,8435,0.15,2.50,10.95,0.696,4,0.072,0.034,2941,3364,1840
$GC,8463,0.75,218.7,129.1,8.2,431,8469,0.00,2.42,0.00,0.000,6,0.000,0.028,2940,1952,1841
$GC,8792,0.75,219.1,107.8,7.1,462,8796,0.00,2.45,0.00,0.000,4,0.000,0.034,2940,3362,1841
$GC,8866,0.75,219.1,102.2,7.4,468,8870,0.00,2.42,0.00,0.000,6,0.000,0.027,2941,1944,1841
$GC,9195,0.82,238.2,81.1,5.8,498,9217,0.00,2.47,15.43,0.638,4,0.000,0.033,2940,3356,1761
$GC,9257,0.83,246.2,77.1,6.6,503,9269,0.00,2.40,6.65,0.625,6,0.000,0.025,2940,1948,1729
$GC,9529,0.88,246.2,57.2,8.3,528,9534,0.15,2.45,0.00,0.000,4,0.069,0.033,2978,3362,1728
$GC,9541,0.91,246.2,55.7,8.6,528,9547,0.00,2.40,0.00,0.000,6,0.000,0.025,2978,1947,1729
$GC,9803,0.91,246.2,35.8,7.3,553,9807,0.00,2.42,0.00,0.000,4,0.000,0.038,2977,3359,1730
$GC,9883,0.91,246.2,28.7,10.1,561,9889,0.00,2.40,0.00,0.000,6,0.000,0.025,2977,1946,1731
$STATE,10130,end climb,FINISH_DEPTH_REACHED
$STATE,10130,begin subsurface finish
$FINISH1,9.8,1.022999,225
$GC,10139,0.39,224.6,9.8,-7.3,605,10147,0.52,2.50,-1.60,0.000,4,0.096,0.056,2870,548,1820
$FINISH2,9.1
$STATE,10147,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10148,begin surface
$IRIDIUM_FIX,2104.07,-15750.02,301297,090952
$TT8_MAMPS,0.027612
$HUMID,1713
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.70
$XPDR_PINGS,13
$24V_AH,23.8,15.240
$10V_AH,10.2,8.915
$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,18.425,91.300,280.350,0.000,0.000,56.181,62.201,296.405,12.250,0.000,0.000,15.552,1123.069,7171.907,358.610,1404.583,732.287,33.359,1039.680,0.000,1382.953,0.000,59.966
$DEVICE_MAMPS,161.837,55.991,900.458,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.725,407.684,715.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31612,606
$CAP_FILE_SIZE,93206,0
$CFSIZE,260165632,252817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051008,095514,2110.226,-15750.808,9,1.4,14,9.8