version: 66.03
glider: 114
mission: 3
dive: 105
start: 10 6 108 1 9 30
data:
$ID,114
$MISSION,3
$DIVE,105
$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,-593657.69
$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,41
$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
$GPS1,215357,2106.354,-15751.176,10,1.1,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,14.6
$GPS2,215357,2106.354,-15751.176,10,1.1,10,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.145,0.174
$KALMAN_X,-40865.7,-440.1,-1997.5,47435.8,5175.1
$KALMAN_Y,-18087.9,-499.4,-906.9,561.7,2978.6
$MHEAD_RNG_PITCHd_Wd,310.4,7051,-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,-67.18,0.000,6,0.000,0.000,2872,556,3330
$GC,103,-1.13,-146.0,0.8,-0.0,13,115,1.60,4.95,0.00,0.000,4,0.088,0.028,2535,3438,3330
$GC,208,-1.25,-146.0,6.3,-5.3,31,215,0.12,2.35,0.00,0.000,6,0.063,0.022,2506,2025,3330
$GC,484,-1.29,-146.0,34.8,-10.2,76,488,0.00,2.45,0.00,0.000,4,0.000,0.037,2506,3438,3330
$GC,537,-1.38,-146.0,40.4,-10.6,80,542,0.12,2.35,0.00,0.000,6,0.062,0.024,2475,2033,3330
$GC,799,-1.38,-146.0,69.2,-9.1,104,803,0.00,2.42,0.00,0.000,4,0.000,0.035,2475,3441,3330
$GC,828,-1.38,-146.0,71.9,-9.2,106,832,0.00,2.35,0.00,0.000,6,0.000,0.023,2475,2030,3330
$GC,1093,-1.44,-146.0,90.6,-7.0,130,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2029,3332
$GC,1422,-1.52,-146.0,115.5,-7.6,161,1427,0.12,2.45,0.00,0.000,4,0.061,0.035,2444,3448,3333
$GC,1452,-1.56,-146.0,118.1,-9.2,163,1456,0.00,2.38,0.00,0.000,6,0.000,0.024,2444,2033,3333
$GC,1778,-1.59,-146.0,149.6,-10.1,193,1782,0.00,2.40,0.00,0.000,4,0.000,0.038,2444,637,3333
$GC,1806,-1.64,-146.0,152.4,-9.7,195,1812,0.00,2.35,0.00,0.000,6,0.000,0.024,2444,2043,3334
$GC,2131,-1.68,-146.0,181.4,-8.7,226,2136,0.12,2.40,0.00,0.000,4,0.063,0.035,2412,3442,3333
$GC,2228,-1.68,-146.0,190.5,-9.5,234,2233,0.00,2.38,0.00,0.000,6,0.000,0.025,2412,2032,3333
$GC,2547,-1.68,-146.0,224.7,-10.5,253,2551,0.00,2.40,0.00,0.000,4,0.000,0.040,2412,633,3333
$GC,2564,-1.68,-146.0,226.4,-9.8,253,2570,0.00,2.38,0.00,0.000,6,0.000,0.025,2412,2044,3333
$GC,2881,-1.68,-146.0,252.3,-7.9,269,2885,0.00,2.42,0.00,0.000,4,0.000,0.039,2412,3450,3333
$GC,2931,-1.74,-146.0,256.8,-8.7,271,2936,0.00,2.40,0.00,0.000,6,0.000,0.026,2412,2031,3333
$GC,3247,-1.74,-146.0,283.9,-8.4,286,3251,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,640,3334
$GC,3272,-1.77,-146.0,285.8,-7.9,287,3276,0.00,2.38,0.00,0.000,6,0.000,0.028,2412,2034,3334
$GC,3617,-1.81,-146.0,314.5,-8.3,300,3619,0.12,0.00,0.00,0.000,6,0.071,0.000,2383,2034,3333
$GC,3942,-1.81,-146.0,345.9,-9.7,308,3946,0.00,2.47,0.00,0.000,4,0.000,0.045,2383,3446,3331
$GC,3975,-1.81,-146.0,349.4,-10.1,308,3981,0.00,2.40,0.00,0.000,6,0.000,0.030,2383,2043,3331
$GC,4307,-1.81,-146.0,374.5,-7.1,317,4311,0.00,2.47,0.00,0.000,4,0.000,0.048,2383,636,3329
$GC,4335,-1.81,-146.0,376.7,-7.7,317,4339,0.00,2.42,0.00,0.000,6,0.000,0.031,2383,2049,3328
$GC,4667,-1.81,-146.0,402.0,-8.1,325,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2050,3326
$GC,4994,-1.81,-146.0,430.6,-9.0,333,4998,0.00,2.47,0.00,0.000,4,0.000,0.051,2383,3445,3323
$GC,5035,-1.84,-146.0,434.6,-9.6,334,5039,0.00,2.42,0.00,0.000,6,0.000,0.032,2383,2044,3323
$STATE,5236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5236,begin apogee
$GC,5244,-0.33,0.0,453.3,9.1,339,5362,1.58,0.00,114.28,0.927,6,0.100,0.000,2702,1940,2733
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5367,1.13,146.0,458.7,0.0,342,5490,1.48,2.62,114.88,0.897,4,0.059,0.053,3023,550,2136
$GC,5513,0.59,146.0,458.3,9.5,345,5518,0.62,2.47,0.00,0.000,6,0.150,0.030,2914,1961,2136
$GC,5856,0.31,146.0,431.1,7.5,354,5861,0.30,2.50,0.00,0.000,4,0.134,0.049,2856,3351,2134
$GC,5913,0.23,190.6,427.4,5.6,355,5953,0.12,2.45,34.70,0.899,6,0.133,0.034,2834,1957,1955
$GC,6270,0.21,238.8,407.5,5.5,364,6315,0.00,2.58,37.58,0.900,4,0.000,0.044,2834,3342,1759
$GC,6334,0.12,255.1,403.5,6.6,365,6356,0.15,2.47,13.88,0.884,6,0.135,0.034,2810,1945,1692
$GC,6681,0.09,264.1,381.0,6.8,374,6696,0.00,2.58,7.80,0.882,4,0.000,0.044,2809,3344,1656
$GC,6747,0.09,264.1,375.9,7.8,375,6752,0.00,2.45,0.00,0.000,6,0.000,0.033,2809,1952,1656
$GC,7091,0.09,283.3,352.8,6.5,384,7109,0.00,0.00,15.65,0.895,6,0.000,0.000,2810,1952,1578
$GC,7416,0.09,303.9,331.5,6.4,392,7439,0.00,2.60,16.62,0.882,4,0.000,0.042,2809,3350,1494
$GC,7475,0.09,303.9,327.4,7.2,393,7479,0.00,2.47,0.00,0.000,6,0.000,0.032,2809,1943,1494
$GC,7823,0.14,331.0,305.5,6.2,402,7852,0.00,2.62,21.75,0.869,4,0.000,0.042,2810,3353,1382
$GC,7917,0.14,331.0,298.5,7.5,404,7921,0.00,2.47,0.00,0.000,6,0.000,0.032,2809,1943,1382
$GC,8239,0.14,331.0,273.2,8.0,420,8243,0.00,2.50,0.00,0.000,4,0.000,0.042,2809,3352,1382
$GC,8278,0.14,331.0,270.2,7.9,422,8282,0.00,2.45,0.00,0.000,6,0.000,0.031,2809,1948,1382
$GC,8606,0.17,346.1,249.9,6.6,438,8628,0.00,2.60,12.15,0.831,4,0.000,0.041,2809,3360,1321
$GC,8685,0.17,346.1,243.4,8.3,441,8689,0.00,2.47,0.00,0.000,6,0.000,0.031,2809,1941,1321
$GC,9001,0.20,366.0,221.3,6.5,456,9023,0.00,2.53,16.35,0.799,4,0.000,0.038,2809,3352,1239
$GC,9063,0.24,366.0,216.6,7.2,458,9070,0.10,2.45,0.00,0.000,6,0.091,0.030,2829,1942,1239
$GC,9383,0.24,366.0,191.9,7.5,479,9387,0.00,2.47,0.00,0.000,4,0.000,0.037,2830,3353,1239
$GC,9423,0.24,366.0,188.9,7.5,482,9429,0.00,2.42,0.00,0.000,6,0.000,0.028,2830,1945,1240
$GC,9751,0.24,366.0,163.3,7.9,513,9756,0.00,2.47,0.00,0.000,4,0.000,0.036,2830,3362,1240
$GC,9796,0.25,372.4,159.9,6.9,516,9806,0.00,2.42,5.50,0.731,6,0.000,0.028,2829,1945,1215
$GC,10127,0.29,392.5,138.4,6.4,547,10150,0.00,2.50,16.48,0.702,4,0.000,0.035,2830,3355,1131
$GC,10179,0.29,392.5,134.8,7.4,551,10185,0.00,2.42,0.00,0.000,6,0.000,0.026,2830,1943,1131
$GC,10507,0.32,392.5,113.3,8.2,582,10511,0.00,2.47,0.00,0.000,4,0.000,0.035,2829,3365,1132
$GC,10530,0.35,392.5,111.0,8.8,583,10538,0.12,2.42,0.00,0.000,6,0.075,0.025,2858,1937,1133
$GC,10856,0.35,392.5,82.0,8.1,614,10860,0.00,2.45,0.00,0.000,4,0.000,0.035,2858,3356,1134
$GC,10925,0.35,392.5,76.8,7.4,620,10929,0.00,2.40,0.00,0.000,6,0.000,0.026,2858,1945,1134
$GC,11190,0.38,392.5,57.2,7.5,644,11194,0.00,2.45,0.00,0.000,4,0.000,0.035,2858,3360,1134
$GC,11214,0.42,392.5,55.0,8.0,646,11218,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1946,1134
$GC,11484,0.50,415.1,33.7,6.4,671,11512,0.15,2.50,17.90,0.584,4,0.066,0.033,2897,3353,1040
$GC,11530,0.47,415.1,29.9,7.5,675,11536,0.00,2.40,0.00,0.000,6,0.000,0.024,2897,1939,1040
$GC,11808,0.44,415.1,8.3,8.3,724,11815,0.10,2.47,0.00,0.000,4,0.103,0.046,2877,3360,1041
$STATE,11853,end climb,SURFACE_DEPTH_REACHED
$STATE,11853,begin surface coast
$FINISH,0.8,1.022159
$STATE,11930,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,12016,0.00,0.000,0,0,1041,415.05
$SM_GC,1.63,10.98,0.00,0.00,0.046,0.000,0.000,409,2029,1041,-10.86,-0.31,415.05
$IRIDIUM_FIX,2059.45,-15750.89,301297,161628
$TT8_MAMPS,0.027612
$HUMID,1685
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.8,15.774
$10V_AH,10.2,9.292
$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,17.925,144.700,445.500,0.000,0.000,0.000,0.000,0.000,11.750,0.000,0.000,0.000,1357.332,8229.041,525.856,1677.248,281.391,33.337,1371.833,0.000,1666.672,0.000,57.443
$DEVICE_MAMPS,149.565,52.923,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.397,496.331,899.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38052,745
$CAP_FILE_SIZE,107751,0
$CFSIZE,260165632,252547072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,043101,2107.758,-15751.222,36,1.0,36,9.8