version: 66.03
glider: 114
mission: 3
dive: 116
start: 10 7 108 14 11 4
data:
$ID,114
$MISSION,3
$DIVE,116
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,0
$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,0
$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,-593833.44
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,140438,2109.415,-15751.158,37,1.1,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.4
$GPS2,141009,2109.381,-15751.120,11,1.2,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.204,0.098
$KALMAN_X,-40907.7,132.2,1305.6,43714.0,-1905.1
$KALMAN_Y,-24970.1,135.7,195.0,11314.9,-843.6
$MHEAD_RNG_PITCHd_Wd,54.5,2249,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.47,0.000,2,0.000,0.000,413,2015,2848
$GC,98,-1.13,-146.0,3.5,-4.5,12,123,12.00,2.47,-7.72,0.000,4,0.163,0.049,2525,631,3331
$GC,175,-1.24,-146.0,19.7,-9.9,25,182,0.00,2.38,0.00,0.000,6,0.000,0.023,2525,2049,3331
$GC,447,-1.31,-146.0,45.9,-9.2,59,452,0.15,2.40,0.00,0.000,4,0.058,0.035,2485,3446,3331
$GC,514,-1.35,-146.0,52.6,-9.1,64,521,0.00,2.38,0.00,0.000,6,0.000,0.023,2485,2030,3331
$GC,777,-1.39,-146.0,75.7,-9.0,89,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2030,3332
$GC,1031,-1.44,-146.0,97.2,-8.7,113,1035,0.00,2.45,0.00,0.000,4,0.000,0.035,2485,3448,3333
$GC,1073,-1.53,-146.0,100.6,-8.6,116,1078,0.17,2.38,0.00,0.000,6,0.054,0.024,2442,2036,3333
$GC,1398,-1.53,-146.0,131.2,-9.1,146,1402,0.00,2.40,0.00,0.000,4,0.000,0.038,2442,632,3333
$GC,1428,-1.53,-146.0,133.9,-9.6,148,1434,0.00,2.35,0.00,0.000,6,0.000,0.023,2442,2044,3333
$GC,1754,-1.53,-146.0,164.5,-9.4,179,1758,0.00,2.40,0.00,0.000,4,0.000,0.037,2442,3447,3334
$GC,1829,-1.59,-146.0,171.2,-8.9,185,1833,0.00,2.38,0.00,0.000,6,0.000,0.025,2442,2036,3334
$GC,2160,-1.63,-146.0,200.9,-9.4,216,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2035,3334
$GC,2470,-1.68,-146.0,228.5,-8.2,231,2475,0.12,2.45,0.00,0.000,4,0.061,0.036,2409,3448,3333
$GC,2498,-1.68,-146.0,231.1,-9.0,232,2502,0.00,2.38,0.00,0.000,6,0.000,0.025,2408,2037,3333
$GC,2815,-1.68,-146.0,260.5,-9.4,247,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2035,3333
$GC,3125,-1.68,-146.0,290.1,-8.5,262,3130,0.00,2.45,0.00,0.000,4,0.000,0.038,2409,3444,3333
$GC,3154,-1.68,-146.0,292.8,-8.5,263,3158,0.00,2.38,0.00,0.000,6,0.000,0.027,2409,2043,3333
$GC,3487,-1.68,-146.0,319.9,-8.1,273,3491,0.00,2.42,0.00,0.000,4,0.000,0.039,2409,3436,3331
$GC,3520,-1.68,-146.0,322.3,-6.8,273,3524,0.00,2.38,0.00,0.000,6,0.000,0.028,2409,2039,3331
$GC,3852,-1.68,-146.0,347.7,-8.2,281,3856,0.00,2.45,0.00,0.000,4,0.000,0.041,2409,3438,3329
$GC,3868,-1.68,-146.0,349.2,-8.4,281,3872,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2031,3328
$GC,4211,-1.72,-146.0,375.9,-7.6,290,4215,0.00,2.47,0.00,0.000,4,0.000,0.042,2409,3439,3326
$GC,4244,-1.76,-146.0,378.6,-7.8,290,4251,0.00,2.40,0.00,0.000,6,0.000,0.031,2409,2039,3326
$GC,4576,-1.76,-146.0,403.7,-7.6,299,4580,0.00,2.47,0.00,0.000,4,0.000,0.048,2408,632,3323
$GC,4616,-1.83,-146.0,406.8,-7.5,300,4621,0.12,2.42,0.00,0.000,6,0.077,0.031,2381,2039,3323
$GC,4941,-1.83,-146.0,436.7,-9.4,308,4945,0.00,2.50,0.00,0.000,4,0.000,0.049,2381,3453,3320
$GC,4981,-1.83,-146.0,440.4,-9.3,309,4986,0.00,2.45,0.00,0.000,6,0.000,0.032,2381,2036,3320
$STATE,5100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5101,begin apogee
$GC,5109,-0.33,0.0,450.7,8.4,312,5227,1.60,0.00,113.93,0.919,6,0.099,0.000,2706,1930,2733
$STATE,5227,end apogee,CONTROL_FINISHED_OK
$STATE,5227,begin climb
$GC,5231,1.13,146.0,455.8,0.0,315,5353,1.48,2.60,115.15,0.894,4,0.054,0.041,3026,3362,2137
$GC,5383,0.62,146.0,455.6,8.5,319,5389,0.60,2.47,0.00,0.000,6,0.140,0.034,2920,1965,2136
$GC,5709,0.34,146.0,429.4,8.1,327,5714,0.32,2.50,0.00,0.000,4,0.125,0.040,2856,3366,2134
$GC,5749,0.18,146.0,426.3,7.2,328,5754,0.20,2.50,0.00,0.000,6,0.123,0.034,2820,1947,2134
$GC,6075,0.16,186.7,407.6,5.7,336,6115,0.00,2.60,31.33,0.897,4,0.000,0.055,2820,539,1970
$GC,6172,0.10,207.7,401.7,6.4,338,6196,0.00,2.47,16.55,0.887,6,0.000,0.030,2820,1965,1886
$GC,6530,0.16,279.2,383.3,4.7,347,6593,0.00,2.60,56.35,0.887,4,0.000,0.048,2820,3358,1593
$GC,6614,0.16,317.5,378.7,5.8,349,6649,0.00,2.50,30.30,0.871,6,0.000,0.033,2820,1947,1438
$GC,6976,0.10,317.5,350.0,8.1,357,6980,0.00,2.53,0.00,0.000,4,0.000,0.043,2820,3361,1437
$GC,7043,0.07,317.5,344.2,8.2,358,7048,0.12,2.47,0.00,0.000,6,0.124,0.034,2799,1945,1437
$GC,7380,0.09,330.4,320.9,6.7,367,7396,0.00,2.55,10.43,0.871,4,0.000,0.041,2799,3360,1386
$GC,7424,0.09,330.4,317.7,7.2,368,7428,0.00,2.47,0.00,0.000,6,0.000,0.032,2799,1945,1386
$GC,7744,0.09,330.5,293.8,7.1,378,7748,0.00,2.50,0.00,0.000,4,0.000,0.041,2799,3359,1385
$GC,7795,0.09,330.5,289.7,7.8,380,7799,0.00,2.45,0.00,0.000,6,0.000,0.031,2799,1941,1385
$GC,8111,0.11,344.6,267.3,6.7,395,8132,0.00,2.53,11.57,0.855,4,0.000,0.040,2799,3358,1327
$GC,8166,0.12,348.6,263.5,7.0,397,8178,0.00,2.45,4.15,0.816,6,0.000,0.032,2799,1950,1310
$GC,8488,0.15,365.5,243.8,6.6,413,8509,0.00,2.55,13.68,0.833,4,0.000,0.040,2799,3353,1242
$GC,8556,0.19,365.5,239.1,7.3,416,8561,0.10,2.42,0.00,0.000,6,0.088,0.031,2820,1949,1242
$GC,8883,0.19,365.5,214.6,7.7,432,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1949,1242
$GC,9196,0.24,397.1,194.0,6.1,451,9228,0.00,2.53,24.55,0.788,4,0.000,0.037,2819,3346,1114
$GC,9279,0.29,397.1,188.2,7.2,458,9286,0.10,2.42,0.00,0.000,6,0.086,0.029,2840,1938,1114
$GC,9605,0.25,397.1,158.4,9.5,489,9609,0.00,2.47,0.00,0.000,4,0.000,0.035,2840,3364,1115
$GC,9663,0.25,397.1,152.9,9.2,494,9667,0.00,2.42,0.00,0.000,6,0.000,0.028,2841,1948,1115
$GC,9991,0.25,397.1,126.1,8.6,524,9995,0.00,2.45,0.00,0.000,4,0.000,0.036,2840,3359,1115
$GC,10038,0.25,397.1,121.4,9.2,528,10042,0.00,2.42,0.00,0.000,6,0.000,0.028,2841,1939,1116
$GC,10368,0.25,397.1,94.3,7.2,558,10372,0.00,2.45,0.00,0.000,4,0.000,0.035,2840,3356,1115
$GC,10420,0.30,397.1,90.3,7.3,562,10425,0.00,2.40,0.00,0.000,6,0.000,0.027,2840,1946,1116
$GC,10749,0.41,437.5,67.9,5.7,592,10786,0.12,0.00,31.38,0.637,6,0.070,0.000,2871,1946,949
$GC,11046,0.41,437.5,45.7,7.2,620,11050,0.00,2.45,0.00,0.000,4,0.000,0.034,2871,3363,950
$GC,11109,0.45,437.5,40.0,8.1,625,11113,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,1943,949
$GC,11379,0.50,463.5,19.7,6.2,661,11408,0.00,2.50,19.83,0.588,4,0.000,0.043,2871,557,843
$GC,11428,0.55,471.3,16.4,6.9,669,11441,0.12,2.35,6.45,0.588,6,0.067,0.023,2901,1959,810
$STATE,11552,end climb,SURFACE_DEPTH_REACHED
$STATE,11555,begin surface coast
$FINISH,0.8,1.009324
$STATE,11627,end surface coast,CONTROL_FINISHED_OK
$STATE,11627,begin surface
$SM_CCo,11712,0.00,0.000,0,0,811,471.71
$SM_GC,1.50,11.07,0.00,0.00,0.044,0.000,0.000,407,2075,811,-10.87,0.99,471.71
$IRIDIUM_FIX,2104.07,-15750.02,010198,101012
$TT8_MAMPS,0.027612
$HUMID,1684
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,20
$24V_AH,23.8,17.225
$10V_AH,10.2,10.182
$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,28.425,132.700,485.625,0.000,0.000,31.420,30.291,143.011,14.000,0.000,0.000,13.347,1287.635,8051.247,564.688,1624.590,515.649,33.354,1381.226,0.000,1597.316,0.000,57.454
$DEVICE_MAMPS,162.604,59.059,918.866,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.614,458.520,833.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38032,704
$CAP_FILE_SIZE,107938,0
$CFSIZE,260165632,251949056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,172732,2110.048,-15749.480,37,1.7,37,9.8