version: 66.03
glider: 114
mission: 3
dive: 121
start: 10 8 108 7 12 10
data:
$ID,114
$MISSION,3
$DIVE,121
$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,-593923.44
$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,32
$R_STBD_OVSHOOT,68
$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
$GPS1,070538,2104.205,-15747.653,22,1.7,22,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,071115,2104.198,-15747.657,11,1.7,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.078,-0.212
$KALMAN_X,-38604.0,-231.5,-228.7,49272.8,13.4
$KALMAN_Y,-25284.9,-220.3,-78.5,2660.6,-172.5
$MHEAD_RNG_PITCHd_Wd,150.0,3714,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,96,0.00,0.00,-64.05,0.000,2,0.000,0.000,409,2076,2932
$GC,100,-1.13,-146.0,3.8,-5.0,12,125,11.98,2.50,-6.10,0.000,4,0.162,0.045,2524,634,3330
$GC,200,-1.29,-146.0,23.0,-9.2,29,207,0.12,2.33,0.00,0.000,6,0.059,0.022,2492,2022,3330
$GC,469,-1.29,-146.0,53.3,-11.0,59,473,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3446,3331
$GC,566,-1.39,-146.0,63.1,-8.8,67,571,0.00,2.38,0.00,0.000,6,0.000,0.023,2491,2034,3331
$GC,832,-1.46,-146.0,85.5,-7.0,91,836,0.12,2.42,0.00,0.000,4,0.060,0.034,2460,3436,3332
$GC,861,-1.46,-146.0,87.9,-7.8,93,865,0.00,2.35,0.00,0.000,6,0.000,0.024,2460,2029,3331
$GC,1187,-1.49,-146.0,118.4,-10.4,123,1191,0.00,2.45,0.00,0.000,4,0.000,0.035,2460,3447,3333
$GC,1243,-1.55,-146.0,124.1,-9.9,127,1249,0.00,2.35,0.00,0.000,6,0.000,0.023,2460,2036,3333
$GC,1568,-1.60,-146.0,153.8,-11.5,158,1573,0.12,2.42,0.00,0.000,4,0.061,0.035,2427,3443,3333
$GC,1601,-1.60,-146.0,158.0,-12.6,160,1608,0.00,2.38,0.00,0.000,6,0.000,0.024,2427,2015,3333
$GC,1927,-1.60,-146.0,188.9,-8.9,191,1931,0.00,2.45,0.00,0.000,4,0.000,0.035,2427,3444,3333
$GC,1966,-1.63,-146.0,192.7,-9.5,194,1973,0.00,2.35,0.00,0.000,6,0.000,0.025,2427,2039,3333
$GC,2295,-1.63,-146.0,223.9,-8.3,214,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2038,3333
$GC,2605,-1.66,-146.0,248.3,-8.5,229,2609,0.00,2.42,0.00,0.000,4,0.000,0.038,2427,3437,3333
$GC,2638,-1.70,-146.0,251.2,-8.1,230,2645,0.00,2.35,0.00,0.000,6,0.000,0.025,2427,2038,3333
$GC,2955,-1.74,-146.0,277.3,-9.0,246,2960,0.12,2.45,0.00,0.000,4,0.066,0.038,2397,3446,3333
$GC,3018,-1.74,-146.0,283.8,-10.8,249,3022,0.00,2.40,0.00,0.000,6,0.000,0.026,2397,2029,3333
$GC,3363,-1.74,-146.0,315.1,-8.5,262,3367,0.00,2.42,0.00,0.000,4,0.000,0.044,2397,634,3331
$GC,3392,-1.74,-146.0,317.8,-9.7,262,3396,0.00,2.38,0.00,0.000,6,0.000,0.028,2397,2032,3331
$GC,3723,-1.74,-146.0,344.8,-8.0,270,3728,0.00,2.47,0.00,0.000,4,0.000,0.044,2397,3446,3329
$GC,3764,-1.74,-146.0,348.0,-8.6,271,3768,0.00,2.42,0.00,0.000,6,0.000,0.030,2397,2032,3328
$GC,4090,-1.74,-146.0,375.6,-8.7,279,4094,0.00,2.50,0.00,0.000,4,0.000,0.043,2397,3448,3326
$GC,4132,-1.77,-146.0,379.4,-9.1,280,4137,0.00,2.42,0.00,0.000,6,0.000,0.031,2397,2035,3326
$GC,4462,-1.77,-146.0,408.3,-8.7,288,4466,0.00,2.47,0.00,0.000,4,0.000,0.048,2397,631,3324
$GC,4485,-1.80,-146.0,410.4,-8.7,288,4490,0.00,2.42,0.00,0.000,6,0.000,0.031,2397,2039,3323
$GC,4830,-1.80,-146.0,437.2,-7.7,297,4834,0.00,2.50,0.00,0.000,4,0.000,0.051,2397,3448,3320
$GC,4908,-1.86,-146.0,443.4,-7.5,298,4915,0.00,2.40,0.00,0.000,6,0.000,0.032,2397,2046,3320
$STATE,5034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5034,begin apogee
$GC,5042,-0.33,0.0,452.4,7.1,302,5160,1.50,0.00,114.05,0.930,6,0.099,0.000,2703,1928,2733
$STATE,5161,end apogee,CONTROL_FINISHED_OK
$STATE,5161,begin climb
$GC,5164,1.13,146.0,456.2,0.0,305,5288,1.45,2.55,114.60,0.904,4,0.054,0.053,3022,547,2136
$GC,5544,0.60,146.0,425.7,11.5,313,5549,0.60,2.47,0.00,0.000,6,0.140,0.031,2916,1965,2134
$GC,5882,0.37,173.3,402.8,6.2,322,5906,0.30,0.00,21.15,0.898,6,0.130,0.000,2862,1965,2026
$GC,6207,0.29,219.8,384.5,5.5,330,6249,0.00,2.62,36.17,0.900,4,0.000,0.053,2862,551,1836
$GC,6312,0.12,219.8,376.0,9.6,332,6317,0.30,2.45,0.00,0.000,6,0.150,0.031,2809,1949,1836
$GC,6660,0.10,231.0,351.5,6.8,341,6675,0.00,2.55,9.25,0.882,4,0.000,0.049,2809,3350,1790
$GC,6738,0.24,310.6,347.7,4.4,342,6808,0.10,2.42,62.40,0.879,6,0.094,0.033,2829,1960,1466
$GC,7120,0.18,310.6,320.9,9.3,352,7124,0.00,2.50,0.00,0.000,4,0.000,0.044,2829,3356,1466
$GC,7160,0.12,310.6,316.4,10.7,353,7165,0.10,2.47,0.00,0.000,6,0.122,0.033,2810,1945,1465
$GC,7486,0.18,344.7,293.6,6.0,363,7520,0.00,2.62,26.70,0.853,4,0.000,0.051,2810,545,1327
$GC,7538,0.18,344.7,289.9,7.6,365,7542,0.00,2.45,0.00,0.000,6,0.000,0.029,2810,1950,1327
$GC,7854,0.18,344.7,262.4,9.6,380,7858,0.00,2.50,0.00,0.000,4,0.000,0.047,2811,3356,1327
$GC,7926,0.18,344.7,255.6,8.5,383,7931,0.00,2.45,0.00,0.000,6,0.000,0.031,2811,1949,1327
$GC,8243,0.19,347.8,235.1,7.0,398,8251,0.00,2.53,3.28,0.777,4,0.000,0.040,2810,3345,1315
$GC,8298,0.22,347.8,230.4,7.7,400,8303,0.00,2.42,0.00,0.000,6,0.000,0.031,2810,1939,1315
$GC,8621,0.24,360.1,205.2,6.7,416,8636,0.00,2.53,10.30,0.783,4,0.000,0.037,2810,3361,1264
$GC,8660,0.27,376.0,202.6,6.6,417,8682,0.12,2.45,13.10,0.769,6,0.081,0.029,2837,1951,1200
$GC,9000,0.27,376.0,175.0,8.2,447,9004,0.00,2.50,0.00,0.000,4,0.000,0.047,2836,541,1200
$GC,9018,0.24,376.0,173.5,8.1,448,9024,0.00,2.40,0.00,0.000,6,0.000,0.025,2837,1960,1200
$GC,9346,0.24,376.0,148.4,8.0,479,9350,0.00,2.40,0.00,0.000,4,0.000,0.038,2837,3355,1201
$GC,9392,0.24,376.0,144.3,9.0,483,9396,0.00,2.42,0.00,0.000,6,0.000,0.028,2837,1945,1201
$GC,9722,0.26,385.3,122.5,6.8,513,9736,0.00,2.50,8.10,0.681,4,0.000,0.035,2837,3342,1162
$GC,9797,0.31,401.4,117.5,6.6,519,9814,0.00,2.40,12.82,0.671,6,0.000,0.028,2837,1939,1096
$GC,10133,0.31,401.4,93.3,8.0,551,10137,0.00,2.45,0.00,0.000,4,0.000,0.035,2837,3354,1097
$GC,10180,0.38,401.4,89.6,7.5,555,10185,0.10,2.40,0.00,0.000,6,0.078,0.026,2860,1949,1097
$GC,10505,0.38,401.4,66.4,7.6,585,10509,0.00,2.42,0.00,0.000,4,0.000,0.036,2860,3354,1098
$GC,10535,0.38,401.4,64.0,8.1,587,10541,0.00,2.40,0.00,0.000,6,0.000,0.025,2860,1935,1099
$GC,10800,0.46,427.3,48.0,6.2,612,10826,0.00,2.47,20.23,0.594,4,0.000,0.043,2860,543,990
$GC,10839,0.50,428.4,45.1,7.1,615,10846,0.12,2.38,0.00,0.000,6,0.068,0.023,2890,1951,990
$GC,11107,0.50,428.4,23.8,8.3,646,11113,0.00,2.40,0.00,0.000,4,0.000,0.035,2890,3352,991
$GC,11165,0.50,428.4,18.3,9.2,656,11172,0.00,2.38,0.00,0.000,6,0.000,0.025,2890,1942,992
$STATE,11328,end climb,SURFACE_DEPTH_REACHED
$STATE,11328,begin surface coast
$FINISH,0.7,1.019670
$STATE,11409,end surface coast,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$SM_CCo,11493,0.00,0.000,0,0,992,427.07
$SM_GC,1.48,11.00,0.00,0.00,0.045,0.000,0.000,412,2087,992,-10.85,1.33,427.07
$IRIDIUM_FIX,2059.45,-15746.61,020198,030333
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,24.90
$XPDR_PINGS,12
$24V_AH,23.8,17.858
$10V_AH,10.2,10.595
$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,28.175,137.150,452.150,0.000,0.000,25.585,29.362,156.327,12.000,0.000,0.000,13.260,1313.733,7781.184,522.927,1673.162,540.235,33.365,1369.364,0.000,1645.097,0.000,57.459
$DEVICE_MAMPS,161.837,52.923,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.196,473.234,835.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34868,699
$CAP_FILE_SIZE,109532,0
$CFSIZE,260165632,251670528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081008,102502,2102.485,-15747.312,40,1.0,40,9.8