version: 66.03
glider: 114
mission: 3
dive: 127
start: 10 9 108 3 24 34
data:
$ID,114
$MISSION,3
$DIVE,127
$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,-594042.81
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,031808,2108.265,-15749.150,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.8
$GPS2,032339,2108.239,-15749.125,14,1.5,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.066,0.216
$KALMAN_X,-36895.5,259.5,165.0,44147.9,-127.8
$KALMAN_Y,-28314.6,178.5,3.7,12689.6,-647.7
$MHEAD_RNG_PITCHd_Wd,333.2,3594,-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,-64.55,0.000,2,0.000,0.000,409,2020,2775
$GC,98,-1.13,-146.0,3.1,-3.8,12,128,11.98,2.50,-9.35,0.000,4,0.161,0.048,2525,3436,3330
$GC,203,-1.23,-146.0,20.2,-8.8,30,210,0.00,2.35,0.00,0.000,6,0.000,0.023,2525,2035,3330
$GC,482,-1.30,-146.0,43.8,-8.3,65,487,0.12,2.42,0.00,0.000,4,0.061,0.034,2494,3433,3330
$GC,511,-1.36,-146.0,46.9,-10.1,67,516,0.00,2.35,0.00,0.000,6,0.000,0.023,2494,2038,3331
$GC,774,-1.42,-146.0,72.5,-9.0,91,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2037,3331
$GC,1029,-1.49,-146.0,94.3,-7.7,115,1033,0.17,2.42,0.00,0.000,4,0.054,0.034,2447,3443,3332
$GC,1085,-1.49,-146.0,99.9,-9.9,119,1095,0.00,2.35,0.00,0.000,6,0.000,0.024,2447,2033,3332
$GC,1411,-1.49,-146.0,130.4,-9.0,150,1415,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3443,3333
$GC,1433,-1.49,-146.0,132.7,-9.5,151,1439,0.00,2.35,0.00,0.000,6,0.000,0.023,2446,2036,3333
$GC,1758,-1.49,-146.0,161.5,-8.2,182,1762,0.00,2.40,0.00,0.000,4,0.000,0.038,2446,638,3333
$GC,1781,-1.53,-146.0,163.6,-9.2,183,1787,0.00,2.35,0.00,0.000,6,0.000,0.024,2447,2042,3333
$GC,2106,-1.56,-146.0,191.8,-9.9,214,2110,0.00,2.40,0.00,0.000,4,0.000,0.037,2446,3443,3333
$GC,2163,-1.62,-146.0,197.4,-9.2,218,2169,0.00,2.35,0.00,0.000,6,0.000,0.025,2446,2043,3333
$GC,2493,-1.68,-146.0,222.9,-7.0,236,2498,0.15,2.42,0.00,0.000,4,0.058,0.035,2406,3443,3333
$GC,2521,-1.68,-146.0,225.4,-9.0,237,2525,0.00,2.38,0.00,0.000,6,0.000,0.025,2405,2032,3333
$GC,2837,-1.68,-146.0,253.0,-9.1,252,2841,0.00,2.42,0.00,0.000,4,0.000,0.041,2405,631,3332
$GC,2887,-1.68,-146.0,258.0,-9.8,254,2891,0.00,2.38,0.00,0.000,6,0.000,0.027,2405,2037,3332
$GC,3208,-1.68,-146.0,287.7,-9.3,270,3212,0.00,2.45,0.00,0.000,4,0.000,0.041,2406,3449,3332
$GC,3248,-1.68,-146.0,291.5,-9.6,272,3252,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,2041,3332
$GC,3599,-1.68,-146.0,322.2,-8.3,283,3603,0.00,2.45,0.00,0.000,4,0.000,0.045,2405,638,3330
$GC,3622,-1.68,-146.0,324.5,-8.8,283,3626,0.00,2.40,0.00,0.000,6,0.000,0.029,2405,2044,3330
$GC,3961,-1.68,-146.0,352.7,-8.0,292,3965,0.00,2.47,0.00,0.000,4,0.000,0.045,2406,3456,3327
$GC,4022,-1.73,-146.0,357.8,-8.0,293,4027,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2043,3327
$GC,4367,-1.73,-146.0,384.9,-7.7,302,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2042,3324
$GC,4692,-1.73,-146.0,407.9,-7.1,310,4696,0.00,2.50,0.00,0.000,4,0.000,0.044,2406,3453,3322
$GC,4714,-1.76,-146.0,409.9,-8.0,310,4722,0.00,2.45,0.00,0.000,6,0.000,0.031,2405,2030,3321
$GC,5061,-1.80,-146.0,440.2,-9.2,319,5065,0.00,2.50,0.00,0.000,4,0.000,0.044,2405,3445,3319
$GC,5095,-1.84,-146.0,443.3,-8.6,319,5101,0.12,2.42,0.00,0.000,6,0.078,0.032,2378,2038,3319
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5190,-0.33,0.0,452.1,10.0,322,5307,1.60,0.00,113.32,0.932,6,0.095,0.000,2706,1931,2733
$STATE,5308,end apogee,CONTROL_FINISHED_OK
$STATE,5308,begin climb
$GC,5311,1.13,146.0,458.2,0.0,325,5435,1.48,2.65,114.93,0.902,4,0.051,0.042,3028,3354,2137
$GC,5557,0.63,146.0,446.1,12.7,331,5562,0.60,2.47,0.00,0.000,6,0.130,0.035,2921,1957,2137
$GC,5882,0.34,146.0,415.7,9.3,339,5884,0.35,0.00,0.00,0.000,6,0.155,0.000,2857,1957,2134
$GC,6208,0.19,153.2,392.8,6.9,347,6216,0.17,0.00,5.65,0.881,6,0.126,0.000,2825,1957,2108
$GC,6532,0.23,226.6,376.5,4.6,355,6595,0.00,2.60,57.05,0.894,4,0.000,0.054,2826,545,1808
$GC,6608,0.24,279.5,372.9,5.3,356,6655,0.00,2.47,42.17,0.872,6,0.000,0.031,2826,1955,1593
$GC,6981,0.19,295.4,349.1,6.6,366,7000,0.00,2.58,13.23,0.867,4,0.000,0.050,2825,3343,1528
$GC,7058,0.14,295.4,342.8,8.8,367,7062,0.00,2.45,0.00,0.000,6,0.000,0.035,2825,1951,1528
$GC,7395,0.07,295.4,314.0,8.5,376,7400,0.15,2.53,0.00,0.000,4,0.125,0.044,2795,3356,1527
$GC,7440,0.08,298.9,310.6,7.0,377,7449,0.00,2.47,3.42,0.817,6,0.000,0.034,2795,1945,1513
$GC,7766,0.17,350.2,291.7,5.4,388,7811,0.00,2.58,39.78,0.848,4,0.000,0.043,2795,3352,1305
$GC,7834,0.18,357.0,287.8,6.9,391,7847,0.10,2.47,6.45,0.815,6,0.089,0.032,2817,1945,1277
$GC,8156,0.18,357.0,261.1,8.3,407,8160,0.00,2.50,0.00,0.000,4,0.000,0.041,2817,3351,1277
$GC,8184,0.18,357.0,258.6,8.7,408,8188,0.00,2.45,0.00,0.000,6,0.000,0.032,2816,1947,1277
$GC,8505,0.18,357.0,230.9,8.9,424,8509,0.00,2.47,0.00,0.000,4,0.000,0.041,2816,3352,1276
$GC,8532,0.18,357.0,228.5,9.1,425,8537,0.00,2.45,0.00,0.000,6,0.000,0.031,2816,1939,1276
$GC,8855,0.22,380.4,204.8,6.3,441,8879,0.00,2.58,18.60,0.779,4,0.000,0.039,2816,3353,1182
$GC,8937,0.29,398.8,199.5,6.5,444,8958,0.12,2.45,14.77,0.767,6,0.076,0.030,2843,1939,1106
$GC,9284,0.25,398.8,167.9,9.5,477,9289,0.00,2.47,0.00,0.000,4,0.000,0.037,2844,3355,1106
$GC,9325,0.22,398.8,164.0,10.0,480,9329,0.00,2.42,0.00,0.000,6,0.000,0.028,2843,1950,1106
$GC,9654,0.18,398.8,135.4,8.8,510,9659,0.12,2.45,0.00,0.000,4,0.107,0.035,2821,3355,1107
$GC,9699,0.23,398.8,131.4,7.2,513,9705,0.00,2.40,0.00,0.000,6,0.000,0.027,2820,1948,1108
$GC,10028,0.31,419.6,108.6,6.4,544,10051,0.12,2.47,16.70,0.669,4,0.072,0.035,2850,3354,1021
$GC,10091,0.31,419.6,103.6,7.9,549,10098,0.00,2.42,0.00,0.000,6,0.000,0.026,2850,1937,1021
$GC,10419,0.31,419.6,79.7,7.6,580,10423,0.00,2.47,0.00,0.000,4,0.000,0.035,2850,3360,1021
$GC,10443,0.31,419.6,77.7,8.1,582,10447,0.00,2.42,0.00,0.000,6,0.000,0.032,2850,1940,1022
$GC,10711,0.31,420.6,58.3,7.1,607,10715,0.00,2.45,0.00,0.000,4,0.000,0.034,2850,3358,1022
$GC,10752,0.36,420.6,55.4,7.5,610,10756,0.00,2.40,0.00,0.000,6,0.000,0.025,2850,1939,1022
$GC,11024,0.42,432.8,36.7,6.7,635,11040,0.00,0.00,11.18,0.587,6,0.000,0.000,2850,1939,967
$GC,11306,0.55,470.0,19.4,5.9,676,11341,0.17,2.50,28.00,0.559,4,0.058,0.031,2898,3363,815
$GC,11394,0.55,470.0,12.2,9.1,691,11400,0.00,2.40,0.00,0.000,6,0.000,0.025,2897,1951,816
$STATE,11472,end climb,SURFACE_DEPTH_REACHED
$STATE,11472,begin surface coast
$FINISH,0.8,1.018144
$STATE,11526,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11611,0.00,0.000,0,0,818,469.99
$SM_GC,1.51,11.02,0.00,0.00,0.042,0.000,0.000,411,2090,818,-10.85,1.41,469.99
$IRIDIUM_FIX,2057.14,-15748.75,030198,000015
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.8,18.639
$10V_AH,10.2,11.085
$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,28.575,132.550,485.250,0.000,0.000,25.803,35.035,141.753,12.250,0.000,0.000,16.302,1298.262,7941.376,571.717,1608.452,523.560,33.366,1375.682,0.000,1582.332,0.000,57.454
$DEVICE_MAMPS,161.070,54.457,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.423,467.309,859.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37919,714
$CAP_FILE_SIZE,107828,0
$CFSIZE,260165632,251326464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,063925,2109.572,-15749.675,24,1.4,41,9.8