version: 66.03
glider: 114
mission: 3
dive: 131
start: 10 9 108 16 46 28
data:
$ID,114
$MISSION,3
$DIVE,131
$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,-594106.19
$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,33
$R_STBD_OVSHOOT,73
$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
$GPS1,164002,2104.722,-15748.131,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.9
$GPS2,164533,2104.658,-15748.091,13,1.6,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.057,-0.219
$KALMAN_X,-36132.9,-182.5,161.7,45615.7,571.2
$KALMAN_Y,-29257.0,-28.1,-44.7,7256.6,-69.8
$MHEAD_RNG_PITCHd_Wd,155.7,4786,-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,-70.28,0.000,2,0.000,0.000,410,2084,2996
$GC,103,-1.13,-146.0,3.9,-5.1,13,128,11.98,2.53,-4.97,0.000,4,0.160,0.046,2526,631,3332
$GC,192,-1.28,-146.0,24.3,-10.1,28,199,0.05,2.33,0.00,0.000,6,0.054,0.022,2497,2000,3332
$GC,461,-1.28,-146.0,53.5,-9.2,57,465,0.00,2.47,0.00,0.000,4,0.000,0.036,2496,3444,3332
$GC,551,-1.36,-146.0,62.2,-8.9,64,557,0.00,2.38,0.00,0.000,6,0.000,0.022,2496,2023,3332
$GC,813,-1.43,-146.0,88.4,-9.5,89,815,0.12,0.00,0.00,0.000,6,0.058,0.000,2464,2022,3333
$GC,1131,-1.43,-146.0,121.3,-9.3,119,1135,0.00,2.45,0.00,0.000,4,0.000,0.035,2463,3446,3333
$GC,1183,-1.50,-146.0,125.9,-9.1,123,1187,0.00,2.38,0.00,0.000,6,0.000,0.023,2463,2030,3333
$GC,1509,-1.55,-146.0,153.6,-9.0,153,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2028,3333
$GC,1831,-1.61,-146.0,180.3,-8.3,183,1836,0.15,2.45,0.00,0.000,4,0.056,0.034,2422,3449,3333
$GC,1938,-1.61,-146.0,190.5,-8.6,192,1942,0.00,2.38,0.00,0.000,6,0.000,0.024,2422,2038,3333
$GC,2268,-1.61,-146.0,218.6,-8.7,213,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2037,3333
$GC,2577,-1.61,-146.0,245.4,-7.9,228,2581,0.00,2.42,0.00,0.000,4,0.000,0.036,2422,3443,3333
$GC,2642,-1.66,-146.0,250.3,-7.8,231,2646,0.00,2.38,0.00,0.000,6,0.000,0.025,2422,2036,3333
$GC,2969,-1.66,-146.0,277.7,-8.7,247,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2034,3332
$GC,3298,-1.69,-146.0,307.6,-8.7,261,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2034,3331
$GC,3622,-1.74,-146.0,333.2,-8.1,269,3627,0.00,2.45,0.00,0.000,4,0.000,0.044,2422,633,3330
$GC,3652,-1.81,-146.0,335.5,-8.2,269,3657,0.17,2.40,0.00,0.000,6,0.062,0.028,2381,2042,3329
$GC,3984,-1.81,-146.0,365.9,-9.1,277,3988,0.00,2.47,0.00,0.000,4,0.000,0.045,2381,3452,3327
$GC,4053,-1.81,-146.0,372.5,-9.5,278,4057,0.00,2.42,0.00,0.000,6,0.000,0.031,2381,2038,3326
$GC,4391,-1.81,-146.0,402.1,-8.7,287,4395,0.00,2.47,0.00,0.000,4,0.000,0.043,2381,3443,3325
$GC,4419,-1.81,-146.0,404.8,-9.3,287,4423,0.00,2.42,0.00,0.000,6,0.000,0.031,2381,2030,3324
$GC,4751,-1.81,-146.0,432.2,-8.2,295,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2029,3321
$STATE,4993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4993,begin apogee
$GC,5001,-0.33,0.0,453.1,8.6,301,5119,1.58,0.00,113.82,0.926,6,0.095,0.000,2703,1934,2733
$STATE,5120,end apogee,CONTROL_FINISHED_OK
$STATE,5120,begin climb
$GC,5123,1.13,146.0,458.2,0.0,304,5246,1.45,2.53,114.60,0.896,4,0.049,0.052,3025,564,2136
$GC,5455,0.60,146.0,436.8,11.0,311,5460,0.62,2.42,0.00,0.000,6,0.148,0.030,2916,1959,2135
$GC,5792,0.33,146.0,409.8,8.3,320,5798,0.30,2.55,0.00,0.000,4,0.127,0.053,2858,563,2132
$GC,5866,0.13,146.0,403.9,8.3,321,5871,0.25,2.42,0.00,0.000,6,0.150,0.031,2813,1957,2131
$GC,6198,0.22,229.2,386.9,4.3,329,6268,0.00,2.60,63.08,0.900,4,0.000,0.049,2813,3354,1798
$GC,6303,0.18,233.9,381.0,7.0,331,6313,0.00,2.45,4.53,0.841,6,0.000,0.034,2813,1965,1779
$GC,6646,0.17,257.2,359.3,6.3,340,6670,0.00,2.58,18.70,0.886,4,0.000,0.043,2813,3356,1684
$GC,6716,0.14,257.2,354.2,8.2,341,6721,0.00,2.47,0.00,0.000,6,0.000,0.033,2813,1949,1684
$GC,7055,0.11,260.3,328.9,7.0,350,7064,0.00,2.55,3.08,0.815,4,0.000,0.042,2813,3351,1671
$GC,7076,0.12,291.8,327.5,6.1,350,7107,0.00,2.45,25.40,0.866,6,0.000,0.031,2813,1947,1543
$GC,7421,0.12,291.8,300.9,8.0,359,7425,0.00,2.50,0.00,0.000,4,0.000,0.041,2813,3355,1542
$GC,7438,0.11,303.0,299.8,6.8,359,7452,0.00,2.45,9.30,0.848,6,0.000,0.031,2813,1942,1497
$GC,7770,0.14,321.0,279.2,6.5,375,7790,0.00,0.00,14.25,0.840,6,0.000,0.000,2813,1942,1424
$GC,8101,0.14,321.9,256.4,7.1,391,8105,0.00,2.47,0.00,0.000,4,0.000,0.039,2813,3355,1424
$GC,8152,0.14,321.9,252.5,7.8,393,8156,0.00,2.45,0.00,0.000,6,0.000,0.031,2813,1943,1423
$GC,8474,0.14,321.9,229.5,7.4,409,8478,0.00,2.47,0.00,0.000,4,0.000,0.038,2813,3356,1424
$GC,8507,0.14,321.9,227.0,7.6,410,8513,0.00,2.42,0.00,0.000,6,0.000,0.030,2813,1946,1423
$GC,8823,0.14,321.9,203.2,7.6,426,8827,0.00,2.47,0.00,0.000,4,0.000,0.037,2813,3365,1424
$GC,8879,0.14,321.9,198.5,8.4,429,8885,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1937,1424
$GC,9207,0.20,356.0,176.4,6.0,460,9237,0.00,0.00,27.48,0.742,6,0.000,0.000,2813,1936,1281
$GC,9556,0.23,356.0,152.1,7.2,493,9560,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3358,1281
$GC,9608,0.30,357.1,148.3,7.1,497,9613,0.15,2.42,0.00,0.000,6,0.070,0.028,2847,1941,1282
$GC,9934,0.30,357.1,124.8,7.4,527,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1941,1283
$GC,10253,0.30,357.1,102.5,7.4,557,10257,0.00,2.45,0.00,0.000,4,0.000,0.035,2847,3357,1284
$GC,10333,0.36,370.9,96.5,6.7,563,10351,0.00,2.40,12.45,0.650,6,0.000,0.026,2847,1938,1219
$GC,10672,0.51,434.1,76.9,5.0,595,10726,0.15,2.50,47.53,0.612,4,0.063,0.033,2888,3358,962
$GC,10740,0.47,434.3,72.7,7.1,601,10744,0.00,2.42,0.00,0.000,6,0.000,0.025,2888,1945,962
$GC,11005,0.43,434.3,50.4,9.7,625,11009,0.00,2.45,0.00,0.000,4,0.000,0.034,2888,3358,963
$GC,11067,0.43,434.3,44.2,8.7,630,11073,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,1945,964
$GC,11334,0.43,434.3,22.8,8.0,663,11340,0.00,2.45,0.00,0.000,4,0.000,0.033,2888,3367,964
$GC,11353,0.43,434.3,21.1,8.4,666,11360,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,1946,964
$STATE,11550,end climb,SURFACE_DEPTH_REACHED
$STATE,11550,begin surface coast
$FINISH,0.7,1.016486
$STATE,11624,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11709,0.00,0.000,0,0,965,433.45
$SM_GC,1.53,11.02,0.00,0.00,0.046,0.000,0.000,408,2086,965,-10.87,1.30,433.45
$IRIDIUM_FIX,2059.45,-15748.75,030198,131356
$TT8_MAMPS,0.027612
$HUMID,1711
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.00
$XPDR_PINGS,13
$24V_AH,23.8,19.139
$10V_AH,10.2,11.407
$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,28.000,108.200,454.200,0.000,0.000,25.645,32.537,140.812,12.250,0.000,0.000,14.654,1292.583,8099.336,504.826,1640.678,502.546,33.372,1312.320,0.000,1613.060,0.000,59.887
$DEVICE_MAMPS,160.303,56.758,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.510,469.830,845.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38090,714
$CAP_FILE_SIZE,102964,0
$CFSIZE,260165632,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,200308,2103.027,-15747.300,52,1.2,52,9.8