version: 66.03
glider: 114
mission: 3
dive: 133
start: 10 9 108 22 47 51
data:
$ID,114
$MISSION,3
$DIVE,133
$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,220
$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,-594155.94
$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,48
$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
$GPS1,223547,2102.712,-15747.146,8,2.2,27,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.6
$GPS2,224653,2102.588,-15747.116,10,3.4,29,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.080,0.206
$KALMAN_X,-35822.8,543.0,-214.8,46640.4,222.1
$KALMAN_Y,-29739.4,150.5,80.6,3597.9,-415.4
$MHEAD_RNG_PITCHd_Wd,329.0,14602,-12.5,-6.818
$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,-1.09,-146.0,0.0,0.0,0,88,0.00,0.00,-59.40,0.000,2,0.000,0.000,413,2030,2879
$GC,92,-1.09,-146.0,3.5,-4.6,11,117,12.00,2.50,-7.28,0.000,4,0.160,0.050,2535,3441,3332
$GC,240,-1.20,-146.0,24.8,-8.5,36,247,0.00,2.35,0.00,0.000,6,0.000,0.023,2535,2036,3332
$GC,509,-1.31,-146.0,45.5,-7.3,66,515,0.15,0.00,0.00,0.000,6,0.057,0.000,2494,2036,3332
$GC,772,-1.35,-146.0,68.4,-9.4,91,776,0.00,2.40,0.00,0.000,4,0.000,0.035,2494,3432,3334
$GC,828,-1.42,-146.0,73.2,-8.2,95,835,0.10,2.33,0.00,0.000,6,0.069,0.023,2469,2035,3334
$GC,1090,-1.42,-146.0,97.3,-9.5,120,1094,0.00,2.40,0.00,0.000,4,0.000,0.034,2469,3433,3334
$GC,1129,-1.47,-146.0,101.1,-9.8,123,1135,0.00,2.33,0.00,0.000,6,0.000,0.023,2469,2038,3334
$GC,1456,-1.51,-146.0,130.5,-9.3,154,1460,0.00,2.40,0.00,0.000,4,0.000,0.038,2469,638,3334
$GC,1478,-1.57,-146.0,132.8,-9.4,155,1485,0.15,2.33,0.00,0.000,6,0.056,0.022,2431,2039,3334
$GC,1804,-1.57,-146.0,163.0,-9.3,186,1808,0.00,2.40,0.00,0.000,4,0.000,0.035,2431,3447,3334
$GC,1846,-1.57,-146.0,166.9,-9.5,189,1850,0.00,2.38,0.00,0.000,6,0.000,0.024,2431,2034,3334
$GC,2171,-1.57,-146.0,197.8,-9.1,219,2175,0.00,2.40,0.00,0.000,4,0.000,0.035,2431,3436,3334
$GC,2188,-1.57,-146.0,199.3,-8.7,220,2194,0.00,2.35,0.00,0.000,6,0.000,0.025,2430,2031,3334
$GC,2515,-1.57,-146.0,226.5,-7.9,237,2519,0.00,2.45,0.00,0.000,4,0.000,0.036,2430,3448,3334
$GC,2549,-1.61,-146.0,229.1,-7.9,238,2555,0.00,2.38,0.00,0.000,6,0.000,0.025,2431,2032,3334
$GC,2865,-1.64,-146.0,251.9,-7.4,254,2869,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,632,3333
$GC,2884,-1.67,-146.0,253.3,-7.6,255,2888,0.00,2.38,0.00,0.000,6,0.000,0.026,2431,2034,3333
$GC,3217,-1.72,-146.0,277.9,-7.3,271,3222,0.12,2.45,0.00,0.000,4,0.067,0.040,2401,3446,3331
$GC,3295,-1.72,-146.0,285.1,-9.2,274,3302,0.00,2.38,0.00,0.000,6,0.000,0.028,2401,2045,3330
$GC,3630,-1.72,-146.0,316.8,-9.6,287,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2045,3328
$GC,3954,-1.72,-146.0,344.6,-8.3,295,3959,0.00,2.45,0.00,0.000,4,0.000,0.041,2401,3441,3326
$GC,3995,-1.72,-146.0,348.0,-8.3,296,3999,0.00,2.40,0.00,0.000,6,0.000,0.029,2401,2039,3325
$GC,4321,-1.72,-146.0,374.8,-8.3,304,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2038,3323
$GC,4647,-1.72,-146.0,401.4,-8.1,312,4651,0.00,2.47,0.00,0.000,4,0.000,0.044,2401,3442,3320
$GC,4703,-1.75,-146.0,406.2,-8.0,313,4707,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,2032,3320
$GC,5053,-1.75,-146.0,432.8,-7.5,322,5057,0.00,2.47,0.00,0.000,4,0.000,0.051,2400,632,3318
$GC,5087,-1.75,-146.0,435.6,-7.8,322,5093,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,2043,3317
$STATE,5294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5294,begin apogee
$GC,5302,-0.33,0.0,450.1,6.9,328,5419,1.50,0.00,112.90,0.931,6,0.098,0.000,2706,1935,2733
$STATE,5420,end apogee,CONTROL_FINISHED_OK
$STATE,5420,begin climb
$GC,5423,1.09,146.0,453.8,0.0,331,5546,1.40,2.55,114.45,0.900,4,0.054,0.053,3014,554,2135
$GC,5556,0.59,146.0,453.5,6.9,334,5561,0.57,2.47,0.00,0.000,6,0.139,0.031,2914,1961,2136
$GC,5875,0.30,146.0,425.3,8.5,342,5880,0.32,2.53,0.00,0.000,4,0.127,0.049,2851,3363,2135
$GC,5893,0.06,146.0,423.9,8.4,342,5898,0.30,2.47,0.00,0.000,6,0.115,0.034,2795,1955,2135
$GC,6236,0.12,206.9,406.6,4.8,351,6290,0.00,2.67,46.78,0.901,4,0.000,0.054,2795,537,1888
$GC,6321,0.10,226.5,402.1,6.2,353,6342,0.00,2.50,15.93,0.883,6,0.000,0.031,2795,1961,1809
$GC,6686,0.13,269.7,382.2,5.4,362,6728,0.00,2.58,34.35,0.895,4,0.000,0.051,2795,3358,1633
$GC,6779,0.13,269.7,376.5,7.0,364,6783,0.00,2.50,0.00,0.000,6,0.000,0.035,2795,1943,1632
$GC,7098,0.14,275.8,356.1,6.6,372,7105,0.00,0.00,5.68,0.863,6,0.000,0.000,2795,1943,1607
$GC,7423,0.16,282.5,334.7,6.6,380,7434,0.00,2.55,6.10,0.881,4,0.000,0.043,2794,3354,1580
$GC,7496,0.20,308.7,330.1,5.9,381,7522,0.12,2.45,20.70,0.887,6,0.087,0.033,2821,1950,1474
$GC,7831,0.13,308.9,307.0,6.8,390,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1950,1474
$GC,8138,0.07,308.9,284.5,8.1,402,8143,0.12,2.50,0.00,0.000,4,0.114,0.041,2799,3354,1474
$GC,8189,0.07,308.9,280.3,8.1,404,8193,0.00,2.45,0.00,0.000,6,0.000,0.032,2799,1938,1474
$GC,8507,0.13,345.1,261.2,5.6,419,8541,0.00,2.60,28.52,0.836,4,0.000,0.041,2799,3353,1326
$GC,8587,0.22,391.6,256.8,5.3,422,8630,0.12,2.45,36.65,0.817,6,0.081,0.032,2825,1948,1136
$GC,8943,0.16,391.6,232.2,7.9,439,8947,0.00,2.50,0.00,0.000,4,0.000,0.041,2825,3358,1136
$GC,8985,0.12,391.6,228.3,8.9,441,8989,0.00,2.45,0.00,0.000,6,0.000,0.030,2825,1950,1136
$GC,9314,0.08,391.6,198.0,9.7,457,9318,0.15,2.50,0.00,0.000,4,0.107,0.038,2798,3366,1136
$GC,9388,0.14,391.6,191.4,8.0,463,9392,0.00,2.47,0.00,0.000,6,0.000,0.030,2798,1936,1137
$GC,9718,0.18,391.6,168.2,7.4,493,9723,0.00,2.50,0.00,0.000,4,0.000,0.036,2798,3367,1137
$GC,9749,0.23,391.6,165.7,8.2,495,9754,0.15,2.45,0.00,0.000,6,0.068,0.028,2832,1943,1137
$GC,10075,0.23,391.6,136.7,9.3,525,10079,0.00,2.47,0.00,0.000,4,0.000,0.036,2832,3363,1138
$GC,10131,0.23,391.6,131.3,9.5,529,10137,0.00,2.42,0.00,0.000,6,0.000,0.028,2832,1941,1137
$GC,10460,0.23,391.6,107.2,7.2,560,10465,0.00,2.45,0.00,0.000,4,0.000,0.046,2832,547,1138
$GC,10513,0.27,391.6,103.0,7.1,564,10518,0.00,2.40,0.00,0.000,6,0.000,0.024,2832,1970,1138
$GC,10839,0.32,424.2,80.6,5.7,594,10872,0.00,2.42,25.88,0.636,4,0.000,0.035,2832,3350,1003
$GC,10943,0.47,460.7,74.6,5.6,603,10976,0.22,2.40,28.00,0.621,6,0.057,0.026,2885,1945,854
$GC,11232,0.40,460.7,48.9,7.9,630,11236,0.00,2.45,0.00,0.000,4,0.000,0.035,2885,3352,854
$GC,11255,0.35,460.7,46.7,9.0,631,11262,0.15,2.40,0.00,0.000,6,0.096,0.025,2855,1938,855
$GC,11520,0.40,462.8,30.2,6.7,656,11533,0.00,2.47,2.72,0.582,4,0.000,0.043,2855,552,846
$GC,11546,0.47,468.8,28.3,6.6,659,11560,0.12,2.38,5.32,0.584,6,0.067,0.023,2885,1954,820
$GC,11832,0.47,468.8,5.2,7.9,709,11838,0.00,2.38,0.00,0.000,4,0.000,0.033,2886,3346,820
$STATE,11843,end climb,SURFACE_DEPTH_REACHED
$STATE,11843,begin surface coast
$FINISH,0.9,1.020083
$STATE,11900,end surface coast,CONTROL_FINISHED_OK
$STATE,11900,begin surface
$SM_CCo,11986,0.00,0.000,0,0,818,469.75
$SM_GC,1.59,11.02,0.00,0.00,0.047,0.000,0.000,411,2013,818,-10.85,-0.82,469.75
$IRIDIUM_FIX,2052.52,-15746.61,030198,222235
$TT8_MAMPS,0.027612
$HUMID,1717
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,20
$24V_AH,23.8,19.344
$10V_AH,10.2,11.566
$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,28.825,136.900,483.975,0.000,0.000,74.935,146.133,184.425,14.000,0.000,0.000,33.881,1325.514,8381.385,547.793,1669.765,734.821,33.363,1388.487,0.000,1623.877,0.000,57.438
$DEVICE_MAMPS,160.303,54.457,931.138,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.976,476.105,854.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,721
$CAP_FILE_SIZE,112762,0
$CFSIZE,260165632,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,020856,2103.637,-15747.591,40,1.0,40,9.8