version: 66.03
glider: 114
mission: 3
dive: 134
start: 10 10 108 2 25 19
data:
$ID,114
$MISSION,3
$DIVE,134
$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,-594171.69
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,020856,2103.637,-15747.591,40,1.0,40,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.5
$GPS2,022420,2103.531,-15747.431,8,1.0,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.071,0.210
$KALMAN_X,-35356.8,448.6,-62.4,45568.6,189.0
$KALMAN_Y,-30548.6,111.1,-64.2,6346.2,-735.8
$MHEAD_RNG_PITCHd_Wd,331.4,12775,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.45,0.000,2,0.000,0.000,411,2010,2785
$GC,98,-1.09,-146.0,3.1,-3.5,12,128,12.00,2.53,-9.07,0.000,4,0.160,0.049,2535,3435,3331
$GC,175,-1.13,-146.0,18.0,-10.6,25,182,0.00,2.35,0.00,0.000,6,0.000,0.023,2536,2028,3331
$GC,448,-1.21,-146.0,41.8,-8.4,61,452,0.00,2.45,0.00,0.000,4,0.000,0.035,2535,3444,3330
$GC,478,-1.29,-146.0,44.6,-9.1,63,483,0.17,2.38,0.00,0.000,6,0.054,0.023,2493,2031,3331
$GC,743,-1.33,-146.0,69.2,-8.8,87,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2031,3331
$GC,1006,-1.36,-146.0,88.9,-6.6,112,1010,0.00,2.42,0.00,0.000,4,0.000,0.035,2493,3440,3331
$GC,1052,-1.43,-146.0,92.6,-8.0,115,1059,0.12,2.35,0.00,0.000,6,0.062,0.023,2462,2031,3331
$GC,1378,-1.43,-146.0,125.6,-9.7,146,1382,0.00,2.40,0.00,0.000,4,0.000,0.038,2462,633,3331
$GC,1419,-1.51,-146.0,129.2,-9.1,149,1423,0.00,2.35,0.00,0.000,6,0.000,0.022,2462,2039,3331
$GC,1744,-1.51,-146.0,158.3,-9.1,179,1749,0.00,2.40,0.00,0.000,4,0.000,0.035,2462,3446,3331
$GC,1801,-1.56,-146.0,163.5,-9.0,183,1808,0.10,2.35,0.00,0.000,6,0.067,0.024,2436,2043,3331
$GC,2127,-1.56,-146.0,197.7,-10.2,214,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2042,3331
$GC,2448,-1.56,-146.0,226.6,-8.9,231,2452,0.00,2.42,0.00,0.000,4,0.000,0.036,2436,3446,3330
$GC,2498,-1.63,-146.0,231.1,-8.9,233,2502,0.00,2.38,0.00,0.000,6,0.000,0.025,2436,2034,3330
$GC,2815,-1.66,-146.0,253.3,-7.4,248,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2033,3330
$GC,3125,-1.71,-146.0,278.6,-8.5,263,3129,0.12,2.45,0.00,0.000,4,0.064,0.037,2407,3441,3330
$GC,3180,-1.71,-146.0,283.9,-9.8,265,3186,0.00,2.38,0.00,0.000,6,0.000,0.027,2405,2040,3329
$GC,3494,-1.71,-146.0,309.6,-7.8,278,3499,0.00,2.45,0.00,0.000,4,0.000,0.044,2406,634,3327
$GC,3544,-1.71,-146.0,313.5,-7.5,279,3549,0.00,2.38,0.00,0.000,6,0.000,0.028,2406,2033,3327
$GC,3864,-1.71,-146.0,339.2,-8.2,287,3867,0.00,2.45,0.00,0.000,4,0.000,0.044,2406,3444,3325
$GC,3903,-1.71,-146.0,342.9,-8.7,287,3909,0.00,2.40,0.00,0.000,6,0.000,0.030,2406,2043,3325
$GC,4237,-1.71,-146.0,370.8,-8.3,296,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2042,3322
$GC,4559,-1.71,-146.0,397.3,-8.4,304,4564,0.00,2.47,0.00,0.000,4,0.000,0.044,2406,3444,3319
$GC,4610,-1.71,-146.0,401.7,-8.6,305,4614,0.00,2.42,0.00,0.000,6,0.000,0.031,2406,2031,3319
$GC,4923,-1.71,-146.0,428.3,-8.4,313,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2031,3317
$STATE,5205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5205,begin apogee
$GC,5213,-0.33,0.0,451.2,8.0,320,5329,1.45,0.00,112.60,0.934,6,0.096,0.000,2703,1939,2733
$STATE,5330,end apogee,CONTROL_FINISHED_OK
$STATE,5330,begin climb
$GC,5334,1.09,146.0,456.2,0.0,323,5456,1.40,2.58,114.53,0.904,4,0.054,0.041,3012,3353,2136
$GC,5499,0.59,146.0,452.8,10.3,326,5506,0.57,2.45,0.00,0.000,6,0.129,0.032,2910,1965,2136
$GC,5831,0.30,146.0,424.9,8.2,335,5836,0.30,2.58,0.00,0.000,4,0.123,0.054,2850,545,2135
$GC,5938,0.12,151.5,417.3,6.6,337,5948,0.22,2.45,4.40,0.865,6,0.127,0.030,2810,1957,2115
$GC,6281,0.15,215.3,400.2,4.7,346,6336,0.00,2.55,49.42,0.902,4,0.000,0.048,2810,3349,1855
$GC,6365,0.07,215.3,395.5,6.8,348,6369,0.00,2.47,0.00,0.000,6,0.000,0.033,2810,1947,1855
$GC,6684,0.04,233.6,375.3,6.2,356,6704,0.00,2.60,14.75,0.889,4,0.000,0.054,2810,540,1780
$GC,6728,-0.02,240.6,372.4,6.6,357,6741,0.17,2.47,6.28,0.876,6,0.119,0.031,2779,1957,1752
$GC,7050,0.07,294.3,356.2,5.0,365,7099,0.00,2.60,42.25,0.898,4,0.000,0.048,2779,3356,1533
$GC,7152,0.07,294.3,349.8,6.9,367,7156,0.00,2.47,0.00,0.000,6,0.000,0.032,2779,1949,1533
$GC,7500,0.09,305.4,327.6,6.4,376,7514,0.00,2.55,9.38,0.887,4,0.000,0.043,2779,3352,1486
$GC,7556,0.12,305.4,323.9,7.1,377,7561,0.12,2.47,0.00,0.000,6,0.081,0.032,2804,1938,1486
$GC,7870,0.09,305.5,302.1,6.8,385,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1938,1486
$GC,8178,0.09,305.5,282.0,6.9,399,8182,0.00,2.53,0.00,0.000,4,0.000,0.042,2804,3365,1486
$GC,8234,0.09,305.5,277.8,7.7,401,8239,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1939,1485
$GC,8550,0.09,305.5,255.3,7.3,417,8555,0.00,2.50,0.00,0.000,4,0.000,0.040,2804,3357,1485
$GC,8601,0.09,305.5,251.5,7.3,419,8605,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1941,1485
$GC,8917,0.09,305.5,229.6,7.5,434,8921,0.00,2.50,0.00,0.000,4,0.000,0.039,2805,3366,1485
$GC,8961,0.09,305.5,226.1,7.5,436,8965,0.00,2.45,0.00,0.000,6,0.000,0.030,2805,1944,1485
$GC,9282,0.14,336.8,205.8,5.8,452,9312,0.00,2.55,23.77,0.808,4,0.000,0.037,2805,3349,1360
$GC,9353,0.19,336.8,201.3,6.9,455,9357,0.00,2.42,0.00,0.000,6,0.000,0.029,2804,1941,1360
$GC,9686,0.30,382.6,182.9,5.3,485,9725,0.15,0.00,35.60,0.755,6,0.068,0.000,2843,1940,1173
$GC,10043,0.26,382.6,156.8,7.9,519,10046,0.00,2.47,0.00,0.000,4,0.000,0.035,2844,3356,1173
$GC,10100,0.26,382.6,151.5,9.8,524,10104,0.00,2.42,0.00,0.000,6,0.000,0.028,2843,1949,1174
$GC,10428,0.22,382.6,124.5,7.6,554,10432,0.00,2.45,0.00,0.000,4,0.000,0.035,2843,3355,1174
$GC,10464,0.22,382.6,121.7,7.3,557,10468,0.00,2.42,0.00,0.000,6,0.000,0.026,2844,1939,1174
$GC,10789,0.22,382.6,98.4,7.5,587,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1939,1175
$GC,11108,0.24,392.9,76.7,6.5,617,11123,0.00,2.53,9.20,0.629,4,0.000,0.035,2843,3356,1130
$GC,11169,0.31,392.9,72.3,7.3,622,11175,0.00,2.40,0.00,0.000,6,0.000,0.025,2843,1945,1131
$GC,11432,0.40,421.6,56.3,5.9,647,11464,0.12,2.50,21.83,0.600,4,0.069,0.043,2873,542,1013
$GC,11504,0.40,421.6,50.6,8.5,653,11510,0.00,2.40,0.00,0.000,6,0.000,0.023,2873,1966,1013
$GC,11766,0.41,424.4,31.7,6.7,678,11778,0.00,2.42,2.88,0.581,4,0.000,0.035,2873,3348,1001
$GC,11820,0.44,424.8,28.1,6.8,684,11826,0.00,2.40,0.00,0.000,6,0.000,0.025,2873,1932,1002
$GC,12099,0.45,432.5,9.4,6.6,733,12111,0.00,2.47,6.62,0.559,4,0.000,0.037,2873,3353,969
$GC,12135,0.45,432.5,6.4,7.9,739,12142,0.00,2.38,0.00,0.000,6,0.000,0.025,2873,1951,969
$STATE,12151,end climb,SURFACE_DEPTH_REACHED
$STATE,12152,begin surface coast
$FINISH,0.9,1.022688
$STATE,12220,end surface coast,CONTROL_FINISHED_OK
$STATE,12220,begin surface
$SM_CCo,12304,0.00,0.000,0,0,969,432.71
$SM_GC,1.60,10.85,0.00,0.00,0.041,0.000,0.000,411,2077,969,-10.85,1.05,432.71
$IRIDIUM_FIX,2057.14,-15749.62,040198,020217
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.00
$XPDR_PINGS,31
$24V_AH,23.8,19.486
$10V_AH,10.2,11.656
$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,27.900,127.850,453.500,0.000,0.000,101.373,225.608,274.212,16.750,0.000,0.000,15.138,1366.465,8683.840,538.109,1709.934,933.813,33.399,1383.344,0.000,1680.228,0.000,57.457
$DEVICE_MAMPS,159.536,54.457,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.561,498.909,895.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37965,754
$CAP_FILE_SIZE,115948,0
$CFSIZE,260165632,250937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,055138,2104.764,-15747.593,36,1.4,36,9.8