version: 66.03
glider: 114
mission: 3
dive: 135
start: 10 10 108 5 58 24
data:
$ID,114
$MISSION,3
$DIVE,135
$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,-594205.25
$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,34
$R_STBD_OVSHOOT,74
$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
$GPS1,055138,2104.764,-15747.593,36,1.4,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.4
$GPS2,055729,2104.746,-15747.544,11,3.2,30,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.059,0.213
$KALMAN_X,-34592.7,25.4,354.4,44613.3,-252.0
$KALMAN_Y,-30945.0,-2.7,-72.7,9108.7,-445.3
$MHEAD_RNG_PITCHd_Wd,334.7,10614,-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,-64.15,0.000,2,0.000,0.000,411,2078,2923
$GC,98,-1.09,-146.0,3.8,-4.5,12,122,11.98,2.30,-6.22,0.000,4,0.160,0.048,2535,3405,3329
$GC,170,-1.12,-146.0,21.3,-12.0,24,176,0.00,2.35,0.00,0.000,6,0.000,0.024,2535,2034,3330
$GC,441,-1.21,-146.0,44.9,-8.3,57,445,0.00,2.38,0.00,0.000,4,0.000,0.034,2535,3412,3330
$GC,482,-1.34,-146.0,48.1,-7.3,60,487,0.22,2.30,0.00,0.000,6,0.051,0.023,2482,2038,3330
$GC,744,-1.34,-146.0,75.2,-10.4,84,748,0.00,2.40,0.00,0.000,4,0.000,0.038,2482,640,3331
$GC,790,-1.43,-146.0,79.9,-9.9,87,797,0.00,2.28,0.00,0.000,6,0.000,0.021,2482,2011,3331
$GC,1053,-1.47,-146.0,104.3,-9.0,112,1058,0.10,2.45,0.00,0.000,4,0.065,0.033,2456,3447,3332
$GC,1127,-1.52,-146.0,111.4,-9.0,118,1132,0.00,2.38,0.00,0.000,6,0.000,0.024,2456,2032,3331
$GC,1453,-1.52,-146.0,141.8,-9.2,148,1457,0.00,2.40,0.00,0.000,4,0.000,0.038,2456,633,3331
$GC,1482,-1.52,-146.0,144.7,-10.2,150,1488,0.00,2.35,0.00,0.000,6,0.000,0.023,2455,2043,3331
$GC,1809,-1.52,-146.0,175.1,-9.6,181,1813,0.00,2.40,0.00,0.000,4,0.000,0.035,2456,3448,3331
$GC,1876,-1.57,-146.0,181.4,-8.8,186,1883,0.00,2.38,0.00,0.000,6,0.000,0.024,2456,2028,3332
$GC,2203,-1.61,-146.0,206.1,-6.6,213,2208,0.12,2.40,0.00,0.000,4,0.061,0.038,2425,636,3331
$GC,2225,-1.61,-146.0,208.0,-7.2,214,2229,0.00,2.38,0.00,0.000,6,0.000,0.025,2424,2053,3331
$GC,2546,-1.61,-146.0,234.7,-8.9,230,2550,0.00,2.38,0.00,0.000,4,0.000,0.038,2424,3443,3332
$GC,2580,-1.61,-146.0,237.9,-9.0,231,2584,0.00,2.35,0.00,0.000,6,0.000,0.026,2424,2041,3332
$GC,2902,-1.61,-146.0,265.5,-8.1,247,2906,0.00,2.45,0.00,0.000,4,0.000,0.039,2425,3447,3332
$GC,2965,-1.67,-146.0,271.3,-9.4,250,2969,0.00,2.40,0.00,0.000,6,0.000,0.027,2425,2034,3332
$GC,3292,-1.67,-146.0,297.7,-7.6,266,3296,0.00,2.42,0.00,0.000,4,0.000,0.043,2424,641,3330
$GC,3316,-1.67,-146.0,299.5,-7.6,267,3323,0.00,2.38,0.00,0.000,6,0.000,0.028,2425,2035,3330
$GC,3667,-1.71,-146.0,326.6,-7.6,276,3671,0.00,2.47,0.00,0.000,4,0.000,0.044,2425,3452,3329
$GC,3707,-1.76,-146.0,329.7,-7.6,277,3713,0.12,2.42,0.00,0.000,6,0.068,0.030,2395,2038,3328
$GC,4039,-1.76,-146.0,360.4,-9.5,285,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2037,3325
$GC,4364,-1.76,-146.0,390.0,-8.6,293,4368,0.00,2.50,0.00,0.000,4,0.000,0.044,2395,3452,3323
$GC,4408,-1.76,-146.0,394.1,-8.3,294,4412,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2040,3323
$GC,4727,-1.76,-146.0,419.9,-7.7,302,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2039,3320
$GC,5053,-1.76,-146.0,445.7,-8.0,310,5057,0.00,2.47,0.00,0.000,4,0.000,0.044,2395,3443,3318
$GC,5081,-1.76,-146.0,448.1,-8.4,310,5085,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2034,3318
$STATE,5125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5126,begin apogee
$GC,5134,-0.33,0.0,452.0,8.3,311,5251,1.50,0.00,113.22,0.933,6,0.094,0.000,2703,1928,2733
$STATE,5251,end apogee,CONTROL_FINISHED_OK
$STATE,5251,begin climb
$GC,5255,1.09,146.0,456.8,0.0,314,5377,1.45,2.62,114.40,0.902,4,0.051,0.042,3018,3374,2137
$GC,5461,0.58,146.0,447.7,12.2,319,5467,0.60,2.50,0.00,0.000,6,0.128,0.034,2912,1962,2137
$GC,5781,0.29,146.0,418.8,8.4,327,5783,0.35,0.00,0.00,0.000,6,0.120,0.000,2847,1960,2135
$GC,6107,0.21,182.9,399.1,5.6,335,6141,0.12,2.67,28.33,0.899,4,0.132,0.054,2826,536,1987
$GC,6165,0.14,215.7,396.0,5.7,336,6196,0.00,2.47,26.02,0.883,6,0.000,0.031,2826,1953,1853
$GC,6517,0.06,231.1,374.8,6.3,345,6536,0.17,2.58,12.48,0.884,4,0.123,0.049,2792,3343,1790
$GC,6561,0.14,273.4,372.2,5.4,346,6602,0.00,2.47,33.92,0.881,6,0.000,0.035,2791,1947,1617
$GC,6928,0.17,291.3,349.4,6.2,355,6948,0.10,2.58,14.52,0.874,4,0.089,0.044,2813,3353,1546
$GC,7014,0.13,291.3,343.2,7.1,357,7019,0.00,2.50,0.00,0.000,6,0.000,0.035,2813,1939,1545
$GC,7339,0.08,291.3,319.4,7.4,365,7344,0.00,2.53,0.00,0.000,4,0.000,0.044,2813,3352,1545
$GC,7362,0.03,291.3,317.6,7.8,365,7368,0.12,2.45,0.00,0.000,6,0.117,0.032,2790,1939,1544
$GC,7680,0.05,302.4,297.0,6.5,374,7694,0.00,2.58,9.18,0.863,4,0.000,0.043,2790,3358,1500
$GC,7740,0.06,309.5,293.0,6.6,376,7751,0.00,2.47,6.25,0.843,6,0.000,0.033,2790,1941,1471
$GC,8074,0.09,329.1,273.0,6.2,393,8096,0.00,2.55,15.90,0.842,4,0.000,0.051,2790,546,1390
$GC,8120,0.12,344.0,270.0,6.3,395,8141,0.00,2.45,12.10,0.825,6,0.000,0.028,2790,1954,1330
$GC,8452,0.19,383.7,250.8,5.5,411,8494,0.15,2.53,31.52,0.813,4,0.074,0.044,2823,3353,1167
$GC,8563,0.19,383.7,242.1,8.2,416,8567,0.00,2.47,0.00,0.000,6,0.000,0.032,2823,1945,1167
$GC,8890,0.15,383.7,212.9,9.0,432,8894,0.00,2.50,0.00,0.000,4,0.000,0.049,2823,545,1167
$GC,8909,0.12,383.7,211.2,9.1,433,8913,0.00,2.42,0.00,0.000,6,0.000,0.028,2823,1955,1167
$GC,9231,0.12,383.7,183.2,8.6,457,9235,0.00,2.45,0.00,0.000,4,0.000,0.042,2823,3350,1167
$GC,9343,0.12,383.7,173.5,8.0,466,9350,0.00,2.42,0.00,0.000,6,0.000,0.030,2823,1945,1168
$GC,9673,0.14,396.2,149.3,6.4,497,9688,0.00,2.50,10.18,0.718,4,0.000,0.038,2823,3346,1117
$GC,9728,0.17,413.9,145.6,6.2,501,9749,0.00,2.42,14.10,0.707,6,0.000,0.028,2823,1940,1044
$GC,10076,0.17,413.9,122.8,7.2,534,10080,0.00,2.47,0.00,0.000,4,0.000,0.036,2823,3353,1045
$GC,10122,0.20,413.9,119.4,7.5,537,10128,0.00,2.40,0.00,0.000,6,0.000,0.027,2823,1950,1045
$GC,10450,0.20,413.9,93.5,7.8,568,10455,0.00,2.45,0.00,0.000,4,0.000,0.036,2823,3353,1045
$GC,10503,0.26,413.9,89.1,8.0,572,10507,0.00,2.40,0.00,0.000,6,0.000,0.026,2823,1949,1046
$GC,10832,0.34,430.2,67.4,6.3,602,10852,0.12,2.50,13.32,0.620,4,0.067,0.035,2854,3349,978
$GC,10864,0.34,430.2,64.9,7.2,605,10870,0.00,2.40,0.00,0.000,6,0.000,0.025,2854,1941,979
$GC,11126,0.34,431.8,45.3,6.8,630,11130,0.00,2.45,0.00,0.000,4,0.000,0.044,2854,546,979
$GC,11161,0.37,431.8,42.6,8.2,633,11165,0.00,2.38,0.00,0.000,6,0.000,0.023,2855,1955,979
$GC,11430,0.47,461.1,25.4,5.8,663,11460,0.12,2.42,23.70,0.571,4,0.070,0.034,2883,3345,852
$GC,11530,0.51,461.1,18.0,8.1,680,11536,0.00,2.38,0.00,0.000,6,0.000,0.025,2883,1946,855
$STATE,11686,end climb,SURFACE_DEPTH_REACHED
$STATE,11687,begin surface coast
$FINISH,0.9,1.022739
$STATE,11750,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11835,0.00,0.000,0,0,856,460.43
$SM_GC,1.55,10.98,0.00,0.00,0.044,0.000,0.000,410,2066,856,-10.86,0.71,460.43
$IRIDIUM_FIX,2054.83,-15744.48,040198,020240
$TT8_MAMPS,0.027612
$HUMID,1701
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,23.8,19.615
$10V_AH,10.2,11.739
$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,28.350,141.925,479.150,0.000,0.000,24.069,28.761,146.633,11.000,0.000,0.000,32.954,1332.335,8077.729,549.082,1696.034,530.674,33.366,1403.348,0.000,1649.603,0.000,57.459
$DEVICE_MAMPS,160.303,53.690,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.388,477.464,852.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,719
$CAP_FILE_SIZE,112553,0
$CFSIZE,260165632,250880000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,091656,2105.743,-15747.996,38,1.5,38,9.8