version: 66.03
glider: 114
mission: 3
dive: 136
start: 10 10 108 9 23 57
data:
$ID,114
$MISSION,3
$DIVE,136
$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,-594236.25
$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,35
$R_STBD_OVSHOOT,62
$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
$GPS1,091656,2105.743,-15747.996,38,1.5,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.6
$GPS2,092302,2105.696,-15747.985,11,1.5,28,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.081,0.206
$KALMAN_X,-33858.8,-346.6,20.5,43825.7,259.4
$KALMAN_Y,-31922.1,-185.8,18.9,11943.1,-865.5
$MHEAD_RNG_PITCHd_Wd,328.8,8697,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.09,-146.0,0.0,0.0,0,97,0.00,0.00,-64.70,0.000,2,0.000,0.000,410,2067,2793
$GC,101,-1.09,-146.0,3.1,-3.2,12,131,11.93,2.38,-9.02,0.000,4,0.158,0.049,2535,3411,3331
$GC,189,-1.18,-146.0,19.7,-9.4,27,196,0.00,2.33,0.00,0.000,6,0.000,0.023,2534,2028,3331
$GC,463,-1.25,-146.0,44.5,-9.5,62,468,0.12,2.40,0.00,0.000,4,0.060,0.034,2503,3416,3331
$GC,515,-1.30,-146.0,49.9,-9.8,66,520,0.00,2.33,0.00,0.000,6,0.000,0.022,2503,2026,3331
$GC,778,-1.37,-146.0,74.3,-8.5,90,782,0.00,2.38,0.00,0.000,4,0.000,0.038,2503,642,3331
$GC,818,-1.50,-146.0,77.6,-8.5,93,823,0.22,2.30,0.00,0.000,6,0.047,0.022,2448,2027,3331
$GC,1083,-1.50,-146.0,104.5,-10.2,117,1087,0.00,2.42,0.00,0.000,4,0.000,0.035,2448,3446,3332
$GC,1147,-1.50,-146.0,111.5,-10.5,122,1151,0.00,2.38,0.00,0.000,6,0.000,0.024,2448,2031,3333
$GC,1473,-1.50,-146.0,145.0,-10.0,152,1477,0.00,2.40,0.00,0.000,4,0.000,0.038,2448,632,3333
$GC,1491,-1.50,-146.0,146.8,-10.2,153,1495,0.00,2.38,0.00,0.000,6,0.000,0.023,2448,2049,3333
$GC,1817,-1.50,-146.0,176.3,-8.6,183,1821,0.00,2.38,0.00,0.000,4,0.000,0.035,2448,3437,3333
$GC,1835,-1.50,-146.0,178.0,-9.5,184,1839,0.00,2.38,0.00,0.000,6,0.000,0.025,2448,2028,3333
$GC,2159,-1.54,-146.0,205.4,-8.0,211,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2026,3333
$GC,2468,-1.59,-146.0,229.3,-7.5,226,2472,0.00,2.45,0.00,0.000,4,0.000,0.037,2448,3443,3333
$GC,2541,-1.67,-146.0,234.6,-7.6,229,2546,0.15,2.38,0.00,0.000,6,0.061,0.025,2412,2033,3333
$GC,2857,-1.67,-146.0,262.3,-9.0,244,2861,0.00,2.45,0.00,0.000,4,0.000,0.038,2412,3443,3333
$GC,2890,-1.67,-146.0,265.4,-9.2,245,2896,0.00,2.38,0.00,0.000,6,0.000,0.026,2412,2039,3333
$GC,3206,-1.67,-146.0,292.8,-8.5,261,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2038,3331
$GC,3512,-1.67,-146.0,316.4,-7.4,271,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2038,3329
$GC,3837,-1.67,-146.0,339.5,-7.3,279,3841,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3434,3328
$GC,3883,-1.70,-146.0,343.0,-7.5,280,3887,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2033,3327
$GC,4208,-1.70,-146.0,368.2,-8.1,288,4213,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3443,3325
$GC,4225,-1.70,-146.0,369.8,-8.0,288,4233,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2034,3325
$GC,4576,-1.70,-146.0,397.7,-7.9,297,4580,0.00,2.47,0.00,0.000,4,0.000,0.042,2412,3441,3322
$GC,4626,-1.76,-146.0,401.9,-8.3,298,4631,0.00,2.40,0.00,0.000,6,0.000,0.031,2412,2043,3322
$GC,4941,-1.76,-146.0,426.9,-7.9,306,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2042,3320
$STATE,5264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5264,begin apogee
$GC,5272,-0.33,0.0,451.9,7.6,314,5389,1.42,0.00,113.22,0.933,6,0.092,0.000,2705,1935,2734
$STATE,5390,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5394,1.09,146.0,456.0,0.0,317,5517,1.40,2.55,114.40,0.902,4,0.051,0.051,3015,553,2136
$GC,5771,0.55,146.0,421.8,13.3,325,5776,0.62,2.42,0.00,0.000,6,0.145,0.031,2905,1943,2135
$GC,6108,0.28,146.0,394.1,7.4,334,6113,0.30,2.53,0.00,0.000,4,0.126,0.052,2847,562,2134
$GC,6199,0.14,172.9,388.4,5.9,336,6225,0.20,2.42,20.55,0.888,6,0.131,0.031,2813,1957,2028
$GC,6558,0.18,236.7,371.6,4.7,345,6613,0.00,2.55,49.53,0.885,4,0.000,0.048,2812,3350,1768
$GC,6648,0.12,236.7,366.5,7.0,347,6653,0.00,2.45,0.00,0.000,6,0.000,0.033,2812,1961,1767
$GC,6962,0.06,237.9,345.5,6.8,355,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1961,1767
$GC,7287,0.02,243.5,323.3,6.6,363,7299,0.15,2.50,5.95,0.859,4,0.127,0.041,2786,3352,1739
$GC,7339,0.07,271.6,320.2,5.9,364,7370,0.00,2.45,22.88,0.869,6,0.000,0.031,2786,1949,1625
$GC,7696,0.13,306.1,300.0,5.7,373,7730,0.10,2.60,26.83,0.860,4,0.089,0.041,2807,3351,1485
$GC,7753,0.13,306.1,296.2,6.9,375,7759,0.00,2.47,0.00,0.000,6,0.000,0.031,2807,1941,1485
$GC,8070,0.14,313.4,274.2,6.6,391,8078,0.00,0.00,6.50,0.832,6,0.000,0.000,2807,1941,1455
$GC,8379,0.23,364.9,256.5,5.1,406,8425,0.10,2.55,40.25,0.821,4,0.084,0.039,2829,3351,1244
$GC,8465,0.19,364.9,250.3,8.6,410,8469,0.00,2.45,0.00,0.000,6,0.000,0.031,2829,1949,1244
$GC,8787,0.14,364.9,221.0,9.2,426,8791,0.00,2.50,0.00,0.000,4,0.000,0.040,2829,3359,1244
$GC,8837,0.14,364.9,216.5,8.4,428,8841,0.00,2.45,0.00,0.000,6,0.000,0.030,2829,1946,1245
$GC,9157,0.14,381.6,192.8,6.3,448,9179,0.00,2.55,13.68,0.759,4,0.000,0.038,2829,3351,1176
$GC,9248,0.14,381.6,186.3,7.6,456,9252,0.00,2.45,0.00,0.000,6,0.000,0.029,2829,1942,1177
$GC,9577,0.14,381.6,160.6,8.7,486,9581,0.00,2.47,0.00,0.000,4,0.000,0.036,2829,3356,1177
$GC,9606,0.14,381.6,157.7,8.7,488,9610,0.00,2.42,0.00,0.000,6,0.000,0.027,2829,1946,1178
$GC,9934,0.14,381.6,131.2,7.6,518,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1178
$GC,10260,0.14,383.6,108.1,6.8,549,10272,0.00,2.50,2.60,0.660,4,0.000,0.034,2829,3360,1169
$GC,10341,0.19,383.6,101.7,8.0,556,10346,0.00,2.42,0.00,0.000,6,0.000,0.027,2829,1942,1170
$GC,10668,0.25,397.7,78.7,6.4,586,10686,0.00,0.00,11.55,0.635,6,0.000,0.000,2829,1942,1111
$GC,10945,0.43,452.7,60.9,5.0,612,10992,0.15,2.50,41.58,0.599,4,0.062,0.033,2870,3366,886
$GC,11021,0.43,453.1,56.0,6.8,618,11027,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,1946,886
$GC,11283,0.43,453.1,37.8,7.1,643,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1946,886
$GC,11548,0.55,519.8,19.3,4.6,680,11605,0.12,2.47,50.15,0.548,4,0.064,0.033,2901,3358,613
$GC,11677,0.55,519.8,6.1,10.3,702,11683,0.00,2.40,0.00,0.000,6,0.000,0.025,2901,1951,615
$STATE,11687,end climb,SURFACE_DEPTH_REACHED
$STATE,11688,begin surface coast
$FINISH,0.8,1.022830
$STATE,11762,end surface coast,CONTROL_FINISHED_OK
$STATE,11762,begin surface
$SM_CCo,11846,0.00,0.000,0,0,618,518.81
$SM_GC,1.49,11.07,0.00,0.00,0.042,0.000,0.000,408,2095,618,-10.87,1.55,518.81
$IRIDIUM_FIX,2054.83,-15748.75,040198,060624
$TT8_MAMPS,0.026845
$HUMID,1693
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,22
$24V_AH,23.4,19.750
$10V_AH,10.2,11.821
$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,28.075,112.525,519.650,0.000,0.000,25.166,29.275,163.380,14.500,0.000,0.000,30.360,1289.930,8158.417,561.548,1677.023,525.256,33.367,1400.380,0.000,1627.931,0.000,57.464
$DEVICE_MAMPS,158.002,52.156,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.360,470.300,847.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,717
$CAP_FILE_SIZE,105873,0
$CFSIZE,260165632,250826752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,124238,2106.747,-15748.821,36,1.2,36,9.8