version: 66.03
glider: 114
mission: 3
dive: 137
start: 10 10 108 12 49 11
data:
$ID,114
$MISSION,3
$DIVE,137
$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,-594249.38
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,124238,2106.747,-15748.821,36,1.2,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.8
$GPS2,124815,2106.714,-15748.780,11,1.4,11,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.137,0.174
$KALMAN_X,-33617.3,-454.1,-422.5,42769.4,1235.9
$KALMAN_Y,-32646.1,-260.5,-23.2,14663.8,-666.8
$MHEAD_RNG_PITCHd_Wd,312.1,6440,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-146.0,0.0,0.0,0,105,0.00,0.00,-74.95,0.000,2,0.000,0.000,408,2096,2905
$GC,109,-1.09,-146.0,3.7,-5.2,14,134,12.00,2.35,-6.60,0.000,4,0.160,0.049,2535,3446,3329
$GC,198,-1.17,-146.0,21.8,-8.4,29,204,0.00,2.38,0.00,0.000,6,0.000,0.023,2535,2027,3329
$GC,469,-1.25,-146.0,45.6,-8.5,62,474,0.12,2.47,0.00,0.000,4,0.060,0.035,2504,3451,3329
$GC,510,-1.29,-146.0,49.7,-9.9,65,514,0.00,2.38,0.00,0.000,6,0.000,0.023,2504,2037,3329
$GC,772,-1.33,-146.0,72.1,-7.8,89,776,0.00,2.40,0.00,0.000,4,0.000,0.038,2504,640,3329
$GC,791,-1.38,-146.0,73.5,-7.5,90,796,0.12,2.35,0.00,0.000,6,0.294,0.021,2473,2055,3329
$GC,1057,-1.38,-146.0,100.2,-10.8,114,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2054,3330
$GC,1386,-1.43,-146.0,131.7,-8.8,145,1390,0.00,2.38,0.00,0.000,4,0.000,0.035,2473,3446,3330
$GC,1487,-1.52,-146.0,141.5,-9.1,153,1494,0.10,2.35,0.00,0.000,6,0.068,0.024,2447,2038,3330
$GC,1812,-1.52,-146.0,173.3,-10.0,184,1817,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3446,3330
$GC,1841,-1.52,-146.0,176.5,-10.7,186,1846,0.00,2.38,0.00,0.000,6,0.000,0.023,2447,2031,3330
$GC,2165,-1.52,-146.0,203.4,-7.6,214,2169,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3440,3330
$GC,2194,-1.56,-146.0,205.6,-8.4,215,2198,0.00,2.35,0.00,0.000,6,0.000,0.024,2447,2038,3330
$GC,2511,-1.61,-146.0,230.3,-7.1,230,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2036,3330
$GC,2821,-1.67,-146.0,250.5,-6.7,245,2826,0.15,2.42,0.00,0.000,4,0.059,0.037,2410,3443,3329
$GC,2877,-1.67,-146.0,255.7,-8.8,247,2883,0.00,2.38,0.00,0.000,6,0.000,0.026,2409,2036,3329
$GC,3193,-1.67,-146.0,284.1,-8.8,263,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2034,3329
$GC,3503,-1.67,-146.0,313.2,-9.7,275,3507,0.00,2.45,0.00,0.000,4,0.000,0.039,2409,3441,3327
$GC,3524,-1.67,-146.0,315.7,-9.9,275,3529,0.00,2.38,0.00,0.000,6,0.000,0.028,2409,2042,3327
$GC,3864,-1.67,-146.0,342.8,-7.4,284,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2040,3325
$GC,4187,-1.67,-146.0,366.4,-7.4,292,4191,0.00,2.45,0.00,0.000,4,0.000,0.041,2409,3436,3323
$GC,4248,-1.71,-146.0,371.4,-8.0,293,4253,0.00,2.40,0.00,0.000,6,0.000,0.030,2409,2034,3322
$GC,4591,-1.71,-146.0,396.3,-7.2,302,4595,0.00,2.47,0.00,0.000,4,0.000,0.042,2409,3443,3320
$GC,4647,-1.76,-146.0,400.5,-7.7,303,4652,0.00,2.42,0.00,0.000,6,0.000,0.031,2409,2031,3319
$GC,4962,-1.76,-146.0,420.7,-6.8,311,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2030,3317
$GC,5286,-1.76,-146.0,445.3,-7.6,319,5290,0.00,2.47,0.00,0.000,4,0.000,0.044,2409,3432,3314
$GC,5308,-1.79,-146.0,447.1,-8.0,319,5312,0.00,2.38,0.00,0.000,6,0.000,0.032,2409,2038,3314
$STATE,5364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5364,begin apogee
$GC,5372,-0.33,0.0,451.3,7.1,321,5488,1.45,0.00,112.93,0.928,6,0.094,0.000,2706,1932,2733
$STATE,5489,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5493,1.09,146.0,455.7,0.0,324,5616,1.38,2.58,114.47,0.898,4,0.051,0.041,3012,3348,2136
$GC,5753,0.59,146.0,440.5,12.4,330,5758,0.55,2.45,0.00,0.000,6,0.137,0.035,2914,1965,2135
$GC,6078,0.31,146.0,413.0,7.9,338,6080,0.35,0.00,0.00,0.000,6,0.122,0.000,2849,1965,2134
$GC,6403,0.23,190.4,394.5,5.3,346,6445,0.00,2.65,34.20,0.893,4,0.000,0.054,2849,533,1956
$GC,6492,0.05,190.4,388.5,7.8,348,6497,0.30,2.47,0.00,0.000,6,0.117,0.031,2793,1949,1955
$GC,6817,0.12,244.9,371.6,5.0,356,6866,0.00,2.60,42.33,0.882,4,0.000,0.046,2793,3355,1734
$GC,6936,0.12,244.9,364.0,7.3,358,6940,0.00,2.50,0.00,0.000,6,0.000,0.034,2793,1937,1734
$GC,7267,0.13,253.5,342.2,6.5,366,7281,0.00,2.60,7.45,0.863,4,0.000,0.041,2793,3352,1699
$GC,7317,0.13,255.2,338.9,6.8,367,7322,0.00,2.47,0.00,0.000,6,0.000,0.033,2793,1942,1699
$GC,7637,0.19,286.7,320.0,5.8,375,7671,0.12,2.62,26.45,0.869,4,0.082,0.041,2820,3354,1564
$GC,7723,0.15,286.7,313.8,8.3,377,7727,0.00,2.47,0.00,0.000,6,0.000,0.033,2820,1952,1564
$GC,8056,0.09,286.7,290.3,6.8,388,8060,0.00,2.50,0.00,0.000,4,0.000,0.041,2820,3360,1564
$GC,8078,0.04,286.7,288.6,7.1,389,8083,0.17,2.47,0.00,0.000,6,0.106,0.031,2787,1939,1563
$GC,8401,0.07,306.7,269.3,6.2,405,8422,0.00,2.55,15.98,0.831,4,0.000,0.038,2788,3356,1481
$GC,8447,0.14,328.6,266.4,6.1,407,8472,0.10,2.47,17.67,0.819,6,0.087,0.031,2809,1946,1392
$GC,8803,0.14,329.0,243.5,6.8,424,8807,0.00,2.50,0.00,0.000,4,0.000,0.038,2808,3360,1392
$GC,8830,0.14,329.0,241.3,6.8,425,8834,0.00,2.45,0.00,0.000,6,0.000,0.031,2809,1950,1391
$GC,9146,0.24,383.6,222.8,5.0,440,9195,0.10,2.53,42.85,0.778,4,0.081,0.038,2831,3353,1169
$GC,9218,0.19,383.6,218.2,7.4,443,9224,0.00,2.45,0.00,0.000,6,0.000,0.028,2831,1948,1169
$GC,9536,0.15,383.6,193.6,7.4,462,9541,0.00,2.47,0.00,0.000,4,0.000,0.037,2831,3356,1169
$GC,9600,0.15,383.6,188.3,8.5,467,9604,0.00,2.45,0.00,0.000,6,0.000,0.028,2831,1939,1169
$GC,9928,0.15,383.6,160.8,9.2,497,9932,0.00,2.47,0.00,0.000,4,0.000,0.036,2831,3358,1170
$GC,9950,0.15,383.6,158.1,10.4,498,9956,0.00,2.42,0.00,0.000,6,0.000,0.026,2831,1937,1170
$GC,10279,0.15,383.6,129.4,8.1,529,10283,0.00,2.47,0.00,0.000,4,0.000,0.035,2831,3362,1171
$GC,10308,0.15,383.6,126.7,8.7,531,10312,0.00,2.42,0.00,0.000,6,0.000,0.026,2831,1945,1172
$GC,10633,0.15,386.1,104.2,6.7,561,10645,0.00,2.50,3.42,0.654,4,0.000,0.034,2831,3356,1157
$GC,10693,0.19,386.1,100.0,7.1,566,10697,0.00,2.42,0.00,0.000,6,0.000,0.026,2831,1938,1158
$GC,11022,0.34,445.5,80.3,4.8,596,11075,0.10,2.53,44.80,0.620,4,0.077,0.044,2856,553,917
$GC,11112,0.34,445.5,74.0,8.1,604,11116,0.00,2.38,0.00,0.000,6,0.000,0.022,2856,1961,916
$GC,11374,0.34,445.5,54.1,7.3,628,11378,0.00,2.40,0.00,0.000,4,0.000,0.036,2856,3351,917
$GC,11460,0.41,445.5,47.5,7.4,635,11464,0.00,2.40,0.00,0.000,6,0.000,0.025,2856,1941,917
$GC,11725,0.52,481.4,30.9,5.6,659,11759,0.15,2.47,27.35,0.561,4,0.061,0.042,2897,548,769
$GC,11796,0.48,481.4,24.8,9.7,669,11802,0.00,2.38,0.00,0.000,6,0.000,0.023,2897,1958,769
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.8,1.022250
$STATE,12066,end surface coast,CONTROL_FINISHED_OK
$STATE,12066,begin surface
$SM_CCo,12151,0.00,0.000,0,0,770,481.77
$SM_GC,1.47,11.07,0.00,0.00,0.044,0.000,0.000,408,2077,770,-10.87,1.05,481.77
$IRIDIUM_FIX,2057.14,-15746.61,040198,090943
$TT8_MAMPS,0.026845
$HUMID,1688
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,19
$24V_AH,23.8,19.880
$10V_AH,10.2,11.904
$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,28.350,132.650,489.900,0.000,0.000,22.785,34.140,151.671,13.750,0.000,0.000,12.511,1315.227,8390.104,556.598,1692.038,536.626,33.362,1411.071,0.000,1662.839,0.000,57.438
$DEVICE_MAMPS,293.761,57.525,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.123,463.431,842.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37920,717
$CAP_FILE_SIZE,111730,0
$CFSIZE,260165632,250761216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,161304,2107.900,-15749.269,43,1.7,43,9.8