version: 66.03
glider: 114
mission: 3
dive: 138
start: 10 10 108 16 19 40
data:
$ID,114
$MISSION,3
$DIVE,138
$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,-594265.44
$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,33
$R_STBD_OVSHOOT,75
$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
$GPS1,161304,2107.900,-15749.269,43,1.7,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.6
$GPS2,161844,2107.888,-15749.175,8,1.5,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.142,0.170
$KALMAN_X,-33186.6,-232.4,40.7,40969.5,1196.9
$KALMAN_Y,-33027.3,-85.0,62.4,16954.4,-373.6
$MHEAD_RNG_PITCHd_Wd,310.3,4163,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-70.18,0.000,2,0.000,0.000,408,2075,2907
$GC,106,-1.09,-146.0,3.7,-4.9,13,131,11.95,2.30,-6.65,0.000,4,0.158,0.044,2534,3411,3329
$GC,243,-1.21,-146.0,25.6,-8.5,36,249,0.00,2.33,0.00,0.000,6,0.000,0.023,2534,2024,3329
$GC,511,-1.29,-146.0,48.8,-8.7,65,517,0.17,0.00,0.00,0.000,6,0.052,0.000,2491,2023,3330
$GC,773,-1.29,-146.0,75.6,-9.8,90,777,0.00,2.38,0.00,0.000,4,0.000,0.035,2491,3400,3330
$GC,824,-1.33,-146.0,80.8,-9.5,94,831,0.00,2.30,0.00,0.000,6,0.000,0.023,2491,2043,3331
$GC,1153,-1.39,-146.0,105.4,-7.3,125,1157,0.00,2.35,0.00,0.000,4,0.000,0.035,2491,3407,3331
$GC,1199,-1.48,-146.0,108.8,-6.8,128,1206,0.15,2.30,0.00,0.000,6,0.057,0.023,2454,2027,3332
$GC,1525,-1.48,-146.0,138.1,-9.0,159,1529,0.00,2.38,0.00,0.000,4,0.000,0.038,2454,644,3331
$GC,1564,-1.51,-146.0,141.9,-9.1,162,1571,0.00,2.28,0.00,0.000,6,0.000,0.023,2454,2010,3331
$GC,1890,-1.51,-146.0,167.8,-7.6,193,1894,0.00,2.45,0.00,0.000,4,0.000,0.036,2454,3443,3331
$GC,1923,-1.54,-146.0,170.4,-7.3,195,1929,0.00,2.35,0.00,0.000,6,0.000,0.025,2454,2043,3331
$GC,2249,-1.54,-146.0,193.0,-6.7,226,2253,0.00,2.42,0.00,0.000,4,0.000,0.038,2454,633,3331
$GC,2267,-1.59,-146.0,194.2,-6.9,227,2271,0.00,2.38,0.00,0.000,6,0.000,0.025,2454,2045,3331
$GC,2602,-1.63,-146.0,219.0,-7.8,247,2607,0.12,2.40,0.00,0.000,4,0.063,0.037,2423,3442,3331
$GC,2669,-1.63,-146.0,225.4,-9.2,250,2673,0.00,2.38,0.00,0.000,6,0.000,0.026,2423,2034,3331
$GC,2991,-1.63,-146.0,252.9,-8.0,266,2995,0.00,2.40,0.00,0.000,4,0.000,0.041,2423,642,3331
$GC,3014,-1.63,-146.0,254.9,-9.0,267,3018,0.00,2.38,0.00,0.000,6,0.000,0.026,2423,2048,3331
$GC,3337,-1.63,-146.0,281.1,-8.1,283,3341,0.00,2.47,0.00,0.000,4,0.000,0.042,2423,636,3330
$GC,3361,-1.63,-146.0,283.0,-7.9,284,3365,0.00,2.40,0.00,0.000,6,0.000,0.028,2423,2051,3330
$GC,3707,-1.63,-146.0,309.9,-7.8,298,3714,0.00,2.42,0.00,0.000,4,0.000,0.042,2423,3446,3329
$GC,3771,-1.67,-146.0,315.0,-8.2,299,3776,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2034,3328
$GC,4120,-1.67,-146.0,339.4,-6.9,308,4124,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3447,3326
$GC,4153,-1.71,-146.0,341.7,-6.8,308,4159,0.00,2.40,0.00,0.000,6,0.000,0.028,2423,2039,3326
$GC,4486,-1.74,-146.0,364.5,-7.0,317,4490,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3449,3324
$GC,4514,-1.77,-146.0,366.7,-7.6,317,4519,0.12,2.40,0.00,0.000,6,0.071,0.029,2394,2042,3323
$GC,4846,-1.77,-146.0,393.7,-7.8,325,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2040,3321
$GC,5171,-1.77,-146.0,419.6,-7.9,333,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2041,3319
$GC,5495,-1.77,-146.0,446.7,-8.5,341,5500,0.00,2.47,0.00,0.000,4,0.000,0.043,2394,3443,3317
$GC,5523,-1.77,-146.0,449.2,-8.7,341,5528,0.00,2.42,0.00,0.000,6,0.000,0.031,2394,2033,3317
$STATE,5570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5570,begin apogee
$GC,5578,-0.33,0.0,452.8,8.0,342,5695,1.52,0.00,113.12,0.924,6,0.094,0.000,2705,1935,2733
$STATE,5696,end apogee,CONTROL_FINISHED_OK
$STATE,5696,begin climb
$GC,5699,1.09,146.0,457.5,0.0,345,5822,1.38,2.53,114.45,0.895,4,0.048,0.052,3012,565,2136
$GC,6076,0.56,146.0,429.2,11.9,353,6081,0.60,2.40,0.00,0.000,6,0.148,0.029,2907,1950,2134
$GC,6414,0.29,146.0,403.0,7.9,362,6419,0.30,2.53,0.00,0.000,4,0.127,0.051,2848,564,2133
$GC,6521,0.10,146.0,395.2,7.2,364,6526,0.22,2.40,0.00,0.000,6,0.119,0.031,2806,1948,2133
$GC,6864,0.13,200.1,376.5,5.0,373,6911,0.00,2.58,41.05,0.891,4,0.000,0.048,2806,3358,1916
$GC,6963,0.12,224.5,371.2,6.0,375,6989,0.00,2.45,19.67,0.871,6,0.000,0.034,2806,1968,1817
$GC,7315,0.13,256.7,350.5,5.7,384,7343,0.00,0.00,25.80,0.871,6,0.000,0.000,2806,1969,1686
$GC,7640,0.08,256.7,328.8,6.9,392,7644,0.00,2.47,0.00,0.000,4,0.000,0.043,2806,3353,1684
$GC,7685,0.05,256.7,325.6,7.2,393,7689,0.00,2.45,0.00,0.000,6,0.000,0.032,2806,1950,1684
$GC,8004,0.06,284.7,306.0,5.9,401,8033,0.00,2.60,22.23,0.853,4,0.000,0.041,2806,3351,1572
$GC,8058,0.04,290.7,302.6,6.6,402,8069,0.00,2.47,5.55,0.818,6,0.000,0.031,2806,1940,1547
$GC,8396,0.04,290.7,279.4,7.1,417,8401,0.00,2.53,0.00,0.000,4,0.000,0.041,2806,3361,1546
$GC,8430,0.04,290.7,276.9,6.9,418,8437,0.00,2.45,0.00,0.000,6,0.000,0.031,2807,1951,1546
$GC,8746,0.06,300.1,255.6,6.5,434,8756,0.00,0.00,7.65,0.817,6,0.000,0.000,2806,1951,1509
$GC,9056,0.06,303.2,235.2,6.7,449,9065,0.00,2.53,3.28,0.772,4,0.000,0.038,2806,3354,1497
$GC,9095,0.06,303.2,232.3,7.6,450,9101,0.00,2.45,0.00,0.000,6,0.000,0.031,2806,1940,1497
$GC,9411,0.06,303.2,210.3,6.8,466,9415,0.00,2.47,0.00,0.000,4,0.000,0.038,2806,3353,1497
$GC,9433,0.06,303.2,208.6,7.3,467,9437,0.00,2.42,0.00,0.000,6,0.000,0.028,2806,1944,1497
$GC,9759,0.13,341.0,189.7,5.6,491,9794,0.00,2.55,29.27,0.755,4,0.000,0.037,2806,3364,1343
$GC,9848,0.20,358.4,184.2,6.2,499,9870,0.00,2.47,14.30,0.741,6,0.000,0.028,2806,1939,1270
$GC,10189,0.29,407.7,165.8,5.2,531,10233,0.17,2.53,38.12,0.713,4,0.064,0.035,2846,3353,1069
$GC,10251,0.23,407.7,161.1,8.8,536,10257,0.00,2.42,0.00,0.000,6,0.000,0.026,2846,1950,1070
$GC,10579,0.18,407.7,133.0,8.8,567,10584,0.15,2.47,0.00,0.000,4,0.098,0.035,2814,3364,1070
$GC,10614,0.21,407.7,130.1,7.3,569,10620,0.00,2.42,0.00,0.000,6,0.000,0.027,2814,1950,1071
$GC,10942,0.29,434.7,110.4,5.9,600,10969,0.12,2.50,21.27,0.653,4,0.071,0.035,2844,3364,959
$GC,10994,0.29,434.7,106.4,8.6,604,10998,0.00,2.45,0.00,0.000,6,0.000,0.026,2844,1945,959
$GC,11324,0.30,440.2,83.9,6.6,634,11336,0.00,2.47,4.95,0.630,4,0.000,0.035,2844,3355,938
$GC,11384,0.37,453.7,79.7,6.4,639,11399,0.00,2.42,10.75,0.622,6,0.000,0.026,2844,1935,883
$GC,11661,0.39,468.0,62.6,6.3,664,11677,0.00,2.50,11.45,0.600,4,0.000,0.034,2844,3357,823
$GC,11717,0.45,468.0,58.2,7.1,668,11724,0.15,2.40,0.00,0.000,6,0.061,0.025,2879,1950,824
$GC,11983,0.41,468.0,34.0,8.9,693,11987,0.00,2.45,0.00,0.000,4,0.000,0.043,2879,547,823
$GC,12030,0.41,468.0,29.2,9.5,697,12036,0.00,2.40,0.00,0.000,6,0.000,0.022,2879,1975,824
$GC,12308,0.41,468.0,5.5,8.2,746,12315,0.00,2.35,0.00,0.000,4,0.000,0.035,2879,3347,824
$STATE,12319,end climb,SURFACE_DEPTH_REACHED
$STATE,12319,begin surface coast
$FINISH,2.5,1.022721
$STATE,12348,end surface coast,CONTROL_FINISHED_OK
$STATE,12348,begin surface
$SM_CCo,12434,0.00,0.000,0,0,826,467.79
$SM_GC,1.49,11.15,0.00,0.00,0.053,0.000,0.000,408,2022,826,-10.87,-0.54,467.79
$IRIDIUM_FIX,2059.45,-15753.90,040198,121226
$TT8_MAMPS,0.026845
$HUMID,1703
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.8,20.007
$10V_AH,10.2,11.989
$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,28.300,141.050,482.925,0.000,0.000,24.787,29.450,151.614,12.250,0.000,0.000,15.463,1379.430,8545.075,569.805,1729.238,550.825,33.363,1442.061,0.000,1700.081,0.000,57.453
$DEVICE_MAMPS,158.002,55.224,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.782,501.346,878.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,753
$CAP_FILE_SIZE,115102,0
$CFSIZE,260165632,250695680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,194805,2109.359,-15749.599,12,3.6,31,9.8