version: 66.03
glider: 114
mission: 3
dive: 143
start: 10 11 108 9 48 24
data:
$ID,114
$MISSION,3
$DIVE,143
$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,-594361.69
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,093437,2105.889,-15747.997,37,1.3,37,9.8
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.9
$GPS2,094729,2105.821,-15747.958,11,2.5,30,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.079,-0.207
$KALMAN_X,-30909.7,-278.5,322.8,40552.4,-222.1
$KALMAN_Y,-32011.0,-245.8,3.0,12335.2,-298.5
$MHEAD_RNG_PITCHd_Wd,149.4,6741,-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,29,-1.09,-146.0,0.0,0.0,0,96,0.00,0.00,-64.43,0.000,2,0.000,0.000,408,2053,2964
$GC,100,-1.09,-146.0,4.0,-5.4,12,125,11.95,2.50,-5.47,0.000,4,0.157,0.051,2536,628,3331
$GC,178,-1.19,-146.0,22.0,-10.0,25,184,0.00,2.35,0.00,0.000,6,0.000,0.022,2536,2033,3330
$GC,450,-1.27,-146.0,44.7,-8.5,58,455,0.15,2.42,0.00,0.000,4,0.057,0.034,2496,3448,3330
$GC,530,-1.33,-146.0,52.6,-10.0,64,536,0.00,2.38,0.00,0.000,6,0.000,0.023,2496,2028,3331
$GC,792,-1.38,-146.0,75.3,-8.5,89,797,0.00,2.45,0.00,0.000,4,0.000,0.035,2496,3448,3331
$GC,868,-1.48,-146.0,81.9,-8.2,95,872,0.17,2.38,0.00,0.000,6,0.054,0.022,2453,2034,3331
$GC,1195,-1.48,-146.0,113.3,-10.0,125,1199,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3436,3332
$GC,1247,-1.48,-146.0,118.8,-10.0,129,1251,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2031,3332
$GC,1578,-1.48,-146.0,148.7,-9.4,160,1582,0.00,2.45,0.00,0.000,4,0.000,0.035,2453,3450,3332
$GC,1596,-1.48,-146.0,150.5,-9.3,161,1600,0.00,2.38,0.00,0.000,6,0.000,0.023,2453,2032,3332
$GC,1924,-1.51,-146.0,177.8,-8.7,191,1928,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3438,3332
$GC,1946,-1.54,-146.0,180.0,-8.7,192,1955,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2028,3331
$GC,2270,-1.59,-146.0,203.4,-7.5,221,2275,0.00,2.45,0.00,0.000,4,0.000,0.035,2453,3447,3331
$GC,2379,-1.68,-146.0,212.6,-8.0,226,2384,0.17,2.38,0.00,0.000,6,0.055,0.025,2409,2043,3331
$GC,2708,-1.68,-146.0,245.6,-8.8,242,2712,0.00,2.42,0.00,0.000,4,0.000,0.041,2409,639,3330
$GC,2780,-1.68,-146.0,252.6,-9.4,245,2785,0.00,2.35,0.00,0.000,6,0.000,0.025,2409,2034,3331
$GC,3097,-1.68,-146.0,282.2,-9.0,260,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2035,3330
$GC,3425,-1.68,-146.0,307.2,-7.2,274,3429,0.00,2.45,0.00,0.000,4,0.000,0.041,2409,3450,3328
$GC,3497,-1.68,-146.0,313.2,-8.1,275,3502,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2040,3327
$GC,3830,-1.68,-146.0,341.8,-8.4,283,3834,0.00,2.45,0.00,0.000,4,0.000,0.040,2409,3442,3326
$GC,3863,-1.68,-146.0,344.6,-8.2,283,3869,0.00,2.40,0.00,0.000,6,0.000,0.028,2410,2034,3326
$GC,4195,-1.68,-146.0,369.1,-7.7,292,4199,0.00,2.47,0.00,0.000,4,0.000,0.041,2410,3445,3323
$GC,4216,-1.68,-146.0,371.0,-8.5,292,4221,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2040,3323
$GC,4554,-1.68,-146.0,398.2,-8.1,301,4558,0.00,2.47,0.00,0.000,4,0.000,0.048,2410,634,3320
$GC,4581,-1.68,-146.0,400.6,-8.2,301,4586,0.00,2.40,0.00,0.000,6,0.000,0.029,2409,2034,3320
$GC,4913,-1.68,-146.0,427.0,-7.9,309,4917,0.00,2.50,0.00,0.000,4,0.000,0.048,2409,3447,3319
$GC,4947,-1.72,-146.0,429.7,-7.4,309,4954,0.00,2.42,0.00,0.000,6,0.000,0.031,2409,2038,3318
$STATE,5235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5235,begin apogee
$GC,5243,-0.33,0.0,450.3,7.0,317,5360,1.42,0.00,112.85,0.920,6,0.093,0.000,2702,1934,2733
$STATE,5360,end apogee,CONTROL_FINISHED_OK
$STATE,5361,begin climb
$GC,5364,1.09,146.0,454.6,0.0,320,5487,1.40,2.55,114.22,0.892,4,0.051,0.052,3012,548,2137
$GC,5639,0.56,146.0,439.6,11.6,326,5644,0.60,2.45,0.00,0.000,6,0.137,0.029,2906,1957,2135
$GC,5988,0.29,146.0,414.6,6.8,335,5993,0.30,2.58,0.00,0.000,4,0.137,0.052,2848,547,2133
$GC,6039,0.11,157.7,411.4,6.4,336,6054,0.22,2.45,9.00,0.883,6,0.130,0.031,2808,1956,2090
$GC,6398,0.23,265.6,399.4,3.2,345,6488,0.00,2.65,83.72,0.892,4,0.000,0.054,2808,553,1650
$GC,6512,0.17,270.4,393.5,6.7,347,6524,0.00,2.45,4.65,0.822,6,0.000,0.031,2807,1945,1630
$GC,6849,0.11,270.4,367.7,7.9,356,6853,0.00,2.53,0.00,0.000,4,0.000,0.050,2808,3352,1629
$GC,6900,0.08,270.4,363.6,8.1,357,6905,0.00,2.45,0.00,0.000,6,0.000,0.035,2808,1960,1629
$GC,7214,0.02,270.4,342.2,6.9,365,7219,0.12,2.50,0.00,0.000,4,0.128,0.044,2787,3355,1629
$GC,7254,0.02,270.4,339.4,7.3,366,7258,0.00,2.47,0.00,0.000,6,0.000,0.032,2787,1941,1628
$GC,7578,0.02,270.4,315.9,7.3,374,7583,0.00,2.53,0.00,0.000,4,0.000,0.042,2787,3363,1628
$GC,7612,0.02,270.4,313.5,7.1,374,7618,0.00,2.47,0.00,0.000,6,0.000,0.033,2787,1945,1628
$GC,7925,0.08,302.0,295.2,5.8,384,7954,0.00,2.58,24.40,0.859,4,0.000,0.042,2787,3357,1501
$GC,8000,0.10,314.2,290.4,6.4,387,8015,0.00,2.47,9.93,0.838,6,0.000,0.032,2787,1945,1452
$GC,8338,0.14,336.5,267.9,6.1,404,8361,0.10,2.62,17.75,0.827,4,0.084,0.041,2809,3363,1360
$GC,8430,0.15,341.8,261.3,6.6,408,8440,0.00,2.50,5.15,0.802,6,0.000,0.032,2809,1941,1339
$GC,8757,0.15,341.8,238.4,7.1,424,8761,0.00,2.50,0.00,0.000,4,0.000,0.051,2809,542,1339
$GC,8779,0.16,349.8,236.9,6.6,425,8795,0.00,2.45,6.80,0.801,6,0.000,0.028,2808,1964,1307
$GC,9105,0.16,349.8,214.9,7.5,441,9109,0.00,2.45,0.00,0.000,4,0.000,0.043,2809,3358,1307
$GC,9178,0.19,349.8,209.3,7.9,444,9182,0.00,2.45,0.00,0.000,6,0.000,0.031,2809,1945,1307
$GC,9504,0.19,349.8,188.2,7.3,468,9508,0.00,2.47,0.00,0.000,4,0.000,0.038,2809,3353,1307
$GC,9555,0.19,349.8,184.5,7.0,472,9559,0.00,2.42,0.00,0.000,6,0.000,0.029,2809,1950,1307
$GC,9883,0.19,349.9,162.8,6.8,502,9887,0.00,2.45,0.00,0.000,4,0.000,0.038,2809,3353,1308
$GC,9917,0.23,351.8,160.3,6.8,504,9927,0.10,2.42,2.90,0.719,6,0.079,0.028,2831,1935,1298
$GC,10253,0.23,351.8,135.2,7.8,536,10258,0.00,2.47,0.00,0.000,4,0.000,0.037,2831,3356,1299
$GC,10317,0.23,351.8,130.3,7.6,541,10321,0.00,2.42,0.00,0.000,6,0.000,0.027,2832,1936,1299
$GC,10648,0.23,351.8,107.5,7.0,572,10652,0.00,2.47,0.00,0.000,4,0.000,0.035,2832,3363,1299
$GC,10727,0.27,351.8,101.6,7.3,578,10733,0.00,2.40,0.00,0.000,6,0.000,0.027,2832,1950,1300
$GC,11055,0.44,430.4,82.7,4.2,609,11123,0.15,0.00,59.67,0.617,6,0.064,0.000,2873,1949,977
$GC,11378,0.44,430.4,60.5,7.1,640,11382,0.00,2.45,0.00,0.000,4,0.000,0.034,2873,3359,978
$GC,11433,0.44,430.4,56.3,7.7,644,11440,0.00,2.40,0.00,0.000,6,0.000,0.026,2873,1948,979
$GC,11695,0.44,430.4,38.2,7.3,669,11699,0.00,2.47,0.00,0.000,4,0.000,0.046,2872,544,979
$GC,11747,0.44,430.4,34.4,7.4,673,11752,0.00,2.40,0.00,0.000,6,0.000,0.023,2873,1968,979
$GC,12021,0.44,430.4,13.1,9.1,715,12027,0.00,2.38,0.00,0.000,4,0.000,0.035,2873,3357,979
$GC,12085,0.44,430.4,6.9,9.9,726,12091,0.00,2.38,0.00,0.000,6,0.000,0.025,2873,1950,980
$STATE,12114,end climb,SURFACE_DEPTH_REACHED
$STATE,12114,begin surface coast
$FINISH,0.8,0.998125
$STATE,12186,end surface coast,CONTROL_FINISHED_OK
$STATE,12187,begin surface
$SM_CCo,12271,0.00,0.000,0,0,981,429.77
$SM_GC,1.52,10.93,0.00,0.00,0.045,0.000,0.000,409,2081,981,-10.86,1.16,429.77
$IRIDIUM_FIX,2059.45,-15748.75,050198,090942
$TT8_MAMPS,0.028379
$HUMID,1709
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.8,20.627
$10V_AH,10.2,12.415
$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,27.800,147.250,451.050,0.000,0.000,78.102,136.663,276.494,11.500,0.000,0.000,32.548,1372.746,8515.521,529.433,1796.524,827.063,33.362,1417.800,0.000,1736.581,0.000,60.315
$DEVICE_MAMPS,157.235,53.690,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.449,488.709,876.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37995,744
$CAP_FILE_SIZE,118941,0
$CFSIZE,260165632,250400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111008,131408,2104.213,-15747.655,34,1.1,34,9.8