version: 66.03
glider: 114
mission: 3
dive: 147
start: 10 11 108 23 35 26
data:
$ID,114
$MISSION,3
$DIVE,147
$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,-594423.81
$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,37
$R_STBD_OVSHOOT,71
$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
$GPS1,232808,2103.559,-15747.385,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.7
$GPS2,233427,2103.556,-15747.401,13,1.3,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.072,0.209
$KALMAN_X,-28819.4,271.9,-22.7,39220.1,-41.3
$KALMAN_Y,-32144.1,348.2,-190.6,7880.1,-121.6
$MHEAD_RNG_PITCHd_Wd,331.2,12749,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.22,0.000,2,0.000,0.000,409,2094,2827
$GC,93,-1.09,-146.0,3.3,-4.3,11,123,11.90,2.35,-8.45,0.000,4,0.156,0.050,2535,3412,3332
$GC,198,-1.22,-146.0,19.8,-8.3,29,204,0.00,2.33,0.00,0.000,6,0.000,0.023,2535,2026,3332
$GC,472,-1.29,-146.0,44.5,-9.2,64,477,0.15,2.40,0.00,0.000,4,0.057,0.034,2494,3410,3332
$GC,557,-1.32,-146.0,55.5,-13.0,71,562,0.00,2.30,0.00,0.000,6,0.000,0.023,2494,2039,3332
$GC,820,-1.35,-146.0,85.0,-8.8,95,824,0.00,2.40,0.00,0.000,4,0.000,0.038,2494,643,3333
$GC,838,-1.40,-146.0,86.5,-8.5,96,842,0.00,2.30,0.00,0.000,6,0.000,0.021,2494,2020,3333
$GC,1168,-1.47,-146.0,110.3,-6.3,126,1173,0.15,2.42,0.00,0.000,4,0.056,0.033,2453,3445,3334
$GC,1231,-1.47,-146.0,115.5,-7.9,131,1235,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2038,3334
$GC,1557,-1.47,-146.0,141.7,-8.1,161,1561,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3444,3334
$GC,1590,-1.47,-146.0,144.9,-9.6,163,1597,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2039,3334
$GC,1916,-1.47,-146.0,170.5,-7.1,194,1920,0.00,2.40,0.00,0.000,4,0.000,0.038,2453,640,3334
$GC,1946,-1.53,-146.0,172.9,-8.2,196,1950,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2042,3334
$GC,2272,-1.57,-146.0,197.6,-7.4,226,2276,0.00,2.40,0.00,0.000,4,0.000,0.037,2453,3440,3334
$GC,2322,-1.65,-146.0,201.6,-7.5,229,2327,0.15,2.35,0.00,0.000,6,0.058,0.025,2416,2040,3334
$GC,2639,-1.65,-146.0,228.0,-8.2,244,2643,0.00,2.42,0.00,0.000,4,0.000,0.040,2416,634,3334
$GC,2662,-1.65,-146.0,230.0,-8.5,245,2667,0.00,2.38,0.00,0.000,6,0.000,0.026,2416,2042,3334
$GC,2990,-1.65,-146.0,256.8,-8.2,261,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2042,3334
$GC,3298,-1.65,-146.0,283.2,-8.4,276,3303,0.00,2.42,0.00,0.000,4,0.000,0.041,2416,3443,3333
$GC,3362,-1.65,-146.0,288.6,-8.5,279,3366,0.00,2.38,0.00,0.000,6,0.000,0.028,2416,2043,3332
$GC,3712,-1.65,-146.0,318.5,-8.7,291,3716,0.00,2.45,0.00,0.000,4,0.000,0.040,2416,3444,3330
$GC,3746,-1.68,-146.0,321.6,-8.6,291,3752,0.00,2.40,0.00,0.000,6,0.000,0.028,2416,2037,3330
$GC,4078,-1.68,-146.0,347.7,-7.9,300,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2036,3328
$GC,4404,-1.71,-146.0,373.1,-7.4,308,4408,0.00,2.47,0.00,0.000,4,0.000,0.042,2416,3444,3326
$GC,4432,-1.75,-146.0,375.1,-7.3,308,4436,0.00,2.40,0.00,0.000,6,0.000,0.029,2416,2040,3326
$GC,4764,-1.79,-146.0,397.6,-6.7,316,4766,0.12,0.00,0.00,0.000,6,0.072,0.000,2387,2039,3323
$GC,5089,-1.79,-146.0,426.2,-9.2,324,5093,0.00,2.47,0.00,0.000,4,0.000,0.044,2387,3440,3320
$GC,5116,-1.79,-146.0,429.0,-10.2,324,5120,0.00,2.40,0.00,0.000,6,0.000,0.031,2387,2045,3320
$STATE,5364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5364,begin apogee
$GC,5372,-0.33,0.0,453.8,10.1,330,5489,1.55,0.00,113.45,0.926,6,0.094,0.000,2705,1938,2733
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5494,1.09,146.0,460.0,0.0,333,5616,1.42,2.58,114.22,0.901,4,0.049,0.042,3017,3348,2137
$GC,5762,0.58,146.0,446.4,10.5,339,5768,0.60,2.45,0.00,0.000,6,0.139,0.034,2910,1962,2137
$GC,6106,0.30,146.0,420.2,7.7,348,6111,0.30,2.55,0.00,0.000,4,0.123,0.053,2853,543,2134
$GC,6174,0.10,151.9,415.6,6.6,349,6185,0.25,2.45,4.85,0.866,6,0.123,0.030,2807,1959,2112
$GC,6512,0.15,217.5,400.1,4.6,357,6565,0.00,0.00,51.20,0.904,6,0.000,0.000,2807,1959,1846
$GC,6876,0.17,264.5,380.8,5.3,366,6918,0.00,0.00,37.33,0.893,6,0.000,0.000,2807,1959,1654
$GC,7244,0.12,264.5,357.5,6.9,375,7248,0.00,2.50,0.00,0.000,4,0.000,0.049,2807,3352,1653
$GC,7300,0.09,268.7,353.5,6.7,376,7310,0.00,2.47,4.15,0.842,6,0.000,0.035,2807,1943,1636
$GC,7654,0.07,280.7,329.5,6.4,385,7669,0.00,2.55,9.98,0.876,4,0.000,0.043,2807,3347,1587
$GC,7709,0.12,309.9,326.0,5.8,386,7738,0.00,2.47,23.15,0.867,6,0.000,0.034,2807,1940,1468
$GC,8065,0.12,309.9,301.0,7.2,395,8069,0.00,2.53,0.00,0.000,4,0.000,0.043,2806,3353,1468
$GC,8105,0.12,309.9,298.0,7.5,396,8109,0.00,2.47,0.00,0.000,6,0.000,0.033,2807,1936,1468
$GC,8432,0.12,309.9,273.7,7.8,412,8436,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3349,1468
$GC,8482,0.12,309.9,269.8,7.4,414,8486,0.00,2.45,0.00,0.000,6,0.000,0.032,2807,1941,1468
$GC,8799,0.14,318.7,248.4,6.5,429,8808,0.00,0.00,7.62,0.818,6,0.000,0.000,2807,1942,1432
$GC,9108,0.16,334.4,228.4,6.3,444,9129,0.00,2.55,12.60,0.799,4,0.000,0.038,2807,3344,1369
$GC,9182,0.16,334.4,223.1,7.1,447,9186,0.00,2.42,0.00,0.000,6,0.000,0.031,2807,1950,1369
$GC,9504,0.18,341.4,201.9,6.6,463,9512,0.00,0.00,6.20,0.764,6,0.000,0.000,2807,1950,1340
$GC,9824,0.23,371.7,181.0,5.8,491,9856,0.10,2.55,23.80,0.738,4,0.077,0.037,2830,3353,1217
$GC,9902,0.23,371.7,175.6,7.0,498,9907,0.00,2.45,0.00,0.000,6,0.000,0.028,2830,1945,1216
$GC,10230,0.23,371.7,152.0,7.2,528,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1945,1217
$GC,10556,0.23,371.7,129.1,7.0,559,10560,0.00,2.45,0.00,0.000,4,0.000,0.035,2830,3354,1218
$GC,10625,0.28,382.4,124.4,6.5,564,10643,0.00,2.40,9.20,0.682,6,0.000,0.027,2830,1947,1173
$GC,10963,0.32,406.8,102.3,6.0,596,10984,0.00,0.00,18.98,0.651,6,0.000,0.000,2830,1947,1074
$GC,11301,0.39,419.0,80.7,6.4,628,11316,0.15,2.47,9.77,0.627,4,0.064,0.034,2867,3353,1024
$GC,11357,0.39,419.0,76.1,8.7,633,11361,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,1942,1025
$GC,11619,0.43,439.1,58.3,6.1,657,11642,0.00,2.50,16.05,0.598,4,0.000,0.043,2866,538,940
$GC,11682,0.50,451.2,54.1,6.4,662,11700,0.00,2.40,9.43,0.597,6,0.000,0.023,2866,1965,892
$GC,11959,0.51,456.5,37.4,6.6,688,11972,0.10,2.40,4.40,0.574,4,0.075,0.035,2891,3354,872
$GC,12023,0.51,456.5,32.1,8.4,693,12029,0.00,2.40,0.00,0.000,6,0.000,0.026,2891,1945,873
$GC,12299,0.51,456.5,7.4,7.8,740,12305,0.00,2.45,0.00,0.000,4,0.000,0.035,2891,3355,873
$STATE,12321,end climb,SURFACE_DEPTH_REACHED
$STATE,12321,begin surface coast
$FINISH,0.8,1.012947
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12389,begin surface
$SM_CCo,12475,0.00,0.000,0,0,875,456.01
$SM_GC,1.57,11.00,0.00,0.00,0.044,0.000,0.000,412,2025,875,-10.85,-0.42,456.01
$IRIDIUM_FIX,2054.83,-15749.62,050198,202002
$TT8_MAMPS,0.026845
$HUMID,1704
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.8,21.120
$10V_AH,10.2,12.753
$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,27.950,121.600,476.375,0.000,0.000,28.108,29.051,186.647,12.750,0.000,0.000,15.398,1373.216,8661.421,557.193,1693.832,572.371,33.375,1387.413,0.000,1667.651,0.000,57.447
$DEVICE_MAMPS,156.468,52.923,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.712,506.036,894.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,756
$CAP_FILE_SIZE,110686,0
$CFSIZE,260165632,250179584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121008,030438,2104.845,-15748.108,38,1.3,38,9.8