version: 66.03
glider: 114
mission: 3
dive: 275
start: 10 30 108 8 34 5
data:
$ID,114
$MISSION,3
$DIVE,275
$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,170
$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,400
$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,-597043.56
$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,63
$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
$GPS1,082726,2107.714,-15748.894,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.2
$GPS2,083309,2107.615,-15748.834,12,1.1,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.025,0.231
$KALMAN_X,-88966.8,-532.1,616.1,97053.8,-469.8
$KALMAN_Y,-73479.5,-0.4,172.2,56713.6,-1298.1
$MHEAD_RNG_PITCHd_Wd,344.1,4855,-11.5,-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,-1.06,-165.5,0.0,0.0,0,106,0.00,0.00,-76.00,0.000,2,0.000,0.000,407,2089,2959
$GC,110,-1.06,-165.5,3.8,-4.7,14,135,11.88,2.38,-7.12,0.000,4,0.154,0.060,2539,3420,3409
$GC,177,-1.00,-165.5,19.4,-13.1,25,184,0.10,2.33,0.00,0.000,6,0.103,0.021,2558,2027,3409
$GC,450,-1.10,-165.5,37.3,-5.7,63,454,0.00,2.40,0.00,0.000,4,0.000,0.035,2558,3416,3409
$GC,497,-1.27,-165.5,40.1,-6.2,66,504,0.25,2.30,0.00,0.000,6,0.047,0.023,2498,2042,3410
$GC,759,-1.27,-165.5,64.8,-9.8,91,763,0.00,2.38,0.00,0.000,4,0.000,0.034,2498,3422,3409
$GC,781,-1.27,-165.5,67.1,-9.4,92,787,0.00,2.30,0.00,0.000,6,0.000,0.021,2498,2037,3410
$GC,1043,-1.32,-165.5,87.2,-7.1,117,1047,0.00,2.38,0.00,0.000,4,0.000,0.033,2498,3423,3409
$GC,1079,-1.38,-165.5,90.0,-8.3,120,1083,0.00,2.33,0.00,0.000,6,0.000,0.022,2498,2036,3409
$GC,1405,-1.44,-165.5,116.8,-8.2,150,1410,0.15,2.38,0.00,0.000,4,0.053,0.031,2460,3420,3410
$GC,1472,-1.44,-165.5,123.5,-9.2,155,1478,0.00,2.33,0.00,0.000,6,0.000,0.024,2459,2029,3410
$GC,1797,-1.44,-165.5,154.2,-8.7,186,1801,0.00,2.38,0.00,0.000,4,0.000,0.033,2460,3416,3410
$GC,1860,-1.50,-165.5,158.7,-7.2,191,1864,0.00,2.33,0.00,0.000,6,0.000,0.023,2459,2030,3410
$GC,2186,-1.50,-165.5,188.5,-9.5,221,2190,0.00,2.40,0.00,0.000,4,0.000,0.035,2460,3423,3410
$GC,2253,-1.57,-165.5,194.8,-8.7,226,2259,0.00,2.33,0.00,0.000,6,0.000,0.025,2459,2037,3410
$GC,2582,-1.57,-165.5,220.4,-7.2,245,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2037,3410
$GC,2891,-1.61,-165.5,238.5,-5.2,260,2896,0.15,2.38,0.00,0.000,4,0.057,0.035,2422,3413,3409
$GC,2999,-1.61,-165.5,247.0,-8.0,265,3003,0.00,2.33,0.00,0.000,6,0.000,0.025,2421,2037,3409
$GC,3326,-1.61,-165.5,276.7,-8.7,281,3330,0.00,2.40,0.00,0.000,4,0.000,0.037,2422,3424,3409
$GC,3405,-1.61,-165.5,284.2,-8.7,284,3411,0.00,2.35,0.00,0.000,6,0.000,0.027,2422,2032,3408
$GC,3741,-1.61,-165.5,311.3,-8.2,298,3745,0.00,2.40,0.00,0.000,4,0.000,0.038,2422,3415,3407
$GC,3775,-1.61,-165.5,314.3,-8.5,298,3781,0.00,2.35,0.00,0.000,6,0.000,0.028,2422,2033,3407
$GC,4107,-1.61,-165.5,336.2,-6.0,307,4111,0.00,2.40,0.00,0.000,4,0.000,0.038,2422,3414,3405
$GC,4135,-1.61,-165.5,338.2,-6.7,307,4139,0.00,2.35,0.00,0.000,6,0.000,0.028,2422,2036,3404
$GC,4468,-1.61,-165.5,362.0,-7.4,315,4472,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,3421,3402
$GC,4490,-1.61,-165.5,363.9,-7.8,315,4494,0.00,2.38,0.00,0.000,6,0.000,0.029,2422,2031,3401
$GC,4827,-1.61,-165.5,387.7,-7.4,324,4831,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,3416,3400
$GC,4877,-1.65,-165.5,391.6,-8.3,325,4882,0.00,2.38,0.00,0.000,6,0.000,0.030,2422,2031,3399
$GC,5192,-1.65,-165.5,414.2,-7.1,333,5197,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,3413,3397
$GC,5238,-1.69,-165.5,417.8,-7.9,334,5242,0.00,2.38,0.00,0.000,6,0.000,0.031,2422,2030,3397
$GC,5558,-1.69,-165.5,442.9,-7.7,342,5562,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,3413,3393
$GC,5598,-1.75,-165.5,445.9,-7.4,343,5602,0.00,2.38,0.00,0.000,6,0.000,0.031,2421,2036,3393
$STATE,5676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5676,begin apogee
$GC,5684,-0.33,0.0,451.6,7.1,345,5817,1.38,0.00,128.88,0.927,6,0.089,0.000,2707,1933,2733
$STATE,5818,end apogee,CONTROL_FINISHED_OK
$STATE,5818,begin climb
$GC,5821,1.06,165.5,455.9,0.0,348,5961,1.35,2.58,130.27,0.900,4,0.049,0.039,3007,3325,2058
$GC,6145,0.56,165.5,433.6,12.4,355,6150,0.57,2.40,0.00,0.000,6,0.125,0.034,2904,1962,2057
$GC,6488,0.27,165.5,406.1,7.8,364,6493,0.30,2.42,0.00,0.000,4,0.115,0.038,2845,3326,2056
$GC,6562,0.10,167.0,400.9,6.8,365,6567,0.20,2.42,0.00,0.000,6,0.115,0.033,2807,1944,2056
$GC,6894,0.12,225.4,383.6,5.1,373,6943,0.00,0.00,46.12,0.900,6,0.000,0.000,2807,1944,1813
$GC,7265,0.10,260.3,362.0,5.8,382,7300,0.00,2.53,28.08,0.886,4,0.000,0.038,2807,3321,1671
$GC,7319,0.07,288.4,358.8,6.0,383,7350,0.00,2.42,22.98,0.875,6,0.000,0.032,2807,1944,1557
$GC,7676,-0.00,288.4,334.8,6.9,392,7678,0.15,0.00,0.00,0.000,6,0.114,0.000,2780,1944,1556
$GC,8001,0.05,319.1,315.1,5.9,400,8030,0.00,2.53,23.80,0.872,4,0.000,0.038,2780,3324,1432
$GC,8099,0.06,326.3,308.9,6.6,402,8113,0.00,2.42,6.62,0.848,6,0.000,0.031,2780,1938,1401
$GC,8441,0.10,345.4,288.0,6.3,415,8462,0.00,2.50,15.70,0.858,4,0.000,0.037,2780,3329,1323
$GC,8514,0.13,345.4,283.0,7.2,418,8519,0.12,2.42,0.00,0.000,6,0.077,0.031,2807,1944,1323
$GC,8836,0.11,353.9,260.2,6.6,434,8851,0.00,2.60,7.28,0.836,4,0.000,0.051,2807,545,1290
$GC,8869,0.07,353.9,257.8,7.2,435,8874,0.00,2.38,0.00,0.000,6,0.000,0.028,2806,1919,1289
$GC,9186,0.09,364.0,237.2,6.5,450,9200,0.00,2.58,8.65,0.818,4,0.000,0.039,2807,3353,1249
$GC,9257,0.09,364.0,232.0,7.7,453,9261,0.00,2.45,0.00,0.000,6,0.000,0.031,2807,1948,1249
$GC,9579,0.09,364.0,207.9,7.6,469,9583,0.00,2.47,0.00,0.000,4,0.000,0.037,2807,3361,1249
$GC,9619,0.09,364.0,204.5,8.4,471,9624,0.00,2.45,0.00,0.000,6,0.000,0.030,2807,1947,1249
$GC,9946,0.09,364.0,179.1,7.7,499,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1947,1250
$GC,10272,0.10,371.1,154.3,6.6,530,10285,0.00,2.47,6.62,0.734,4,0.000,0.033,2807,3365,1219
$GC,10302,0.18,417.0,152.6,5.5,532,10343,0.00,2.45,35.35,0.718,6,0.000,0.028,2807,1940,1033
$GC,10665,0.23,444.9,130.9,6.0,566,10697,0.10,2.58,22.35,0.687,4,0.072,0.033,2832,3363,918
$GC,10726,0.23,444.9,126.6,7.8,571,10732,0.00,2.45,0.00,0.000,6,0.000,0.027,2832,1941,918
$GC,11055,0.19,444.9,100.5,9.3,602,11059,0.00,2.47,0.00,0.000,4,0.000,0.034,2833,3361,919
$GC,11095,0.19,444.9,96.3,9.8,605,11099,0.00,2.42,0.00,0.000,6,0.000,0.025,2832,1945,919
$GC,11424,0.19,444.9,68.6,7.9,635,11428,0.00,2.45,0.00,0.000,4,0.000,0.033,2832,3359,920
$GC,11464,0.19,444.9,65.5,7.1,638,11468,0.00,2.40,0.00,0.000,6,0.000,0.025,2832,1949,920
$GC,11726,0.19,444.9,46.9,7.3,662,11730,0.00,2.45,0.00,0.000,4,0.000,0.044,2832,550,921
$GC,11745,0.21,453.8,45.7,6.6,663,11760,0.00,2.38,8.12,0.605,6,0.000,0.022,2832,1969,882
$GC,12026,0.37,518.7,29.6,4.9,689,12084,0.12,2.45,49.00,0.572,4,0.064,0.034,2864,3350,618
$GC,12151,0.47,541.2,22.4,6.2,710,12175,0.00,2.38,18.95,0.562,6,0.000,0.025,2864,1949,525
$STATE,12387,end climb,SURFACE_DEPTH_REACHED
$STATE,12388,begin surface coast
$FINISH,0.9,1.001084
$STATE,12467,end surface coast,CONTROL_FINISHED_OK
$STATE,12468,begin surface
$SM_CCo,12551,0.00,0.000,0,0,527,541.13
$SM_GC,1.53,10.90,0.00,0.00,0.042,0.000,0.000,410,2062,527,-10.85,0.62,541.13
$IRIDIUM_FIX,2059.45,-15748.75,240198,050540
$TT8_MAMPS,0.027612
$HUMID,1741
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.40
$XPDR_PINGS,11
$24V_AH,23.8,38.537
$10V_AH,10.2,23.551
$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,27.725,140.275,558.775,0.000,0.000,27.243,34.249,141.812,11.750,0.000,0.000,14.153,1390.191,8522.408,608.214,1826.084,547.281,33.364,1537.127,0.000,1791.492,0.000,57.439
$DEVICE_MAMPS,154.167,59.826,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.232,505.844,918.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41030,766
$CAP_FILE_SIZE,116804,0
$CFSIZE,260165632,242597888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301008,120432,2108.835,-15748.868,37,1.3,37,9.8