version: 66.03
glider: 114
mission: 3
dive: 67
start: 9 30 108 21 48 53
data:
$ID,114
$MISSION,3
$DIVE,67
$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,210
$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,-593260.69
$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,29
$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
$GPS1,214207,2108.931,-15748.251,37,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.0
$GPS2,214759,2108.903,-15748.276,10,2.7,29,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.172,-0.147
$KALMAN_X,-24010.2,40.5,1037.2,32062.5,-1605.2
$KALMAN_Y,-7533.1,401.4,480.4,-7563.4,-1094.6
$MHEAD_RNG_PITCHd_Wd,120.8,12432,-13.1,-7.143
$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,26,-1.13,-146.0,0.0,0.0,0,99,0.00,0.00,-70.47,0.000,2,0.000,0.000,409,2072,2985
$GC,103,-1.13,-146.0,3.6,-5.1,13,128,12.07,2.53,-5.30,0.000,4,0.164,0.048,2525,624,3329
$GC,198,-1.32,-146.0,22.5,-8.8,29,205,0.15,2.33,0.00,0.000,6,0.055,0.022,2488,2015,3329
$GC,467,-1.32,-146.0,50.8,-11.9,60,472,0.00,2.45,0.00,0.000,4,0.000,0.038,2489,3437,3329
$GC,524,-1.40,-146.0,57.8,-10.4,64,530,0.00,2.38,0.00,0.000,6,0.000,0.024,2488,2022,3330
$GC,786,-1.46,-146.0,80.2,-7.8,89,791,0.12,2.38,0.00,0.000,4,0.059,0.038,2456,642,3330
$GC,805,-1.51,-146.0,81.7,-7.6,90,809,0.00,2.35,0.00,0.000,6,0.000,0.021,2455,2048,3330
$GC,1133,-1.51,-146.0,109.2,-7.8,120,1137,0.00,2.40,0.00,0.000,4,0.000,0.037,2455,3448,3331
$GC,1167,-1.54,-146.0,112.1,-8.1,122,1174,0.00,2.38,0.00,0.000,6,0.000,0.025,2455,2030,3331
$GC,1493,-1.58,-146.0,138.8,-9.2,153,1497,0.00,2.40,0.00,0.000,4,0.000,0.039,2455,638,3331
$GC,1523,-1.63,-146.0,141.5,-9.9,155,1528,0.15,2.38,0.00,0.000,6,0.055,0.024,2418,2054,3332
$GC,1849,-1.63,-146.0,172.6,-10.6,185,1853,0.00,2.38,0.00,0.000,4,0.000,0.037,2418,3438,3332
$GC,1900,-1.63,-146.0,178.3,-10.8,189,1905,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2032,3332
$GC,2234,-1.63,-146.0,208.6,-7.5,215,2238,0.00,2.45,0.00,0.000,4,0.000,0.037,2418,3447,3331
$GC,2262,-1.63,-146.0,210.8,-7.7,216,2266,0.00,2.38,0.00,0.000,6,0.000,0.025,2418,2034,3331
$GC,2578,-1.63,-146.0,234.0,-7.8,231,2582,0.00,2.42,0.00,0.000,4,0.000,0.037,2418,3437,3332
$GC,2647,-1.68,-146.0,240.1,-9.3,234,2651,0.00,2.38,0.00,0.000,6,0.000,0.026,2418,2037,3331
$GC,2975,-1.68,-146.0,270.7,-8.9,250,2979,0.00,2.42,0.00,0.000,4,0.000,0.042,2418,638,3331
$GC,3033,-1.75,-146.0,275.8,-8.8,252,3039,0.00,2.38,0.00,0.000,6,0.000,0.028,2418,2040,3331
$GC,3349,-1.79,-146.0,299.5,-7.2,268,3357,0.12,2.45,0.00,0.000,4,0.067,0.041,2388,3447,3330
$GC,3436,-1.79,-146.0,308.1,-10.1,270,3442,0.00,2.40,0.00,0.000,6,0.000,0.028,2389,2038,3329
$GC,3768,-1.79,-146.0,339.2,-9.1,279,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2037,3328
$GC,4094,-1.79,-146.0,366.0,-8.4,287,4098,0.00,2.47,0.00,0.000,4,0.000,0.042,2388,3445,3325
$GC,4161,-1.79,-146.0,372.7,-9.9,288,4165,0.00,2.42,0.00,0.000,6,0.000,0.031,2388,2032,3325
$GC,4500,-1.79,-146.0,403.1,-8.6,297,4504,0.00,2.47,0.00,0.000,4,0.000,0.049,2388,633,3323
$GC,4561,-1.82,-146.0,408.7,-8.7,298,4566,0.00,2.42,0.00,0.000,6,0.000,0.031,2388,2045,3323
$GC,4904,-1.82,-146.0,437.6,-8.5,307,4908,0.00,2.50,0.00,0.000,4,0.000,0.050,2388,3454,3320
$GC,4972,-1.86,-146.0,443.4,-8.8,308,4976,0.00,2.45,0.00,0.000,6,0.000,0.033,2388,2038,3319
$STATE,5068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5068,begin apogee
$GC,5076,-0.33,0.0,451.3,8.1,311,5193,1.58,0.00,113.15,0.923,6,0.101,0.000,2705,1937,2733
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5197,1.13,146.0,455.4,0.0,314,5320,1.48,2.62,114.03,0.894,4,0.053,0.043,3026,3353,2137
$GC,5445,0.63,146.0,441.8,12.0,320,5450,0.60,2.47,0.00,0.000,6,0.137,0.035,2920,1960,2137
$GC,5770,0.35,146.0,413.6,8.4,328,5775,0.30,2.58,0.00,0.000,4,0.130,0.054,2862,543,2135
$GC,5787,0.09,146.0,412.1,8.4,328,5793,0.32,2.45,0.00,0.000,6,0.127,0.031,2803,1954,2135
$GC,6131,0.16,212.2,394.4,4.9,337,6187,0.00,2.55,50.97,0.894,4,0.000,0.046,2803,3352,1866
$GC,6212,0.20,253.7,390.3,5.7,339,6253,0.00,2.50,32.72,0.875,6,0.000,0.034,2803,1945,1698
$GC,6579,0.20,253.7,364.7,7.8,348,6583,0.00,2.55,0.00,0.000,4,0.000,0.055,2802,539,1696
$GC,6618,0.20,253.7,361.1,9.5,349,6623,0.00,2.47,0.00,0.000,6,0.000,0.030,2803,1956,1696
$GC,6943,0.27,289.2,339.8,5.9,357,6978,0.15,2.60,27.80,0.877,4,0.085,0.048,2834,3357,1554
$GC,7042,0.21,289.2,332.5,8.0,359,7047,0.00,2.50,0.00,0.000,6,0.000,0.035,2834,1941,1554
$GC,7357,0.14,292.1,309.5,7.0,367,7366,0.12,2.58,3.30,0.812,4,0.127,0.043,2812,3350,1542
$GC,7384,0.15,317.6,307.8,6.3,367,7409,0.00,2.47,20.05,0.859,6,0.000,0.033,2813,1940,1438
$GC,7727,0.20,347.8,286.9,6.1,381,7756,0.00,2.60,23.98,0.845,4,0.000,0.042,2812,3361,1314
$GC,7826,0.23,347.8,280.0,7.2,385,7830,0.00,2.50,0.00,0.000,6,0.000,0.033,2813,1940,1314
$GC,8142,0.23,347.8,256.8,7.9,400,8146,0.00,2.53,0.00,0.000,4,0.000,0.052,2812,535,1314
$GC,8169,0.23,347.8,254.2,9.3,401,8173,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,1956,1313
$GC,8485,0.23,347.8,229.1,7.7,416,8489,0.00,2.45,0.00,0.000,4,0.000,0.043,2812,3350,1314
$GC,8564,0.26,347.8,222.9,7.7,419,8571,0.12,2.45,0.00,0.000,6,0.084,0.032,2838,1941,1314
$GC,8881,0.35,396.3,201.9,5.5,435,8924,0.00,2.60,37.55,0.762,4,0.000,0.039,2838,3352,1117
$GC,8949,0.33,405.8,197.7,6.8,439,8963,0.00,2.47,8.20,0.741,6,0.000,0.030,2838,1940,1077
$GC,9290,0.33,405.8,168.9,9.3,471,9294,0.00,2.50,0.00,0.000,4,0.000,0.038,2838,3357,1077
$GC,9352,0.33,405.8,163.2,9.1,476,9356,0.00,2.45,0.00,0.000,6,0.000,0.029,2838,1944,1078
$GC,9682,0.33,405.8,137.5,8.4,506,9686,0.00,2.47,0.00,0.000,4,0.000,0.038,2838,3352,1079
$GC,9745,0.33,405.8,131.8,8.7,511,9749,0.00,2.42,0.00,0.000,6,0.000,0.028,2838,1941,1079
$GC,10073,0.33,408.0,106.1,7.1,541,10085,0.00,2.53,2.70,0.656,4,0.000,0.036,2839,3354,1069
$GC,10137,0.41,425.6,101.3,6.5,546,10157,0.12,2.40,13.93,0.657,6,0.073,0.027,2866,1949,996
$GC,10484,0.41,425.6,74.5,8.2,579,10488,0.00,2.47,0.00,0.000,4,0.000,0.045,2867,541,997
$GC,10502,0.41,425.6,73.0,7.8,580,10507,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,1964,998
$GC,10764,0.41,425.6,53.1,7.5,604,10768,0.00,2.38,0.00,0.000,4,0.000,0.036,2866,3346,997
$GC,10793,0.41,425.6,51.0,7.4,606,10797,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,1943,998
$GC,11055,0.41,425.6,32.3,7.7,630,11059,0.00,2.42,0.00,0.000,4,0.000,0.035,2867,3345,999
$GC,11084,0.41,425.6,29.9,8.1,632,11091,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,1945,1000
$GC,11363,0.41,425.6,8.9,8.1,681,11369,0.00,2.42,0.00,0.000,4,0.000,0.035,2866,3351,1000
$GC,11387,0.41,425.6,6.8,7.9,685,11394,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,1941,1000
$STATE,11409,end climb,SURFACE_DEPTH_REACHED
$STATE,11409,begin surface coast
$FINISH,0.7,1.022007
$STATE,11478,end surface coast,CONTROL_FINISHED_OK
$STATE,11478,begin surface
$SM_CCo,11562,0.00,0.000,0,0,1002,424.61
$SM_GC,1.59,10.98,0.00,0.00,0.051,0.000,0.000,411,2073,1002,-10.85,0.93,424.61
$IRIDIUM_FIX,2101.76,-15750.89,251297,181835
$TT8_MAMPS,0.028379
$HUMID,1675
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.8,11.195
$10V_AH,10.2,6.333
$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,28.400,147.475,448.375,0.000,0.000,33.007,33.117,143.545,10.750,0.000,0.000,32.109,1303.785,7843.041,534.479,1705.796,526.718,33.365,1386.651,0.000,1662.042,0.000,57.452
$DEVICE_MAMPS,164.138,55.224,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.745,466.912,835.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37935,701
$CAP_FILE_SIZE,111587,0
$CFSIZE,260165632,254545920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011008,010255,2107.655,-15747.966,24,1.0,41,9.8