version: 66.03
glider: 114
mission: 3
dive: 117
start: 10 7 108 17 36 46
data:
$ID,114
$MISSION,3
$DIVE,117
$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,-593849.44
$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,34
$R_STBD_OVSHOOT,70
$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
$GPS1,172732,2110.048,-15749.480,37,1.7,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,173551,2110.059,-15749.442,13,1.2,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.152,-0.168
$KALMAN_X,-39625.3,30.9,397.9,46308.4,-1093.8
$KALMAN_Y,-24996.3,283.6,73.2,12563.2,-589.7
$MHEAD_RNG_PITCHd_Wd,128.1,14994,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.13,-146.0,0.0,0.0,0,103,0.00,0.00,-70.25,0.000,2,0.000,0.000,407,2075,2950
$GC,107,-1.13,-146.0,3.6,-4.4,13,131,12.00,2.53,-5.85,0.000,4,0.161,0.048,2526,625,3329
$GC,162,-0.81,-146.0,19.5,-22.7,22,169,0.30,2.35,0.00,0.000,6,0.070,0.023,2604,2003,3330
$GC,441,-1.07,-146.0,35.4,-4.5,62,446,0.22,2.47,0.00,0.000,4,0.048,0.035,2545,3451,3330
$GC,509,-1.25,-146.0,39.4,-5.9,67,516,0.17,2.38,0.00,0.000,6,0.053,0.023,2503,2029,3330
$GC,774,-1.29,-146.0,63.8,-10.3,92,777,0.00,2.42,0.00,0.000,4,0.000,0.035,2503,3442,3330
$GC,791,-1.33,-146.0,66.1,-10.4,93,797,0.00,2.33,0.00,0.000,6,0.000,0.022,2502,2040,3330
$GC,1054,-1.42,-146.0,85.6,-6.1,118,1059,0.15,2.40,0.00,0.000,4,0.055,0.034,2461,3443,3331
$GC,1121,-1.47,-146.0,91.0,-8.3,123,1127,0.00,2.35,0.00,0.000,6,0.000,0.024,2462,2031,3331
$GC,1447,-1.47,-146.0,119.3,-7.6,154,1451,0.00,2.40,0.00,0.000,4,0.000,0.038,2461,631,3331
$GC,1481,-1.55,-146.0,121.9,-7.2,156,1488,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2048,3331
$GC,1807,-1.59,-146.0,147.5,-7.9,187,1812,0.12,2.38,0.00,0.000,4,0.060,0.035,2429,3443,3332
$GC,1874,-1.59,-146.0,153.9,-9.3,192,1881,0.00,2.35,0.00,0.000,6,0.000,0.025,2429,2034,3332
$GC,2200,-1.59,-146.0,182.9,-9.4,223,2204,0.00,2.42,0.00,0.000,4,0.000,0.036,2429,3442,3331
$GC,2240,-1.59,-146.0,186.6,-9.1,226,2244,0.00,2.38,0.00,0.000,6,0.000,0.025,2428,2028,3332
$GC,2574,-1.59,-146.0,215.7,-9.4,249,2578,0.00,2.45,0.00,0.000,4,0.000,0.036,2428,3448,3331
$GC,2601,-1.59,-146.0,218.7,-9.5,250,2605,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2030,3332
$GC,2923,-1.59,-146.0,246.8,-9.4,266,2927,0.00,2.45,0.00,0.000,4,0.000,0.038,2429,3444,3331
$GC,2990,-1.67,-146.0,253.5,-8.9,269,2995,0.00,2.38,0.00,0.000,6,0.000,0.026,2429,2036,3331
$GC,3314,-1.72,-146.0,278.1,-6.9,285,3318,0.00,2.42,0.00,0.000,4,0.000,0.043,2428,638,3330
$GC,3355,-1.80,-146.0,281.0,-7.0,287,3360,0.17,2.38,0.00,0.000,6,0.061,0.028,2387,2034,3330
$GC,3704,-1.77,-146.0,313.3,-9.8,301,3708,0.00,2.45,0.00,0.000,4,0.000,0.042,2387,3447,3329
$GC,3732,-1.77,-146.0,316.8,-11.1,301,3736,0.00,2.40,0.00,0.000,6,0.000,0.028,2387,2038,3329
$GC,4064,-1.77,-146.0,348.0,-9.1,309,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3327
$GC,4389,-1.77,-146.0,374.5,-8.0,317,4393,0.00,2.47,0.00,0.000,4,0.000,0.043,2387,3445,3325
$GC,4405,-1.77,-146.0,375.8,-8.0,317,4409,0.00,2.40,0.00,0.000,6,0.000,0.029,2387,2038,3324
$GC,4748,-1.77,-146.0,402.3,-8.0,326,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3322
$GC,5073,-1.77,-146.0,432.0,-9.4,334,5077,0.00,2.47,0.00,0.000,4,0.000,0.050,2386,630,3319
$GC,5124,-1.81,-146.0,437.2,-9.7,335,5128,0.00,2.42,0.00,0.000,6,0.000,0.031,2387,2036,3319
$STATE,5283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5284,begin apogee
$GC,5292,-0.33,0.0,451.8,9.0,339,5408,1.55,0.00,112.60,0.936,6,0.095,0.000,2704,1947,2733
$STATE,5409,end apogee,CONTROL_FINISHED_OK
$STATE,5409,begin climb
$GC,5412,1.13,146.0,456.7,0.0,342,5535,1.48,2.62,114.40,0.897,4,0.051,0.048,3026,3356,2136
$GC,5647,0.63,146.0,444.3,13.1,347,5653,0.57,2.45,0.00,0.000,6,0.149,0.035,2923,1957,2136
$GC,5980,0.34,146.0,416.9,7.9,355,5985,0.32,2.55,0.00,0.000,4,0.127,0.053,2860,540,2134
$GC,6031,0.17,164.5,413.3,6.5,356,6051,0.22,2.47,14.25,0.896,6,0.129,0.031,2820,1966,2062
$GC,6384,0.19,217.4,394.4,5.3,365,6430,0.00,2.65,41.00,0.898,4,0.000,0.053,2819,539,1845
$GC,6476,0.10,217.4,387.3,8.7,367,6480,0.00,2.47,0.00,0.000,6,0.000,0.031,2819,1959,1844
$GC,6790,0.05,226.0,365.1,6.8,375,6804,0.15,2.58,7.15,0.869,4,0.125,0.049,2793,3354,1811
$GC,6844,0.12,268.8,361.7,5.7,376,6884,0.00,2.45,34.17,0.881,6,0.000,0.034,2793,1951,1636
$GC,7204,0.12,269.7,337.6,7.1,385,7208,0.00,2.50,0.00,0.000,4,0.000,0.044,2793,3362,1636
$GC,7250,0.12,269.7,334.0,7.8,386,7254,0.00,2.45,0.00,0.000,6,0.000,0.033,2793,1950,1635
$GC,7580,0.15,282.8,310.6,6.7,394,7593,0.00,0.00,11.30,0.866,6,0.000,0.000,2793,1950,1580
$GC,7886,0.17,293.9,290.9,6.8,404,7901,0.10,2.53,9.52,0.851,4,0.093,0.043,2814,3353,1533
$GC,7958,0.17,293.9,285.2,8.8,406,7962,0.00,2.45,0.00,0.000,6,0.000,0.033,2813,1946,1534
$GC,8275,0.20,312.2,261.4,6.5,421,8296,0.00,2.55,14.12,0.834,4,0.000,0.041,2813,3356,1460
$GC,8336,0.20,312.2,256.8,7.6,423,8342,0.00,2.45,0.00,0.000,6,0.000,0.032,2814,1941,1459
$GC,8653,0.20,312.2,232.4,7.4,439,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1941,1460
$GC,8962,0.21,320.8,210.4,6.8,454,8976,0.00,2.55,7.45,0.789,4,0.000,0.038,2814,3360,1425
$GC,9011,0.21,320.8,206.8,7.5,456,9015,0.00,2.45,0.00,0.000,6,0.000,0.030,2814,1939,1425
$GC,9341,0.23,330.7,186.0,6.8,482,9356,0.00,2.53,8.23,0.765,4,0.000,0.037,2814,3353,1385
$GC,9391,0.26,330.7,182.2,7.5,486,9398,0.10,2.42,0.00,0.000,6,0.087,0.029,2835,1940,1385
$GC,9717,0.26,330.7,156.2,7.9,517,9721,0.00,2.47,0.00,0.000,4,0.000,0.036,2836,3366,1385
$GC,9761,0.26,330.7,152.7,7.6,520,9767,0.00,2.42,0.00,0.000,6,0.000,0.028,2835,1945,1385
$GC,10090,0.33,368.6,131.5,5.8,551,10126,0.00,2.53,29.55,0.695,4,0.000,0.035,2835,3350,1230
$GC,10157,0.33,368.6,126.6,7.8,557,10161,0.00,2.42,0.00,0.000,6,0.000,0.027,2835,1940,1230
$GC,10485,0.38,398.8,101.9,6.1,587,10511,0.12,0.00,23.48,0.653,6,0.071,0.000,2864,1940,1106
$GC,10829,0.35,398.8,73.6,8.3,619,10833,0.00,2.47,0.00,0.000,4,0.000,0.035,2865,3367,1107
$GC,10903,0.35,398.8,67.7,7.3,625,10907,0.00,2.40,0.00,0.000,6,0.000,0.026,2864,1947,1108
$GC,11170,0.35,398.8,47.6,7.6,650,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1947,1109
$GC,11426,0.35,398.8,27.7,7.4,676,11432,0.00,2.42,0.00,0.000,4,0.000,0.033,2865,3363,1110
$GC,11469,0.41,406.1,24.8,6.9,683,11481,0.00,2.38,6.60,0.581,6,0.000,0.025,2864,1946,1077
$GC,11754,0.48,421.8,6.5,6.6,733,11772,0.00,2.47,12.12,0.557,4,0.000,0.042,2865,3369,1012
$STATE,11777,end climb,SURFACE_DEPTH_REACHED
$STATE,11777,begin surface coast
$FINISH,3.3,1.022721
$STATE,11800,end surface coast,CONTROL_FINISHED_OK
$STATE,11800,begin surface
$SM_CCo,11887,0.00,0.000,0,0,1011,422.41
$SM_GC,1.68,11.23,0.00,0.00,0.058,0.000,0.000,409,2031,1011,-10.87,-0.25,422.41
$IRIDIUM_FIX,2104.07,-15747.88,010198,171710
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.8,17.351
$10V_AH,10.2,10.267
$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,29.000,132.150,445.950,0.000,0.000,45.763,59.203,202.635,12.000,0.000,0.000,15.363,1346.017,8176.401,524.923,1696.202,643.827,33.369,1365.415,0.000,1671.410,0.000,57.447
$DEVICE_MAMPS,161.070,52.923,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.061,494.608,897.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37944,741
$CAP_FILE_SIZE,112702,0
$CFSIZE,260165632,251891712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071008,205628,2108.883,-15748.368,36,2.7,55,9.8