version: 66.03
glider: 114
mission: 3
dive: 166
start: 10 14 108 17 17 56
data:
$ID,114
$MISSION,3
$DIVE,166
$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,-594811.44
$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,36
$R_STBD_OVSHOOT,76
$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
$GPS1,171038,2107.524,-15748.988,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.5
$GPS2,171657,2107.578,-15748.920,13,1.8,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.025,-0.220
$KALMAN_X,-27516.0,365.6,-737.0,35919.5,1357.9
$KALMAN_Y,-37978.4,326.6,85.0,20894.4,-31.5
$MHEAD_RNG_PITCHd_Wd,176.7,10343,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.93,0.000,2,0.000,0.000,408,2088,2909
$GC,98,-1.09,-146.0,3.5,-4.4,12,123,12.00,2.53,-6.70,0.000,4,0.160,0.047,2534,638,3330
$GC,154,-0.77,-146.0,17.9,-20.1,21,161,0.38,2.33,0.00,0.000,6,0.071,0.022,2614,2030,3330
$GC,430,-1.00,-146.0,34.0,-6.2,64,435,0.20,2.42,0.00,0.000,4,0.048,0.034,2559,3441,3330
$GC,494,-1.18,-146.0,38.7,-6.6,69,499,0.17,2.38,0.00,0.000,6,0.051,0.035,2516,2025,3330
$GC,759,-1.24,-146.0,64.2,-10.1,93,763,0.00,2.45,0.00,0.000,4,0.000,0.035,2516,3443,3330
$GC,822,-1.34,-146.0,70.3,-8.9,98,827,0.12,2.35,0.00,0.000,6,0.058,0.022,2484,2037,3330
$GC,1084,-1.34,-146.0,94.0,-9.3,122,1088,0.00,2.42,0.00,0.000,4,0.000,0.034,2484,3445,3331
$GC,1120,-1.37,-146.0,97.5,-10.0,125,1124,0.00,2.38,0.00,0.000,6,0.000,0.022,2484,2028,3331
$GC,1446,-1.43,-146.0,126.3,-7.1,155,1450,0.00,2.42,0.00,0.000,4,0.000,0.034,2483,3435,3332
$GC,1487,-1.52,-146.0,129.4,-7.6,158,1492,0.15,2.35,0.00,0.000,6,0.057,0.023,2446,2035,3332
$GC,1819,-1.52,-146.0,166.2,-10.7,189,1824,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3444,3333
$GC,1883,-1.56,-146.0,173.1,-10.0,194,1887,0.00,2.38,0.00,0.000,6,0.000,0.024,2446,2033,3332
$GC,2223,-1.59,-146.0,204.0,-9.1,224,2227,0.00,2.40,0.00,0.000,4,0.000,0.039,2447,635,3332
$GC,2280,-1.68,-146.0,209.3,-8.9,226,2285,0.15,2.35,0.00,0.000,6,0.055,0.024,2409,2036,3332
$GC,2597,-1.68,-146.0,236.1,-8.2,241,2601,0.00,2.42,0.00,0.000,4,0.000,0.038,2409,3450,3332
$GC,2630,-1.68,-146.0,239.0,-8.0,242,2634,0.00,2.38,0.00,0.000,6,0.000,0.025,2409,2045,3332
$GC,2947,-1.68,-146.0,264.4,-9.1,257,2951,0.00,2.42,0.00,0.000,4,0.000,0.038,2408,3442,3332
$GC,2980,-1.68,-146.0,267.9,-10.2,258,2987,0.00,2.38,0.00,0.000,6,0.000,0.027,2408,2036,3332
$GC,3296,-1.68,-146.0,299.8,-9.1,274,3301,0.00,2.45,0.00,0.000,4,0.000,0.038,2408,3444,3330
$GC,3313,-1.68,-146.0,301.4,-8.7,274,3319,0.00,2.38,0.00,0.000,6,0.000,0.027,2408,2040,3331
$GC,3645,-1.68,-146.0,328.8,-8.0,283,3649,0.00,2.45,0.00,0.000,4,0.000,0.040,2408,3443,3328
$GC,3718,-1.68,-146.0,335.3,-8.9,284,3722,0.00,2.40,0.00,0.000,6,0.000,0.028,2409,2039,3328
$GC,4049,-1.68,-146.0,363.2,-8.0,292,4054,0.00,2.47,0.00,0.000,4,0.000,0.041,2409,3446,3325
$GC,4066,-1.68,-146.0,364.6,-7.6,292,4071,0.00,2.40,0.00,0.000,6,0.000,0.028,2408,2040,3325
$GC,4410,-1.68,-146.0,391.0,-7.9,301,4414,0.00,2.47,0.00,0.000,4,0.000,0.043,2408,3446,3322
$GC,4443,-1.68,-146.0,393.8,-8.2,301,4449,0.00,2.42,0.00,0.000,6,0.000,0.030,2408,2034,3322
$GC,4775,-1.68,-146.0,417.9,-7.0,310,4779,0.00,2.47,0.00,0.000,4,0.000,0.043,2408,3436,3319
$GC,4791,-1.68,-146.0,419.2,-7.0,310,4796,0.00,2.40,0.00,0.000,6,0.000,0.030,2408,2040,3320
$GC,5134,-1.68,-146.0,446.6,-8.3,319,5138,0.00,2.47,0.00,0.000,4,0.000,0.044,2409,3438,3316
$GC,5157,-1.71,-146.0,448.5,-8.8,319,5162,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2032,3316
$STATE,5209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5209,begin apogee
$GC,5217,-0.33,0.0,452.9,8.3,321,5334,1.45,0.00,112.90,0.922,6,0.095,0.000,2705,1929,2733
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5338,1.09,146.0,458.8,0.0,324,5461,1.40,2.60,114.10,0.897,4,0.052,0.041,3014,3357,2137
$GC,5552,0.59,146.0,452.3,10.3,329,5558,0.57,2.47,0.00,0.000,6,0.135,0.034,2913,1961,2136
$GC,5878,0.30,146.0,426.5,7.9,337,5883,0.32,2.58,0.00,0.000,4,0.136,0.053,2851,541,2134
$GC,5901,0.06,146.0,424.8,7.1,337,5906,0.30,2.45,0.00,0.000,6,0.120,0.031,2795,1948,2134
$GC,6238,0.16,228.5,410.3,4.1,346,6308,0.00,2.65,63.17,0.897,4,0.000,0.054,2795,548,1801
$GC,6332,0.10,228.5,405.2,7.0,348,6336,0.00,2.47,0.00,0.000,6,0.000,0.031,2795,1956,1801
$GC,6646,0.12,257.9,385.9,5.8,356,6675,0.00,2.60,23.62,0.887,4,0.000,0.049,2795,3356,1680
$GC,6739,0.12,257.9,379.7,7.0,358,6743,0.00,2.50,0.00,0.000,6,0.000,0.034,2795,1939,1680
$GC,7059,0.13,285.4,360.1,5.9,366,7087,0.00,2.65,21.95,0.883,4,0.000,0.044,2795,3358,1569
$GC,7117,0.15,294.6,356.7,6.5,367,7131,0.00,2.50,8.27,0.855,6,0.000,0.033,2795,1940,1530
$GC,7471,0.22,332.8,337.2,5.5,376,7506,0.15,2.60,29.58,0.868,4,0.077,0.044,2832,3356,1376
$GC,7558,0.14,332.8,330.0,9.5,377,7562,0.00,2.47,0.00,0.000,6,0.000,0.033,2832,1951,1375
$GC,7877,0.05,332.8,299.5,9.3,385,7882,0.17,2.53,0.00,0.000,4,0.114,0.043,2796,3357,1375
$GC,7921,0.05,332.8,295.8,7.6,387,7926,0.00,2.47,0.00,0.000,6,0.000,0.033,2796,1940,1375
$GC,8244,0.05,332.8,272.4,7.0,403,8248,0.00,2.53,0.00,0.000,4,0.000,0.041,2796,3360,1375
$GC,8277,0.09,352.5,270.1,6.2,404,8298,0.00,2.45,15.75,0.831,6,0.000,0.031,2796,1949,1296
$GC,8609,0.09,352.5,246.2,7.5,420,8613,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3360,1296
$GC,8654,0.12,352.5,242.9,8.2,422,8658,0.00,2.45,0.00,0.000,6,0.000,0.031,2796,1945,1296
$GC,8981,0.12,352.5,219.2,7.0,438,8985,0.00,2.50,0.00,0.000,4,0.000,0.038,2796,3366,1295
$GC,9046,0.17,352.5,214.6,7.5,441,9050,0.00,2.47,0.00,0.000,6,0.000,0.030,2796,1938,1296
$GC,9366,0.23,370.8,192.5,6.2,461,9389,0.15,2.55,15.05,0.759,4,0.069,0.037,2830,3367,1220
$GC,9414,0.19,370.8,189.3,7.9,465,9418,0.00,2.47,0.00,0.000,6,0.000,0.029,2830,1948,1220
$GC,9744,0.20,373.5,169.0,6.7,495,9755,0.00,2.53,2.90,0.708,4,0.000,0.035,2830,3363,1209
$GC,9784,0.22,385.2,165.8,6.4,498,9801,0.00,2.42,9.88,0.719,6,0.000,0.028,2830,1943,1161
$GC,10120,0.22,385.2,140.4,8.2,530,10125,0.00,2.47,0.00,0.000,4,0.000,0.035,2830,3362,1162
$GC,10173,0.22,385.2,135.8,9.0,534,10177,0.00,2.42,0.00,0.000,6,0.000,0.027,2830,1952,1162
$GC,10498,0.22,386.3,113.2,6.8,564,10502,0.00,2.45,0.00,0.000,4,0.000,0.035,2830,3361,1163
$GC,10528,0.22,386.3,111.1,7.4,566,10534,0.00,2.42,0.00,0.000,6,0.000,0.026,2830,1934,1163
$GC,10856,0.22,386.3,88.8,7.5,597,10861,0.00,2.47,0.00,0.000,4,0.000,0.034,2830,3361,1163
$GC,10886,0.27,386.3,86.6,7.3,599,10891,0.00,2.42,0.00,0.000,6,0.000,0.026,2830,1939,1163
$GC,11217,0.43,437.2,70.2,5.1,629,11263,0.15,2.55,39.78,0.600,4,0.062,0.034,2873,3359,949
$GC,11309,0.43,437.2,62.4,8.8,637,11315,0.00,2.42,0.00,0.000,6,0.000,0.025,2873,1939,950
$GC,11571,0.43,437.2,42.4,7.4,662,11575,0.00,2.47,0.00,0.000,4,0.000,0.034,2873,3364,950
$GC,11610,0.43,437.2,39.1,8.2,665,11616,0.00,2.40,0.00,0.000,6,0.000,0.025,2873,1947,951
$GC,11880,0.43,437.2,19.5,7.3,703,11886,0.00,2.45,0.00,0.000,4,0.000,0.032,2872,3365,951
$GC,11905,0.43,437.2,17.6,7.5,707,11911,0.00,2.40,0.00,0.000,6,0.000,0.024,2873,1941,951
$STATE,12073,end climb,SURFACE_DEPTH_REACHED
$STATE,12076,begin surface coast
$FINISH,0.7,1.014388
$STATE,12154,end surface coast,CONTROL_FINISHED_OK
$STATE,12154,begin surface
$SM_CCo,12238,0.00,0.000,0,0,953,436.63
$SM_GC,1.53,10.88,0.00,0.00,0.043,0.000,0.000,411,2096,953,-10.85,1.58,436.63
$IRIDIUM_FIX,2059.45,-15750.89,080198,131306
$TT8_MAMPS,0.027612
$HUMID,1696
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,14
$24V_AH,23.8,23.547
$10V_AH,10.2,14.340
$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,28.725,162.550,456.950,0.000,0.000,25.267,28.674,189.156,12.500,0.000,0.000,15.426,1401.171,8321.246,531.548,1772.746,593.637,33.369,1431.858,0.000,1737.872,0.000,59.875
$DEVICE_MAMPS,160.303,54.457,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.608,499.005,900.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37977,751
$CAP_FILE_SIZE,119474,0
$CFSIZE,260165632,249061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,204308,2105.983,-15748.282,35,0.9,35,9.8