version: 66.03
glider: 114
mission: 3
dive: 167
start: 10 14 108 20 49 46
data:
$ID,114
$MISSION,3
$DIVE,167
$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,-594827.38
$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,28
$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
$GPS1,204308,2105.983,-15748.282,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.5
$GPS2,204850,2105.943,-15748.201,8,1.0,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.130,-0.179
$KALMAN_X,-27337.1,175.7,847.8,35581.8,-749.1
$KALMAN_Y,-38154.5,340.2,129.9,17991.7,-659.4
$MHEAD_RNG_PITCHd_Wd,134.1,7077,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-146.0,0.0,0.0,0,88,0.00,0.00,-58.70,0.000,2,0.000,0.000,411,2094,2711
$GC,93,-1.09,-146.0,3.1,-3.7,11,123,11.85,2.55,-11.20,0.000,4,0.156,0.049,2533,638,3331
$GC,170,-1.22,-146.0,15.0,-8.3,24,177,0.00,2.38,0.00,0.000,6,0.000,0.022,2534,2055,3331
$GC,443,-1.28,-146.0,38.9,-8.0,63,447,0.15,2.38,0.00,0.000,4,0.058,0.035,2492,3434,3331
$GC,540,-1.31,-146.0,48.5,-9.9,71,544,0.00,2.35,0.00,0.000,6,0.000,0.023,2493,2034,3331
$GC,802,-1.31,-146.0,73.0,-8.9,95,806,0.00,2.45,0.00,0.000,4,0.000,0.036,2492,3443,3332
$GC,899,-1.38,-146.0,82.4,-10.1,103,903,0.00,2.38,0.00,0.000,6,0.000,0.023,2493,2028,3332
$GC,1230,-1.45,-146.0,112.9,-6.0,134,1235,0.12,2.45,0.00,0.000,4,0.060,0.034,2461,3445,3333
$GC,1276,-1.49,-146.0,115.9,-6.6,137,1282,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2041,3333
$GC,1601,-1.49,-146.0,142.4,-8.7,168,1605,0.00,2.40,0.00,0.000,4,0.000,0.035,2460,3436,3333
$GC,1641,-1.53,-146.0,146.0,-9.0,171,1647,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2032,3333
$GC,1967,-1.57,-146.0,171.6,-7.8,202,1971,0.10,2.42,0.00,0.000,4,0.066,0.034,2433,3435,3333
$GC,2040,-1.57,-146.0,177.7,-8.8,208,2044,0.00,2.35,0.00,0.000,6,0.000,0.024,2433,2038,3333
$GC,2364,-1.57,-146.0,203.7,-7.6,236,2368,0.00,2.40,0.00,0.000,4,0.000,0.039,2433,640,3333
$GC,2398,-1.61,-146.0,206.5,-7.9,237,2402,0.00,2.35,0.00,0.000,6,0.000,0.025,2433,2048,3333
$GC,2721,-1.61,-146.0,231.3,-8.3,253,2726,0.00,2.40,0.00,0.000,4,0.000,0.038,2434,3443,3333
$GC,2789,-1.66,-146.0,237.3,-8.6,256,2793,0.00,2.38,0.00,0.000,6,0.000,0.026,2433,2037,3333
$GC,3111,-1.70,-146.0,262.8,-8.3,272,3113,0.10,0.00,0.00,0.000,6,0.069,0.000,2408,2036,3333
$GC,3421,-1.70,-146.0,290.6,-9.1,287,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2036,3331
$GC,3746,-1.70,-146.0,319.1,-8.7,298,3750,0.00,2.45,0.00,0.000,4,0.000,0.040,2408,3435,3329
$GC,3769,-1.70,-146.0,321.1,-9.3,298,3773,0.00,2.40,0.00,0.000,6,0.000,0.029,2407,2032,3329
$GC,4111,-1.70,-146.0,347.1,-7.0,307,4115,0.00,2.47,0.00,0.000,4,0.000,0.041,2408,3443,3327
$GC,4152,-1.70,-146.0,350.0,-7.3,308,4157,0.00,2.40,0.00,0.000,6,0.000,0.029,2408,2042,3326
$GC,4484,-1.70,-146.0,374.8,-7.4,316,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2042,3324
$GC,4809,-1.70,-146.0,398.5,-7.9,324,4813,0.00,2.47,0.00,0.000,4,0.000,0.048,2407,638,3321
$GC,4838,-1.70,-146.0,401.1,-8.9,324,4842,0.00,2.40,0.00,0.000,6,0.000,0.030,2407,2036,3321
$GC,5169,-1.70,-146.0,428.8,-8.3,332,5174,0.00,2.50,0.00,0.000,4,0.000,0.048,2407,3449,3320
$GC,5187,-1.70,-146.0,430.2,-8.0,332,5191,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2042,3319
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5501,-0.33,0.0,451.6,7.0,340,5618,1.45,0.00,112.97,0.922,6,0.094,0.000,2705,1940,2732
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5623,1.09,146.0,456.1,0.0,343,5746,1.40,2.55,113.95,0.896,4,0.052,0.052,3015,557,2137
$GC,5898,0.55,146.0,441.6,10.7,349,5904,0.62,2.45,0.00,0.000,6,0.137,0.033,2905,1956,2136
$GC,6248,0.28,146.0,416.6,7.7,358,6253,0.30,2.58,0.00,0.000,4,0.125,0.053,2847,551,2134
$GC,6349,0.09,146.0,408.5,7.9,360,6354,0.25,2.45,0.00,0.000,6,0.120,0.031,2801,1958,2133
$GC,6698,0.17,230.4,391.3,4.0,369,6768,0.00,2.62,64.75,0.889,4,0.000,0.054,2801,549,1793
$GC,6781,0.29,330.5,388.7,3.5,371,6866,0.20,2.47,78.25,0.870,6,0.072,0.031,2844,1956,1384
$GC,7186,0.17,330.5,355.4,8.8,381,7191,0.15,2.53,0.00,0.000,4,0.121,0.050,2812,3357,1383
$GC,7271,0.14,330.5,347.9,8.7,383,7276,0.00,2.47,0.00,0.000,6,0.000,0.033,2813,1952,1384
$GC,7597,0.08,330.5,322.3,7.4,391,7601,0.00,2.53,0.00,0.000,4,0.000,0.044,2813,3361,1383
$GC,7653,0.11,347.2,318.6,6.3,392,7672,0.00,2.47,13.23,0.852,6,0.000,0.032,2813,1945,1317
$GC,7986,0.07,347.2,292.4,8.5,402,7990,0.00,2.53,0.00,0.000,4,0.000,0.044,2813,3364,1316
$GC,8036,0.07,347.2,287.8,9.1,404,8041,0.00,2.47,0.00,0.000,6,0.000,0.032,2813,1945,1316
$GC,8353,0.04,347.2,260.4,8.1,419,8358,0.12,2.53,0.00,0.000,4,0.120,0.041,2791,3363,1316
$GC,8386,0.04,347.2,257.7,7.3,420,8393,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1949,1316
$GC,8703,0.04,347.2,235.1,7.9,436,8707,0.00,2.50,0.00,0.000,4,0.000,0.041,2790,3364,1316
$GC,8743,0.08,347.2,231.9,8.1,438,8747,0.00,2.47,0.00,0.000,6,0.000,0.031,2791,1939,1316
$GC,9071,0.11,368.8,208.7,6.1,454,9093,0.00,2.60,17.25,0.782,4,0.000,0.038,2791,3357,1229
$GC,9141,0.21,390.3,204.8,6.1,457,9165,0.15,2.45,17.17,0.763,6,0.073,0.030,2823,1950,1141
$GC,9491,0.21,390.3,180.9,6.9,486,9494,0.00,2.47,0.00,0.000,4,0.000,0.038,2824,3359,1141
$GC,9565,0.21,390.3,175.5,7.6,492,9572,0.00,2.45,0.00,0.000,6,0.000,0.029,2823,1943,1141
$GC,9894,0.22,399.6,152.1,6.5,523,9908,0.00,2.55,7.90,0.709,4,0.000,0.035,2823,3361,1102
$GC,9939,0.22,399.6,149.0,7.2,527,9943,0.00,2.45,0.00,0.000,6,0.000,0.028,2823,1940,1103
$GC,10273,0.23,401.5,125.3,6.8,558,10277,0.00,2.47,0.00,0.000,4,0.000,0.035,2823,3361,1104
$GC,10314,0.23,402.6,122.4,6.8,561,10326,0.00,2.42,3.42,0.668,6,0.000,0.027,2823,1948,1090
$GC,10645,0.28,409.0,103.2,6.6,592,10657,0.00,2.47,5.43,0.648,4,0.000,0.035,2823,3360,1064
$GC,10697,0.36,409.0,99.4,7.4,596,10704,0.15,2.42,0.00,0.000,6,0.063,0.026,2860,1939,1065
$GC,11023,0.42,445.1,77.9,5.6,627,11056,0.00,2.58,27.65,0.614,4,0.000,0.034,2860,3363,918
$GC,11085,0.44,455.4,74.2,6.5,632,11102,0.00,2.42,8.45,0.606,6,0.000,0.025,2860,1947,876
$GC,11362,0.44,455.4,55.7,7.2,658,11366,0.00,2.45,0.00,0.000,4,0.000,0.033,2859,3362,876
$GC,11419,0.50,455.4,51.3,7.2,662,11427,0.15,2.40,0.00,0.000,6,0.064,0.025,2895,1946,876
$GC,11685,0.44,455.4,30.6,8.3,687,11689,0.00,2.45,0.00,0.000,4,0.000,0.042,2895,545,877
$GC,11720,0.39,455.4,27.3,8.7,692,11727,0.15,2.40,0.00,0.000,6,0.093,0.022,2866,1959,877
$GC,11999,0.39,455.4,7.4,7.2,741,12005,0.00,2.38,0.00,0.000,4,0.000,0.034,2866,3352,878
$STATE,12034,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FINISH,2.9,1.022710
$STATE,12056,end surface coast,CONTROL_FINISHED_OK
$STATE,12056,begin surface
$SM_CCo,12142,0.00,0.000,0,0,879,455.03
$SM_GC,1.51,11.12,0.00,0.00,0.056,0.000,0.000,408,2030,879,-10.87,-0.28,455.03
$IRIDIUM_FIX,2059.45,-15750.89,080198,171728
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,23.8,23.674
$10V_AH,10.2,14.426
$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,28.550,142.200,470.425,0.000,0.000,23.958,27.654,153.060,11.000,0.000,0.000,15.329,1390.701,8220.510,531.499,1795.048,545.934,33.366,1428.826,0.000,1762.570,0.000,57.447
$DEVICE_MAMPS,155.701,54.457,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.565,494.778,899.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,751
$CAP_FILE_SIZE,114209,0
$CFSIZE,260165632,249012224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,001326,2104.134,-15747.617,39,1.3,39,9.8