version: 66.03
glider: 114
mission: 3
dive: 172
start: 10 15 108 14 13 59
data:
$ID,114
$MISSION,3
$DIVE,172
$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,-594894.19
$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,54
$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
$GPS1,140408,2106.025,-15748.760,32,1.0,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.1
$GPS2,141303,2106.038,-15748.808,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.031,0.219
$KALMAN_X,-28547.4,236.2,-425.1,36958.2,-378.7
$KALMAN_Y,-40757.8,167.9,-317.6,21394.6,-87.5
$MHEAD_RNG_PITCHd_Wd,342.2,7620,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-64.20,0.000,2,0.000,0.000,411,2063,2801
$GC,98,-1.09,-146.0,3.0,-3.4,12,128,11.88,2.40,-9.02,0.000,4,0.156,0.046,2532,3429,3330
$GC,187,-1.21,-146.0,19.2,-9.4,27,193,0.00,2.35,0.00,0.000,6,0.000,0.022,2533,2026,3330
$GC,465,-1.26,-146.0,41.7,-7.1,63,469,0.12,2.42,0.00,0.000,4,0.059,0.034,2501,3426,3330
$GC,498,-1.26,-146.0,44.9,-9.2,65,504,0.00,2.33,0.00,0.000,6,0.000,0.023,2500,2036,3330
$GC,760,-1.26,-146.0,67.7,-7.9,90,764,0.00,2.38,0.00,0.000,4,0.000,0.034,2500,3424,3331
$GC,799,-1.32,-146.0,71.1,-8.1,93,806,0.00,2.33,0.00,0.000,6,0.000,0.022,2500,2029,3331
$GC,1062,-1.37,-146.0,90.7,-7.3,118,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3332
$GC,1383,-1.46,-146.0,116.9,-8.0,148,1388,0.17,2.40,0.00,0.000,4,0.052,0.033,2453,3424,3332
$GC,1428,-1.46,-146.0,121.6,-10.5,151,1434,0.00,2.30,0.00,0.000,6,0.000,0.022,2453,2042,3333
$GC,1753,-1.46,-146.0,151.9,-8.8,182,1757,0.00,2.40,0.00,0.000,4,0.000,0.034,2453,3433,3333
$GC,1795,-1.46,-146.0,155.6,-8.7,185,1800,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2033,3332
$GC,2122,-1.49,-146.0,182.2,-7.1,215,2126,0.00,2.40,0.00,0.000,4,0.000,0.035,2453,3433,3332
$GC,2146,-1.53,-146.0,184.0,-7.4,217,2150,0.00,2.35,0.00,0.000,6,0.000,0.024,2454,2036,3333
$GC,2482,-1.58,-146.0,206.6,-7.4,244,2486,0.00,2.40,0.00,0.000,4,0.000,0.035,2453,3427,3332
$GC,2511,-1.65,-146.0,209.2,-8.8,245,2516,0.15,2.33,0.00,0.000,6,0.056,0.024,2416,2042,3332
$GC,2830,-1.65,-146.0,240.3,-9.2,260,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2041,3333
$GC,3137,-1.65,-146.0,265.7,-8.3,275,3141,0.00,2.40,0.00,0.000,4,0.000,0.038,2416,3426,3332
$GC,3189,-1.68,-146.0,270.2,-8.2,277,3193,0.00,2.35,0.00,0.000,6,0.000,0.026,2416,2034,3331
$GC,3511,-1.68,-146.0,297.0,-8.2,293,3515,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,638,3330
$GC,3551,-1.68,-146.0,300.3,-8.1,294,3557,0.00,2.35,0.00,0.000,6,0.000,0.028,2416,2026,3330
$GC,3882,-1.68,-146.0,324.1,-6.9,303,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2026,3327
$GC,4208,-1.68,-146.0,350.2,-8.2,311,4212,0.00,2.47,0.00,0.000,4,0.000,0.043,2416,3444,3326
$GC,4265,-1.72,-146.0,354.9,-8.4,312,4269,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2044,3325
$GC,4615,-1.72,-146.0,379.2,-6.7,321,4619,0.00,2.47,0.00,0.000,4,0.000,0.041,2416,3450,3323
$GC,4660,-1.77,-146.0,382.7,-7.4,322,4664,0.00,2.42,0.00,0.000,6,0.000,0.030,2416,2038,3322
$GC,4979,-1.81,-146.0,406.9,-7.6,330,4984,0.12,2.47,0.00,0.000,4,0.071,0.041,2386,3443,3320
$GC,5024,-1.81,-146.0,411.1,-8.9,331,5028,0.00,2.42,0.00,0.000,6,0.000,0.030,2387,2033,3320
$GC,5345,-1.81,-146.0,440.7,-9.4,339,5349,0.00,2.47,0.00,0.000,4,0.000,0.049,2387,633,3318
$GC,5368,-1.81,-146.0,443.2,-9.5,339,5372,0.00,2.42,0.00,0.000,6,0.000,0.031,2387,2042,3317
$STATE,5458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5466,-0.33,0.0,452.2,9.8,342,5583,1.55,0.00,112.93,0.920,6,0.092,0.000,2706,1932,2733
$STATE,5584,end apogee,CONTROL_FINISHED_OK
$STATE,5584,begin climb
$GC,5587,1.09,146.0,458.2,0.0,345,5710,1.40,2.53,113.97,0.906,4,0.051,0.051,3016,562,2136
$GC,5963,0.56,146.0,428.7,13.1,353,5969,0.62,2.42,0.00,0.000,6,0.148,0.030,2906,1955,2134
$GC,6302,0.28,146.0,400.9,7.7,362,6307,0.30,2.55,0.00,0.000,4,0.127,0.051,2847,555,2133
$GC,6387,0.17,189.1,395.8,5.4,364,6429,0.15,2.42,33.08,0.891,6,0.127,0.031,2821,1950,1962
$GC,6755,0.12,211.1,375.8,6.1,373,6779,0.00,2.60,17.23,0.886,4,0.000,0.047,2820,3350,1872
$GC,6821,0.03,211.1,370.6,8.6,374,6826,0.17,2.45,0.00,0.000,6,0.115,0.034,2789,1960,1872
$GC,7163,0.03,211.1,345.0,7.3,383,7168,0.00,2.47,0.00,0.000,4,0.000,0.042,2789,3352,1871
$GC,7198,0.05,223.6,342.8,6.4,383,7213,0.00,2.45,10.20,0.872,6,0.000,0.033,2789,1949,1821
$GC,7527,0.11,255.6,324.1,5.8,392,7557,0.00,2.55,25.65,0.872,4,0.000,0.041,2789,3351,1690
$GC,7603,0.14,275.8,319.4,6.1,393,7626,0.00,2.47,16.38,0.861,6,0.000,0.033,2789,1945,1608
$GC,7936,0.21,315.6,299.7,5.5,402,7973,0.17,2.55,31.05,0.848,4,0.072,0.041,2826,3351,1446
$GC,8007,0.15,315.6,294.9,7.8,404,8011,0.00,2.47,0.00,0.000,6,0.000,0.033,2826,1946,1445
$GC,8324,0.07,315.6,271.5,7.0,419,8326,0.15,0.00,0.00,0.000,6,0.110,0.000,2799,1946,1445
$GC,8633,0.07,316.2,250.9,6.8,434,8637,0.00,2.50,0.00,0.000,4,0.000,0.041,2799,3357,1445
$GC,8700,0.07,316.2,246.0,7.6,437,8704,0.00,2.45,0.00,0.000,6,0.000,0.031,2799,1949,1445
$GC,9022,0.09,323.5,224.0,6.6,453,9036,0.00,2.58,6.68,0.794,4,0.000,0.039,2799,3362,1413
$GC,9054,0.10,332.4,222.0,6.5,454,9069,0.00,2.47,7.95,0.785,6,0.000,0.031,2799,1941,1376
$GC,9398,0.11,334.2,200.3,6.8,471,9402,0.00,2.50,0.00,0.000,4,0.000,0.037,2799,3363,1376
$GC,9449,0.11,334.2,196.7,7.5,475,9454,0.00,2.45,0.00,0.000,6,0.000,0.029,2799,1950,1376
$GC,9780,0.22,378.2,177.4,5.4,505,9821,0.12,2.53,35.47,0.746,4,0.073,0.036,2827,3359,1190
$GC,9839,0.22,378.2,172.6,8.5,510,9845,0.00,2.45,0.00,0.000,6,0.000,0.028,2828,1945,1190
$GC,10167,0.30,427.2,147.6,5.2,541,10211,0.00,2.58,37.85,0.703,4,0.000,0.035,2828,3356,990
$GC,10263,0.34,427.2,141.2,7.5,549,10269,0.12,2.45,0.00,0.000,6,0.073,0.029,2856,1943,991
$GC,10589,0.28,427.2,112.3,9.0,580,10593,0.00,2.47,0.00,0.000,4,0.000,0.036,2856,3356,991
$GC,10630,0.23,427.2,108.8,8.9,583,10635,0.12,2.42,0.00,0.000,6,0.099,0.026,2832,1944,991
$GC,10957,0.27,449.8,87.2,6.1,613,10979,0.00,0.00,18.05,0.636,6,0.000,0.000,2832,1944,898
$GC,11303,0.33,449.8,66.7,7.3,645,11307,0.00,2.45,0.00,0.000,4,0.000,0.033,2832,3360,899
$GC,11336,0.41,449.8,63.8,7.2,647,11343,0.17,2.40,0.00,0.000,6,0.058,0.025,2874,1943,900
$GC,11599,0.41,449.8,42.9,7.6,672,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1942,900
$GC,11857,0.41,449.8,24.7,7.7,702,11863,0.00,2.45,0.00,0.000,4,0.000,0.033,2874,3366,901
$GC,11895,0.41,449.8,22.0,7.4,708,11901,0.00,2.40,0.00,0.000,6,0.000,0.024,2874,1940,901
$STATE,12130,end climb,SURFACE_DEPTH_REACHED
$STATE,12131,begin surface coast
$FINISH,0.8,1.009249
$STATE,12216,end surface coast,CONTROL_FINISHED_OK
$STATE,12216,begin surface
$SM_CCo,12300,0.00,0.000,0,0,905,448.65
$SM_GC,1.51,10.88,0.00,0.00,0.043,0.000,0.000,409,2084,905,-10.86,1.24,448.65
$IRIDIUM_FIX,2057.14,-15751.76,090198,141456
$TT8_MAMPS,0.027612
$HUMID,1697
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,27
$24V_AH,23.8,24.345
$10V_AH,10.2,14.850
$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,28.400,132.075,466.475,0.000,0.000,51.750,60.628,217.072,15.750,0.000,0.000,14.574,1391.632,8458.175,534.959,1771.818,680.033,33.367,1418.411,0.000,1747.337,0.000,57.450
$DEVICE_MAMPS,155.701,50.622,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.363,518.638,918.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41097,765
$CAP_FILE_SIZE,114878,0
$CFSIZE,260165632,248709120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,174008,2107.644,-15748.981,30,1.4,30,9.8