version: 66.03
glider: 114
mission: 3
dive: 176
start: 10 16 108 4 18 18
data:
$ID,114
$MISSION,3
$DIVE,176
$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,-594956.81
$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,65
$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
$GPS1,041138,2109.539,-15749.238,27,1.1,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.4
$GPS2,041721,2109.605,-15749.249,9,1.4,9,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.029,-0.220
$KALMAN_X,-27682.7,-303.5,-1061.8,36512.0,1137.3
$KALMAN_Y,-40205.1,-17.2,-100.5,27403.2,326.4
$MHEAD_RNG_PITCHd_Wd,177.7,14092,-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,26,-1.09,-146.0,0.0,0.0,0,99,0.00,0.00,-69.90,0.000,2,0.000,0.000,408,2088,2931
$GC,103,-1.09,-146.0,3.8,-4.4,13,128,11.98,2.53,-6.20,0.000,4,0.159,0.044,2533,631,3330
$GC,181,-1.21,-146.0,20.6,-9.3,26,187,0.00,2.33,0.00,0.000,6,0.000,0.022,2533,2023,3330
$GC,458,-1.28,-146.0,43.4,-8.2,61,463,0.15,2.45,0.00,0.000,4,0.058,0.035,2492,3448,3330
$GC,555,-1.28,-146.0,52.8,-9.4,69,559,0.00,2.38,0.00,0.000,6,0.000,0.022,2492,2032,3331
$GC,817,-1.28,-146.0,78.5,-9.6,93,821,0.00,2.42,0.00,0.000,4,0.000,0.034,2492,3436,3331
$GC,846,-1.31,-146.0,81.2,-9.9,95,851,0.00,2.35,0.00,0.000,6,0.000,0.023,2492,2038,3331
$GC,1175,-1.37,-146.0,106.8,-8.9,125,1179,0.00,2.42,0.00,0.000,4,0.000,0.035,2492,3445,3333
$GC,1210,-1.44,-146.0,110.0,-8.1,128,1216,0.12,2.38,0.00,0.000,6,0.062,0.022,2462,2027,3333
$GC,1542,-1.44,-146.0,142.0,-10.2,159,1546,0.00,2.45,0.00,0.000,4,0.000,0.035,2461,3445,3333
$GC,1594,-1.49,-146.0,147.2,-9.4,163,1598,0.00,2.38,0.00,0.000,6,0.000,0.023,2462,2031,3334
$GC,1920,-1.54,-146.0,174.9,-8.5,193,1924,0.00,2.42,0.00,0.000,4,0.000,0.035,2461,3438,3333
$GC,1965,-1.62,-146.0,178.8,-8.4,196,1972,0.15,2.35,0.00,0.000,6,0.056,0.025,2424,2034,3333
$GC,2298,-1.62,-146.0,208.2,-9.0,224,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2034,3333
$GC,2608,-1.62,-146.0,235.8,-9.0,239,2612,0.00,2.42,0.00,0.000,4,0.000,0.041,2424,3434,3333
$GC,2687,-1.62,-146.0,243.6,-10.1,242,2691,0.00,2.35,0.00,0.000,6,0.000,0.026,2424,2042,3333
$GC,3009,-1.62,-146.0,271.6,-8.6,258,3013,0.00,2.45,0.00,0.000,4,0.000,0.043,2424,633,3333
$GC,3036,-1.62,-146.0,274.1,-8.6,259,3041,0.00,2.38,0.00,0.000,6,0.000,0.028,2424,2033,3333
$GC,3355,-1.62,-146.0,301.0,-8.1,274,3359,0.00,2.45,0.00,0.000,4,0.000,0.041,2424,3442,3331
$GC,3417,-1.69,-146.0,306.2,-7.2,275,3421,0.00,2.40,0.00,0.000,6,0.000,0.029,2424,2036,3330
$GC,3761,-1.73,-146.0,332.2,-7.9,284,3765,0.00,2.47,0.00,0.000,4,0.000,0.041,2424,3450,3328
$GC,3807,-1.81,-146.0,336.0,-8.5,285,3812,0.17,2.42,0.00,0.000,6,0.061,0.030,2383,2042,3327
$GC,4132,-1.77,-146.0,367.0,-9.9,293,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2040,3325
$GC,4458,-1.73,-146.0,399.5,-10.2,301,4465,0.00,2.47,0.00,0.000,4,0.000,0.043,2384,3447,3323
$GC,4483,-1.70,-146.0,402.3,-10.7,301,4487,0.12,2.42,0.00,0.000,6,0.113,0.029,2406,2034,3323
$GC,4827,-1.70,-146.0,432.3,-8.7,310,4832,0.00,2.50,0.00,0.000,4,0.000,0.043,2406,3449,3320
$GC,4850,-1.70,-146.0,434.6,-9.1,310,4854,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2040,3320
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5031,-0.33,0.0,450.5,9.2,315,5149,1.45,0.00,113.43,0.916,6,0.091,0.000,2705,1936,2733
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5153,1.09,146.0,456.8,0.0,318,5275,1.42,2.58,114.43,0.895,4,0.049,0.041,3018,3356,2137
$GC,5295,0.59,148.0,458.8,6.8,321,5301,0.57,2.47,0.00,0.000,6,0.137,0.033,2914,1958,2136
$GC,5627,0.30,148.0,434.6,7.3,329,5633,0.32,2.58,0.00,0.000,4,0.120,0.052,2850,537,2135
$GC,5679,0.11,148.8,430.8,6.8,330,5684,0.22,2.47,0.00,0.000,6,0.120,0.030,2808,1961,2134
$GC,5993,0.14,212.5,415.4,4.7,338,6049,0.00,2.65,51.22,0.900,4,0.000,0.053,2808,537,1866
$GC,6078,0.06,212.5,410.5,7.0,340,6083,0.00,2.47,0.00,0.000,6,0.000,0.031,2808,1948,1865
$GC,6398,0.00,221.0,389.9,6.5,348,6412,0.15,2.60,7.12,0.871,4,0.117,0.047,2777,3354,1831
$GC,6487,0.07,259.2,384.7,5.5,350,6523,0.00,2.47,30.27,0.888,6,0.000,0.034,2777,1949,1676
$GC,6850,0.22,344.4,369.3,4.0,358,6922,0.20,2.58,66.28,0.880,4,0.070,0.044,2825,3354,1328
$GC,6954,0.14,344.4,362.1,8.7,360,6958,0.00,2.50,0.00,0.000,6,0.000,0.033,2825,1939,1328
$GC,7297,0.05,344.4,331.5,8.9,369,7301,0.15,2.55,0.00,0.000,4,0.114,0.044,2794,3355,1328
$GC,7353,0.05,344.4,327.1,7.6,370,7357,0.00,2.47,0.00,0.000,6,0.000,0.034,2793,1945,1328
$GC,7701,0.05,344.4,301.7,7.1,379,7705,0.00,2.53,0.00,0.000,4,0.000,0.044,2794,3360,1328
$GC,7764,0.10,368.9,297.8,6.0,381,7789,0.00,2.47,19.98,0.854,6,0.000,0.034,2793,1949,1228
$GC,8111,0.10,368.9,275.7,7.7,398,8116,0.00,2.53,0.00,0.000,4,0.000,0.044,2793,3367,1227
$GC,8175,0.10,368.9,270.4,8.3,401,8179,0.00,2.50,0.00,0.000,6,0.000,0.033,2793,1940,1227
$GC,8502,0.10,368.9,245.7,7.0,417,8506,0.00,2.53,0.00,0.000,4,0.000,0.041,2794,3363,1227
$GC,8541,0.13,368.9,242.6,8.3,418,8548,0.00,2.47,0.00,0.000,6,0.000,0.032,2794,1935,1227
$GC,8858,0.28,433.2,222.4,4.7,434,8918,0.22,2.62,49.85,0.788,4,0.064,0.040,2845,3354,966
$GC,8953,0.22,433.2,215.3,8.5,438,8957,0.00,2.47,0.00,0.000,6,0.000,0.031,2844,1940,966
$GC,9275,0.16,433.2,185.0,10.6,459,9280,0.15,2.50,0.00,0.000,4,0.105,0.038,2812,3357,966
$GC,9316,0.16,433.2,180.9,9.7,462,9320,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,1941,966
$GC,9644,0.20,457.0,155.9,6.0,492,9668,0.00,2.55,19.30,0.714,4,0.000,0.037,2812,3369,869
$GC,9705,0.29,480.7,152.0,6.0,497,9732,0.15,2.47,18.70,0.702,6,0.067,0.028,2846,1937,772
$GC,10052,0.30,506.9,126.0,5.9,530,10077,0.00,2.55,20.48,0.668,4,0.000,0.037,2846,3364,666
$GC,10130,0.30,506.9,120.5,7.2,537,10134,0.00,2.45,0.00,0.000,6,0.000,0.028,2846,1940,666
$GC,10464,0.30,506.9,95.6,8.0,568,10468,0.00,2.47,0.00,0.000,4,0.000,0.035,2846,3361,666
$GC,10505,0.30,506.9,91.8,9.3,571,10510,0.00,2.42,0.00,0.000,6,0.000,0.026,2846,1939,666
$GC,10834,0.33,506.9,61.2,6.9,601,10839,0.00,2.47,0.00,0.000,4,0.000,0.034,2846,3367,669
$GC,10898,0.53,565.4,57.5,4.9,606,10952,0.22,2.42,46.08,0.588,6,0.054,0.025,2899,1937,427
$GC,11208,0.44,565.4,30.2,10.2,635,11213,0.12,2.47,0.00,0.000,4,0.100,0.034,2876,3359,428
$GC,11271,0.44,565.4,24.7,8.2,645,11277,0.00,2.40,0.00,0.000,6,0.000,0.025,2876,1940,428
$STATE,11490,end climb,SURFACE_DEPTH_REACHED
$STATE,11490,begin surface coast
$FINISH,0.8,1.022878
$STATE,11553,end surface coast,CONTROL_FINISHED_OK
$STATE,11553,begin surface
$SM_CCo,11637,0.00,0.000,0,0,428,565.42
$SM_GC,1.47,10.93,0.00,0.00,0.043,0.000,0.000,408,2072,428,-10.87,0.90,565.42
$IRIDIUM_FIX,2104.07,-15750.02,100198,000026
$TT8_MAMPS,0.027612
$HUMID,1700
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,16
$24V_AH,23.8,24.880
$10V_AH,10.2,15.184
$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,29.000,138.525,557.125,0.000,0.000,26.417,31.438,152.278,13.000,0.000,0.000,10.849,1286.580,7905.464,594.988,1654.628,539.455,33.373,1449.796,0.000,1628.781,0.000,62.928
$DEVICE_MAMPS,158.769,52.923,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.454,453.582,816.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34826,695
$CAP_FILE_SIZE,110507,0
$CFSIZE,260165632,248487936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161008,073323,2108.153,-15749.086,9,3.0,28,9.8