version: 66.03
glider: 114
mission: 3
dive: 178
start: 10 16 108 11 7 35
data:
$ID,114
$MISSION,3
$DIVE,178
$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,-595015.62
$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,78
$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
$GPS1,105707,2106.960,-15748.385,25,1.0,25,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.0
$GPS2,110639,2106.962,-15748.250,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.108,-0.194
$KALMAN_X,-27419.5,-306.5,1037.5,35871.3,-833.7
$KALMAN_Y,-39466.9,-63.0,134.1,21588.0,313.2
$MHEAD_RNG_PITCHd_Wd,141.1,8914,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.09,-146.0,0.0,0.0,0,97,0.00,0.00,-64.60,0.000,2,0.000,0.000,412,2077,2817
$GC,101,-1.09,-146.0,3.3,-4.2,12,131,11.95,2.55,-8.48,0.000,4,0.159,0.046,2535,632,3330
$GC,167,-1.09,-146.0,17.1,-11.8,23,173,0.00,2.33,0.00,0.000,6,0.000,0.022,2535,2011,3330
$GC,444,-1.16,-146.0,40.4,-9.0,62,448,0.00,2.45,0.00,0.000,4,0.000,0.035,2534,3444,3331
$GC,517,-1.30,-146.0,47.3,-8.5,68,524,0.17,2.38,0.00,0.000,6,0.054,0.022,2493,2024,3331
$GC,782,-1.34,-146.0,73.1,-9.3,93,786,0.00,2.45,0.00,0.000,4,0.000,0.035,2493,3442,3331
$GC,818,-1.38,-146.0,76.4,-8.7,96,822,0.00,2.35,0.00,0.000,6,0.000,0.022,2493,2035,3331
$GC,1080,-1.41,-146.0,99.4,-8.3,120,1084,0.00,2.45,0.00,0.000,4,0.000,0.037,2493,3446,3331
$GC,1092,-1.47,-146.0,100.4,-8.2,120,1099,0.15,2.35,0.00,0.000,6,0.057,0.022,2455,2036,3331
$GC,1418,-1.47,-146.0,129.3,-8.8,151,1422,0.00,2.42,0.00,0.000,4,0.000,0.034,2456,3444,3332
$GC,1453,-1.47,-146.0,132.4,-9.2,153,1459,0.00,2.35,0.00,0.000,6,0.000,0.023,2456,2036,3332
$GC,1779,-1.50,-146.0,160.3,-8.1,184,1783,0.00,2.42,0.00,0.000,4,0.000,0.034,2456,3443,3332
$GC,1826,-1.56,-146.0,164.4,-9.0,188,1830,0.00,2.38,0.00,0.000,6,0.000,0.024,2455,2029,3332
$GC,2152,-1.62,-146.0,196.1,-9.8,218,2157,0.12,2.45,0.00,0.000,4,0.060,0.034,2424,3446,3332
$GC,2252,-1.62,-146.0,206.8,-10.6,223,2258,0.00,2.38,0.00,0.000,6,0.000,0.024,2424,2034,3332
$GC,2568,-1.62,-146.0,236.6,-9.0,239,2573,0.00,2.45,0.00,0.000,4,0.000,0.036,2424,3448,3331
$GC,2614,-1.62,-146.0,240.9,-9.2,241,2618,0.00,2.38,0.00,0.000,6,0.000,0.025,2424,2038,3331
$GC,2936,-1.62,-146.0,269.4,-8.2,257,2941,0.00,2.42,0.00,0.000,4,0.000,0.041,2424,638,3331
$GC,2959,-1.62,-146.0,271.4,-8.4,258,2963,0.00,2.38,0.00,0.000,6,0.000,0.026,2424,2038,3331
$GC,3286,-1.62,-146.0,296.7,-7.8,274,3290,0.00,2.42,0.00,0.000,4,0.000,0.039,2424,3443,3329
$GC,3336,-1.67,-146.0,300.6,-7.7,276,3341,0.00,2.40,0.00,0.000,6,0.000,0.028,2424,2032,3329
$GC,3668,-1.67,-146.0,324.2,-7.1,284,3672,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,638,3327
$GC,3724,-1.75,-146.0,328.6,-7.7,285,3729,0.12,2.40,0.00,0.000,6,0.066,0.028,2393,2051,3327
$GC,4072,-1.75,-146.0,358.6,-8.8,294,4076,0.00,2.45,0.00,0.000,4,0.000,0.044,2393,3449,3325
$GC,4140,-1.75,-146.0,364.8,-9.0,295,4144,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2038,3324
$GC,4479,-1.75,-146.0,393.0,-8.4,304,4483,0.00,2.47,0.00,0.000,4,0.000,0.041,2393,3446,3322
$GC,4501,-1.75,-146.0,395.2,-8.5,304,4505,0.00,2.42,0.00,0.000,6,0.000,0.029,2393,2030,3322
$GC,4839,-1.75,-146.0,423.8,-8.4,313,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2031,3320
$GC,5165,-1.75,-146.0,449.3,-8.3,321,5169,0.00,2.50,0.00,0.000,4,0.000,0.044,2393,3444,3317
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5182,-0.33,0.0,450.6,8.5,321,5299,1.48,0.00,112.90,0.914,6,0.092,0.000,2700,1951,2733
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5304,1.09,146.0,456.0,0.0,324,5427,1.42,2.60,114.05,0.892,4,0.049,0.051,3016,538,2137
$GC,5641,0.55,146.0,429.7,14.0,331,5647,0.62,2.47,0.00,0.000,6,0.133,0.030,2905,1957,2135
$GC,5973,0.29,146.0,400.9,8.4,339,5978,0.28,2.58,0.00,0.000,4,0.122,0.051,2850,536,2134
$GC,6014,0.10,146.0,397.7,7.5,340,6019,0.25,2.47,0.00,0.000,6,0.120,0.030,2804,1956,2133
$GC,6339,0.15,204.4,381.0,4.9,348,6389,0.00,2.65,44.50,0.893,4,0.000,0.053,2804,536,1899
$GC,6420,0.12,231.6,376.9,5.9,350,6448,0.00,2.47,21.77,0.876,6,0.000,0.030,2804,1949,1788
$GC,6788,0.08,233.9,352.9,6.7,359,6792,0.00,2.50,0.00,0.000,4,0.000,0.047,2804,3351,1786
$GC,6895,0.05,237.5,345.4,6.7,361,6905,0.00,2.45,5.10,0.858,6,0.000,0.033,2804,1952,1764
$GC,7238,0.05,254.9,323.7,6.2,370,7257,0.00,2.55,14.25,0.871,4,0.000,0.042,2804,3353,1693
$GC,7286,0.10,285.8,320.8,5.8,371,7316,0.00,2.47,24.85,0.863,6,0.000,0.032,2804,1942,1567
$GC,7643,0.11,293.7,298.0,6.6,379,7652,0.00,0.00,6.93,0.842,6,0.000,0.000,2804,1942,1535
$GC,7952,0.11,293.7,275.2,7.4,394,7956,0.00,2.50,0.00,0.000,4,0.000,0.041,2804,3354,1534
$GC,7980,0.11,293.7,273.2,7.5,395,7984,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1944,1534
$GC,8297,0.13,301.4,252.7,6.6,410,8308,0.00,2.50,6.32,0.810,4,0.000,0.038,2804,3354,1503
$GC,8360,0.13,301.4,247.9,7.6,413,8364,0.00,2.45,0.00,0.000,6,0.000,0.030,2804,1949,1503
$GC,8688,0.24,368.4,227.7,4.6,429,8747,0.12,0.00,51.78,0.792,6,0.076,0.000,2832,1948,1231
$GC,9057,0.19,368.4,203.5,7.5,447,9061,0.00,2.47,0.00,0.000,4,0.000,0.038,2832,3355,1231
$GC,9132,0.19,368.4,197.3,8.9,451,9136,0.00,2.45,0.00,0.000,6,0.000,0.029,2832,1943,1231
$GC,9461,0.15,371.0,171.5,6.7,481,9472,0.00,2.53,3.20,0.719,4,0.000,0.036,2832,3355,1220
$GC,9523,0.15,371.0,167.1,7.5,486,9529,0.00,2.42,0.00,0.000,6,0.000,0.028,2832,1945,1220
$GC,9851,0.15,371.0,144.0,7.2,517,9856,0.00,2.47,0.00,0.000,4,0.000,0.036,2832,3362,1220
$GC,9870,0.15,371.0,142.5,7.1,518,9874,0.00,2.42,0.00,0.000,6,0.000,0.026,2832,1945,1221
$GC,10198,0.15,371.0,119.2,7.3,548,10203,0.00,2.45,0.00,0.000,4,0.000,0.035,2832,3358,1222
$GC,10217,0.15,371.0,117.7,7.2,549,10221,0.00,2.40,0.00,0.000,6,0.000,0.025,2832,1951,1222
$GC,10545,0.18,389.8,98.0,6.2,579,10568,0.00,2.50,15.40,0.648,4,0.000,0.044,2832,544,1142
$GC,10586,0.27,418.5,95.3,5.9,582,10614,0.00,2.40,21.90,0.637,6,0.000,0.023,2832,1967,1025
$GC,10934,0.35,425.8,72.6,6.6,615,10946,0.10,2.40,6.15,0.615,4,0.072,0.035,2858,3353,996
$GC,10987,0.40,431.7,69.2,6.6,619,10997,0.00,2.40,5.28,0.621,6,0.000,0.026,2858,1945,971
$GC,11258,0.50,489.2,54.2,4.9,644,11304,0.15,0.00,43.10,0.586,6,0.061,0.000,2898,1945,738
$GC,11557,0.44,489.2,28.0,10.1,673,11564,0.12,2.42,0.00,0.000,4,0.097,0.031,2874,3346,740
$GC,11627,0.44,489.2,21.2,8.7,685,11634,0.00,2.38,0.00,0.000,6,0.000,0.025,2874,1942,741
$STATE,11824,end climb,SURFACE_DEPTH_REACHED
$STATE,11824,begin surface coast
$FINISH,0.9,0.999125
$STATE,11899,end surface coast,CONTROL_FINISHED_OK
$STATE,11899,begin surface
$SM_CCo,11982,0.00,0.000,0,0,744,487.90
$SM_GC,1.49,10.88,0.00,0.00,0.041,0.000,0.000,407,2087,744,-10.86,1.33,487.90
$IRIDIUM_FIX,2059.45,-15745.74,100198,111149
$TT8_MAMPS,0.027612
$HUMID,1694
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.8,25.146
$10V_AH,10.2,15.352
$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,27.950,137.300,497.475,0.000,0.000,47.207,58.643,269.237,11.750,0.000,0.000,15.011,1340.830,8225.103,560.773,1718.059,710.970,33.368,1425.720,0.000,1684.879,0.000,59.937
$DEVICE_MAMPS,158.769,52.923,914.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.682,492.052,879.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,733
$CAP_FILE_SIZE,114189,0
$CFSIZE,260165632,248373248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161008,142832,2105.549,-15747.734,36,1.4,36,9.8