version: 66.03
glider: 114
mission: 3
dive: 179
start: 10 16 108 14 35 57
data:
$ID,114
$MISSION,3
$DIVE,179
$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,-595047.31
$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,33
$R_STBD_OVSHOOT,75
$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
$GPS1,142832,2105.549,-15747.734,36,1.4,36,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.0
$GPS2,143502,2105.568,-15747.731,12,1.1,29,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024,-0.220
$KALMAN_X,-27007.8,182.8,-382.6,37287.3,259.3
$KALMAN_Y,-39319.8,7.5,-110.6,19037.1,371.4
$MHEAD_RNG_PITCHd_Wd,164.1,6192,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-70.70,0.000,2,0.000,0.000,407,2085,2884
$GC,107,-1.09,-146.0,3.5,-4.4,13,132,11.98,2.35,-7.12,0.000,4,0.158,0.047,2535,3411,3330
$GC,140,0.10,-146.0,15.1,-28.9,18,147,1.25,2.33,0.00,0.000,6,0.075,0.021,2798,2017,3330
$GC,423,-0.47,-146.0,33.2,-7.1,64,428,0.52,2.38,0.00,0.000,4,0.065,0.031,2681,3405,3330
$GC,502,-0.92,-146.0,40.1,-8.4,70,509,0.47,2.28,0.00,0.000,6,0.067,0.022,2578,2040,3330
$GC,767,-1.28,-146.0,58.0,-6.3,95,772,0.32,2.40,0.00,0.000,4,0.051,0.038,2498,644,3330
$GC,819,-1.36,-146.0,62.1,-8.1,99,823,0.00,2.28,0.00,0.000,6,0.000,0.021,2498,2012,3330
$GC,1082,-1.42,-146.0,86.4,-9.8,123,1086,0.12,2.42,0.00,0.000,4,0.060,0.032,2466,3443,3331
$GC,1156,-1.42,-146.0,94.3,-10.1,129,1160,0.00,2.35,0.00,0.000,6,0.000,0.023,2466,2040,3331
$GC,1482,-1.42,-146.0,121.9,-7.0,159,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2040,3331
$GC,1805,-1.46,-146.0,145.1,-7.2,189,1809,0.00,2.40,0.00,0.000,4,0.000,0.035,2466,3433,3331
$GC,1834,-1.51,-146.0,147.3,-7.1,191,1838,0.00,2.35,0.00,0.000,6,0.000,0.024,2466,2036,3331
$GC,2160,-1.56,-146.0,168.8,-7.1,221,2165,0.12,2.42,0.00,0.000,4,0.061,0.035,2434,3441,3331
$GC,2200,-1.56,-146.0,172.2,-8.8,224,2204,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2040,3331
$GC,2540,-1.56,-146.0,204.0,-9.4,254,2544,0.00,2.42,0.00,0.000,4,0.000,0.036,2434,3443,3331
$GC,2580,-1.60,-146.0,207.8,-9.5,256,2584,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2034,3331
$GC,2907,-1.63,-146.0,237.7,-8.1,272,2911,0.00,2.42,0.00,0.000,4,0.000,0.036,2434,3434,3331
$GC,2952,-1.68,-146.0,241.2,-7.5,274,2956,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2039,3331
$GC,3279,-1.72,-146.0,264.2,-7.7,290,3284,0.12,2.42,0.00,0.000,4,0.062,0.041,2403,640,3331
$GC,3313,-1.72,-146.0,267.5,-9.7,291,3319,0.00,2.35,0.00,0.000,6,0.000,0.027,2403,2031,3331
$GC,3629,-1.72,-146.0,294.0,-8.3,307,3633,0.00,2.45,0.00,0.000,4,0.000,0.041,2403,3444,3329
$GC,3669,-1.72,-146.0,297.4,-7.9,309,3674,0.00,2.40,0.00,0.000,6,0.000,0.028,2403,2038,3329
$GC,3995,-1.72,-146.0,322.3,-7.4,318,3999,0.00,2.47,0.00,0.000,4,0.000,0.041,2403,3449,3326
$GC,4028,-1.72,-146.0,325.1,-8.2,318,4034,0.00,2.42,0.00,0.000,6,0.000,0.028,2403,2029,3326
$GC,4359,-1.72,-146.0,353.9,-9.3,327,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2028,3324
$GC,4685,-1.72,-146.0,379.7,-7.4,335,4689,0.00,2.45,0.00,0.000,4,0.000,0.046,2403,633,3322
$GC,4701,-1.72,-146.0,381.0,-7.1,335,4706,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,2034,3322
$GC,5050,-1.72,-146.0,409.4,-8.7,344,5054,0.00,2.50,0.00,0.000,4,0.000,0.047,2403,3450,3320
$GC,5117,-1.75,-146.0,415.6,-9.3,345,5121,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2038,3319
$GC,5465,-1.75,-146.0,445.6,-8.3,354,5469,0.00,2.47,0.00,0.000,4,0.000,0.049,2403,637,3317
$GC,5499,-1.79,-146.0,448.6,-8.7,354,5505,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,2046,3316
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5553,-0.33,0.0,452.2,7.9,356,5669,1.45,0.00,112.72,0.922,6,0.090,0.000,2703,1938,2733
$STATE,5670,end apogee,CONTROL_FINISHED_OK
$STATE,5670,begin climb
$GC,5674,1.09,146.0,456.7,0.0,359,5797,1.40,2.55,114.18,0.892,4,0.052,0.051,3013,551,2137
$GC,6053,0.56,146.0,425.1,12.8,367,6059,0.60,2.45,0.00,0.000,6,0.133,0.031,2906,1955,2135
$GC,6391,0.30,146.0,397.1,8.0,376,6396,0.30,2.55,0.00,0.000,4,0.123,0.051,2849,554,2134
$GC,6510,0.15,167.5,389.4,6.1,378,6534,0.20,2.42,16.40,0.887,6,0.121,0.031,2812,1950,2050
$GC,6849,0.20,239.0,373.8,4.4,387,6910,0.00,2.55,55.65,0.882,4,0.000,0.047,2813,3350,1757
$GC,6982,0.15,239.0,364.9,8.1,390,6986,0.00,2.45,0.00,0.000,6,0.000,0.034,2812,1963,1757
$GC,7301,0.10,239.0,341.3,7.1,398,7305,0.00,2.58,0.00,0.000,4,0.000,0.053,2812,534,1756
$GC,7351,0.04,239.0,337.6,7.6,399,7356,0.12,2.47,0.00,0.000,6,0.124,0.031,2791,1956,1755
$GC,7665,0.10,273.8,320.3,5.7,407,7699,0.00,2.60,27.35,0.862,4,0.000,0.047,2791,3353,1616
$GC,7734,0.10,273.8,316.1,6.9,408,7738,0.00,2.47,0.00,0.000,6,0.000,0.032,2791,1945,1616
$GC,8051,0.10,273.8,294.3,6.8,418,8055,0.00,2.53,0.00,0.000,4,0.000,0.044,2791,3359,1615
$GC,8118,0.10,273.8,289.4,7.3,421,8122,0.00,2.47,0.00,0.000,6,0.000,0.033,2791,1941,1615
$GC,8440,0.17,317.2,270.7,5.4,437,8476,0.12,0.00,33.50,0.830,6,0.079,0.000,2818,1941,1439
$GC,8787,0.13,317.2,247.9,7.2,453,8792,0.00,2.53,0.00,0.000,4,0.000,0.042,2818,3358,1438
$GC,8873,0.13,317.2,239.9,9.4,457,8877,0.00,2.45,0.00,0.000,6,0.000,0.032,2818,1951,1438
$GC,9206,0.10,317.2,213.0,7.0,473,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1951,1438
$GC,9519,0.16,350.9,192.3,5.7,493,9551,0.00,2.55,26.17,0.762,4,0.000,0.038,2818,3368,1301
$GC,9602,0.16,350.9,186.6,7.4,500,9608,0.00,2.47,0.00,0.000,6,0.000,0.030,2818,1943,1301
$GC,9931,0.23,390.3,167.1,5.5,531,9967,0.00,2.55,30.83,0.726,4,0.000,0.036,2818,3367,1141
$GC,9991,0.25,399.0,163.2,6.5,536,10004,0.00,2.47,7.18,0.713,6,0.000,0.028,2818,1945,1106
$GC,10322,0.25,399.0,139.2,8.0,567,10326,0.00,2.50,0.00,0.000,4,0.000,0.037,2818,3369,1107
$GC,10366,0.25,399.0,135.7,7.7,570,10373,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,1946,1108
$GC,10695,0.25,401.1,114.6,6.7,601,10707,0.00,2.53,2.90,0.662,4,0.000,0.035,2818,3361,1097
$GC,10725,0.28,401.1,112.0,7.5,603,10732,0.10,2.42,0.00,0.000,6,0.075,0.027,2842,1944,1097
$GC,11051,0.35,437.9,86.2,5.6,634,11085,0.00,2.58,28.27,0.634,4,0.000,0.035,2842,3364,947
$GC,11137,0.43,457.1,81.5,6.2,641,11157,0.15,2.42,15.07,0.629,6,0.062,0.026,2877,1948,868
$GC,11484,0.40,457.1,50.9,9.1,674,11488,0.00,2.47,0.00,0.000,4,0.000,0.035,2877,3368,869
$GC,11552,0.40,457.1,44.4,8.9,679,11558,0.00,2.42,0.00,0.000,6,0.000,0.025,2877,1939,869
$GC,11819,0.40,457.1,22.4,8.1,712,11825,0.00,2.45,0.00,0.000,4,0.000,0.033,2877,3361,869
$GC,11878,0.40,457.1,17.3,8.6,722,11884,0.00,2.40,0.00,0.000,6,0.000,0.025,2877,1946,870
$STATE,12029,end climb,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FINISH,1.0,1.023560
$STATE,12098,end surface coast,CONTROL_FINISHED_OK
$STATE,12098,begin surface
$SM_CCo,12182,0.00,0.000,0,0,871,456.75
$SM_GC,1.55,10.93,0.00,0.00,0.043,0.000,0.000,407,2082,871,-10.87,1.19,456.75
$IRIDIUM_FIX,2101.76,-15747.88,100198,111148
$TT8_MAMPS,0.027612
$HUMID,1715
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,15
$24V_AH,23.8,25.273
$10V_AH,10.2,15.440
$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,30.300,137.200,470.225,0.000,0.000,24.108,35.849,177.228,12.750,0.000,0.000,31.077,1396.454,8217.600,535.176,1834.689,587.674,33.365,1443.923,0.000,1786.109,0.000,57.456
$DEVICE_MAMPS,158.002,52.923,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.587,510.229,909.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41021,761
$CAP_FILE_SIZE,115658,0
$CFSIZE,260165632,248303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161008,180008,2104.253,-15747.811,30,1.4,30,9.8