version: 66.03
glider: 114
mission: 3
dive: 185
start: 10 17 108 11 2 17
data:
$ID,114
$MISSION,3
$DIVE,185
$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,160
$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,-595267.25
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,105502,2105.022,-15749.040,55,1.8,55,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.6
$GPS2,110123,2105.028,-15748.969,9,2.8,28,9.8
$SPEED_LIMITS,0.057,0.227
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.013,0.227
$KALMAN_X,-28779.9,-273.0,729.8,36270.6,-584.3
$KALMAN_Y,-41220.6,-399.7,555.2,19675.8,-832.8
$MHEAD_RNG_PITCHd_Wd,353.4,9379,-12.0,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.07,-155.7,0.0,0.0,0,107,0.00,0.00,-75.53,0.000,2,0.000,0.000,411,2020,2942
$GC,111,-1.07,-155.7,3.8,-4.8,14,136,11.95,2.47,-6.75,0.000,4,0.158,0.047,2537,3443,3369
$GC,200,-1.18,-155.7,21.3,-8.4,29,207,0.00,2.35,0.00,0.000,6,0.000,0.023,2537,2040,3369
$GC,472,-1.25,-155.7,42.9,-8.0,64,477,0.15,2.42,0.00,0.000,4,0.058,0.033,2498,3441,3369
$GC,558,-1.25,-155.7,51.6,-10.4,71,562,0.00,2.35,0.00,0.000,6,0.000,0.022,2498,2038,3369
$GC,820,-1.25,-155.7,74.7,-8.3,95,824,0.00,2.40,0.00,0.000,4,0.000,0.038,2498,640,3369
$GC,850,-1.30,-155.7,77.1,-8.4,97,854,0.00,2.33,0.00,0.000,6,0.000,0.021,2497,2041,3369
$GC,1112,-1.36,-155.7,99.1,-6.9,121,1116,0.00,2.38,0.00,0.000,4,0.000,0.034,2497,3443,3369
$GC,1148,-1.44,-155.7,101.5,-6.5,124,1153,0.15,2.38,0.00,0.000,6,0.054,0.024,2459,2031,3369
$GC,1474,-1.44,-155.7,131.4,-9.7,154,1478,0.00,2.38,0.00,0.000,4,0.000,0.038,2460,637,3370
$GC,1497,-1.44,-155.7,133.8,-10.1,156,1501,0.00,2.35,0.00,0.000,6,0.000,0.023,2460,2048,3370
$GC,1828,-1.44,-155.7,162.9,-7.9,187,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2048,3370
$GC,2152,-1.44,-155.7,189.1,-6.7,217,2156,0.00,2.38,0.00,0.000,4,0.000,0.035,2460,3442,3370
$GC,2205,-1.52,-155.7,192.5,-5.7,221,2209,0.00,2.38,0.00,0.000,6,0.000,0.025,2460,2034,3370
$GC,2537,-1.57,-155.7,216.3,-8.0,242,2541,0.00,2.40,0.00,0.000,4,0.000,0.040,2460,640,3370
$GC,2566,-1.64,-155.7,218.8,-8.4,243,2571,0.17,2.35,0.00,0.000,6,0.052,0.025,2415,2037,3369
$GC,2882,-1.64,-155.7,245.9,-8.8,258,2886,0.00,2.42,0.00,0.000,4,0.000,0.038,2415,3450,3369
$GC,2922,-1.64,-155.7,249.9,-10.2,260,2929,0.00,2.40,0.00,0.000,6,0.000,0.027,2415,2033,3369
$GC,3257,-1.64,-155.7,281.9,-8.8,276,3261,0.00,2.45,0.00,0.000,4,0.000,0.038,2415,3443,3369
$GC,3297,-1.64,-155.7,285.7,-8.8,278,3301,0.00,2.40,0.00,0.000,6,0.000,0.027,2416,2032,3369
$GC,3642,-1.64,-155.7,314.0,-8.0,291,3646,0.00,2.47,0.00,0.000,4,0.000,0.039,2415,3449,3367
$GC,3675,-1.64,-155.7,317.2,-9.7,291,3681,0.00,2.40,0.00,0.000,6,0.000,0.028,2415,2043,3367
$GC,4007,-1.64,-155.7,347.5,-8.6,300,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2042,3365
$GC,4333,-1.64,-155.7,372.8,-8.3,308,4337,0.00,2.45,0.00,0.000,4,0.000,0.041,2415,3443,3363
$GC,4373,-1.68,-155.7,376.9,-9.6,308,4379,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2039,3362
$GC,4706,-1.68,-155.7,403.9,-7.8,317,4710,0.00,2.47,0.00,0.000,4,0.000,0.042,2415,3444,3359
$GC,4734,-1.71,-155.7,406.2,-8.0,317,4738,0.00,2.42,0.00,0.000,6,0.000,0.030,2415,2032,3359
$GC,5066,-1.75,-155.7,429.7,-7.2,325,5074,0.00,2.50,0.00,0.000,4,0.000,0.043,2415,3447,3357
$GC,5108,-1.80,-155.7,433.3,-8.2,325,5115,0.12,2.42,0.00,0.000,6,0.074,0.031,2388,2041,3357
$STATE,5317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5317,begin apogee
$GC,5325,-0.33,0.0,452.3,9.1,331,5450,1.55,0.00,120.72,0.921,6,0.092,0.000,2706,1937,2733
$STATE,5451,end apogee,CONTROL_FINISHED_OK
$STATE,5451,begin climb
$GC,5454,1.07,155.7,458.3,0.0,334,5586,1.40,2.62,122.35,0.897,4,0.048,0.053,3013,547,2097
$GC,5609,0.51,155.7,457.5,10.2,338,5615,0.68,2.47,0.00,0.000,6,0.144,0.031,2895,1954,2097
$GC,5924,0.23,155.7,432.2,7.8,346,5929,0.30,2.58,0.00,0.000,4,0.121,0.053,2835,548,2096
$GC,5969,0.07,162.2,429.1,6.6,347,5981,0.20,2.45,5.47,0.869,6,0.121,0.031,2799,1954,2071
$GC,6289,0.14,243.1,415.5,4.3,355,6359,0.00,2.60,62.78,0.907,4,0.000,0.048,2799,3353,1742
$GC,6431,0.11,256.8,407.7,6.4,358,6449,0.00,2.47,11.43,0.894,6,0.000,0.035,2799,1953,1686
$GC,6789,0.10,284.5,386.3,6.0,367,6813,0.00,0.00,22.20,0.900,6,0.000,0.000,2799,1952,1573
$GC,7152,0.05,284.5,360.6,7.4,376,7156,0.00,2.50,0.00,0.000,4,0.000,0.044,2798,3351,1571
$GC,7230,0.05,284.5,354.5,7.5,377,7236,0.00,2.47,0.00,0.000,6,0.000,0.035,2799,1944,1571
$GC,7562,0.01,284.5,329.2,7.5,386,7566,0.00,2.50,0.00,0.000,4,0.000,0.042,2799,3351,1570
$GC,7591,-0.03,284.5,326.9,7.9,386,7596,0.12,2.45,0.00,0.000,6,0.114,0.032,2777,1948,1570
$GC,7923,-0.01,296.9,304.5,6.4,394,7938,0.00,2.55,9.82,0.871,4,0.000,0.041,2777,3359,1521
$GC,7984,0.10,341.7,301.1,5.4,395,8026,0.12,2.47,34.88,0.861,6,0.080,0.032,2803,1943,1340
$GC,8338,0.07,341.7,279.4,7.3,412,8342,0.00,2.50,0.00,0.000,4,0.000,0.041,2803,3352,1340
$GC,8371,0.07,341.7,276.4,7.5,413,8377,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1945,1339
$GC,8688,0.07,341.7,250.9,7.5,429,8691,0.00,2.47,0.00,0.000,4,0.000,0.039,2804,3355,1340
$GC,8734,0.07,341.7,247.6,7.7,431,8738,0.00,2.45,0.00,0.000,6,0.000,0.031,2803,1949,1339
$GC,9062,0.15,387.3,227.6,5.4,447,9104,0.00,2.53,35.62,0.805,4,0.000,0.037,2803,3361,1153
$GC,9128,0.15,387.3,223.2,7.3,450,9132,0.00,2.47,0.00,0.000,6,0.000,0.029,2804,1945,1154
$GC,9455,0.15,387.3,198.5,8.2,466,9459,0.00,2.47,0.00,0.000,4,0.000,0.036,2803,3355,1154
$GC,9497,0.15,387.3,195.1,9.0,469,9501,0.00,2.45,0.00,0.000,6,0.000,0.028,2803,1939,1154
$GC,9825,0.15,387.3,170.5,7.4,499,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1939,1154
$GC,10154,0.18,387.3,146.1,7.1,530,10159,0.00,2.47,0.00,0.000,4,0.000,0.035,2804,3362,1154
$GC,10200,0.24,387.3,142.6,7.7,533,10207,0.12,2.42,0.00,0.000,6,0.069,0.027,2833,1942,1155
$GC,10526,0.28,406.9,119.1,6.2,564,10548,0.00,2.50,15.77,0.685,4,0.000,0.044,2833,545,1073
$GC,10565,0.28,406.9,116.1,7.8,567,10572,0.00,2.40,0.00,0.000,6,0.000,0.024,2833,1959,1073
$GC,10895,0.28,406.9,91.4,7.4,598,10899,0.00,2.40,0.00,0.000,4,0.000,0.036,2833,3351,1073
$GC,10948,0.33,406.9,86.9,7.8,602,10952,0.00,2.40,0.00,0.000,6,0.000,0.026,2833,1949,1074
$GC,11277,0.37,406.9,64.3,6.9,632,11282,0.12,2.45,0.00,0.000,4,0.064,0.044,2865,550,1074
$GC,11310,0.37,406.9,61.4,8.7,634,11317,0.00,2.35,0.00,0.000,6,0.000,0.024,2865,1951,1074
$GC,11573,0.46,454.5,45.7,5.3,659,11612,0.00,0.00,36.58,0.589,6,0.000,0.000,2865,1954,880
$GC,11874,0.51,483.9,27.6,5.9,690,11903,0.12,2.42,22.30,0.562,4,0.066,0.032,2895,3354,759
$GC,11945,0.45,483.9,21.3,9.6,702,11951,0.00,2.40,0.00,0.000,6,0.000,0.025,2895,1946,761
$STATE,12113,end climb,SURFACE_DEPTH_REACHED
$STATE,12113,begin surface coast
$FINISH,0.9,1.011026
$STATE,12160,end surface coast,CONTROL_FINISHED_OK
$STATE,12160,begin surface
$SM_CCo,12245,0.00,0.000,0,0,763,483.00
$SM_GC,1.53,11.02,0.00,0.00,0.043,0.000,0.000,410,2065,763,-10.86,0.71,483.00
$IRIDIUM_FIX,2054.83,-15749.62,110198,070730
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,25.00
$XPDR_PINGS,18
$24V_AH,23.8,26.070
$10V_AH,10.2,15.937
$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,28.325,137.025,499.925,0.000,0.000,24.871,28.731,176.546,13.500,0.000,0.000,31.267,1337.446,8437.918,587.291,1688.817,573.833,33.370,1428.160,0.000,1644.268,0.000,57.462
$DEVICE_MAMPS,158.002,52.923,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.083,485.392,876.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37990,740
$CAP_FILE_SIZE,110963,0
$CFSIZE,260165632,247971840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171008,142755,2106.542,-15749.077,36,1.5,53,9.8