version: 66.03
glider: 114
mission: 3
dive: 188
start: 10 17 108 21 28 42
data:
$ID,114
$MISSION,3
$DIVE,188
$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,170
$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,-595308.19
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,211802,2109.885,-15749.616,50,1.7,50,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-60.7
$GPS2,212745,2109.865,-15749.466,9,1.5,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.095,-0.212
$KALMAN_X,-29248.4,552.8,283.5,35493.3,-100.9
$KALMAN_Y,-41702.4,700.7,250.7,28322.7,-895.4
$MHEAD_RNG_PITCHd_Wd,146.1,14663,-11.5,-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,27,-1.06,-165.5,0.0,0.0,0,105,0.00,0.00,-75.70,0.000,2,0.000,0.000,406,2065,2945
$GC,109,-1.06,-165.5,3.9,-5.0,14,134,12.00,2.55,-7.18,0.000,4,0.157,0.048,2538,633,3410
$GC,204,-1.22,-165.5,21.8,-8.0,30,211,0.12,2.35,0.00,0.000,6,0.060,0.022,2507,2044,3410
$GC,479,-1.22,-165.5,50.5,-10.2,62,483,0.00,2.40,0.00,0.000,4,0.000,0.037,2508,3438,3410
$GC,605,-1.22,-165.5,64.3,-10.7,72,611,0.00,2.35,0.00,0.000,6,0.000,0.024,2507,2035,3410
$GC,867,-1.27,-165.5,88.6,-7.5,97,871,0.00,2.42,0.00,0.000,4,0.000,0.034,2507,3443,3410
$GC,953,-1.39,-165.5,94.8,-6.0,104,958,0.12,2.38,0.00,0.000,6,0.059,0.023,2475,2030,3410
$GC,1280,-1.39,-165.5,121.0,-8.9,134,1284,0.00,2.42,0.00,0.000,4,0.000,0.035,2475,3433,3410
$GC,1309,-1.39,-165.5,123.7,-9.4,136,1313,0.00,2.35,0.00,0.000,6,0.000,0.024,2475,2032,3410
$GC,1635,-1.42,-165.5,147.4,-7.4,166,1639,0.00,2.42,0.00,0.000,4,0.000,0.034,2475,3438,3410
$GC,1680,-1.48,-165.5,151.2,-8.0,169,1686,0.00,2.35,0.00,0.000,6,0.000,0.025,2475,2039,3410
$GC,2007,-1.54,-165.5,180.3,-8.7,200,2012,0.15,2.42,0.00,0.000,4,0.056,0.033,2433,3445,3410
$GC,2070,-1.54,-165.5,186.6,-9.6,205,2074,0.00,2.38,0.00,0.000,6,0.000,0.025,2433,2034,3410
$GC,2403,-1.54,-165.5,218.0,-9.3,227,2407,0.00,2.42,0.00,0.000,4,0.000,0.035,2433,3441,3410
$GC,2443,-1.54,-165.5,221.8,-8.5,229,2447,0.00,2.38,0.00,0.000,6,0.000,0.025,2433,2033,3410
$GC,2771,-1.54,-165.5,246.6,-7.6,245,2775,0.00,2.42,0.00,0.000,4,0.000,0.035,2433,3434,3410
$GC,2836,-1.58,-165.5,251.8,-8.0,248,2840,0.00,2.38,0.00,0.000,6,0.000,0.026,2433,2035,3410
$GC,3163,-1.58,-165.5,273.8,-5.8,264,3167,0.00,2.45,0.00,0.000,4,0.000,0.038,2433,3444,3409
$GC,3197,-1.62,-165.5,275.7,-5.3,265,3203,0.00,2.40,0.00,0.000,6,0.000,0.028,2433,2031,3408
$GC,3514,-1.65,-165.5,296.0,-7.8,281,3518,0.00,2.45,0.00,0.000,4,0.000,0.040,2433,3432,3407
$GC,3560,-1.70,-165.5,300.0,-8.9,283,3564,0.10,2.38,0.00,0.000,6,0.072,0.029,2409,2044,3406
$GC,3899,-1.70,-165.5,330.9,-8.8,292,3903,0.00,2.45,0.00,0.000,4,0.000,0.041,2409,3438,3403
$GC,3949,-1.70,-165.5,335.0,-7.5,293,3953,0.00,2.40,0.00,0.000,6,0.000,0.030,2409,2037,3402
$GC,4262,-1.70,-165.5,356.7,-7.0,301,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2038,3400
$GC,4587,-1.70,-165.5,384.5,-9.0,309,4591,0.00,2.47,0.00,0.000,4,0.000,0.044,2409,3436,3398
$GC,4631,-1.73,-165.5,388.4,-8.3,310,4636,0.00,2.40,0.00,0.000,6,0.000,0.031,2409,2041,3398
$GC,4951,-1.73,-165.5,416.0,-9.1,318,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2041,3395
$GC,5276,-1.73,-165.5,443.2,-8.4,326,5281,0.00,2.47,0.00,0.000,4,0.000,0.044,2409,3440,3391
$GC,5344,-1.76,-165.5,449.0,-8.7,327,5348,0.00,2.40,0.00,0.000,6,0.000,0.031,2409,2042,3391
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5367,-0.33,0.0,450.3,8.3,328,5499,1.42,0.00,127.70,0.930,6,0.093,0.000,2703,1938,2733
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5500,begin climb
$GC,5503,1.06,165.5,455.3,0.0,331,5643,1.42,2.58,129.50,0.903,4,0.051,0.054,3012,549,2057
$GC,5762,0.50,165.5,438.0,14.3,337,5767,0.68,2.42,0.00,0.000,6,0.135,0.031,2893,1938,2057
$GC,6100,0.22,165.5,407.8,8.1,346,6105,0.30,2.53,0.00,0.000,4,0.122,0.046,2834,3354,2055
$GC,6140,0.06,165.8,404.9,6.8,347,6146,0.20,2.45,0.00,0.000,6,0.129,0.034,2798,1957,2055
$GC,6466,0.12,246.1,389.6,4.4,355,6535,0.00,2.67,61.95,0.894,4,0.000,0.054,2798,541,1729
$GC,6577,0.05,247.5,383.2,6.8,357,6581,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1958,1728
$GC,6914,-0.01,258.4,362.3,6.5,366,6930,0.00,2.53,10.43,0.882,4,0.000,0.047,2798,3351,1678
$GC,6970,-0.04,268.9,358.6,6.5,367,6985,0.15,2.47,9.12,0.876,6,0.124,0.034,2772,1948,1635
$GC,7323,0.11,352.5,342.0,4.3,376,7394,0.15,2.55,64.97,0.876,4,0.074,0.043,2809,3353,1294
$GC,7455,0.06,352.5,332.2,9.2,379,7459,0.00,2.47,0.00,0.000,6,0.000,0.033,2808,1949,1294
$GC,7775,-0.02,352.5,300.0,10.4,387,7780,0.17,2.53,0.00,0.000,4,0.107,0.042,2773,3357,1294
$GC,7825,-0.02,352.5,295.6,7.7,389,7830,0.00,2.47,0.00,0.000,6,0.000,0.032,2773,1943,1294
$GC,8141,0.07,406.4,277.3,5.2,404,8191,0.10,2.62,42.00,0.843,4,0.084,0.041,2794,3354,1075
$GC,8231,0.07,406.4,271.1,7.7,408,8235,0.00,2.47,0.00,0.000,6,0.000,0.032,2794,1948,1075
$GC,8553,0.07,406.4,250.3,6.9,424,8557,0.00,2.50,0.00,0.000,4,0.000,0.041,2794,3355,1075
$GC,8615,0.07,406.4,245.8,7.4,427,8620,0.00,2.45,0.00,0.000,6,0.000,0.031,2794,1950,1075
$GC,8943,0.07,406.4,219.9,7.9,443,8947,0.00,2.50,0.00,0.000,4,0.000,0.038,2794,3367,1075
$GC,8988,0.07,406.4,216.2,7.8,445,8993,0.00,2.47,0.00,0.000,6,0.000,0.030,2794,1938,1075
$GC,9311,0.08,408.8,194.8,6.7,464,9323,0.00,2.53,2.50,0.745,4,0.000,0.036,2794,3352,1067
$GC,9351,0.08,408.8,191.5,8.6,467,9357,0.00,2.42,0.00,0.000,6,0.000,0.028,2794,1947,1066
$GC,9681,0.08,411.4,167.3,6.7,498,9693,0.00,2.53,3.12,0.734,4,0.000,0.036,2795,3358,1054
$GC,9729,0.12,411.4,164.0,7.1,502,9733,0.00,2.42,0.00,0.000,6,0.000,0.028,2794,1947,1055
$GC,10063,0.12,411.4,142.8,6.9,533,10067,0.00,2.47,0.00,0.000,4,0.000,0.035,2794,3368,1055
$GC,10108,0.19,418.8,139.7,6.6,536,10120,0.12,2.45,6.75,0.717,6,0.069,0.028,2824,1938,1024
$GC,10439,0.19,418.8,114.4,8.1,567,10443,0.00,2.45,0.00,0.000,4,0.000,0.046,2824,536,1025
$GC,10456,0.19,418.8,112.6,8.9,568,10462,0.00,2.40,0.00,0.000,6,0.000,0.024,2824,1964,1025
$GC,10786,0.19,418.8,88.2,7.1,599,10790,0.00,2.38,0.00,0.000,4,0.000,0.036,2824,3343,1025
$GC,10838,0.24,418.8,84.3,7.1,603,10842,0.00,2.40,0.00,0.000,6,0.000,0.028,2824,1940,1026
$GC,11167,0.39,478.4,65.0,5.1,633,11222,0.15,2.53,45.55,0.610,4,0.058,0.033,2867,3344,782
$GC,11251,0.39,478.4,59.6,7.1,640,11257,0.00,2.40,0.00,0.000,6,0.000,0.026,2867,1944,782
$GC,11513,0.39,478.4,39.5,8.0,665,11517,0.00,2.45,0.00,0.000,4,0.000,0.033,2867,3359,783
$GC,11553,0.39,478.4,35.8,8.6,668,11557,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,1941,783
$GC,11827,0.36,478.4,13.8,8.6,710,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1940,783
$STATE,11938,end climb,SURFACE_DEPTH_REACHED
$STATE,11938,begin surface coast
$FINISH,1.0,1.022877
$STATE,12010,end surface coast,CONTROL_FINISHED_OK
$STATE,12010,begin surface
$SM_CCo,12093,0.00,0.000,0,0,785,477.84
$SM_GC,1.60,10.88,0.00,0.00,0.044,0.000,0.000,411,2076,785,-10.85,1.02,477.84
$IRIDIUM_FIX,2101.76,-15750.89,110198,212154
$TT8_MAMPS,0.027612
$HUMID,1706
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,23.8,26.489
$10V_AH,10.2,16.193
$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,28.250,142.425,503.600,0.000,0.000,52.167,56.889,273.688,11.500,0.000,0.000,10.669,1375.133,8233.914,571.174,1772.787,724.221,33.372,1467.294,0.000,1740.936,0.000,57.440
$DEVICE_MAMPS,157.235,54.457,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.704,493.473,880.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37944,742
$CAP_FILE_SIZE,118361,0
$CFSIZE,260165632,247791616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,005132,2108.166,-15748.829,38,1.4,38,9.8