version: 66.03
glider: 114
mission: 3
dive: 190
start: 10 18 108 4 25 2
data:
$ID,114
$MISSION,3
$DIVE,190
$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,-595332.56
$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,74
$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
$GPS1,041807,2107.037,-15748.736,36,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.9
$GPS2,042403,2107.049,-15748.832,9,1.7,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.118,-0.200
$KALMAN_X,-30212.5,-419.5,-749.5,39569.0,-535.3
$KALMAN_Y,-41354.2,-381.6,-200.8,24286.8,-107.1
$MHEAD_RNG_PITCHd_Wd,139.8,9370,-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,-75.47,0.000,2,0.000,0.000,408,2083,2784
$GC,109,-1.06,-165.5,3.2,-3.8,14,139,11.93,2.55,-10.57,0.000,4,0.156,0.050,2539,631,3409
$GC,186,-1.21,-165.5,18.2,-10.2,27,193,0.10,2.33,0.00,0.000,6,0.066,0.021,2514,2009,3409
$GC,463,-1.21,-165.5,45.7,-11.2,64,467,0.00,2.45,0.00,0.000,4,0.000,0.035,2514,3437,3409
$GC,586,-1.27,-165.5,59.3,-10.3,74,593,0.00,2.35,0.00,0.000,6,0.000,0.023,2514,2034,3409
$GC,849,-1.30,-165.5,81.4,-7.9,99,852,0.00,2.42,0.00,0.000,4,0.000,0.034,2514,3444,3409
$GC,879,-1.37,-165.5,83.8,-8.5,101,886,0.15,2.35,0.00,0.000,6,0.055,0.022,2476,2034,3409
$GC,1204,-1.37,-165.5,112.0,-7.9,132,1208,0.00,2.40,0.00,0.000,4,0.000,0.033,2477,3437,3410
$GC,1255,-1.43,-165.5,116.6,-8.6,136,1262,0.00,2.35,0.00,0.000,6,0.000,0.023,2477,2028,3410
$GC,1582,-1.47,-165.5,142.8,-8.8,167,1586,0.00,2.42,0.00,0.000,4,0.000,0.034,2477,3434,3410
$GC,1651,-1.54,-165.5,149.0,-9.0,172,1658,0.15,2.35,0.00,0.000,6,0.057,0.024,2439,2028,3410
$GC,1977,-1.54,-165.5,177.5,-9.2,203,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2027,3410
$GC,2296,-1.54,-165.5,206.2,-8.8,230,2300,0.00,2.42,0.00,0.000,4,0.000,0.035,2439,3432,3410
$GC,2340,-1.54,-165.5,210.5,-8.5,232,2344,0.00,2.35,0.00,0.000,6,0.000,0.025,2439,2038,3410
$GC,2661,-1.54,-165.5,236.5,-8.4,248,2665,0.00,2.42,0.00,0.000,4,0.000,0.036,2439,3441,3410
$GC,2695,-1.57,-165.5,239.6,-9.3,249,2702,0.00,2.38,0.00,0.000,6,0.000,0.026,2439,2034,3410
$GC,3012,-1.57,-165.5,262.8,-6.5,265,3016,0.00,2.42,0.00,0.000,4,0.000,0.038,2439,3434,3408
$GC,3091,-1.63,-165.5,267.6,-5.8,268,3096,0.00,2.38,0.00,0.000,6,0.000,0.028,2439,2039,3408
$GC,3408,-1.67,-165.5,286.9,-7.3,283,3413,0.00,2.45,0.00,0.000,4,0.000,0.039,2439,3443,3406
$GC,3431,-1.71,-165.5,288.9,-7.9,284,3436,0.15,2.40,0.00,0.000,6,0.062,0.028,2404,2035,3406
$GC,3771,-1.71,-165.5,320.8,-9.4,296,3775,0.00,2.45,0.00,0.000,4,0.000,0.041,2404,3433,3404
$GC,3793,-1.68,-165.5,323.0,-9.5,296,3797,0.00,2.38,0.00,0.000,6,0.000,0.030,2404,2043,3403
$GC,4136,-1.68,-165.5,350.9,-7.9,305,4140,0.00,2.45,0.00,0.000,4,0.000,0.041,2404,3440,3401
$GC,4166,-1.68,-165.5,353.3,-8.1,305,4170,0.00,2.40,0.00,0.000,6,0.000,0.030,2403,2039,3400
$GC,4498,-1.68,-165.5,383.6,-9.7,313,4503,0.00,2.45,0.00,0.000,4,0.000,0.042,2404,3432,3398
$GC,4539,-1.68,-165.5,387.6,-9.6,314,4543,0.00,2.40,0.00,0.000,6,0.000,0.031,2404,2038,3398
$GC,4865,-1.68,-165.5,419.4,-9.7,322,4869,0.00,2.47,0.00,0.000,4,0.000,0.044,2404,3441,3396
$GC,4903,-1.68,-165.5,423.1,-8.8,322,4909,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2034,3395
$GC,5235,-1.68,-165.5,447.6,-6.9,331,5239,0.00,2.47,0.00,0.000,4,0.000,0.044,2404,3430,3393
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5276,-0.33,0.0,450.1,7.9,331,5408,1.42,0.00,127.95,0.923,6,0.092,0.000,2700,1947,2733
$STATE,5409,end apogee,CONTROL_FINISHED_OK
$STATE,5409,begin climb
$GC,5412,1.06,165.5,455.4,0.0,335,5550,1.40,2.60,129.50,0.900,4,0.051,0.054,3009,542,2057
$GC,5570,0.51,165.5,452.3,11.1,338,5577,0.65,2.45,0.00,0.000,6,0.131,0.031,2894,1936,2057
$GC,5902,0.23,165.5,420.8,9.2,347,5907,0.30,2.58,0.00,0.000,4,0.120,0.054,2835,535,2055
$GC,5931,0.02,165.5,418.4,8.2,347,5936,0.25,2.47,0.00,0.000,6,0.120,0.031,2789,1956,2054
$GC,6263,0.07,232.3,402.0,4.8,355,6320,0.00,2.55,51.20,0.900,4,0.000,0.047,2789,3361,1785
$GC,6360,0.01,232.3,396.3,7.0,357,6364,0.00,2.50,0.00,0.000,6,0.000,0.035,2789,1950,1784
$GC,6708,0.00,258.3,375.0,6.1,366,6734,0.00,2.60,20.88,0.896,4,0.000,0.055,2789,543,1679
$GC,6781,-0.01,275.8,370.8,6.3,367,6800,0.00,2.47,14.45,0.881,6,0.000,0.031,2789,1959,1608
$GC,7115,0.04,333.8,353.3,5.1,376,7166,0.00,2.55,45.33,0.884,4,0.000,0.049,2789,3353,1371
$GC,7217,0.04,333.8,346.6,7.7,378,7221,0.00,2.50,0.00,0.000,6,0.000,0.035,2789,1940,1371
$GC,7560,0.04,351.5,324.1,6.3,387,7579,0.00,2.58,14.38,0.867,4,0.000,0.044,2789,3351,1300
$GC,7619,0.05,360.7,320.4,6.5,388,7634,0.00,2.47,8.23,0.856,6,0.000,0.034,2789,1948,1261
$GC,7953,0.02,360.7,296.0,8.2,397,7957,0.00,2.50,0.00,0.000,4,0.000,0.043,2789,3353,1261
$GC,8008,0.02,360.7,291.6,7.4,399,8014,0.00,2.47,0.00,0.000,6,0.000,0.033,2789,1938,1261
$GC,8325,0.19,461.2,275.2,3.8,415,8410,0.15,2.65,78.07,0.834,4,0.073,0.044,2826,3358,852
$GC,8470,0.12,461.2,263.7,9.8,421,8474,0.00,2.50,0.00,0.000,6,0.000,0.033,2826,1939,852
$GC,8787,0.01,461.2,234.6,8.8,436,8791,0.20,2.53,0.00,0.000,4,0.105,0.041,2787,3354,852
$GC,8855,0.05,481.3,229.9,6.2,439,8879,0.00,2.45,16.42,0.796,6,0.000,0.031,2787,1946,769
$GC,9201,0.05,481.3,205.4,9.1,456,9205,0.00,2.50,0.00,0.000,4,0.000,0.039,2787,3363,769
$GC,9252,0.09,481.3,200.3,10.6,458,9257,0.00,2.45,0.00,0.000,6,0.000,0.030,2787,1949,769
$GC,9580,0.09,481.3,169.5,8.1,488,9584,0.00,2.47,0.00,0.000,4,0.000,0.037,2788,3359,769
$GC,9619,0.14,481.3,166.5,7.6,491,9626,0.10,2.45,0.00,0.000,6,0.077,0.029,2810,1936,770
$GC,9945,0.14,485.7,142.4,6.7,522,9957,0.00,2.50,4.47,0.713,4,0.000,0.036,2810,3355,752
$GC,9985,0.14,485.7,139.3,7.3,525,9992,0.00,2.42,0.00,0.000,6,0.000,0.028,2810,1950,752
$GC,10314,0.18,508.0,117.6,6.2,556,10337,0.00,2.55,17.62,0.685,4,0.000,0.035,2810,3357,661
$GC,10374,0.28,537.1,113.7,6.0,561,10407,0.12,2.45,23.62,0.676,6,0.069,0.028,2839,1939,542
$GC,10726,0.24,537.1,79.5,8.3,594,10730,0.00,2.47,0.00,0.000,4,0.000,0.035,2840,3362,542
$GC,10784,0.28,537.1,74.8,7.8,599,10788,0.00,2.42,0.00,0.000,6,0.000,0.027,2840,1942,543
$GC,11046,0.28,537.1,54.0,7.9,623,11050,0.00,2.47,0.00,0.000,4,0.000,0.034,2840,3369,544
$GC,11093,0.35,548.9,50.9,6.5,626,11110,0.00,2.42,10.30,0.607,6,0.000,0.026,2840,1941,495
$GC,11370,0.42,568.1,34.9,6.2,652,11393,0.12,2.53,14.45,0.581,4,0.064,0.043,2872,541,419
$GC,11410,0.42,568.1,30.3,11.5,655,11417,0.00,2.40,0.00,0.000,6,0.000,0.022,2872,1968,419
$STATE,11657,end climb,SURFACE_DEPTH_REACHED
$STATE,11658,begin surface coast
$FINISH,1.0,1.022955
$STATE,11704,end surface coast,CONTROL_FINISHED_OK
$STATE,11704,begin surface
$SM_CCo,11788,0.00,0.000,0,0,421,567.13
$SM_GC,1.67,10.95,0.00,0.00,0.044,0.000,0.000,406,2075,421,-10.87,0.99,567.13
$IRIDIUM_FIX,2101.76,-15747.88,120198,010120
$TT8_MAMPS,0.027612
$HUMID,1729
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.8,26.790
$10V_AH,10.2,16.362
$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,28.150,147.775,576.875,0.000,0.000,25.625,25.768,173.583,11.250,0.000,0.000,10.709,1304.575,7958.562,627.979,1694.087,562.042,33.372,1514.296,0.000,1663.392,0.000,57.459
$DEVICE_MAMPS,155.701,55.991,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.888,465.284,835.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,707
$CAP_FILE_SIZE,113469,0
$CFSIZE,260165632,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,074237,2105.711,-15748.527,12,1.5,28,9.8