version: 66.03
glider: 114
mission: 3
dive: 191
start: 10 18 108 7 52 32
data:
$ID,114
$MISSION,3
$DIVE,191
$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,-595365.38
$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,32
$R_STBD_OVSHOOT,60
$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
$GPS1,074237,2105.711,-15748.527,12,1.5,28,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-57.0
$GPS2,075137,2105.715,-15748.551,30,1.2,30,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,-0.232
$KALMAN_X,-31054.9,-750.2,-652.1,41129.1,1110.1
$KALMAN_Y,-41128.1,-573.1,-54.9,21638.8,744.9
$MHEAD_RNG_PITCHd_Wd,171.9,6896,-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,-165.5,0.0,0.0,0,110,0.00,0.00,-80.60,0.000,2,0.000,0.000,407,2073,2864
$GC,115,-1.06,-165.5,3.6,-4.4,15,144,11.90,2.55,-8.82,0.000,4,0.154,0.051,2540,633,3411
$GC,192,-1.19,-165.5,19.8,-11.5,28,198,0.00,2.33,0.00,0.000,6,0.000,0.021,2541,2033,3411
$GC,469,-1.25,-165.5,43.0,-8.1,63,474,0.15,2.42,0.00,0.000,4,0.057,0.035,2500,3445,3411
$GC,604,-1.30,-165.5,55.3,-8.5,74,610,0.00,2.38,0.00,0.000,6,0.000,0.023,2500,2025,3411
$GC,866,-1.30,-165.5,80.6,-9.5,99,870,0.00,2.42,0.00,0.000,4,0.000,0.034,2499,3432,3411
$GC,930,-1.36,-165.5,86.8,-9.8,104,934,0.00,2.35,0.00,0.000,6,0.000,0.023,2500,2027,3411
$GC,1261,-1.42,-165.5,115.0,-7.8,135,1266,0.15,2.42,0.00,0.000,4,0.054,0.032,2461,3437,3411
$GC,1339,-1.42,-165.5,122.6,-10.3,141,1346,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2031,3411
$GC,1665,-1.42,-165.5,151.1,-7.5,172,1669,0.00,2.42,0.00,0.000,4,0.000,0.034,2461,3443,3412
$GC,1698,-1.42,-165.5,153.8,-7.8,174,1704,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2039,3412
$GC,2024,-1.42,-165.5,181.2,-9.2,205,2028,0.00,2.40,0.00,0.000,4,0.000,0.034,2461,3432,3412
$GC,2042,-1.42,-165.5,182.8,-9.2,206,2046,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2037,3412
$GC,2376,-1.47,-165.5,213.5,-8.9,230,2380,0.00,2.40,0.00,0.000,4,0.000,0.035,2461,3432,3412
$GC,2404,-1.52,-165.5,216.5,-9.3,231,2408,0.00,2.35,0.00,0.000,6,0.000,0.025,2461,2039,3411
$GC,2726,-1.58,-165.5,241.8,-7.6,247,2731,0.12,2.42,0.00,0.000,4,0.059,0.035,2428,3439,3411
$GC,2789,-1.61,-165.5,248.0,-10.4,250,2793,0.00,2.38,0.00,0.000,6,0.000,0.027,2428,2040,3411
$GC,3116,-1.61,-165.5,276.8,-7.1,266,3120,0.00,2.42,0.00,0.000,4,0.000,0.038,2428,3434,3411
$GC,3149,-1.61,-165.5,279.4,-7.8,267,3153,0.00,2.38,0.00,0.000,6,0.000,0.028,2428,2032,3410
$GC,3490,-1.61,-165.5,308.1,-9.3,282,3495,0.00,2.45,0.00,0.000,4,0.000,0.039,2428,3432,3409
$GC,3553,-1.65,-165.5,314.6,-10.0,283,3557,0.00,2.38,0.00,0.000,6,0.000,0.029,2428,2043,3408
$GC,3897,-1.65,-165.5,348.3,-9.7,292,3901,0.00,2.45,0.00,0.000,4,0.000,0.041,2428,3438,3406
$GC,3931,-1.65,-165.5,351.7,-9.6,292,3937,0.00,2.40,0.00,0.000,6,0.000,0.030,2428,2038,3406
$GC,4263,-1.65,-165.5,378.8,-7.9,301,4267,0.00,2.45,0.00,0.000,4,0.000,0.041,2428,3431,3403
$GC,4297,-1.68,-165.5,381.4,-8.1,301,4303,0.00,2.40,0.00,0.000,6,0.000,0.030,2428,2033,3403
$GC,4628,-1.68,-165.5,408.8,-8.1,310,4633,0.00,2.47,0.00,0.000,4,0.000,0.042,2428,3435,3400
$GC,4691,-1.75,-165.5,414.0,-7.9,311,4696,0.12,2.40,0.00,0.000,6,0.073,0.031,2400,2040,3400
$GC,5034,-1.75,-165.5,441.9,-7.9,320,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2039,3398
$STATE,5153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5153,begin apogee
$GC,5161,-0.33,0.0,451.2,7.7,323,5294,1.48,0.00,128.48,0.914,6,0.090,0.000,2705,1935,2733
$STATE,5294,end apogee,CONTROL_FINISHED_OK
$STATE,5294,begin climb
$GC,5298,1.06,165.5,455.4,0.0,326,5435,1.38,2.55,129.38,0.889,4,0.049,0.041,3011,3337,2057
$GC,5635,0.55,165.5,429.1,12.1,333,5642,0.60,2.42,0.00,0.000,6,0.124,0.034,2902,1963,2056
$GC,5967,0.27,165.5,403.7,7.5,342,5973,0.30,2.58,0.00,0.000,4,0.117,0.052,2843,539,2054
$GC,6013,0.17,222.4,401.2,5.1,343,6063,0.12,2.42,43.50,0.886,6,0.127,0.030,2822,1940,1825
$GC,6380,0.06,222.4,376.9,8.0,352,6385,0.15,2.53,0.00,0.000,4,0.118,0.044,2796,3357,1824
$GC,6442,0.01,222.4,371.3,8.6,353,6446,0.00,2.47,0.00,0.000,6,0.000,0.035,2795,1942,1824
$GC,6785,0.01,254.5,348.8,5.9,362,6815,0.00,2.55,24.95,0.880,4,0.000,0.041,2795,3349,1695
$GC,6850,0.05,302.7,345.4,5.4,363,6895,0.00,2.47,37.97,0.872,6,0.000,0.033,2795,1943,1498
$GC,7233,0.00,302.7,319.1,7.1,373,7238,0.00,2.50,0.00,0.000,4,0.000,0.041,2795,3351,1498
$GC,7274,0.00,302.7,316.1,7.5,374,7278,0.00,2.47,0.00,0.000,6,0.000,0.033,2795,1941,1498
$GC,7599,0.01,304.8,294.2,6.8,384,7604,0.00,2.50,0.00,0.000,4,0.000,0.040,2795,3354,1498
$GC,7645,0.01,304.8,290.9,7.6,386,7649,0.00,2.45,0.00,0.000,6,0.000,0.032,2795,1947,1498
$GC,7966,0.01,304.8,266.4,7.3,402,7970,0.00,2.47,0.00,0.000,4,0.000,0.038,2795,3361,1497
$GC,7993,0.01,304.8,264.1,7.5,403,7998,0.00,2.45,0.00,0.000,6,0.000,0.031,2794,1950,1497
$GC,8316,0.04,321.1,241.6,6.3,419,8337,0.00,2.58,14.23,0.820,4,0.000,0.050,2795,533,1423
$GC,8349,0.12,370.9,239.8,5.3,420,8394,0.00,2.45,38.75,0.796,6,0.000,0.027,2795,1956,1220
$GC,8714,0.14,379.1,218.3,6.6,438,8727,0.00,2.53,6.97,0.771,4,0.000,0.039,2795,3352,1187
$GC,8797,0.18,379.1,211.7,8.3,441,8804,0.12,2.45,0.00,0.000,6,0.072,0.030,2823,1940,1187
$GC,9122,0.13,379.1,182.4,8.9,466,9126,0.00,2.47,0.00,0.000,4,0.000,0.036,2823,3353,1187
$GC,9174,0.09,379.1,177.9,8.6,470,9179,0.12,2.42,0.00,0.000,6,0.101,0.028,2800,1950,1188
$GC,9499,0.19,431.2,160.0,5.3,500,9545,0.00,2.53,40.35,0.708,4,0.000,0.035,2799,3358,975
$GC,9588,0.29,457.4,154.8,6.0,508,9614,0.20,2.45,20.80,0.695,6,0.059,0.027,2846,1941,868
$GC,9934,0.21,457.4,118.3,11.0,540,9938,0.00,2.47,0.00,0.000,4,0.000,0.035,2846,3354,868
$GC,9997,0.17,457.4,111.5,10.6,545,10002,0.12,2.42,0.00,0.000,6,0.095,0.028,2820,1948,869
$GC,10324,0.22,487.0,86.5,5.9,575,10356,0.00,2.55,22.98,0.630,4,0.000,0.034,2820,3358,747
$GC,10397,0.31,507.5,82.1,6.2,581,10419,0.12,2.42,16.15,0.625,6,0.066,0.026,2850,1941,662
$GC,10739,0.31,507.5,56.0,7.1,613,10743,0.00,2.45,0.00,0.000,4,0.000,0.034,2851,3358,665
$GC,10798,0.36,507.5,51.5,7.5,618,10802,0.00,2.42,0.00,0.000,6,0.000,0.025,2850,1938,665
$GC,11060,0.47,569.0,34.3,5.0,642,11116,0.15,2.53,46.65,0.567,4,0.058,0.032,2888,3351,420
$GC,11135,0.42,569.0,27.2,10.2,651,11142,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,1949,419
$STATE,11337,end climb,SURFACE_DEPTH_REACHED
$STATE,11337,begin surface coast
$FINISH,1.1,1.022923
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11378,begin surface
$SM_CCo,11463,0.00,0.000,0,0,421,567.13
$SM_GC,1.57,11.10,0.00,0.00,0.047,0.000,0.000,408,2074,421,-10.87,0.96,567.13
$IRIDIUM_FIX,2057.14,-15749.62,120198,070726
$TT8_MAMPS,0.027612
$HUMID,1723
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.50
$XPDR_PINGS,10
$24V_AH,23.8,26.940
$10V_AH,10.2,16.445
$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,28.425,137.200,571.150,0.000,0.000,50.066,78.916,186.755,11.500,0.000,0.000,32.165,1266.952,7754.471,619.073,1705.588,657.044,33.370,1490.938,0.000,1656.635,0.000,57.444
$DEVICE_MAMPS,154.167,52.156,914.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.464,453.962,813.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,694
$CAP_FILE_SIZE,111639,0
$CFSIZE,260165632,247615488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,110508,2104.374,-15748.088,54,1.2,54,9.8