version: 66.03
glider: 114
mission: 3
dive: 192
start: 10 18 108 11 11 22
data:
$ID,114
$MISSION,3
$DIVE,192
$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,-595376.31
$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,31
$R_STBD_OVSHOOT,70
$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
$GPS1,110508,2104.374,-15748.088,54,1.2,54,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-59.9
$GPS2,111027,2104.353,-15748.035,8,1.9,8,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.140,-0.186
$KALMAN_X,-31801.4,-569.7,891.5,41038.0,-758.5
$KALMAN_Y,-41166.3,-286.0,239.6,18575.5,251.5
$MHEAD_RNG_PITCHd_Wd,133.2,4232,-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,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,110,0.00,0.00,-80.57,0.000,2,0.000,0.000,408,2074,2877
$GC,114,-1.06,-165.5,3.6,-5.0,15,144,11.98,2.58,-8.60,0.000,4,0.157,0.054,2540,638,3409
$GC,203,-1.22,-165.5,20.9,-9.4,30,210,0.12,2.30,0.00,0.000,6,0.058,0.023,2508,2012,3409
$GC,475,-1.22,-165.5,52.7,-10.8,61,479,0.00,2.45,0.00,0.000,4,0.000,0.036,2508,3442,3409
$GC,555,-1.30,-165.5,61.2,-8.7,67,561,0.00,2.38,0.00,0.000,6,0.000,0.025,2508,2029,3409
$GC,818,-1.35,-165.5,81.0,-6.4,92,822,0.00,2.45,0.00,0.000,4,0.000,0.034,2508,3450,3409
$GC,904,-1.45,-165.5,86.8,-6.8,99,909,0.20,2.38,0.00,0.000,6,0.051,0.024,2459,2040,3410
$GC,1230,-1.45,-165.5,123.7,-12.6,129,1234,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3444,3410
$GC,1342,-1.45,-165.5,136.0,-9.2,138,1348,0.00,2.35,0.00,0.000,6,0.000,0.024,2459,2039,3410
$GC,1669,-1.45,-165.5,164.2,-8.5,169,1673,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3447,3411
$GC,1714,-1.49,-165.5,168.0,-8.0,172,1720,0.00,2.38,0.00,0.000,6,0.000,0.024,2459,2029,3411
$GC,2040,-1.49,-165.5,189.4,-5.4,203,2044,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3443,3411
$GC,2125,-1.55,-165.5,194.9,-7.0,210,2129,0.00,2.38,0.00,0.000,6,0.000,0.025,2459,2029,3410
$GC,2451,-1.58,-165.5,221.2,-8.5,229,2456,0.12,2.45,0.00,0.000,4,0.059,0.035,2426,3446,3410
$GC,2495,-1.58,-165.5,225.8,-10.4,231,2500,0.00,2.38,0.00,0.000,6,0.000,0.025,2426,2036,3410
$GC,2818,-1.58,-165.5,253.1,-7.6,247,2822,0.00,2.42,0.00,0.000,4,0.000,0.041,2426,635,3410
$GC,2840,-1.58,-165.5,254.9,-7.4,248,2844,0.00,2.38,0.00,0.000,6,0.000,0.026,2426,2042,3410
$GC,3161,-1.58,-165.5,279.2,-7.4,264,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2043,3409
$GC,3472,-1.58,-165.5,300.6,-7.5,279,3476,0.00,2.45,0.00,0.000,4,0.000,0.041,2426,3453,3408
$GC,3517,-1.62,-165.5,304.6,-8.0,280,3521,0.00,2.40,0.00,0.000,6,0.000,0.028,2427,2046,3408
$GC,3836,-1.62,-165.5,332.8,-8.8,288,3840,0.00,2.42,0.00,0.000,4,0.000,0.040,2426,3444,3406
$GC,3853,-1.62,-165.5,334.7,-9.2,288,3857,0.00,2.40,0.00,0.000,6,0.000,0.028,2426,2034,3405
$GC,4203,-1.62,-165.5,364.1,-7.8,297,4207,0.00,2.47,0.00,0.000,4,0.000,0.041,2426,3447,3403
$GC,4245,-1.67,-165.5,367.1,-7.2,298,4249,0.00,2.42,0.00,0.000,6,0.000,0.029,2426,2035,3402
$GC,4569,-1.67,-165.5,388.5,-6.4,306,4574,0.00,2.47,0.00,0.000,4,0.000,0.048,2426,628,3400
$GC,4615,-1.73,-165.5,391.6,-6.6,307,4620,0.12,2.42,0.00,0.000,6,0.068,0.029,2397,2048,3400
$GC,4936,-1.70,-165.5,415.6,-7.8,315,4940,0.00,2.47,0.00,0.000,4,0.000,0.046,2397,3450,3398
$GC,4997,-1.70,-165.5,421.3,-9.2,316,5002,0.00,2.42,0.00,0.000,6,0.000,0.032,2397,2043,3398
$GC,5342,-1.70,-165.5,449.8,-8.6,325,5346,0.00,2.50,0.00,0.000,4,0.000,0.051,2397,633,3395
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5359,-0.33,0.0,450.9,8.9,325,5491,1.48,0.00,128.12,0.917,6,0.092,0.000,2703,1959,2733
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5495,1.06,165.5,457.1,0.0,328,5633,1.38,2.62,129.27,0.897,4,0.051,0.052,3009,547,2058
$GC,5822,0.51,165.5,433.3,15.1,335,5827,0.65,2.45,0.00,0.000,6,0.137,0.031,2894,1954,2057
$GC,6159,0.24,165.5,401.2,9.3,344,6165,0.30,2.58,0.00,0.000,4,0.141,0.053,2838,539,2054
$GC,6303,0.05,165.5,390.1,7.8,347,6308,0.25,2.45,0.00,0.000,6,0.121,0.031,2793,1950,2053
$GC,6617,0.10,228.4,373.2,5.0,355,6670,0.00,2.62,48.08,0.890,4,0.000,0.054,2792,543,1801
$GC,6682,0.10,268.2,369.7,5.6,356,6721,0.00,2.47,31.88,0.867,6,0.000,0.031,2793,1952,1639
$GC,7061,0.10,297.0,345.3,6.0,366,7090,0.00,2.65,22.73,0.865,4,0.000,0.053,2792,547,1522
$GC,7114,0.06,297.0,341.7,7.7,367,7118,0.00,2.47,0.00,0.000,6,0.000,0.031,2793,1960,1522
$GC,7428,0.06,319.9,320.2,6.1,375,7452,0.00,2.58,18.17,0.854,4,0.000,0.047,2793,3357,1428
$GC,7538,0.09,335.4,312.8,6.4,377,7559,0.00,2.47,12.80,0.844,6,0.000,0.034,2793,1949,1364
$GC,7866,0.10,362.4,292.8,6.0,388,7895,0.00,2.55,21.62,0.840,4,0.000,0.041,2793,3354,1254
$GC,7948,0.10,362.4,286.3,8.3,391,7954,0.00,2.47,0.00,0.000,6,0.000,0.033,2793,1945,1254
$GC,8264,0.10,362.4,264.4,7.1,407,8269,0.00,2.50,0.00,0.000,4,0.000,0.041,2793,3354,1254
$GC,8283,0.10,362.4,263.0,7.7,408,8287,0.00,2.45,0.00,0.000,6,0.000,0.031,2793,1937,1254
$GC,8610,0.10,362.4,239.9,7.2,424,8614,0.00,2.50,0.00,0.000,4,0.000,0.040,2793,3354,1254
$GC,8632,0.10,362.4,238.3,7.3,425,8636,0.00,2.45,0.00,0.000,6,0.000,0.031,2793,1939,1254
$GC,8954,0.12,377.2,216.6,6.4,441,8975,0.00,2.60,11.93,0.788,4,0.000,0.038,2792,3366,1195
$GC,8987,0.17,401.5,214.3,6.1,442,9012,0.10,2.47,19.45,0.775,6,0.081,0.030,2814,1944,1096
$GC,9333,0.12,401.5,186.0,9.4,466,9337,0.00,2.50,0.00,0.000,4,0.000,0.038,2814,3366,1096
$GC,9388,0.12,401.5,180.6,9.6,470,9395,0.00,2.45,0.00,0.000,6,0.000,0.029,2814,1944,1096
$GC,9717,0.12,401.5,150.1,8.3,501,9720,0.00,2.47,0.00,0.000,4,0.000,0.036,2815,3368,1097
$GC,9745,0.12,401.5,147.4,8.8,503,9751,0.00,2.45,0.00,0.000,6,0.000,0.029,2814,1938,1096
$GC,10073,0.19,441.7,127.2,5.6,534,10110,0.00,2.53,31.42,0.687,4,0.000,0.033,2814,3362,932
$GC,10135,0.23,441.7,123.1,7.0,539,10139,0.00,2.45,0.00,0.000,6,0.000,0.027,2814,1946,932
$GC,10465,0.23,444.2,100.2,6.7,569,10477,0.00,2.50,2.75,0.650,4,0.000,0.033,2814,3357,921
$GC,10490,0.32,479.1,98.6,5.8,571,10524,0.15,2.42,26.80,0.647,6,0.060,0.026,2852,1944,778
$GC,10842,0.36,498.4,74.8,6.2,604,10864,0.00,2.50,15.12,0.617,4,0.000,0.033,2852,3362,700
$GC,10905,0.41,500.7,70.1,6.8,609,10912,0.00,2.42,2.53,0.612,6,0.000,0.026,2852,1943,690
$GC,11167,0.41,500.7,48.2,8.3,634,11171,0.00,2.47,0.00,0.000,4,0.000,0.035,2852,3369,691
$GC,11197,0.41,500.7,45.7,8.1,636,11203,0.00,2.42,0.00,0.000,6,0.000,0.026,2852,1944,691
$GC,11465,0.41,500.7,25.4,7.9,666,11471,0.00,2.45,0.00,0.000,4,0.000,0.032,2852,3368,691
$GC,11501,0.41,500.7,22.5,7.4,672,11507,0.00,2.40,0.00,0.000,6,0.000,0.025,2852,1945,692
$STATE,11709,end climb,SURFACE_DEPTH_REACHED
$STATE,11709,begin surface coast
$FINISH,0.8,1.003677
$STATE,11783,end surface coast,CONTROL_FINISHED_OK
$STATE,11783,begin surface
$SM_CCo,11867,0.00,0.000,0,0,694,500.17
$SM_GC,1.48,10.75,0.00,0.00,0.041,0.000,0.000,408,2084,694,-10.86,1.24,500.17
$IRIDIUM_FIX,2057.14,-15753.90,120198,070730
$TT8_MAMPS,0.027612
$HUMID,1710
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.8,27.078
$10V_AH,10.2,16.529
$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,27.600,147.725,522.675,0.000,0.000,29.807,27.592,136.593,12.750,0.000,0.000,10.326,1340.438,7980.052,593.935,1745.363,526.333,33.369,1493.957,0.000,1715.283,0.000,59.932
$DEVICE_MAMPS,157.235,54.457,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.909,481.949,852.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37931,722
$CAP_FILE_SIZE,113071,0
$CFSIZE,260165632,247554048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,143031,2102.968,-15747.121,38,2.0,43,9.8