version: 66.03
glider: 114
mission: 3
dive: 194
start: 10 18 108 17 45 30
data:
$ID,114
$MISSION,3
$DIVE,194
$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,-595402.88
$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
$GPS1,173907,2102.363,-15746.439,34,1.5,34,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.2
$GPS2,174433,2102.377,-15746.469,9,1.7,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.130,0.193
$KALMAN_X,-32310.3,756.3,-824.7,44633.4,475.9
$KALMAN_Y,-41313.9,495.4,-223.6,14744.1,329.7
$MHEAD_RNG_PITCHd_Wd,316.2,15378,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-54.03,0.000,2,0.000,0.000,409,2072,2672
$GC,87,-1.06,-165.5,3.0,-3.0,10,122,11.93,2.35,-13.68,0.000,4,0.155,0.051,2541,3403,3409
$GC,223,-1.17,-165.5,20.1,-10.1,33,229,0.00,2.33,0.00,0.000,6,0.000,0.023,2541,2015,3409
$GC,495,-1.25,-165.5,43.0,-8.7,68,500,0.15,2.42,0.00,0.000,4,0.054,0.035,2498,3412,3409
$GC,547,-1.28,-165.5,48.4,-10.0,72,551,0.00,2.33,0.00,0.000,6,0.000,0.023,2498,2031,3409
$GC,809,-1.28,-165.5,74.1,-9.0,96,813,0.00,2.40,0.00,0.000,4,0.000,0.037,2499,634,3411
$GC,843,-1.36,-165.5,77.1,-9.0,98,849,0.00,2.30,0.00,0.000,6,0.000,0.022,2498,2012,3410
$GC,1106,-1.41,-165.5,100.1,-8.7,123,1111,0.12,2.45,0.00,0.000,4,0.058,0.032,2466,3449,3411
$GC,1204,-1.45,-165.5,109.9,-10.0,131,1208,0.00,2.38,0.00,0.000,6,0.000,0.024,2466,2036,3411
$GC,1535,-1.45,-165.5,139.2,-7.1,162,1539,0.00,2.42,0.00,0.000,4,0.000,0.034,2466,3445,3412
$GC,1587,-1.52,-165.5,142.8,-7.2,166,1591,0.00,2.35,0.00,0.000,6,0.000,0.024,2466,2042,3412
$GC,1913,-1.56,-165.5,165.7,-6.8,196,1918,0.12,2.40,0.00,0.000,4,0.060,0.034,2434,3443,3412
$GC,1980,-1.56,-165.5,171.0,-7.4,201,1986,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2026,3411
$GC,2305,-1.56,-165.5,199.3,-8.6,232,2309,0.00,2.45,0.00,0.000,4,0.000,0.035,2434,3445,3412
$GC,2345,-1.56,-165.5,202.8,-8.4,234,2349,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2042,3411
$GC,2677,-1.56,-165.5,229.4,-7.7,250,2682,0.00,2.42,0.00,0.000,4,0.000,0.036,2434,3444,3411
$GC,2734,-1.59,-165.5,234.5,-8.6,252,2740,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2034,3411
$GC,3051,-1.59,-165.5,261.0,-7.6,268,3055,0.00,2.45,0.00,0.000,4,0.000,0.038,2434,3446,3411
$GC,3097,-1.63,-165.5,264.6,-7.6,270,3102,0.00,2.40,0.00,0.000,6,0.000,0.027,2434,2037,3411
$GC,3425,-1.63,-165.5,284.8,-5.7,286,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2037,3410
$GC,3734,-1.63,-165.5,303.2,-6.3,300,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2037,3408
$GC,4059,-1.67,-165.5,324.6,-6.8,308,4063,0.00,2.47,0.00,0.000,4,0.000,0.041,2434,3447,3406
$GC,4133,-1.73,-165.5,330.5,-7.7,309,4138,0.15,2.42,0.00,0.000,6,0.065,0.031,2399,2036,3405
$GC,4466,-1.73,-165.5,361.0,-9.1,317,4470,0.00,2.47,0.00,0.000,4,0.000,0.042,2399,3444,3403
$GC,4533,-1.73,-165.5,367.8,-9.3,318,4537,0.00,2.40,0.00,0.000,6,0.000,0.031,2399,2039,3402
$GC,4877,-1.73,-165.5,403.8,-10.6,327,4881,0.00,2.47,0.00,0.000,4,0.000,0.048,2399,637,3400
$GC,4927,-1.73,-165.5,409.5,-11.1,328,4931,0.00,2.40,0.00,0.000,6,0.000,0.031,2399,2033,3399
$GC,5240,-1.73,-165.5,439.0,-9.1,336,5244,0.00,2.50,0.00,0.000,4,0.000,0.048,2399,3445,3398
$GC,5290,-1.73,-165.5,443.5,-9.3,337,5294,0.00,2.42,0.00,0.000,6,0.000,0.032,2399,2040,3398
$STATE,5397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5398,begin apogee
$GC,5406,-0.33,0.0,452.5,8.2,340,5539,1.48,0.00,128.80,0.920,6,0.091,0.000,2703,1935,2733
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5543,1.06,165.5,457.2,0.0,343,5680,1.38,2.55,129.57,0.894,4,0.050,0.053,3009,553,2057
$GC,5939,0.51,165.5,416.7,16.0,352,5945,0.65,2.45,0.00,0.000,6,0.144,0.031,2895,1957,2055
$GC,6259,0.23,165.5,383.1,9.9,360,6264,0.30,2.55,0.00,0.000,4,0.140,0.052,2837,561,2054
$GC,6327,0.05,165.5,377.9,7.6,361,6332,0.25,2.42,0.00,0.000,6,0.122,0.031,2792,1956,2053
$GC,6664,0.16,267.8,363.4,3.8,370,6750,0.10,2.65,78.43,0.886,4,0.087,0.054,2812,555,1640
$GC,6787,0.08,267.8,356.2,8.0,372,6793,0.00,2.45,0.00,0.000,6,0.000,0.031,2813,1949,1640
$GC,7119,-0.01,267.8,332.8,7.1,381,7124,0.17,2.53,0.00,0.000,4,0.111,0.048,2778,3357,1640
$GC,7198,0.01,276.1,327.5,6.6,382,7212,0.00,2.45,7.00,0.851,6,0.000,0.034,2779,1960,1607
$GC,7532,0.01,276.1,305.1,6.9,391,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1960,1606
$GC,7841,0.06,309.1,286.0,5.8,404,7872,0.00,2.53,25.88,0.852,4,0.000,0.041,2779,3354,1472
$GC,7924,0.10,332.5,281.1,6.1,408,7950,0.10,2.47,18.85,0.838,6,0.083,0.033,2800,1947,1376
$GC,8281,0.13,375.9,260.4,5.5,425,8317,0.00,0.00,34.33,0.821,6,0.000,0.000,2800,1946,1200
$GC,8627,0.10,375.9,232.2,9.2,442,8632,0.00,2.53,0.00,0.000,4,0.000,0.041,2800,3366,1200
$GC,8678,0.10,375.9,227.3,9.9,444,8682,0.00,2.47,0.00,0.000,6,0.000,0.032,2800,1941,1200
$GC,8994,0.10,375.9,202.8,7.3,459,8998,0.00,2.50,0.00,0.000,4,0.000,0.040,2800,3362,1200
$GC,9040,0.10,375.9,199.1,8.3,461,9045,0.00,2.45,0.00,0.000,6,0.000,0.031,2800,1950,1200
$GC,9369,0.11,381.9,176.9,6.6,491,9377,0.00,0.00,5.82,0.759,6,0.000,0.000,2800,1950,1175
$GC,9699,0.12,391.9,155.7,6.5,522,9714,0.00,2.53,8.25,0.740,4,0.000,0.035,2800,3358,1135
$GC,9760,0.17,391.9,151.1,7.2,527,9766,0.00,2.45,0.00,0.000,6,0.000,0.028,2800,1940,1135
$GC,10090,0.28,433.0,130.6,5.6,558,10127,0.17,2.53,32.00,0.700,4,0.060,0.034,2845,3358,966
$GC,10168,0.23,433.0,124.4,8.3,564,10174,0.00,2.45,0.00,0.000,6,0.000,0.028,2845,1939,967
$GC,10496,0.17,433.0,98.4,8.6,595,10501,0.15,2.50,0.00,0.000,4,0.096,0.034,2811,3370,967
$GC,10537,0.21,433.0,94.8,8.5,598,10542,0.00,2.45,0.00,0.000,6,0.000,0.027,2811,1942,967
$GC,10864,0.35,475.0,74.0,5.6,628,10906,0.17,2.58,32.38,0.624,4,0.056,0.034,2859,3365,796
$GC,10942,0.35,475.0,68.1,8.9,635,10947,0.00,2.42,0.00,0.000,6,0.000,0.026,2858,1953,796
$GC,11205,0.36,481.9,48.1,6.6,659,11217,0.00,2.50,5.95,0.601,4,0.000,0.045,2859,547,768
$GC,11253,0.36,481.9,44.7,7.6,663,11258,0.00,2.40,0.00,0.000,6,0.000,0.022,2859,1967,767
$GC,11520,0.36,482.2,27.2,6.8,690,11526,0.00,2.38,0.00,0.000,4,0.000,0.035,2858,3354,768
$GC,11579,0.36,482.2,22.0,8.7,700,11586,0.00,2.40,0.00,0.000,6,0.000,0.025,2859,1942,768
$STATE,11803,end climb,SURFACE_DEPTH_REACHED
$STATE,11804,begin surface coast
$FINISH,0.9,1.016799
$STATE,11883,end surface coast,CONTROL_FINISHED_OK
$STATE,11884,begin surface
$SM_CCo,11967,0.00,0.000,0,0,770,481.52
$SM_GC,1.60,10.85,0.00,0.00,0.044,0.000,0.000,411,2055,770,-10.85,0.45,481.52
$IRIDIUM_FIX,2054.83,-15746.61,120198,141436
$TT8_MAMPS,0.027612
$HUMID,1702
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,14
$24V_AH,23.8,27.314
$10V_AH,10.2,16.692
$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,28.250,127.425,507.250,0.000,0.000,23.313,28.915,156.813,12.500,0.000,0.000,10.600,1371.455,8033.388,557.612,1801.393,533.228,33.365,1446.780,0.000,1777.209,0.000,57.445
$DEVICE_MAMPS,154.934,53.690,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.383,506.186,911.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37975,754
$CAP_FILE_SIZE,112033,0
$CFSIZE,260165632,247443456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,210702,2103.676,-15747.021,86,1.8,86,9.8