version: 66.03
glider: 114
mission: 3
dive: 195
start: 10 18 108 21 15 35
data:
$ID,114
$MISSION,3
$DIVE,195
$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,-595415.38
$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,46
$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
$GPS1,210702,2103.676,-15747.021,86,1.8,86,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.0
$GPS2,211439,2103.703,-15747.001,10,1.9,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.074,0.220
$KALMAN_X,-32549.2,951.0,27.5,42909.4,-61.0
$KALMAN_Y,-41655.7,400.4,117.2,17299.4,-582.4
$MHEAD_RNG_PITCHd_Wd,331.7,12760,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.06,-165.4,0.0,0.0,0,108,0.00,0.00,-75.68,0.000,2,0.000,0.000,411,2056,3079
$GC,112,-1.06,-165.5,4.2,-4.4,14,137,11.95,2.38,-4.88,0.000,4,0.156,0.046,2542,3432,3411
$GC,206,-1.15,-165.5,23.9,-6.9,30,213,0.00,2.38,0.00,0.000,6,0.000,0.023,2542,2023,3412
$GC,482,-1.22,-165.5,45.2,-6.9,62,487,0.12,2.45,0.00,0.000,4,0.060,0.033,2510,3437,3411
$GC,523,-1.25,-165.5,48.6,-8.1,65,527,0.00,2.35,0.00,0.000,6,0.000,0.023,2510,2040,3412
$GC,785,-1.28,-165.5,69.6,-8.0,89,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2040,3411
$GC,1040,-1.35,-165.5,90.3,-7.6,113,1045,0.12,2.40,0.00,0.000,4,0.059,0.032,2479,3432,3412
$GC,1108,-1.40,-165.5,96.3,-9.1,118,1114,0.00,2.35,0.00,0.000,6,0.000,0.024,2479,2030,3412
$GC,1433,-1.40,-165.5,124.4,-8.2,149,1437,0.00,2.42,0.00,0.000,4,0.000,0.034,2479,3437,3413
$GC,1519,-1.47,-165.5,131.5,-8.2,156,1523,0.00,2.35,0.00,0.000,6,0.000,0.025,2479,2044,3413
$GC,1844,-1.52,-165.5,157.8,-7.6,186,1849,0.12,2.40,0.00,0.000,4,0.058,0.033,2446,3434,3413
$GC,1874,-1.52,-165.5,160.5,-10.1,188,1878,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2037,3413
$GC,2199,-1.52,-165.5,192.3,-9.5,218,2203,0.00,2.40,0.00,0.000,4,0.000,0.035,2446,3432,3412
$GC,2244,-1.55,-165.5,196.6,-9.5,221,2250,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2032,3412
$GC,2562,-1.55,-165.5,223.9,-8.5,239,2566,0.00,2.40,0.00,0.000,4,0.000,0.040,2446,640,3412
$GC,2584,-1.55,-165.5,225.9,-8.0,240,2588,0.00,2.35,0.00,0.000,6,0.000,0.025,2446,2038,3412
$GC,2905,-1.55,-165.5,245.1,-5.5,256,2909,0.00,2.42,0.00,0.000,4,0.000,0.038,2446,3451,3412
$GC,2975,-1.62,-165.5,249.3,-6.3,259,2979,0.00,2.40,0.00,0.000,6,0.000,0.027,2445,2044,3412
$GC,3305,-1.66,-165.5,276.0,-9.6,275,3310,0.12,2.45,0.00,0.000,4,0.064,0.043,2415,638,3411
$GC,3346,-1.66,-165.5,280.9,-11.8,277,3350,0.00,2.40,0.00,0.000,6,0.000,0.028,2415,2051,3411
$GC,3676,-1.66,-165.5,317.5,-9.9,289,3680,0.00,2.42,0.00,0.000,4,0.000,0.041,2415,3447,3409
$GC,3703,-1.66,-165.5,320.0,-8.6,289,3708,0.00,2.42,0.00,0.000,6,0.000,0.029,2415,2028,3408
$GC,4040,-1.66,-165.5,345.8,-7.6,298,4044,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3442,3407
$GC,4086,-1.66,-165.5,350.0,-8.9,299,4090,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2040,3406
$GC,4404,-1.66,-165.5,377.2,-8.4,307,4409,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3447,3404
$GC,4449,-1.66,-165.5,380.8,-7.6,308,4453,0.00,2.42,0.00,0.000,6,0.000,0.030,2415,2033,3403
$GC,4769,-1.66,-165.5,401.0,-6.1,316,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2032,3401
$GC,5094,-1.66,-165.5,421.4,-6.8,324,5098,0.00,2.50,0.00,0.000,4,0.000,0.043,2415,3449,3399
$GC,5123,-1.66,-165.5,423.6,-7.6,324,5127,0.00,2.42,0.00,0.000,6,0.000,0.031,2415,2040,3399
$GC,5455,-1.66,-165.5,448.3,-7.4,332,5459,0.00,2.47,0.00,0.000,4,0.000,0.044,2415,3440,3395
$STATE,5475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5475,begin apogee
$GC,5485,-0.33,0.0,450.1,7.7,332,5621,1.38,0.00,128.32,0.928,6,0.091,0.000,2701,1952,2733
$STATE,5622,end apogee,CONTROL_FINISHED_OK
$STATE,5622,begin climb
$GC,5625,1.06,165.5,456.1,0.0,336,5763,1.38,2.55,129.12,0.902,4,0.051,0.041,3006,3351,2057
$GC,5952,0.55,165.5,430.4,14.0,343,5957,0.55,2.47,0.00,0.000,6,0.137,0.034,2905,1949,2056
$GC,6289,0.26,165.5,398.7,9.0,352,6295,0.32,2.55,0.00,0.000,4,0.120,0.054,2840,539,2054
$GC,6380,0.07,165.5,391.1,8.0,354,6385,0.22,2.45,0.00,0.000,6,0.117,0.031,2799,1950,2054
$GC,6699,0.12,236.9,374.4,4.7,362,6756,0.00,0.00,54.75,0.897,6,0.000,0.000,2800,1950,1767
$GC,7064,0.21,325.1,358.8,4.2,371,7140,0.12,2.60,68.70,0.881,4,0.080,0.048,2826,3351,1407
$GC,7177,0.11,325.1,350.4,9.7,373,7182,0.10,2.50,0.00,0.000,6,0.117,0.035,2807,1942,1406
$GC,7514,0.04,325.1,319.1,9.2,382,7518,0.00,2.53,0.00,0.000,4,0.000,0.044,2807,3351,1406
$GC,7537,-0.03,325.1,316.9,9.2,382,7542,0.17,2.47,0.00,0.000,6,0.107,0.032,2775,1939,1406
$GC,7855,-0.03,330.1,294.7,6.7,392,7865,0.00,2.55,4.60,0.829,4,0.000,0.042,2774,3355,1386
$GC,7922,0.03,342.8,290.4,6.4,395,7939,0.00,2.47,10.52,0.844,6,0.000,0.032,2775,1941,1335
$GC,8249,0.12,395.7,273.2,5.3,411,8298,0.15,2.58,41.50,0.838,4,0.071,0.039,2812,3362,1118
$GC,8327,0.07,395.7,267.4,8.4,414,8334,0.00,2.47,0.00,0.000,6,0.000,0.032,2812,1953,1118
$GC,8644,0.01,395.7,240.9,7.7,430,8649,0.15,2.50,0.00,0.000,4,0.104,0.039,2781,3361,1119
$GC,8684,0.06,423.2,238.1,6.0,432,8713,0.00,2.47,22.08,0.804,6,0.000,0.031,2780,1940,1006
$GC,9039,0.14,442.6,215.6,6.2,449,9062,0.12,2.55,15.93,0.779,4,0.075,0.037,2809,3363,927
$GC,9114,0.14,442.6,210.1,7.7,452,9119,0.00,2.47,0.00,0.000,6,0.000,0.029,2808,1939,927
$GC,9442,0.14,442.6,183.1,8.3,477,9446,0.00,2.50,0.00,0.000,4,0.000,0.036,2809,3365,928
$GC,9471,0.14,442.6,181.0,6.9,479,9475,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,1946,928
$GC,9799,0.14,442.6,154.1,9.1,509,9803,0.00,2.47,0.00,0.000,4,0.000,0.036,2809,3364,928
$GC,9834,0.14,442.6,150.8,8.5,512,9838,0.00,2.45,0.00,0.000,6,0.000,0.028,2808,1939,928
$GC,10168,0.19,473.6,128.7,5.9,543,10201,0.00,2.55,24.40,0.680,4,0.000,0.034,2809,3355,801
$GC,10226,0.26,489.7,124.9,6.3,548,10249,0.12,2.45,13.07,0.674,6,0.066,0.026,2838,1935,735
$GC,10568,0.26,489.7,95.2,6.9,580,10572,0.00,2.47,0.00,0.000,4,0.000,0.034,2838,3358,737
$GC,10597,0.26,489.7,93.1,7.3,582,10601,0.00,2.42,0.00,0.000,6,0.000,0.026,2838,1943,737
$GC,10926,0.30,509.8,70.2,6.2,612,10948,0.00,2.50,16.45,0.614,4,0.000,0.034,2838,3361,653
$GC,10954,0.30,509.8,67.7,8.1,614,10961,0.00,2.42,0.00,0.000,6,0.000,0.024,2838,1939,653
$GC,11217,0.34,509.8,49.8,7.0,639,11221,0.00,2.45,0.00,0.000,4,0.000,0.044,2838,544,653
$GC,11239,0.40,509.8,48.1,7.2,640,11246,0.12,2.38,0.00,0.000,6,0.066,0.022,2870,1964,653
$GC,11505,0.35,509.8,26.2,8.0,669,11511,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3353,654
$GC,11569,0.35,509.8,19.8,9.4,680,11575,0.00,2.38,0.00,0.000,6,0.000,0.026,2870,1950,654
$STATE,11721,end climb,SURFACE_DEPTH_REACHED
$STATE,11721,begin surface coast
$FINISH,1.0,1.022916
$STATE,11774,end surface coast,CONTROL_FINISHED_OK
$STATE,11774,begin surface
$SM_CCo,11857,0.00,0.000,0,0,657,509.24
$SM_GC,1.53,10.82,0.00,0.00,0.041,0.000,0.000,408,2070,657,-10.87,0.85,509.24
$IRIDIUM_FIX,2057.14,-15748.75,120198,171742
$TT8_MAMPS,0.027612
$HUMID,1701
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,13
$24V_AH,23.8,27.463
$10V_AH,10.2,16.778
$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,28.200,142.275,529.450,0.000,0.000,22.692,32.632,268.966,12.250,0.000,0.000,11.904,1321.995,8053.681,597.976,1677.832,662.842,33.373,1459.449,0.000,1649.399,0.000,57.452
$DEVICE_MAMPS,156.468,53.690,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.430,482.094,851.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38109,716
$CAP_FILE_SIZE,114310,0
$CFSIZE,260165632,247386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,003432,2105.153,-15747.580,41,1.4,41,9.8