version: 66.03
glider: 114
mission: 3
dive: 196
start: 10 19 108 0 41 40
data:
$ID,114
$MISSION,3
$DIVE,196
$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,-595452.69
$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,69
$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
$GPS1,003432,2105.153,-15747.580,41,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.0
$GPS2,004045,2105.126,-15747.550,35,1.2,35,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.126,0.195
$KALMAN_X,-32884.5,468.8,873.9,41936.0,-2496.4
$KALMAN_Y,-41586.2,5.6,170.7,20202.4,-791.9
$MHEAD_RNG_PITCHd_Wd,22.9,9968,-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,-165.5,0.0,0.0,0,108,0.00,0.00,-75.30,0.000,2,0.000,0.000,408,2075,2932
$GC,112,-1.06,-165.5,3.7,-4.5,14,137,11.93,2.38,-7.62,0.000,4,0.157,0.047,2539,3416,3409
$GC,184,-1.06,-165.5,19.4,-10.6,26,191,0.00,2.35,0.00,0.000,6,0.000,0.022,2539,2030,3410
$GC,460,-1.12,-165.5,42.0,-8.6,63,464,0.00,2.40,0.00,0.000,4,0.000,0.035,2539,3416,3410
$GC,523,-1.23,-165.5,47.3,-7.6,68,528,0.12,2.30,0.00,0.000,6,0.063,0.022,2508,2043,3409
$GC,788,-1.27,-165.5,69.9,-7.3,92,792,0.00,2.40,0.00,0.000,4,0.000,0.039,2508,645,3409
$GC,835,-1.38,-165.5,74.1,-8.7,96,840,0.12,2.28,0.00,0.000,6,0.058,0.022,2476,2013,3410
$GC,1100,-1.38,-165.5,102.0,-10.8,120,1104,0.00,2.42,0.00,0.000,4,0.000,0.034,2476,3435,3410
$GC,1190,-1.44,-165.5,110.7,-8.5,127,1196,0.00,2.35,0.00,0.000,6,0.000,0.025,2476,2034,3410
$GC,1516,-1.44,-165.5,135.8,-8.3,158,1520,0.00,2.42,0.00,0.000,4,0.000,0.035,2476,3440,3411
$GC,1569,-1.50,-165.5,140.4,-8.4,162,1574,0.10,2.38,0.00,0.000,6,0.067,0.024,2450,2027,3411
$GC,1894,-1.50,-165.5,172.6,-9.5,192,1898,0.00,2.42,0.00,0.000,4,0.000,0.035,2451,3435,3411
$GC,1957,-1.54,-165.5,178.4,-9.1,197,1961,0.00,2.38,0.00,0.000,6,0.000,0.025,2450,2028,3411
$GC,2281,-1.54,-165.5,205.5,-7.9,224,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2028,3410
$GC,2590,-1.54,-165.5,234.1,-8.6,239,2595,0.00,2.45,0.00,0.000,4,0.000,0.035,2450,3447,3411
$GC,2632,-1.59,-165.5,237.5,-8.4,241,2636,0.00,2.38,0.00,0.000,6,0.000,0.025,2451,2041,3411
$GC,2963,-1.63,-165.5,262.0,-6.5,257,2967,0.10,2.42,0.00,0.000,4,0.066,0.035,2423,3442,3410
$GC,2985,-1.63,-165.5,263.8,-6.7,258,2989,0.00,2.38,0.00,0.000,6,0.000,0.026,2423,2034,3410
$GC,3306,-1.63,-165.5,289.3,-8.7,274,3310,0.00,2.42,0.00,0.000,4,0.000,0.037,2423,3436,3410
$GC,3362,-1.63,-165.5,294.1,-8.6,276,3367,0.00,2.38,0.00,0.000,6,0.000,0.028,2423,2039,3409
$GC,3695,-1.63,-165.5,318.0,-6.9,286,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2038,3408
$GC,4023,-1.63,-165.5,342.6,-8.5,294,4027,0.00,2.45,0.00,0.000,4,0.000,0.041,2423,3437,3405
$GC,4064,-1.63,-165.5,346.7,-9.9,295,4068,0.00,2.40,0.00,0.000,6,0.000,0.030,2423,2039,3405
$GC,4388,-1.63,-165.5,376.2,-8.8,303,4392,0.00,2.45,0.00,0.000,4,0.000,0.041,2423,3442,3403
$GC,4466,-1.66,-165.5,382.6,-7.7,304,4471,0.00,2.40,0.00,0.000,6,0.000,0.031,2423,2044,3402
$GC,4798,-1.66,-165.5,407.4,-7.5,312,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2043,3400
$GC,5124,-1.66,-165.5,431.0,-7.0,320,5128,0.00,2.45,0.00,0.000,4,0.000,0.043,2423,3442,3397
$GC,5170,-1.71,-165.5,434.2,-7.2,321,5174,0.00,2.42,0.00,0.000,6,0.000,0.032,2423,2040,3397
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5467,-0.33,0.0,451.5,5.9,328,5599,1.35,0.00,128.15,0.924,6,0.087,0.000,2704,1937,2733
$STATE,5600,end apogee,CONTROL_FINISHED_OK
$STATE,5600,begin climb
$GC,5603,1.06,165.5,455.8,0.0,331,5741,1.35,2.58,129.60,0.894,4,0.048,0.041,3006,3351,2057
$GC,6000,0.56,165.5,425.1,12.3,340,6006,0.55,2.45,0.00,0.000,6,0.142,0.035,2907,1963,2057
$GC,6320,0.26,165.5,400.6,7.3,348,6325,0.32,2.58,0.00,0.000,4,0.120,0.054,2844,542,2054
$GC,6361,0.08,175.0,397.7,6.5,349,6376,0.22,2.45,7.40,0.877,6,0.120,0.031,2802,1950,2019
$GC,6691,0.16,261.7,384.0,4.3,357,6765,0.00,2.58,67.38,0.890,4,0.000,0.045,2802,3347,1665
$GC,6807,0.10,266.0,377.4,6.7,359,6818,0.00,2.47,4.45,0.838,6,0.000,0.035,2802,1950,1648
$GC,7144,0.09,296.8,356.5,5.9,368,7174,0.00,2.58,24.38,0.875,4,0.000,0.044,2802,3357,1522
$GC,7220,0.06,310.0,352.3,6.4,369,7236,0.00,2.50,10.85,0.858,6,0.000,0.035,2802,1940,1469
$GC,7551,0.01,318.1,331.4,6.6,378,7564,0.00,2.60,6.97,0.851,4,0.000,0.042,2802,3351,1436
$GC,7606,-0.03,318.1,327.5,7.0,379,7611,0.15,2.47,0.00,0.000,6,0.110,0.033,2775,1942,1436
$GC,7919,-0.01,330.8,308.1,6.4,387,7935,0.00,2.55,10.73,0.853,4,0.000,0.040,2775,3357,1383
$GC,7975,0.04,360.4,304.5,5.9,388,8004,0.00,2.47,23.50,0.848,6,0.000,0.032,2775,1944,1263
$GC,8338,0.07,376.0,282.7,6.4,403,8359,0.00,2.58,12.80,0.833,4,0.000,0.040,2775,3353,1200
$GC,8394,0.10,378.0,279.0,6.8,405,8405,0.12,2.45,2.72,0.792,6,0.076,0.031,2801,1950,1190
$GC,8716,0.07,378.0,254.3,7.8,421,8720,0.00,2.47,0.00,0.000,4,0.000,0.039,2802,3355,1190
$GC,8744,0.04,378.0,251.7,8.8,422,8749,0.00,2.45,0.00,0.000,6,0.000,0.031,2801,1944,1190
$GC,9066,0.09,406.7,228.1,6.0,438,9096,0.00,2.60,22.55,0.792,4,0.000,0.038,2801,3361,1074
$GC,9114,0.13,434.3,225.4,6.0,440,9143,0.00,2.47,22.02,0.778,6,0.000,0.030,2801,1941,961
$GC,9461,0.16,448.8,201.5,6.4,457,9482,0.00,2.58,12.02,0.760,4,0.000,0.037,2802,3355,903
$GC,9522,0.16,448.8,197.1,7.3,460,9528,0.00,2.45,0.00,0.000,6,0.000,0.029,2801,1939,903
$GC,9850,0.16,448.8,172.3,7.8,491,9854,0.00,2.50,0.00,0.000,4,0.000,0.037,2801,3365,903
$GC,9895,0.20,448.8,168.6,7.6,494,9902,0.00,2.45,0.00,0.000,6,0.000,0.028,2801,1938,903
$GC,10223,0.20,452.6,143.1,6.7,525,10236,0.10,2.53,4.18,0.690,4,0.074,0.035,2825,3355,886
$GC,10272,0.20,452.6,139.4,7.7,529,10276,0.00,2.42,0.00,0.000,6,0.000,0.027,2825,1946,886
$GC,10600,0.20,453.3,113.3,6.8,559,10604,0.00,2.45,0.00,0.000,4,0.000,0.035,2825,3356,887
$GC,10653,0.24,453.3,109.6,6.9,563,10657,0.00,2.40,0.00,0.000,6,0.000,0.027,2825,1949,888
$GC,10982,0.27,453.3,85.8,7.4,593,10986,0.00,2.45,0.00,0.000,4,0.000,0.034,2825,3364,888
$GC,11027,0.36,453.3,82.1,6.9,596,11034,0.15,2.40,0.00,0.000,6,0.061,0.026,2862,1947,889
$GC,11353,0.36,453.3,57.4,8.1,627,11357,0.00,2.45,0.00,0.000,4,0.000,0.043,2862,540,889
$GC,11394,0.40,453.3,53.7,9.3,630,11398,0.00,2.40,0.00,0.000,6,0.000,0.023,2862,1971,889
$GC,11656,0.40,453.3,37.7,7.1,654,11660,0.00,2.35,0.00,0.000,4,0.000,0.036,2862,3343,890
$GC,11712,0.40,453.3,32.3,9.2,658,11719,0.00,2.35,0.00,0.000,6,0.000,0.025,2862,1950,890
$GC,11989,0.37,453.3,11.4,7.2,705,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1949,891
$STATE,12077,end climb,SURFACE_DEPTH_REACHED
$STATE,12077,begin surface coast
$FINISH,1.0,1.022935
$STATE,12154,end surface coast,CONTROL_FINISHED_OK
$STATE,12154,begin surface
$SM_CCo,12238,0.00,0.000,0,0,894,451.11
$SM_GC,1.65,10.80,0.00,0.00,0.044,0.000,0.000,409,2077,894,-10.86,1.05,451.11
$IRIDIUM_FIX,2054.83,-15747.49,120198,212154
$TT8_MAMPS,0.027612
$HUMID,1695
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.10
$XPDR_PINGS,12
$24V_AH,23.8,27.598
$10V_AH,10.2,16.864
$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,27.500,137.250,489.700,0.000,0.000,24.444,33.772,156.568,12.000,0.000,0.000,36.687,1368.609,8306.608,558.456,1820.313,556.695,33.368,1460.937,0.000,1758.998,0.000,57.442
$DEVICE_MAMPS,157.235,53.690,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.941,484.612,868.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37958,734
$CAP_FILE_SIZE,114446,0
$CFSIZE,260165632,247320576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,040656,2105.908,-15747.889,39,1.5,39,9.8