version: 66.03
glider: 114
mission: 3
dive: 198
start: 10 19 108 7 46 54
data:
$ID,114
$MISSION,3
$DIVE,198
$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,-595519.38
$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,30
$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
$GPS1,073947,2107.460,-15748.607,11,2.2,30,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.2
$GPS2,074559,2107.482,-15748.647,10,2.2,29,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.184,0.142
$KALMAN_X,-33476.9,-897.9,-651.8,43525.7,1223.2
$KALMAN_Y,-42068.7,-522.4,-109.6,25856.9,523.1
$MHEAD_RNG_PITCHd_Wd,298.0,5216,-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,29,-1.06,-165.5,0.0,0.0,0,108,0.00,0.00,-75.93,0.000,2,0.000,0.000,407,2097,2897
$GC,112,-1.06,-165.5,3.8,-4.7,14,137,11.95,2.40,-8.10,0.000,4,0.157,0.045,2541,3453,3410
$GC,241,-1.19,-165.5,27.7,-12.6,36,247,0.00,2.40,0.00,0.000,6,0.000,0.023,2541,2027,3410
$GC,510,-1.24,-165.5,49.0,-8.3,63,515,0.15,2.45,0.00,0.000,4,0.055,0.035,2499,3445,3410
$GC,562,-1.24,-165.5,54.2,-10.5,67,566,0.00,2.38,0.00,0.000,6,0.000,0.023,2499,2034,3410
$GC,824,-1.28,-165.5,77.5,-8.4,91,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2033,3410
$GC,1080,-1.34,-165.5,97.6,-7.8,115,1083,0.00,2.45,0.00,0.000,4,0.000,0.035,2499,3454,3410
$GC,1110,-1.42,-165.5,100.1,-8.6,117,1117,0.12,2.38,0.00,0.000,6,0.059,0.024,2467,2034,3410
$GC,1436,-1.42,-165.5,128.9,-7.7,148,1440,0.00,2.45,0.00,0.000,4,0.000,0.034,2467,3454,3411
$GC,1500,-1.49,-165.5,133.8,-7.4,153,1505,0.00,2.40,0.00,0.000,6,0.000,0.025,2467,2031,3411
$GC,1827,-1.53,-165.5,158.8,-8.1,183,1831,0.00,2.45,0.00,0.000,4,0.000,0.034,2467,3452,3411
$GC,1889,-1.60,-165.5,164.3,-8.9,188,1896,0.15,2.38,0.00,0.000,6,0.058,0.025,2430,2038,3411
$GC,2216,-1.60,-165.5,194.7,-8.7,219,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2036,3411
$GC,2544,-1.60,-165.5,225.5,-9.8,238,2548,0.00,2.45,0.00,0.000,4,0.000,0.036,2430,3454,3411
$GC,2629,-1.60,-165.5,233.3,-8.6,242,2633,0.00,2.40,0.00,0.000,6,0.000,0.026,2430,2039,3411
$GC,2956,-1.60,-165.5,265.2,-10.7,258,2960,0.00,2.45,0.00,0.000,4,0.000,0.038,2430,3449,3410
$GC,2989,-1.60,-165.5,268.9,-11.3,259,2995,0.00,2.40,0.00,0.000,6,0.000,0.027,2429,2035,3410
$GC,3308,-1.60,-165.5,301.1,-9.6,275,3312,0.00,2.47,0.00,0.000,4,0.000,0.040,2430,3451,3409
$GC,3335,-1.60,-165.5,304.1,-9.8,275,3340,0.00,2.42,0.00,0.000,6,0.000,0.028,2430,2030,3408
$GC,3675,-1.60,-165.5,330.2,-7.4,284,3679,0.00,2.47,0.00,0.000,4,0.000,0.041,2430,3444,3407
$GC,3720,-1.65,-165.5,333.6,-7.1,285,3724,0.00,2.40,0.00,0.000,6,0.000,0.030,2429,2041,3406
$GC,4039,-1.65,-165.5,356.4,-7.1,293,4043,0.00,2.47,0.00,0.000,4,0.000,0.041,2430,3448,3403
$GC,4079,-1.70,-165.5,359.4,-7.4,294,4083,0.00,2.42,0.00,0.000,6,0.000,0.030,2430,2038,3403
$GC,4404,-1.70,-165.5,384.3,-8.2,302,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2038,3401
$GC,4730,-1.73,-165.5,412.5,-8.5,310,4735,0.12,2.50,0.00,0.000,4,0.072,0.042,2402,3452,3399
$GC,4816,-1.73,-165.5,420.0,-9.5,312,4820,0.00,2.45,0.00,0.000,6,0.000,0.033,2402,2037,3398
$GC,5141,-1.73,-165.5,447.9,-8.5,320,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2036,3395
$STATE,5178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5178,begin apogee
$GC,5186,-0.33,0.0,451.4,8.6,321,5319,1.48,0.00,128.70,0.920,6,0.092,0.000,2705,1935,2733
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5323,1.06,165.5,456.8,0.0,324,5462,1.40,2.60,129.93,0.894,4,0.050,0.042,3011,3364,2057
$GC,5599,0.54,165.5,439.9,12.7,331,5604,0.60,2.50,0.00,0.000,6,0.125,0.035,2903,1952,2057
$GC,5924,0.25,165.5,411.8,8.3,339,5929,0.32,2.53,0.00,0.000,4,0.117,0.041,2840,3361,2054
$GC,5947,0.03,165.5,410.0,7.6,339,5952,0.28,2.50,0.00,0.000,6,0.110,0.035,2788,1939,2054
$GC,6285,0.09,234.1,393.8,4.8,348,6339,0.00,0.00,52.95,0.894,6,0.000,0.000,2788,1939,1778
$GC,6650,0.07,250.8,372.1,6.3,357,6669,0.00,2.60,13.62,0.889,4,0.000,0.042,2788,3349,1710
$GC,6688,0.04,254.7,369.6,6.7,357,6697,0.00,2.47,4.15,0.841,6,0.000,0.034,2788,1949,1694
$GC,7023,0.03,269.4,347.5,6.4,366,7042,0.00,2.60,12.05,0.881,4,0.000,0.042,2788,3352,1634
$GC,7078,0.09,301.4,344.3,5.9,367,7110,0.00,2.47,25.33,0.875,6,0.000,0.035,2788,1948,1504
$GC,7436,0.15,353.9,325.9,5.3,376,7485,0.10,2.55,41.28,0.863,4,0.084,0.042,2810,3356,1289
$GC,7521,0.09,353.9,320.3,7.4,378,7525,0.00,2.50,0.00,0.000,6,0.000,0.034,2810,1942,1289
$GC,7848,0.02,353.9,296.1,7.8,387,7853,0.12,2.53,0.00,0.000,4,0.110,0.041,2789,3359,1289
$GC,7881,0.02,353.9,293.2,7.4,388,7887,0.00,2.47,0.00,0.000,6,0.000,0.033,2788,1941,1289
$GC,8198,0.03,359.3,270.5,6.7,404,8208,0.00,2.53,5.15,0.815,4,0.000,0.038,2788,3357,1267
$GC,8260,0.03,359.3,266.5,6.8,407,8264,0.00,2.47,0.00,0.000,6,0.000,0.031,2788,1942,1267
$GC,8587,0.04,365.1,245.2,6.6,423,8598,0.00,2.53,5.35,0.806,4,0.000,0.038,2788,3365,1243
$GC,8644,0.08,365.1,241.3,7.1,425,8649,0.00,2.47,0.00,0.000,6,0.000,0.031,2788,1942,1243
$GC,8961,0.11,382.4,221.2,6.3,441,8979,0.00,0.00,13.98,0.788,6,0.000,0.000,2788,1942,1174
$GC,9290,0.20,435.6,202.9,5.2,457,9334,0.15,0.00,41.45,0.761,6,0.066,0.000,2823,1941,957
$GC,9647,0.15,435.6,175.5,7.9,488,9651,0.00,2.50,0.00,0.000,4,0.000,0.035,2823,3369,957
$GC,9710,0.15,435.6,170.4,7.6,493,9715,0.00,2.47,0.00,0.000,6,0.000,0.028,2823,1938,957
$GC,10039,0.11,435.6,142.3,7.6,523,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1938,957
$GC,10365,0.11,435.6,118.7,7.5,554,10370,0.00,2.47,0.00,0.000,4,0.000,0.035,2823,3365,957
$GC,10433,0.15,435.6,113.2,8.0,559,10439,0.00,2.42,0.00,0.000,6,0.000,0.027,2823,1938,958
$GC,10763,0.15,435.6,87.8,7.6,590,10767,0.00,2.45,0.00,0.000,4,0.000,0.044,2823,538,958
$GC,10804,0.21,435.6,84.5,7.8,593,10808,0.00,2.40,0.00,0.000,6,0.000,0.023,2823,1964,958
$GC,11134,0.34,485.3,63.9,5.3,623,11178,0.12,2.47,38.53,0.600,4,0.066,0.034,2854,3345,754
$GC,11237,0.34,485.3,56.8,7.2,632,11241,0.00,2.40,0.00,0.000,6,0.000,0.026,2854,1950,756
$GC,11504,0.34,485.3,37.4,8.5,657,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1949,756
$GC,11769,0.34,485.3,20.5,7.3,696,11775,0.00,2.40,0.00,0.000,4,0.000,0.028,2854,3355,757
$GC,11800,0.47,541.2,19.1,5.2,701,11853,0.12,2.40,43.50,0.545,6,0.062,0.026,2886,1941,525
$STATE,11942,end climb,SURFACE_DEPTH_REACHED
$STATE,11942,begin surface coast
$FINISH,0.9,1.022926
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11994,begin surface
$SM_CCo,12078,0.00,0.000,0,0,525,541.38
$SM_GC,1.46,10.98,0.00,0.00,0.042,0.000,0.000,411,2076,525,-10.85,1.05,541.38
$IRIDIUM_FIX,2057.14,-15746.61,130198,040445
$TT8_MAMPS,0.027612
$HUMID,1693
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,16
$24V_AH,23.8,27.891
$10V_AH,10.2,17.037
$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,28.175,118.500,555.950,0.000,0.000,23.966,35.122,160.100,13.000,0.000,0.000,31.649,1326.560,8249.016,625.060,1702.130,546.279,33.368,1467.896,0.000,1661.143,0.000,57.437
$DEVICE_MAMPS,157.235,52.923,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.359,488.501,875.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38078,735
$CAP_FILE_SIZE,108913,0
$CFSIZE,260165632,247201792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,110958,2108.394,-15749.451,47,8.4,66,9.8