version: 66.03
glider: 114
mission: 3
dive: 199
start: 10 19 108 11 16 53
data:
$ID,114
$MISSION,3
$DIVE,199
$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,-595535.56
$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,33
$R_STBD_OVSHOOT,63
$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
$GPS1,110958,2108.394,-15749.451,47,8.4,66,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.0
$GPS2,111556,2108.385,-15749.377,9,1.5,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.076,0.220
$KALMAN_X,-33868.0,-675.7,683.1,41102.1,24.4
$KALMAN_Y,-42779.5,-268.5,134.4,27748.2,-178.4
$MHEAD_RNG_PITCHd_Wd,331.1,3179,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,107,0.00,0.00,-75.28,0.000,2,0.000,0.000,411,2077,2785
$GC,111,-1.06,-165.5,3.0,-3.2,14,141,11.82,2.30,-11.23,0.000,4,0.153,0.042,2540,3420,3408
$GC,241,-1.19,-165.5,19.3,-7.0,36,248,0.00,2.38,0.00,0.000,6,0.000,0.022,2540,2011,3408
$GC,514,-1.26,-165.5,40.5,-7.3,72,519,0.15,2.42,0.00,0.000,4,0.055,0.031,2499,3416,3408
$GC,578,-1.30,-165.5,45.7,-7.9,77,582,0.00,2.33,0.00,0.000,6,0.000,0.023,2499,2031,3408
$GC,845,-1.30,-165.5,68.1,-9.0,102,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2030,3409
$GC,1101,-1.30,-165.5,84.7,-5.7,126,1105,0.00,2.40,0.00,0.000,4,0.000,0.037,2499,631,3408
$GC,1147,-1.37,-165.5,87.6,-6.3,129,1154,0.00,2.30,0.00,0.000,6,0.000,0.021,2499,2019,3408
$GC,1477,-1.43,-165.5,109.0,-6.0,160,1481,0.12,2.42,0.00,0.000,4,0.058,0.033,2466,3444,3409
$GC,1574,-1.49,-165.5,116.8,-7.8,168,1578,0.00,2.38,0.00,0.000,6,0.000,0.024,2466,2031,3409
$GC,1899,-1.49,-165.5,145.9,-8.9,198,1903,0.00,2.42,0.00,0.000,4,0.000,0.035,2466,3437,3409
$GC,1932,-1.49,-165.5,148.9,-9.0,200,1938,0.00,2.35,0.00,0.000,6,0.000,0.024,2466,2033,3409
$GC,2258,-1.49,-165.5,175.1,-7.4,231,2262,0.00,2.42,0.00,0.000,4,0.000,0.034,2465,3442,3409
$GC,2287,-1.53,-165.5,177.3,-7.6,233,2292,0.00,2.38,0.00,0.000,6,0.000,0.025,2466,2034,3409
$GC,2624,-1.58,-165.5,201.6,-7.1,263,2628,0.15,2.42,0.00,0.000,4,0.058,0.034,2424,3435,3409
$GC,2714,-1.58,-165.5,210.2,-9.7,267,2718,0.00,2.35,0.00,0.000,6,0.000,0.025,2423,2040,3408
$GC,3042,-1.58,-165.5,241.0,-9.6,283,3047,0.00,2.42,0.00,0.000,4,0.000,0.040,2424,634,3409
$GC,3084,-1.62,-165.5,245.3,-10.0,285,3088,0.00,2.38,0.00,0.000,6,0.000,0.026,2424,2036,3409
$GC,3411,-1.62,-165.5,275.0,-9.0,301,3415,0.00,2.45,0.00,0.000,4,0.000,0.039,2424,3456,3408
$GC,3475,-1.62,-165.5,280.3,-8.0,304,3479,0.00,2.42,0.00,0.000,6,0.000,0.028,2424,2034,3408
$GC,3821,-1.62,-165.5,307.0,-7.8,319,3825,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,639,3406
$GC,3854,-1.67,-165.5,309.9,-8.6,319,3862,0.00,2.40,0.00,0.000,6,0.000,0.027,2424,2054,3406
$GC,4186,-1.67,-165.5,336.0,-7.8,328,4190,0.00,2.42,0.00,0.000,4,0.000,0.043,2424,3443,3404
$GC,4254,-1.71,-165.5,341.5,-7.5,329,4258,0.00,2.40,0.00,0.000,6,0.000,0.031,2424,2045,3403
$GC,4591,-1.71,-165.5,369.1,-8.3,338,4595,0.00,2.47,0.00,0.000,4,0.000,0.047,2424,635,3401
$GC,4624,-1.75,-165.5,372.1,-9.5,338,4631,0.10,2.40,0.00,0.000,6,0.077,0.030,2399,2034,3400
$GC,4957,-1.75,-165.5,403.6,-9.5,347,4961,0.00,2.50,0.00,0.000,4,0.000,0.047,2400,3452,3398
$GC,4990,-1.75,-165.5,406.9,-9.3,347,4995,0.00,2.45,0.00,0.000,6,0.000,0.031,2400,2028,3397
$GC,5324,-1.75,-165.5,439.4,-10.2,355,5329,0.00,2.53,0.00,0.000,4,0.000,0.044,2399,3454,3395
$GC,5396,-1.75,-165.5,447.6,-11.0,356,5401,0.00,2.45,0.00,0.000,6,0.000,0.031,2399,2032,3394
$STATE,5447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5447,begin apogee
$GC,5455,-0.33,0.0,453.3,11.0,358,5587,1.48,0.00,128.07,0.918,6,0.091,0.000,2704,1929,2733
$STATE,5588,end apogee,CONTROL_FINISHED_OK
$STATE,5588,begin climb
$GC,5591,1.06,165.5,461.3,0.0,361,5728,1.38,2.53,129.48,0.897,4,0.051,0.053,3009,558,2057
$GC,5988,0.51,165.5,431.0,13.0,370,5993,0.62,2.45,0.00,0.000,6,0.141,0.031,2897,1959,2055
$GC,6308,0.23,165.5,400.9,9.0,378,6313,0.32,2.55,0.00,0.000,4,0.120,0.052,2834,558,2053
$GC,6398,0.05,165.5,393.9,7.7,380,6403,0.22,2.42,0.00,0.000,6,0.117,0.031,2793,1952,2053
$GC,6718,0.13,246.6,378.6,4.4,388,6782,0.00,0.00,62.62,0.885,6,0.000,0.000,2793,1952,1727
$GC,7082,0.10,260.9,356.9,6.4,397,7101,0.00,2.65,11.80,0.870,4,0.000,0.053,2792,548,1668
$GC,7136,0.04,260.9,353.2,6.9,398,7141,0.00,2.45,0.00,0.000,6,0.000,0.031,2792,1949,1668
$GC,7451,0.05,292.9,334.5,5.9,406,7481,0.00,2.55,25.70,0.872,4,0.000,0.047,2793,3351,1537
$GC,7538,0.05,292.9,328.3,7.3,408,7542,0.00,2.45,0.00,0.000,6,0.000,0.035,2792,1955,1537
$GC,7863,0.06,322.4,307.7,5.9,416,7892,0.00,2.60,22.75,0.857,4,0.000,0.044,2793,3355,1417
$GC,7933,0.06,324.5,303.2,6.8,417,7938,0.00,2.47,0.00,0.000,6,0.000,0.034,2792,1948,1418
$GC,8255,0.03,324.5,280.2,7.6,432,8259,0.00,2.53,0.00,0.000,4,0.000,0.044,2793,3362,1417
$GC,8282,0.03,324.5,278.0,7.6,433,8287,0.00,2.47,0.00,0.000,6,0.000,0.033,2792,1944,1417
$GC,8598,0.03,324.5,255.3,7.3,448,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1945,1417
$GC,8908,0.14,387.7,237.3,4.9,463,8964,0.00,2.58,50.22,0.808,4,0.000,0.041,2793,3362,1152
$GC,9021,0.23,438.7,231.7,5.3,467,9067,0.17,2.47,40.05,0.785,6,0.071,0.031,2830,1945,944
$GC,9381,0.15,438.7,199.8,10.6,484,9385,0.00,2.50,0.00,0.000,4,0.000,0.049,2830,545,944
$GC,9393,0.07,438.7,198.2,10.6,484,9400,0.17,2.42,0.00,0.000,6,0.103,0.027,2798,1959,944
$GC,9719,0.07,438.7,171.4,8.3,515,9723,0.00,2.42,0.00,0.000,4,0.000,0.041,2797,3347,944
$GC,9782,0.13,438.7,166.4,7.9,520,9786,0.00,2.42,0.00,0.000,6,0.000,0.029,2798,1945,945
$GC,10110,0.13,438.7,142.3,8.2,550,10114,0.00,2.47,0.00,0.000,4,0.000,0.037,2798,3358,945
$GC,10140,0.16,438.7,139.5,9.3,552,10144,0.00,2.42,0.00,0.000,6,0.000,0.028,2798,1949,945
$GC,10471,0.19,453.0,116.5,6.4,582,10488,0.10,2.47,12.07,0.675,4,0.073,0.036,2823,3349,885
$GC,10546,0.19,453.0,110.7,7.6,588,10550,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,1941,885
$GC,10880,0.19,453.0,88.6,7.1,619,10885,0.00,2.45,0.00,0.000,4,0.000,0.035,2822,3349,885
$GC,10925,0.19,453.0,85.1,6.9,622,10932,0.00,2.40,0.00,0.000,6,0.000,0.026,2822,1939,886
$GC,11254,0.20,461.3,64.5,6.6,653,11266,0.00,2.53,7.32,0.614,4,0.000,0.044,2822,541,851
$GC,11306,0.27,461.3,60.3,8.2,657,11313,0.00,2.38,0.00,0.000,6,0.000,0.023,2822,1954,852
$GC,11572,0.38,492.2,44.3,5.9,682,11605,0.15,2.47,23.58,0.585,4,0.063,0.035,2863,3344,725
$GC,11634,0.38,492.2,39.2,8.6,687,11640,0.00,2.40,0.00,0.000,6,0.000,0.026,2863,1938,726
$GC,11905,0.38,492.2,17.4,7.6,726,11911,0.00,2.42,0.00,0.000,4,0.000,0.031,2863,3351,727
$GC,11953,0.48,528.1,14.5,5.8,734,11988,0.00,2.40,28.23,0.550,6,0.000,0.026,2864,1939,579
$STATE,12082,end climb,SURFACE_DEPTH_REACHED
$STATE,12082,begin surface coast
$FINISH,0.8,1.010257
$STATE,12168,end surface coast,CONTROL_FINISHED_OK
$STATE,12168,begin surface
$SM_CCo,12253,0.00,0.000,0,0,579,528.38
$SM_GC,1.50,10.90,0.00,0.00,0.043,0.000,0.000,411,2068,579,-10.85,0.79,528.38
$IRIDIUM_FIX,2059.45,-15753.90,130198,070744
$TT8_MAMPS,0.027612
$HUMID,1701
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.8,28.032
$10V_AH,10.2,17.127
$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,27.875,141.925,541.900,0.000,0.000,29.719,32.867,154.480,11.500,0.000,0.000,15.568,1407.646,8153.372,609.580,1864.228,578.504,33.368,1532.916,0.000,1833.259,0.000,57.465
$DEVICE_MAMPS,152.633,52.923,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.546,512.584,949.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41115,772
$CAP_FILE_SIZE,116668,0
$CFSIZE,260165632,247136256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,144226,2109.743,-15749.746,41,1.0,41,9.8