version: 66.03
glider: 114
mission: 3
dive: 201
start: 10 19 108 18 14 41
data:
$ID,114
$MISSION,3
$DIVE,201
$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,-595561.56
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,180802,2108.404,-15749.510,35,1.7,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.0
$GPS2,181345,2108.421,-15749.571,10,1.6,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.069,-0.222
$KALMAN_X,-34804.1,760.0,-909.9,41864.9,333.4
$KALMAN_Y,-43610.2,437.6,-71.0,28136.2,-192.9
$MHEAD_RNG_PITCHd_Wd,152.9,12200,-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,-165.5,0.0,0.0,0,103,0.00,0.00,-70.28,0.000,2,0.000,0.000,412,2015,2848
$GC,107,-1.06,-165.5,3.6,-4.6,13,137,11.95,2.42,-9.07,0.000,4,0.157,0.051,2541,648,3411
$GC,207,-1.23,-165.5,20.8,-9.0,30,214,0.12,2.35,0.00,0.000,6,0.058,0.021,2508,2059,3411
$GC,477,-1.23,-165.5,51.8,-9.9,62,481,0.00,2.38,0.00,0.000,4,0.000,0.037,2508,3437,3411
$GC,546,-1.29,-165.5,58.6,-8.7,67,552,0.00,2.35,0.00,0.000,6,0.000,0.024,2508,2038,3411
$GC,808,-1.35,-165.5,83.3,-8.9,92,812,0.00,2.42,0.00,0.000,4,0.000,0.035,2508,3440,3411
$GC,838,-1.41,-165.5,85.8,-8.9,94,843,0.17,2.38,0.00,0.000,6,0.053,0.023,2465,2027,3411
$GC,1164,-1.41,-165.5,113.8,-8.6,124,1168,0.00,2.45,0.00,0.000,4,0.000,0.035,2465,3443,3411
$GC,1204,-1.41,-165.5,117.4,-8.4,127,1208,0.00,2.35,0.00,0.000,6,0.000,0.024,2465,2038,3411
$GC,1530,-1.41,-165.5,147.0,-8.6,157,1534,0.00,2.42,0.00,0.000,4,0.000,0.035,2465,3443,3411
$GC,1598,-1.47,-165.5,152.8,-8.0,162,1604,0.00,2.35,0.00,0.000,6,0.000,0.025,2465,2042,3411
$GC,1924,-1.52,-165.5,177.9,-8.4,193,1928,0.00,2.42,0.00,0.000,4,0.000,0.035,2465,3444,3411
$GC,1954,-1.57,-165.5,180.3,-8.3,195,1959,0.12,2.38,0.00,0.000,6,0.061,0.025,2434,2037,3411
$GC,2287,-1.57,-165.5,210.7,-8.4,220,2291,0.00,2.42,0.00,0.000,4,0.000,0.036,2433,3437,3411
$GC,2360,-1.57,-165.5,216.3,-7.5,223,2364,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2030,3411
$GC,2676,-1.57,-165.5,239.7,-7.6,238,2680,0.00,2.42,0.00,0.000,4,0.000,0.041,2434,631,3411
$GC,2703,-1.57,-165.5,242.0,-7.9,239,2707,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2037,3411
$GC,3025,-1.57,-165.5,264.4,-6.8,255,3029,0.00,2.45,0.00,0.000,4,0.000,0.040,2434,3450,3411
$GC,3076,-1.61,-165.5,268.2,-7.6,257,3080,0.00,2.40,0.00,0.000,6,0.000,0.028,2434,2040,3410
$GC,3392,-1.61,-165.5,293.1,-8.0,272,3396,0.00,2.47,0.00,0.000,4,0.000,0.041,2434,3450,3409
$GC,3448,-1.67,-165.5,297.6,-8.6,274,3455,0.00,2.42,0.00,0.000,6,0.000,0.030,2434,2032,3408
$GC,3783,-1.67,-165.5,322.5,-7.6,284,3787,0.00,2.45,0.00,0.000,4,0.000,0.046,2434,634,3406
$GC,3805,-1.71,-165.5,324.7,-8.7,284,3810,0.12,2.40,0.00,0.000,6,0.066,0.029,2404,2038,3406
$GC,4144,-1.71,-165.5,354.8,-8.8,293,4148,0.00,2.47,0.00,0.000,4,0.000,0.045,2404,3446,3403
$GC,4217,-1.71,-165.5,361.7,-9.4,294,4221,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2036,3403
$GC,4551,-1.71,-165.5,391.5,-9.4,302,4555,0.00,2.50,0.00,0.000,4,0.000,0.044,2404,3448,3400
$GC,4584,-1.71,-165.5,395.3,-10.3,302,4590,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2038,3400
$GC,4916,-1.71,-165.5,426.3,-8.9,311,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2037,3398
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5238,begin apogee
$GC,5246,-0.33,0.0,452.4,8.0,319,5378,1.45,0.00,128.45,0.923,6,0.088,0.000,2705,1933,2733
$STATE,5379,end apogee,CONTROL_FINISHED_OK
$STATE,5379,begin climb
$GC,5383,1.06,165.5,456.9,0.0,322,5520,1.38,2.55,129.77,0.892,4,0.049,0.053,3010,550,2057
$GC,5687,0.51,165.5,432.5,14.5,329,5692,0.65,2.45,0.00,0.000,6,0.140,0.030,2894,1955,2056
$GC,6007,0.24,165.5,405.1,7.8,337,6012,0.30,2.55,0.00,0.000,4,0.119,0.053,2836,559,2055
$GC,6075,0.15,220.4,401.1,5.2,338,6125,0.12,2.42,42.22,0.885,6,0.127,0.031,2815,1956,1834
$GC,6460,0.14,271.9,383.0,5.3,348,6507,0.00,2.55,40.90,0.880,4,0.000,0.048,2815,3353,1623
$GC,6542,0.06,271.9,377.9,7.0,350,6547,0.12,2.47,0.00,0.000,6,0.119,0.035,2794,1960,1623
$GC,6868,0.06,304.5,358.9,5.9,358,6895,0.00,0.00,25.90,0.874,6,0.000,0.000,2793,1959,1491
$GC,7192,0.04,323.1,338.8,6.3,366,7212,0.00,2.55,14.88,0.867,4,0.000,0.044,2793,3352,1415
$GC,7252,0.04,323.1,334.3,7.8,367,7256,0.00,2.47,0.00,0.000,6,0.000,0.034,2794,1948,1415
$GC,7595,0.02,330.6,310.4,6.6,376,7603,0.00,0.00,6.62,0.847,6,0.000,0.000,2793,1947,1384
$GC,7901,-0.01,333.2,290.9,6.7,386,7910,0.00,2.55,2.92,0.806,4,0.000,0.041,2793,3352,1374
$GC,7950,-0.01,333.2,287.3,7.6,388,7955,0.00,2.45,0.00,0.000,6,0.000,0.032,2793,1942,1374
$GC,8272,0.01,348.4,266.3,6.4,404,8294,0.00,2.58,12.52,0.833,4,0.000,0.039,2793,3353,1311
$GC,8341,0.04,365.2,262.0,6.3,407,8362,0.00,2.45,13.77,0.823,6,0.000,0.033,2793,1951,1243
$GC,8672,0.04,365.2,239.5,6.8,423,8676,0.00,2.50,0.00,0.000,4,0.000,0.040,2794,3362,1243
$GC,8712,0.04,365.2,236.7,7.5,424,8719,0.00,2.47,0.00,0.000,6,0.000,0.031,2794,1940,1243
$GC,9028,0.06,375.8,216.0,6.5,440,9042,0.00,2.53,8.98,0.788,4,0.000,0.038,2793,3354,1201
$GC,9083,0.07,379.9,212.5,6.7,442,9095,0.00,2.42,4.35,0.769,6,0.000,0.029,2793,1947,1183
$GC,9409,0.15,426.7,191.5,5.4,464,9451,0.00,2.55,36.12,0.757,4,0.000,0.038,2793,3359,993
$GC,9489,0.21,442.9,187.0,6.3,471,9512,0.15,2.47,13.52,0.747,6,0.071,0.028,2827,1937,926
$GC,9830,0.15,442.9,158.1,9.2,503,9835,0.00,2.50,0.00,0.000,4,0.000,0.038,2827,3362,926
$GC,9860,0.08,442.9,155.6,9.0,505,9865,0.15,2.42,0.00,0.000,6,0.097,0.028,2797,1951,926
$GC,10186,0.08,442.9,131.3,7.7,535,10190,0.00,2.45,0.00,0.000,4,0.000,0.035,2798,3355,926
$GC,10220,0.12,442.9,128.5,8.0,537,10226,0.00,2.42,0.00,0.000,6,0.000,0.027,2798,1939,926
$GC,10550,0.27,496.8,106.6,5.2,568,10598,0.15,2.53,41.53,0.658,4,0.061,0.035,2839,3355,705
$GC,10623,0.21,496.8,101.2,9.4,574,10627,0.00,2.45,0.00,0.000,6,0.000,0.027,2838,1941,706
$GC,10953,0.21,496.8,73.6,7.1,604,10957,0.00,2.47,0.00,0.000,4,0.000,0.035,2838,3362,709
$GC,10982,0.21,496.8,71.1,7.5,606,10986,0.00,2.42,0.00,0.000,6,0.000,0.025,2839,1940,709
$GC,11248,0.29,514.9,53.3,6.3,630,11270,0.00,2.50,15.40,0.601,4,0.000,0.032,2838,3364,632
$GC,11317,0.39,514.9,48.7,6.9,636,11322,0.12,2.42,0.00,0.000,6,0.067,0.025,2869,1944,633
$GC,11584,0.35,514.9,26.7,9.0,663,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1944,633
$STATE,11814,end climb,SURFACE_DEPTH_REACHED
$STATE,11814,begin surface coast
$FINISH,1.1,1.022953
$STATE,11866,end surface coast,CONTROL_FINISHED_OK
$STATE,11866,begin surface
$SM_CCo,11950,0.00,0.000,0,0,635,514.64
$SM_GC,1.53,10.93,0.00,0.00,0.044,0.000,0.000,407,2094,635,-10.87,1.53,514.64
$IRIDIUM_FIX,2104.07,-15753.03,130198,141426
$TT8_MAMPS,0.027612
$HUMID,1727
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,23.8,28.312
$10V_AH,10.2,17.293
$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,28.025,132.625,537.875,0.000,0.000,25.875,28.849,157.511,11.000,0.000,0.000,11.619,1312.756,8172.483,598.844,1668.419,542.531,33.377,1455.471,0.000,1637.053,0.000,57.452
$DEVICE_MAMPS,157.235,52.923,922.701,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.824,475.272,833.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,713
$CAP_FILE_SIZE,111061,0
$CFSIZE,260165632,247017472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191008,213507,2107.123,-15749.051,33,1.1,37,9.8