version: 66.03
glider: 114
mission: 3
dive: 254
start: 10 27 108 7 43 41
data:
$ID,114
$MISSION,3
$DIVE,254
$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,400
$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,-596692.31
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,073707,2107.214,-15749.361,15,1.4,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.6
$GPS2,074245,2107.138,-15749.363,12,1.6,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.164,-0.164
$KALMAN_X,-72225.2,-73.4,522.1,79045.8,-759.6
$KALMAN_Y,-59955.8,106.3,220.9,42149.4,-850.6
$MHEAD_RNG_PITCHd_Wd,125.3,9876,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,106,0.00,0.00,-76.12,0.000,2,0.000,0.000,413,2027,2808
$GC,110,-1.06,-165.5,3.5,-4.1,14,140,11.95,2.42,-10.23,0.000,4,0.157,0.050,2538,638,3411
$GC,171,-0.96,-165.5,15.7,-12.8,24,178,0.15,2.35,0.00,0.000,6,0.161,0.022,2570,2052,3411
$GC,452,-1.09,-165.5,34.4,-5.2,67,457,0.12,2.38,0.00,0.000,4,0.058,0.033,2538,3445,3410
$GC,527,-1.22,-165.5,39.1,-5.9,73,532,0.10,2.38,0.00,0.000,6,0.067,0.023,2513,2034,3411
$GC,792,-1.26,-165.5,63.5,-8.9,97,796,0.00,2.38,0.00,0.000,4,0.000,0.038,2513,641,3411
$GC,843,-1.40,-165.5,68.3,-8.7,101,850,0.17,2.33,0.00,0.000,6,0.051,0.021,2470,2043,3410
$GC,1108,-1.37,-165.5,96.7,-9.9,126,1112,0.00,2.38,0.00,0.000,4,0.000,0.034,2470,3442,3411
$GC,1183,-1.42,-165.5,104.0,-9.0,132,1187,0.00,2.35,0.00,0.000,6,0.000,0.023,2470,2040,3411
$GC,1508,-1.42,-165.5,131.1,-7.3,162,1512,0.00,2.40,0.00,0.000,4,0.000,0.034,2470,3446,3411
$GC,1548,-1.45,-165.5,134.2,-7.7,165,1554,0.00,2.35,0.00,0.000,6,0.000,0.024,2470,2039,3411
$GC,1873,-1.45,-165.5,157.4,-8.4,196,1877,0.00,2.42,0.00,0.000,4,0.000,0.034,2470,3448,3411
$GC,1931,-1.52,-165.5,162.1,-7.3,200,1938,0.00,2.38,0.00,0.000,6,0.000,0.025,2470,2031,3411
$GC,2259,-1.56,-165.5,189.3,-9.7,231,2266,0.12,0.00,0.00,0.000,6,0.059,0.000,2437,2030,3410
$GC,2578,-1.56,-165.5,222.7,-8.2,251,2582,0.00,2.42,0.00,0.000,4,0.000,0.035,2437,3450,3410
$GC,2658,-1.62,-165.5,228.4,-6.3,254,2662,0.00,2.38,0.00,0.000,6,0.000,0.025,2436,2040,3411
$GC,2975,-1.62,-165.5,248.8,-7.2,269,2979,0.00,2.42,0.00,0.000,4,0.000,0.035,2436,3446,3410
$GC,3016,-1.65,-165.5,252.2,-8.8,271,3020,0.00,2.40,0.00,0.000,6,0.000,0.026,2437,2029,3411
$GC,3343,-1.65,-165.5,283.0,-9.2,287,3348,0.00,2.45,0.00,0.000,4,0.000,0.037,2436,3443,3410
$GC,3377,-1.65,-165.5,286.5,-10.0,288,3383,0.00,2.38,0.00,0.000,6,0.000,0.027,2436,2038,3410
$GC,3691,-1.65,-165.5,315.3,-8.9,300,3695,0.00,2.42,0.00,0.000,4,0.000,0.037,2436,3433,3409
$GC,3718,-1.65,-165.5,317.6,-8.6,300,3722,0.00,2.38,0.00,0.000,6,0.000,0.028,2436,2036,3408
$GC,4051,-1.68,-165.5,339.8,-6.7,308,4059,0.10,2.45,0.00,0.000,4,0.072,0.038,2413,3440,3405
$GC,4082,-1.68,-165.5,342.7,-9.1,308,4086,0.00,2.40,0.00,0.000,6,0.000,0.029,2413,2033,3405
$GC,4421,-1.68,-165.5,370.4,-7.9,317,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2033,3403
$GC,4745,-1.68,-165.5,393.3,-7.4,325,4749,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3444,3401
$GC,4786,-1.68,-165.5,396.7,-8.3,326,4791,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2035,3400
$GC,5111,-1.68,-165.5,426.2,-8.9,334,5116,0.00,2.47,0.00,0.000,4,0.000,0.042,2413,3440,3398
$GC,5157,-1.72,-165.5,430.9,-10.5,335,5161,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2030,3397
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5360,-0.33,0.0,452.6,11.1,340,5492,1.40,0.00,128.57,0.936,6,0.094,0.000,2703,1937,2733
$STATE,5493,end apogee,CONTROL_FINISHED_OK
$STATE,5493,begin climb
$GC,5496,1.06,165.5,462.2,0.0,343,5636,1.38,2.60,130.18,0.908,4,0.049,0.054,3008,561,2058
$GC,5896,0.51,165.5,438.7,13.4,352,5901,0.62,2.40,0.00,0.000,6,0.144,0.031,2897,1940,2057
$GC,6215,0.24,165.5,405.1,10.8,360,6217,0.35,0.00,0.00,0.000,6,0.143,0.000,2836,1939,2055
$GC,6541,0.16,211.1,383.3,5.5,368,6582,0.00,2.60,35.30,0.903,4,0.000,0.054,2835,562,1872
$GC,6596,0.09,262.1,380.2,5.3,369,6643,0.20,2.45,40.70,0.890,6,0.123,0.031,2801,1964,1664
$GC,6989,0.08,295.6,357.4,5.8,379,7023,0.00,2.58,26.62,0.883,4,0.000,0.046,2800,3349,1526
$GC,7036,0.10,341.8,354.6,5.5,380,7078,0.00,2.45,36.25,0.871,6,0.000,0.033,2800,1962,1339
$GC,7398,0.04,341.8,329.6,7.6,389,7402,0.00,2.47,0.00,0.000,4,0.000,0.041,2801,3357,1338
$GC,7438,-0.00,341.8,326.2,8.2,389,7443,0.00,2.47,0.00,0.000,6,0.000,0.033,2800,1945,1338
$GC,7770,-0.04,351.5,302.7,6.5,398,7785,0.15,2.58,8.18,0.850,4,0.112,0.041,2774,3354,1299
$GC,7815,-0.02,363.3,299.9,6.5,399,7830,0.00,2.47,10.07,0.856,6,0.000,0.032,2773,1939,1251
$GC,8141,0.05,399.0,279.8,5.8,414,8176,0.00,2.58,28.20,0.843,4,0.000,0.039,2773,3348,1106
$GC,8207,0.15,439.9,276.3,5.6,417,8250,0.17,2.47,32.83,0.833,6,0.067,0.031,2811,1939,938
$GC,8562,0.10,439.9,246.7,9.0,434,8566,0.00,2.50,0.00,0.000,4,0.000,0.039,2811,3352,938
$GC,8625,0.10,439.9,241.0,8.6,437,8629,0.00,2.45,0.00,0.000,6,0.000,0.031,2811,1950,938
$GC,8953,0.06,439.9,215.2,7.0,453,8957,0.00,2.47,0.00,0.000,4,0.000,0.038,2811,3357,938
$GC,9003,0.06,439.9,211.5,7.2,455,9007,0.00,2.42,0.00,0.000,6,0.000,0.030,2811,1949,939
$GC,9330,0.06,439.9,183.6,9.6,479,9334,0.00,2.45,0.00,0.000,4,0.000,0.040,2812,3352,939
$GC,9354,0.06,439.9,181.2,9.6,481,9358,0.00,2.42,0.00,0.000,6,0.000,0.028,2811,1947,939
$GC,9682,0.06,439.9,149.9,7.6,511,9686,0.00,2.45,0.00,0.000,4,0.000,0.036,2812,3353,938
$GC,9718,0.06,439.9,147.2,7.2,514,9722,0.00,2.42,0.00,0.000,6,0.000,0.028,2811,1943,939
$GC,10046,0.07,445.0,123.7,6.7,544,10058,0.00,2.47,4.95,0.695,4,0.000,0.035,2811,3355,918
$GC,10082,0.07,445.0,121.1,7.0,547,10087,0.00,2.42,0.00,0.000,6,0.000,0.027,2811,1943,918
$GC,10408,0.07,445.0,99.3,7.1,577,10413,0.00,2.45,0.00,0.000,4,0.000,0.035,2811,3353,919
$GC,10454,0.14,445.0,96.0,7.0,580,10460,0.00,2.40,0.00,0.000,6,0.000,0.026,2811,1939,919
$GC,10784,0.28,494.1,77.7,5.4,611,10828,0.12,2.58,37.78,0.629,4,0.064,0.034,2844,3362,718
$GC,10864,0.28,494.1,71.8,7.4,618,10869,0.00,2.42,0.00,0.000,6,0.000,0.025,2843,1950,718
$GC,11127,0.37,543.3,56.3,5.4,642,11168,0.00,0.00,38.88,0.597,6,0.000,0.000,2843,1949,518
$GC,11424,0.40,543.3,37.8,7.3,670,11429,0.10,2.45,0.00,0.000,4,0.066,0.031,2870,3365,519
$GC,11465,0.40,543.3,34.2,8.9,673,11469,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,1940,519
$GC,11740,0.35,543.3,8.8,8.9,717,11746,0.00,2.45,0.00,0.000,4,0.000,0.033,2870,3359,520
$GC,11777,0.31,543.3,5.3,9.4,723,11784,0.10,2.40,0.00,0.000,6,0.095,0.025,2850,1937,521
$STATE,11788,end climb,SURFACE_DEPTH_REACHED
$STATE,11788,begin surface coast
$FINISH,0.9,1.022369
$STATE,11851,end surface coast,CONTROL_FINISHED_OK
$STATE,11851,begin surface
$SM_CCo,11935,0.00,0.000,0,0,520,542.85
$SM_GC,1.62,10.85,0.00,0.00,0.044,0.000,0.000,409,2083,520,-10.86,1.22,542.85
$IRIDIUM_FIX,2059.45,-15750.89,210198,040458
$TT8_MAMPS,0.027612
$HUMID,1715
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.8,35.533
$10V_AH,10.2,21.759
$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,28.175,136.900,558.500,0.000,0.000,23.197,29.001,149.465,11.250,0.000,0.000,13.822,1349.300,8011.757,622.864,1748.736,541.097,33.371,1508.646,0.000,1712.338,0.000,57.458
$DEVICE_MAMPS,161.070,56.758,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.652,485.559,897.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,736
$CAP_FILE_SIZE,113093,0
$CFSIZE,260165632,243871744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271008,110355,2105.651,-15748.758,23,1.0,40,9.8