version: 66.03
glider: 114
mission: 3
dive: 255
start: 10 27 108 11 10 48
data:
$ID,114
$MISSION,3
$DIVE,255
$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,-596708.75
$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,34
$R_STBD_OVSHOOT,76
$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
$GPS1,110355,2105.651,-15748.758,23,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.6
$GPS2,110951,2105.631,-15748.824,14,1.1,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.217,-0.084
$KALMAN_X,-73236.9,-153.3,369.0,81220.3,-1977.7
$KALMAN_Y,-60292.9,150.9,-104.7,39974.5,-580.1
$MHEAD_RNG_PITCHd_Wd,101.3,6962,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,105,0.00,0.00,-75.88,0.000,2,0.000,0.000,409,2083,2779
$GC,109,-1.06,-165.5,3.1,-3.2,14,139,11.95,2.53,-11.07,0.000,4,0.157,0.047,2538,634,3410
$GC,153,-0.31,-165.5,13.3,-21.9,21,161,0.80,2.33,0.00,0.000,6,0.067,0.022,2709,2002,3410
$GC,428,-0.78,-165.5,39.1,-11.6,63,433,0.43,2.45,0.00,0.000,4,0.059,0.032,2612,3447,3410
$GC,689,-1.27,-165.5,65.3,-8.3,85,696,0.50,2.38,0.00,0.000,6,0.063,0.023,2504,2025,3410
$GC,955,-1.44,-165.5,84.5,-7.3,110,959,0.15,2.40,0.00,0.000,4,0.054,0.039,2461,637,3410
$GC,973,-1.57,-165.5,86.2,-7.6,111,978,0.12,2.35,0.00,0.000,6,0.061,0.021,2430,2053,3410
$GC,1299,-1.50,-165.5,120.0,-10.7,141,1305,0.12,2.38,0.00,0.000,4,0.099,0.035,2454,3443,3410
$GC,1384,-1.53,-165.5,128.9,-9.1,148,1391,0.00,2.35,0.00,0.000,6,0.000,0.024,2454,2037,3410
$GC,1710,-1.53,-165.5,160.0,-9.7,179,1715,0.00,2.42,0.00,0.000,4,0.000,0.035,2454,3443,3410
$GC,1761,-1.58,-165.5,165.3,-10.0,183,1767,0.00,2.38,0.00,0.000,6,0.000,0.024,2454,2029,3410
$GC,2086,-1.58,-165.5,194.6,-7.7,214,2091,0.00,2.42,0.00,0.000,4,0.000,0.035,2454,3434,3410
$GC,2115,-1.58,-165.5,196.9,-7.7,216,2120,0.00,2.35,0.00,0.000,6,0.000,0.025,2454,2042,3410
$GC,2446,-1.61,-165.5,222.6,-7.1,233,2451,0.12,2.42,0.00,0.000,4,0.061,0.036,2422,3437,3410
$GC,2515,-1.61,-165.5,228.3,-8.1,236,2519,0.00,2.38,0.00,0.000,6,0.000,0.025,2422,2029,3410
$GC,2836,-1.61,-165.5,257.3,-9.4,252,2840,0.00,2.42,0.00,0.000,4,0.000,0.036,2422,3434,3410
$GC,2909,-1.61,-165.5,264.6,-10.2,255,2913,0.00,2.35,0.00,0.000,6,0.000,0.027,2422,2042,3409
$GC,3237,-1.61,-165.5,293.8,-8.7,271,3241,0.00,2.45,0.00,0.000,4,0.000,0.043,2422,635,3408
$GC,3254,-1.61,-165.5,295.2,-8.0,272,3258,0.00,2.38,0.00,0.000,6,0.000,0.027,2422,2033,3408
$GC,3579,-1.61,-165.5,317.5,-6.5,282,3583,0.00,2.45,0.00,0.000,4,0.000,0.041,2422,3443,3405
$GC,3616,-1.61,-165.5,320.0,-6.6,282,3622,0.00,2.40,0.00,0.000,6,0.000,0.029,2422,2038,3405
$GC,3948,-1.61,-165.5,342.2,-6.7,291,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2038,3403
$GC,4272,-1.61,-165.5,366.5,-7.5,299,4276,0.00,2.47,0.00,0.000,4,0.000,0.042,2422,3445,3401
$GC,4314,-1.66,-165.5,369.8,-8.2,300,4319,0.00,2.42,0.00,0.000,6,0.000,0.031,2422,2038,3401
$GC,4645,-1.66,-165.5,395.5,-7.6,308,4649,0.00,2.47,0.00,0.000,4,0.000,0.048,2422,631,3398
$GC,4661,-1.66,-165.5,397.1,-7.5,308,4666,0.00,2.42,0.00,0.000,6,0.000,0.031,2422,2043,3398
$GC,5004,-1.66,-165.5,425.0,-8.3,317,5008,0.00,2.50,0.00,0.000,4,0.000,0.048,2422,3453,3396
$GC,5032,-1.70,-165.5,427.5,-8.6,317,5036,0.00,2.45,0.00,0.000,6,0.000,0.032,2422,2034,3396
$STATE,5361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5361,begin apogee
$GC,5370,-0.33,0.0,452.7,7.4,325,5502,1.38,0.00,128.70,0.934,6,0.088,0.000,2706,1929,2733
$STATE,5503,end apogee,CONTROL_FINISHED_OK
$STATE,5503,begin climb
$GC,5506,1.06,165.5,457.8,0.0,328,5646,1.38,2.60,130.18,0.908,4,0.052,0.052,3010,549,2058
$GC,5740,0.51,165.5,444.4,15.4,333,5746,0.68,2.45,0.00,0.000,6,0.149,0.030,2893,1953,2058
$GC,6084,0.23,165.5,413.9,8.4,342,6089,0.30,2.55,0.00,0.000,4,0.140,0.053,2836,558,2056
$GC,6174,0.04,165.5,407.0,7.2,344,6179,0.25,2.42,0.00,0.000,6,0.123,0.031,2791,1950,2055
$GC,6494,0.08,226.7,389.6,5.0,352,6548,0.00,2.60,47.25,0.904,4,0.000,0.046,2791,3350,1808
$GC,6600,0.11,269.2,383.8,5.6,354,6640,0.00,2.45,34.22,0.889,6,0.000,0.034,2790,1961,1634
$GC,6950,0.12,312.5,364.2,5.5,363,6991,0.00,2.62,33.85,0.886,4,0.000,0.054,2790,545,1459
$GC,7021,0.12,338.2,360.3,6.1,364,7047,0.00,2.47,20.88,0.875,6,0.000,0.031,2790,1956,1353
$GC,7361,0.08,339.4,339.2,6.8,373,7366,0.00,2.50,0.00,0.000,4,0.000,0.045,2790,3357,1353
$GC,7451,0.08,339.4,332.3,7.9,375,7456,0.00,2.47,0.00,0.000,6,0.000,0.033,2790,1945,1353
$GC,7771,0.04,339.4,310.3,6.9,383,7775,0.00,2.53,0.00,0.000,4,0.000,0.042,2791,3364,1352
$GC,7811,0.04,339.4,307.5,7.0,384,7815,0.00,2.47,0.00,0.000,6,0.000,0.032,2790,1950,1352
$GC,8139,0.03,351.3,286.8,6.5,397,8155,0.00,2.53,10.85,0.861,4,0.000,0.039,2790,3355,1299
$GC,8189,0.05,363.5,283.6,6.5,398,8205,0.00,2.47,10.35,0.851,6,0.000,0.032,2790,1942,1250
$GC,8532,0.11,415.5,263.0,5.3,415,8579,0.00,2.58,40.83,0.836,4,0.000,0.039,2790,3366,1038
$GC,8619,0.18,456.4,257.9,5.6,419,8659,0.12,2.47,32.85,0.820,6,0.077,0.031,2817,1946,871
$GC,8991,0.10,456.4,225.0,10.7,437,8995,0.00,2.50,0.00,0.000,4,0.000,0.039,2818,3358,871
$GC,9036,0.03,456.4,219.3,11.6,439,9041,0.15,2.45,0.00,0.000,6,0.103,0.030,2789,1951,871
$GC,9361,0.08,485.8,194.5,5.9,459,9392,0.00,2.55,23.52,0.770,4,0.000,0.037,2790,3352,752
$GC,9430,0.14,488.4,190.3,6.7,465,9442,0.00,2.45,3.28,0.742,6,0.000,0.028,2790,1946,740
$GC,9762,0.15,493.2,171.5,6.7,496,9771,0.10,0.00,4.40,0.742,6,0.076,0.000,2813,1945,721
$GC,10089,0.15,493.2,143.0,8.3,527,10094,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3364,722
$GC,10146,0.19,493.2,138.4,7.7,531,10152,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1937,723
$GC,10476,0.19,493.2,114.1,7.6,562,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1937,723
$GC,10805,0.28,514.7,95.0,6.2,593,10828,0.12,2.58,17.80,0.654,4,0.064,0.035,2845,3362,633
$GC,10898,0.33,514.7,88.0,7.7,601,10902,0.00,2.42,0.00,0.000,6,0.000,0.026,2845,1950,635
$GC,11227,0.34,522.0,65.5,6.6,631,11239,0.00,2.53,6.90,0.623,4,0.000,0.041,2845,3360,603
$GC,11276,0.39,522.0,61.8,7.6,635,11280,0.00,2.42,0.00,0.000,6,0.000,0.025,2845,1937,604
$GC,11538,0.39,522.0,42.0,7.4,659,11542,0.00,2.47,0.00,0.000,4,0.000,0.032,2845,3371,605
$GC,11567,0.44,522.0,40.0,7.3,661,11572,0.12,2.42,0.00,0.000,6,0.063,0.025,2875,1938,605
$GC,11839,0.38,522.0,16.7,8.4,698,11846,0.00,2.45,0.00,0.000,4,0.000,0.038,2875,3360,606
$GC,11865,0.32,522.0,14.3,9.0,702,11872,0.12,2.38,0.00,0.000,6,0.091,0.024,2851,1951,607
$STATE,11988,end climb,SURFACE_DEPTH_REACHED
$STATE,11988,begin surface coast
$FINISH,0.9,1.010889
$STATE,12074,end surface coast,CONTROL_FINISHED_OK
$STATE,12074,begin surface
$SM_CCo,12158,0.00,0.000,0,0,607,521.51
$SM_GC,1.64,10.77,0.00,0.00,0.043,0.000,0.000,412,2097,607,-10.85,1.61,521.51
$IRIDIUM_FIX,2059.45,-15748.75,210198,070756
$TT8_MAMPS,0.027612
$HUMID,1715
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.8,35.682
$10V_AH,10.2,21.845
$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,29.700,137.800,545.850,0.000,0.000,23.852,35.329,158.096,11.250,0.000,0.000,15.792,1371.794,8175.952,602.188,1797.018,568.829,33.370,1516.410,0.000,1761.188,0.000,57.797
$DEVICE_MAMPS,157.235,54.457,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.006,488.076,873.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37963,739
$CAP_FILE_SIZE,115855,0
$CFSIZE,260165632,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271008,143438,2104.728,-15748.485,33,1.1,33,9.8