version: 66.03
glider: 114
mission: 3
dive: 256
start: 10 27 108 14 41 11
data:
$ID,114
$MISSION,3
$DIVE,256
$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,-596722.81
$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,36
$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
$GPS1,143438,2104.728,-15748.485,33,1.1,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.8
$GPS2,144015,2104.749,-15748.514,11,1.3,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.136,-0.188
$KALMAN_X,-74347.1,-191.5,-815.9,84088.2,-151.1
$KALMAN_Y,-60720.4,75.5,-130.6,38871.3,-276.8
$MHEAD_RNG_PITCHd_Wd,134.3,5275,-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,-76.07,0.000,2,0.000,0.000,412,2098,2859
$GC,110,-1.06,-165.5,3.2,-3.1,14,140,11.90,2.60,-9.35,0.000,4,0.156,0.053,2540,636,3410
$GC,165,-0.75,-165.5,15.1,-15.2,23,172,0.35,2.38,0.00,0.000,6,0.067,0.023,2615,2055,3410
$GC,445,-0.98,-165.5,27.0,-4.5,72,452,0.20,2.38,0.00,0.000,4,0.050,0.033,2561,3443,3410
$GC,509,-1.14,-165.5,31.2,-6.8,81,516,0.15,2.38,0.00,0.000,6,0.056,0.023,2525,2025,3410
$GC,774,-1.18,-165.5,53.0,-8.7,106,778,0.00,2.45,0.00,0.000,4,0.000,0.035,2525,3444,3410
$GC,826,-1.27,-165.5,57.7,-8.7,110,830,0.00,2.35,0.00,0.000,6,0.000,0.022,2525,2039,3410
$GC,1089,-1.35,-165.5,79.7,-8.4,134,1093,0.15,2.42,0.00,0.000,4,0.054,0.032,2482,3447,3410
$GC,1144,-1.35,-165.5,84.9,-9.0,138,1151,0.00,2.35,0.00,0.000,6,0.000,0.023,2482,2039,3410
$GC,1470,-1.35,-165.5,111.7,-7.7,169,1474,0.00,2.42,0.00,0.000,4,0.000,0.033,2482,3446,3410
$GC,1511,-1.41,-165.5,115.2,-8.6,172,1514,0.00,2.38,0.00,0.000,6,0.000,0.023,2481,2028,3410
$GC,1842,-1.46,-165.5,141.2,-8.2,203,1846,0.00,2.45,0.00,0.000,4,0.000,0.034,2482,3449,3410
$GC,1876,-1.53,-165.5,144.1,-7.9,205,1883,0.15,2.38,0.00,0.000,6,0.057,0.023,2445,2028,3410
$GC,2202,-1.53,-165.5,171.6,-8.4,236,2206,0.00,2.45,0.00,0.000,4,0.000,0.035,2445,3449,3410
$GC,2299,-1.57,-165.5,180.5,-8.7,244,2303,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2043,3410
$GC,2624,-1.57,-165.5,206.5,-7.7,270,2628,0.00,2.42,0.00,0.000,4,0.000,0.036,2445,3443,3410
$GC,2670,-1.61,-165.5,210.2,-7.7,272,2674,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2035,3410
$GC,2992,-1.61,-165.5,234.8,-7.6,288,2996,0.00,2.45,0.00,0.000,4,0.000,0.037,2445,3447,3410
$GC,3043,-1.66,-165.5,238.4,-6.9,290,3048,0.12,2.38,0.00,0.000,6,0.065,0.025,2415,2039,3410
$GC,3363,-1.63,-165.5,263.0,-7.9,305,3367,0.00,2.45,0.00,0.000,4,0.000,0.038,2415,3447,3409
$GC,3396,-1.63,-165.5,266.1,-8.0,306,3403,0.00,2.38,0.00,0.000,6,0.000,0.025,2415,2040,3409
$GC,3713,-1.63,-165.5,291.5,-8.7,322,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2039,3408
$GC,4019,-1.63,-165.5,317.6,-8.3,332,4023,0.00,2.45,0.00,0.000,4,0.000,0.039,2415,3444,3405
$GC,4081,-1.63,-165.5,322.4,-7.4,333,4085,0.00,2.40,0.00,0.000,6,0.000,0.028,2415,2034,3405
$GC,4429,-1.63,-165.5,349.5,-8.3,342,4433,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3443,3402
$GC,4469,-1.63,-165.5,352.9,-8.3,343,4473,0.00,2.42,0.00,0.000,6,0.000,0.029,2415,2029,3402
$GC,4795,-1.63,-165.5,378.2,-7.2,351,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2027,3399
$GC,5120,-1.63,-165.5,402.1,-7.6,359,5125,0.00,2.47,0.00,0.000,4,0.000,0.043,2415,3433,3397
$GC,5183,-1.66,-165.5,407.7,-8.6,360,5187,0.00,2.40,0.00,0.000,6,0.000,0.031,2415,2039,3397
$GC,5527,-1.66,-165.5,436.4,-8.2,369,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2038,3394
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5734,-0.33,0.0,452.5,7.9,374,5867,1.40,0.00,128.95,0.930,6,0.090,0.000,2705,1935,2733
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5871,1.06,165.5,458.1,0.0,377,6011,1.38,2.62,130.93,0.905,4,0.051,0.041,3009,3347,2058
$GC,6051,0.55,165.5,455.2,11.8,381,6057,0.60,2.45,0.00,0.000,6,0.136,0.034,2901,1963,2058
$GC,6400,0.26,165.5,424.9,8.3,390,6405,0.30,2.58,0.00,0.000,4,0.118,0.053,2840,544,2056
$GC,6441,0.06,165.5,421.8,7.8,391,6446,0.22,2.45,0.00,0.000,6,0.120,0.030,2798,1953,2056
$GC,6766,0.05,205.0,403.7,5.6,399,6802,0.00,2.53,30.65,0.906,4,0.000,0.044,2798,3354,1896
$GC,6837,-0.01,211.2,399.6,6.6,399,6849,0.00,2.47,5.85,0.876,6,0.000,0.033,2797,1949,1871
$GC,7175,-0.00,255.7,380.7,5.5,408,7216,0.00,2.55,35.17,0.904,4,0.000,0.041,2798,3352,1690
$GC,7229,-0.01,288.7,377.4,5.8,409,7260,0.00,2.47,26.67,0.890,6,0.000,0.032,2798,1949,1556
$GC,7586,-0.04,305.6,354.9,6.3,418,7606,0.15,2.58,13.68,0.885,4,0.114,0.042,2766,3343,1487
$GC,7641,-0.02,317.5,351.7,6.5,419,7656,0.00,2.47,10.18,0.882,6,0.000,0.032,2766,1938,1438
$GC,7994,-0.02,322.2,329.5,6.7,428,8003,0.00,2.55,4.47,0.849,4,0.000,0.041,2766,3352,1419
$GC,8039,-0.01,327.3,326.7,6.7,429,8048,0.00,2.47,4.88,0.859,6,0.000,0.032,2766,1945,1398
$GC,8362,0.05,361.1,307.7,5.8,437,8397,0.12,2.62,26.98,0.872,4,0.079,0.041,2794,3355,1261
$GC,8443,0.05,361.1,301.5,8.0,438,8449,0.00,2.47,0.00,0.000,6,0.000,0.031,2793,1946,1261
$GC,8759,0.02,361.1,277.1,7.2,453,8763,0.00,2.50,0.00,0.000,4,0.000,0.041,2793,3351,1261
$GC,8781,-0.01,361.1,275.4,7.3,454,8786,0.00,2.45,0.00,0.000,6,0.000,0.031,2793,1946,1261
$GC,9104,-0.05,361.1,250.6,7.3,470,9108,0.12,2.50,0.00,0.000,4,0.110,0.040,2771,3353,1261
$GC,9154,0.01,374.3,247.3,6.4,472,9170,0.00,2.45,11.15,0.836,6,0.000,0.031,2771,1937,1207
$GC,9493,0.17,462.4,232.2,4.2,489,9569,0.17,2.58,69.40,0.809,4,0.067,0.039,2815,3354,847
$GC,9614,0.17,462.4,223.0,8.5,494,9620,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1939,847
$GC,9932,0.13,462.4,196.7,8.1,511,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1939,847
$GC,10249,0.13,462.4,169.1,8.7,541,10253,0.00,2.47,0.00,0.000,4,0.000,0.036,2815,3352,847
$GC,10328,0.13,462.4,162.0,8.4,547,10334,0.00,2.42,0.00,0.000,6,0.000,0.028,2815,1945,847
$GC,10657,0.19,497.2,137.3,5.8,578,10690,0.00,2.50,27.40,0.709,4,0.000,0.034,2815,3351,705
$GC,10737,0.19,497.2,132.3,7.4,585,10741,0.00,2.45,0.00,0.000,6,0.000,0.027,2815,1936,707
$GC,11062,0.19,497.2,111.2,7.2,615,11066,0.00,2.47,0.00,0.000,4,0.000,0.035,2815,3359,707
$GC,11098,0.24,506.6,108.7,6.5,618,11113,0.00,2.42,8.65,0.673,6,0.000,0.026,2815,1944,666
$GC,11440,0.35,544.6,83.4,5.7,650,11477,0.15,2.50,30.52,0.635,4,0.059,0.034,2857,3353,512
$GC,11518,0.35,544.6,77.0,8.9,657,11523,0.00,2.42,0.00,0.000,6,0.000,0.025,2857,1939,513
$GC,11781,0.35,544.6,50.1,9.5,681,11785,0.00,2.45,0.00,0.000,4,0.000,0.033,2858,3354,513
$GC,11822,0.35,544.6,46.4,8.6,684,11826,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1944,514
$GC,12090,0.35,544.6,23.5,7.9,714,12097,0.00,2.45,0.00,0.000,4,0.000,0.043,2857,541,515
$GC,12121,0.35,544.6,20.8,8.0,719,12127,0.00,2.38,0.00,0.000,6,0.000,0.022,2858,1961,515
$STATE,12323,end climb,SURFACE_DEPTH_REACHED
$STATE,12323,begin surface coast
$FINISH,1.0,0.998438
$STATE,12398,end surface coast,CONTROL_FINISHED_OK
$STATE,12398,begin surface
$SM_CCo,12482,0.00,0.000,0,0,516,543.83
$SM_GC,1.66,10.88,0.00,0.00,0.044,0.000,0.000,410,2066,516,-10.86,0.74,543.83
$IRIDIUM_FIX,2057.14,-15751.76,210198,111150
$TT8_MAMPS,0.027612
$HUMID,1735
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,7
$24V_AH,23.8,35.832
$10V_AH,10.2,21.933
$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,28.525,142.675,565.525,0.000,0.000,24.554,30.265,147.206,10.750,0.000,0.000,13.415,1393.517,8468.969,623.966,1790.399,542.204,33.372,1525.111,0.000,1754.690,0.000,60.247
$DEVICE_MAMPS,156.468,55.224,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.713,504.320,924.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41268,768
$CAP_FILE_SIZE,116151,0
$CFSIZE,260165632,243740672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271008,181032,2103.638,-15747.380,40,1.1,40,9.8