version: 66.03
glider: 114
mission: 3
dive: 203
start: 10 20 108 1 13 4
data:
$ID,114
$MISSION,3
$DIVE,203
$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,-595589.69
$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,35
$R_STBD_OVSHOOT,65
$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
$GPS1,010608,2105.641,-15748.056,59,1.2,59,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.2
$GPS2,011208,2105.625,-15748.040,8,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.226,-0.055
$KALMAN_X,-35970.4,130.2,949.8,44435.4,-2493.8
$KALMAN_Y,-43283.7,242.6,143.7,22612.1,-854.8
$MHEAD_RNG_PITCHd_Wd,93.9,6433,-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,-70.22,0.000,2,0.000,0.000,410,2080,2945
$GC,107,-1.06,-165.5,3.7,-5.0,13,132,11.93,2.58,-7.28,0.000,4,0.156,0.047,2539,632,3411
$GC,173,-1.06,-165.5,18.5,-10.6,24,180,0.00,2.33,0.00,0.000,6,0.000,0.021,2539,2022,3411
$GC,450,-1.12,-165.5,39.3,-7.7,63,454,0.00,2.45,0.00,0.000,4,0.000,0.036,2539,3447,3411
$GC,541,-1.25,-165.5,45.9,-6.5,70,548,0.15,2.38,0.00,0.000,6,0.057,0.023,2503,2028,3411
$GC,806,-1.29,-165.5,69.5,-7.3,95,810,0.00,2.45,0.00,0.000,4,0.000,0.034,2503,3449,3411
$GC,851,-1.37,-165.5,73.2,-7.6,98,857,0.00,2.35,0.00,0.000,6,0.000,0.022,2503,2041,3411
$GC,1113,-1.41,-165.5,94.5,-7.8,123,1118,0.15,2.40,0.00,0.000,4,0.054,0.035,2465,635,3412
$GC,1136,-1.45,-165.5,96.6,-8.9,124,1142,0.00,2.38,0.00,0.000,6,0.000,0.021,2465,2064,3412
$GC,1461,-1.45,-165.5,127.3,-10.4,155,1465,0.00,2.35,0.00,0.000,4,0.000,0.035,2465,3438,3411
$GC,1540,-1.51,-165.5,135.4,-9.1,161,1547,0.00,2.35,0.00,0.000,6,0.000,0.024,2465,2034,3412
$GC,1865,-1.51,-165.5,161.5,-7.6,192,1870,0.00,2.42,0.00,0.000,4,0.000,0.035,2465,3440,3412
$GC,1940,-1.58,-165.5,167.2,-7.9,198,1945,0.12,2.38,0.00,0.000,6,0.061,0.025,2434,2028,3412
$GC,2265,-1.58,-165.5,197.9,-10.1,228,2269,0.00,2.42,0.00,0.000,4,0.000,0.035,2434,3436,3412
$GC,2290,-1.55,-165.5,200.2,-10.0,229,2296,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2037,3412
$GC,2606,-1.55,-165.5,225.9,-9.1,245,2611,0.00,2.40,0.00,0.000,4,0.000,0.038,2434,640,3412
$GC,2648,-1.58,-165.5,229.7,-9.2,247,2655,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2033,3412
$GC,2983,-1.58,-165.5,259.2,-9.2,263,2987,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3443,3412
$GC,3070,-1.63,-165.5,267.1,-8.6,267,3074,0.00,2.38,0.00,0.000,6,0.000,0.028,2434,2042,3412
$GC,3404,-1.63,-165.5,291.0,-6.9,283,3407,0.00,2.45,0.00,0.000,4,0.000,0.044,2434,631,3411
$GC,3438,-1.69,-165.5,293.8,-7.2,284,3443,0.10,2.40,0.00,0.000,6,0.067,0.028,2408,2039,3411
$GC,3772,-1.69,-165.5,321.4,-8.3,294,3776,0.00,2.45,0.00,0.000,4,0.000,0.043,2408,3447,3409
$GC,3822,-1.69,-165.5,326.1,-9.6,295,3826,0.00,2.40,0.00,0.000,6,0.000,0.031,2408,2044,3409
$GC,4136,-1.69,-165.5,354.8,-9.3,303,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2044,3406
$GC,4459,-1.69,-165.5,386.3,-10.0,311,4464,0.00,2.47,0.00,0.000,4,0.000,0.042,2408,3447,3403
$GC,4521,-1.69,-165.5,392.3,-9.2,312,4525,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2037,3402
$GC,4866,-1.69,-165.5,417.1,-6.4,321,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2036,3400
$GC,5190,-1.69,-165.5,439.6,-7.3,329,5195,0.00,2.47,0.00,0.000,4,0.000,0.048,2408,633,3398
$GC,5219,-1.69,-165.5,441.9,-7.6,329,5223,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2042,3398
$STATE,5350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5350,begin apogee
$GC,5358,-0.33,0.0,451.8,7.4,333,5491,1.42,0.00,129.27,0.917,6,0.088,0.000,2704,1935,2733
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5496,1.06,165.5,456.4,0.0,336,5635,1.38,2.65,130.02,0.892,4,0.052,0.045,3007,3353,2057
$GC,5734,0.55,165.5,444.0,12.6,341,5740,0.57,2.47,0.00,0.000,6,0.138,0.035,2904,1953,2056
$GC,6072,0.25,165.5,417.7,7.3,350,6077,0.32,2.55,0.00,0.000,4,0.117,0.052,2839,543,2054
$GC,6180,0.09,186.0,410.2,6.2,352,6202,0.20,2.45,15.80,0.894,6,0.119,0.031,2803,1953,1974
$GC,6527,0.11,245.2,392.1,5.1,361,6579,0.00,2.55,46.22,0.894,4,0.000,0.048,2803,3353,1732
$GC,6609,0.04,251.1,387.4,6.6,363,6619,0.00,2.50,5.50,0.850,6,0.000,0.035,2803,1942,1709
$GC,6934,-0.03,251.4,365.4,6.8,371,6936,0.15,0.00,0.00,0.000,6,0.118,0.000,2777,1942,1708
$GC,7258,0.03,285.9,346.3,5.8,379,7292,0.00,2.60,27.50,0.884,4,0.000,0.043,2776,3344,1567
$GC,7351,0.05,296.1,340.9,6.5,381,7365,0.00,2.47,8.88,0.862,6,0.000,0.034,2776,1939,1524
$GC,7674,0.05,296.1,320.4,6.9,389,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1939,1523
$GC,7999,0.18,371.2,303.6,4.6,397,8064,0.15,2.60,58.05,0.854,4,0.074,0.042,2814,3343,1219
$GC,8124,0.12,371.2,294.6,7.6,400,8131,0.00,2.45,0.00,0.000,6,0.000,0.033,2814,1948,1219
$GC,8441,0.06,371.2,268.7,8.7,416,8445,0.00,2.53,0.00,0.000,4,0.000,0.051,2814,541,1219
$GC,8468,0.00,371.2,266.1,8.6,417,8473,0.17,2.45,0.00,0.000,6,0.104,0.029,2781,1956,1219
$GC,8785,0.09,418.5,247.8,5.4,432,8828,0.00,2.58,37.40,0.811,4,0.000,0.043,2781,3354,1025
$GC,8898,0.20,446.5,241.2,6.0,437,8928,0.20,2.47,22.75,0.794,6,0.065,0.031,2825,1938,911
$GC,9254,0.11,446.5,214.8,7.0,454,9259,0.00,2.50,0.00,0.000,4,0.000,0.039,2825,3352,911
$GC,9288,0.05,446.5,211.9,7.6,455,9295,0.17,2.45,0.00,0.000,6,0.096,0.030,2791,1938,912
$GC,9608,0.07,462.3,193.6,6.4,475,9626,0.00,0.00,13.00,0.751,6,0.000,0.000,2790,1937,847
$GC,9949,0.07,462.3,168.9,6.9,507,9953,0.00,2.47,0.00,0.000,4,0.000,0.036,2791,3356,848
$GC,10024,0.15,462.3,163.7,6.9,513,10030,0.10,2.42,0.00,0.000,6,0.077,0.026,2814,1937,848
$GC,10349,0.15,462.3,140.6,7.7,544,10353,0.00,2.47,0.00,0.000,4,0.000,0.036,2814,3355,848
$GC,10390,0.15,462.3,137.3,8.4,547,10395,0.00,2.42,0.00,0.000,6,0.000,0.027,2814,1940,848
$GC,10716,0.15,462.3,110.1,7.2,577,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1940,848
$GC,11038,0.24,483.3,90.3,6.2,607,11061,0.00,2.50,17.02,0.639,4,0.000,0.034,2814,3363,761
$GC,11108,0.34,483.3,85.4,6.9,613,11113,0.17,2.42,0.00,0.000,6,0.060,0.025,2854,1942,763
$GC,11434,0.36,497.1,62.4,6.4,643,11455,0.00,2.55,11.77,0.607,4,0.000,0.033,2855,3367,706
$GC,11473,0.37,501.4,59.8,6.7,646,11483,0.00,2.42,4.00,0.607,6,0.000,0.025,2855,1942,687
$GC,11749,0.37,501.4,37.9,9.3,672,11753,0.00,2.45,0.00,0.000,4,0.000,0.032,2855,3360,687
$GC,11789,0.37,501.4,34.7,7.6,675,11793,0.00,2.38,0.00,0.000,6,0.000,0.021,2855,1942,687
$GC,12063,0.37,501.4,10.0,9.2,718,12069,0.00,2.42,0.00,0.000,4,0.000,0.031,2855,3359,688
$GC,12105,0.37,501.5,6.9,6.8,725,12111,0.00,2.38,0.00,0.000,6,0.000,0.024,2855,1947,688
$STATE,12139,end climb,SURFACE_DEPTH_REACHED
$STATE,12140,begin surface coast
$FINISH,0.8,1.000991
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12321,0.00,0.000,0,0,688,501.64
$SM_GC,1.63,10.73,0.00,0.00,0.039,0.000,0.000,410,2086,688,-10.85,1.30,501.64
$IRIDIUM_FIX,2059.45,-15750.89,130198,212157
$TT8_MAMPS,0.027612
$HUMID,1719
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,13
$24V_AH,23.8,28.587
$10V_AH,10.2,17.466
$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,28.200,132.575,527.200,0.000,0.000,25.057,32.173,163.287,12.250,0.000,0.000,14.766,1370.456,8392.408,585.546,1763.897,569.020,33.373,1474.202,0.000,1729.724,0.000,57.456
$DEVICE_MAMPS,156.468,52.156,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.157,493.659,885.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37999,748
$CAP_FILE_SIZE,113317,0
$CFSIZE,260165632,246894592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,043938,2104.553,-15747.554,34,2.0,34,9.8