version: 66.03
glider: 114
mission: 3
dive: 204
start: 10 20 108 4 47 24
data:
$ID,114
$MISSION,3
$DIVE,204
$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,-595623.5
$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,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
$GPS1,043938,2104.553,-15747.554,34,2.0,34,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.2
$GPS2,044629,2104.558,-15747.612,9,2.2,28,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.149,-0.178
$KALMAN_X,-36358.6,-569.4,-199.2,47412.7,-1295.8
$KALMAN_Y,-43613.5,-172.3,-361.8,21891.7,-96.6
$MHEAD_RNG_PITCHd_Wd,130.2,4326,-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,-75.40,0.000,2,0.000,0.000,409,2083,2981
$GC,109,-1.06,-165.5,3.9,-4.9,14,134,12.00,2.53,-6.53,0.000,4,0.160,0.047,2539,633,3409
$GC,181,-1.10,-165.5,21.8,-12.4,26,188,0.00,2.33,0.00,0.000,6,0.000,0.022,2539,2027,3409
$GC,457,-1.15,-165.5,47.3,-7.7,58,461,0.00,2.45,0.00,0.000,4,0.000,0.037,2539,3447,3409
$GC,535,-1.29,-165.5,53.4,-7.1,64,542,0.17,2.38,0.00,0.000,6,0.054,0.023,2498,2027,3409
$GC,797,-1.29,-165.5,78.0,-8.2,89,801,0.00,2.45,0.00,0.000,4,0.000,0.034,2498,3447,3409
$GC,839,-1.36,-165.5,81.6,-8.1,92,843,0.00,2.38,0.00,0.000,6,0.000,0.022,2498,2033,3409
$GC,1168,-1.41,-165.5,107.3,-6.3,122,1173,0.10,2.42,0.00,0.000,4,0.061,0.032,2470,3440,3409
$GC,1209,-1.41,-165.5,111.0,-8.7,125,1213,0.00,2.35,0.00,0.000,6,0.000,0.023,2470,2038,3409
$GC,1534,-1.41,-165.5,139.7,-8.3,155,1542,0.00,2.42,0.00,0.000,4,0.000,0.034,2469,3445,3410
$GC,1572,-1.44,-165.5,142.8,-8.4,158,1576,0.00,2.35,0.00,0.000,6,0.000,0.023,2469,2041,3410
$GC,1898,-1.48,-165.5,166.7,-7.4,188,1902,0.00,2.42,0.00,0.000,4,0.000,0.034,2469,3447,3410
$GC,1940,-1.54,-165.5,169.5,-6.9,191,1945,0.10,2.38,0.00,0.000,6,0.064,0.024,2442,2034,3410
$GC,2271,-1.54,-165.5,192.2,-6.5,222,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2033,3410
$GC,2583,-1.54,-165.5,216.3,-8.4,242,2587,0.00,2.42,0.00,0.000,4,0.000,0.036,2442,3436,3409
$GC,2628,-1.58,-165.5,220.5,-9.4,244,2632,0.00,2.35,0.00,0.000,6,0.000,0.025,2442,2044,3409
$GC,2955,-1.58,-165.5,251.7,-9.7,260,2960,0.00,2.42,0.00,0.000,4,0.000,0.037,2442,3442,3409
$GC,3041,-1.62,-165.5,259.9,-9.3,264,3049,0.00,2.38,0.00,0.000,6,0.000,0.026,2442,2040,3409
$GC,3377,-1.65,-165.5,287.8,-8.0,280,3381,0.00,2.45,0.00,0.000,4,0.000,0.038,2442,3446,3407
$GC,3417,-1.71,-165.5,291.2,-8.2,282,3422,0.15,2.40,0.00,0.000,6,0.059,0.028,2405,2033,3407
$GC,3763,-1.71,-165.5,321.6,-8.2,293,3768,0.00,2.45,0.00,0.000,4,0.000,0.044,2405,631,3406
$GC,3786,-1.71,-165.5,323.6,-7.8,293,3790,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,2039,3406
$GC,4123,-1.71,-165.5,349.9,-7.8,302,4128,0.00,2.45,0.00,0.000,4,0.000,0.044,2405,3445,3403
$GC,4178,-1.71,-165.5,354.7,-8.4,303,4183,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,2043,3402
$GC,4493,-1.71,-165.5,380.9,-8.9,311,4497,0.00,2.47,0.00,0.000,4,0.000,0.047,2405,634,3400
$GC,4515,-1.71,-165.5,383.2,-9.8,311,4519,0.00,2.42,0.00,0.000,6,0.000,0.030,2405,2051,3400
$GC,4853,-1.71,-165.5,413.0,-8.5,320,4857,0.00,2.45,0.00,0.000,4,0.000,0.047,2405,3446,3398
$GC,4881,-1.71,-165.5,415.5,-8.5,320,4885,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2036,3398
$GC,5218,-1.71,-165.5,441.3,-7.6,329,5223,0.00,2.50,0.00,0.000,4,0.000,0.044,2405,3452,3395
$GC,5241,-1.71,-165.5,443.4,-8.8,329,5245,0.00,2.45,0.00,0.000,6,0.000,0.032,2405,2032,3395
$STATE,5331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5331,begin apogee
$GC,5339,-0.33,0.0,451.6,8.9,332,5472,1.45,0.00,128.38,0.920,6,0.089,0.000,2706,1937,2733
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5476,1.06,165.5,457.4,0.0,335,5613,1.35,2.55,129.60,0.899,4,0.048,0.052,3007,554,2057
$GC,5746,0.51,165.5,445.6,11.7,341,5752,0.62,2.45,0.00,0.000,6,0.147,0.030,2896,1955,2057
$GC,6096,0.23,165.5,419.8,6.9,350,6101,0.32,2.58,0.00,0.000,4,0.133,0.053,2835,552,2054
$GC,6186,0.17,240.3,415.5,4.6,352,6250,0.00,2.45,57.60,0.897,6,0.000,0.031,2835,1958,1753
$GC,6593,0.06,267.5,393.8,6.0,362,6622,0.20,2.60,21.85,0.894,4,0.131,0.047,2798,3354,1642
$GC,6663,0.03,280.0,389.0,6.4,363,6679,0.00,2.45,10.50,0.884,6,0.000,0.035,2798,1968,1591
$GC,7005,-0.04,280.0,362.2,8.8,372,7010,0.12,2.58,0.00,0.000,4,0.123,0.053,2776,543,1590
$GC,7038,-0.04,280.0,359.2,8.3,372,7045,0.00,2.45,0.00,0.000,6,0.000,0.030,2776,1953,1590
$GC,7370,0.03,320.5,338.9,5.6,381,7411,0.00,2.60,31.45,0.881,4,0.000,0.046,2776,3351,1426
$GC,7479,0.08,345.7,332.0,6.1,383,7505,0.00,2.47,20.33,0.864,6,0.000,0.033,2776,1942,1323
$GC,7824,0.08,345.7,308.8,7.1,392,7829,0.00,2.53,0.00,0.000,4,0.000,0.043,2776,3357,1323
$GC,7882,0.08,345.7,305.0,7.1,393,7887,0.00,2.47,0.00,0.000,6,0.000,0.032,2776,1941,1322
$GC,8214,0.17,398.5,286.1,5.3,407,8258,0.20,0.00,41.72,0.845,6,0.070,0.000,2820,1941,1108
$GC,8563,0.09,398.5,257.4,9.4,424,8567,0.00,2.53,0.00,0.000,4,0.000,0.041,2820,3358,1108
$GC,8636,0.05,398.5,250.3,10.1,427,8641,0.15,2.47,0.00,0.000,6,0.104,0.031,2792,1938,1108
$GC,8952,0.05,398.5,223.1,8.0,442,8956,0.00,2.50,0.00,0.000,4,0.000,0.039,2792,3354,1108
$GC,9007,0.05,398.5,218.9,7.4,444,9014,0.00,2.45,0.00,0.000,6,0.000,0.031,2792,1938,1108
$GC,9325,0.13,444.3,198.3,5.5,461,9364,0.00,0.00,36.17,0.769,6,0.000,0.000,2792,1938,920
$GC,9685,0.13,444.3,175.6,8.5,495,9689,0.00,2.50,0.00,0.000,4,0.000,0.037,2792,3359,921
$GC,9748,0.17,444.3,170.2,8.4,500,9753,0.12,2.45,0.00,0.000,6,0.074,0.028,2819,1937,921
$GC,10074,0.13,444.3,143.1,7.5,530,10078,0.00,2.47,0.00,0.000,4,0.000,0.036,2819,3355,922
$GC,10108,0.09,444.3,140.3,7.9,532,10115,0.00,2.42,0.00,0.000,6,0.000,0.028,2820,1940,921
$GC,10438,0.09,444.3,113.5,8.2,563,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1940,921
$GC,10767,0.17,467.9,90.6,6.1,594,10792,0.00,2.53,18.88,0.647,4,0.000,0.034,2820,3349,825
$GC,10839,0.29,484.6,86.0,6.3,600,10857,0.10,2.40,13.15,0.641,6,0.076,0.026,2844,1945,757
$GC,11175,0.29,484.6,57.8,9.1,632,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1945,758
$GC,11431,0.43,545.6,37.7,5.0,656,11485,0.12,2.47,47.75,0.576,4,0.063,0.032,2875,3357,507
$GC,11499,0.39,545.6,33.3,7.7,662,11503,0.00,2.42,0.00,0.000,6,0.000,0.024,2875,1944,508
$GC,11774,0.32,545.6,6.1,10.5,706,11781,0.12,2.45,0.00,0.000,4,0.094,0.031,2851,3360,508
$STATE,11786,end climb,SURFACE_DEPTH_REACHED
$STATE,11786,begin surface coast
$FINISH,1.1,1.022957
$STATE,11820,end surface coast,CONTROL_FINISHED_OK
$STATE,11821,begin surface
$SM_CCo,11906,0.00,0.000,0,0,510,545.55
$SM_GC,1.60,10.93,0.00,0.00,0.047,0.000,0.000,410,2019,510,-10.86,-0.59,545.55
$IRIDIUM_FIX,2057.14,-15748.75,140198,010158
$TT8_MAMPS,0.027612
$HUMID,1724
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.40
$XPDR_PINGS,8
$24V_AH,23.8,28.736
$10V_AH,10.2,17.550
$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,28.350,132.375,557.375,0.000,0.000,23.048,29.122,204.499,11.000,0.000,0.000,33.216,1304.554,8112.893,612.086,1706.352,580.443,33.368,1476.787,0.000,1654.155,0.000,57.479
$DEVICE_MAMPS,159.536,55.991,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.253,471.073,830.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37934,714
$CAP_FILE_SIZE,111239,0
$CFSIZE,260165632,246833152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,080708,2103.076,-15747.489,39,2.0,39,9.8