version: 66.03
glider: 114
mission: 3
dive: 207
start: 10 20 108 14 5 42
data:
$ID,114
$MISSION,3
$DIVE,207
$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,-595690.38
$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,33
$R_STBD_OVSHOOT,49
$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
$GPS1,135901,2102.487,-15747.141,36,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.8
$GPS2,140444,2102.478,-15747.153,8,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.092,0.213
$KALMAN_X,-40030.9,39.2,604.9,50468.4,-2197.2
$KALMAN_Y,-43569.7,31.6,123.8,17301.1,-31.0
$MHEAD_RNG_PITCHd_Wd,13.5,14773,-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,-165.5,0.0,0.0,0,88,0.00,0.00,-59.03,0.000,2,0.000,0.000,411,2063,2848
$GC,92,-1.06,-165.5,3.4,-4.3,11,116,11.95,0.00,-9.30,0.000,6,0.156,0.000,2541,2063,3410
$GC,391,-1.11,-165.5,36.1,-9.0,58,395,0.00,2.38,0.00,0.000,4,0.000,0.037,2541,3434,3410
$GC,455,-1.24,-165.5,41.4,-7.6,63,459,0.15,2.38,0.00,0.000,6,0.057,0.023,2505,2022,3410
$GC,717,-1.24,-165.5,67.9,-10.5,87,720,0.00,2.42,0.00,0.000,4,0.000,0.035,2505,3429,3410
$GC,756,-1.24,-165.5,72.2,-10.1,90,762,0.00,2.33,0.00,0.000,6,0.000,0.023,2505,2039,3410
$GC,1018,-1.24,-165.5,95.5,-9.4,115,1022,0.00,2.40,0.00,0.000,4,0.000,0.034,2505,3431,3411
$GC,1091,-1.32,-165.5,103.0,-10.0,121,1097,0.00,2.33,0.00,0.000,6,0.000,0.023,2505,2038,3411
$GC,1417,-1.38,-165.5,127.3,-6.2,152,1422,0.12,2.40,0.00,0.000,4,0.058,0.036,2472,640,3411
$GC,1436,-1.43,-165.5,128.9,-7.2,153,1440,0.00,2.35,0.00,0.000,6,0.000,0.022,2471,2043,3412
$GC,1762,-1.43,-165.5,155.2,-7.3,183,1766,0.00,2.40,0.00,0.000,4,0.000,0.035,2472,3450,3411
$GC,1852,-1.51,-165.5,162.5,-7.2,190,1859,0.00,2.38,0.00,0.000,6,0.000,0.024,2472,2033,3412
$GC,2178,-1.56,-165.5,186.1,-7.2,221,2183,0.15,2.42,0.00,0.000,4,0.054,0.034,2428,3443,3412
$GC,2220,-1.56,-165.5,189.7,-9.2,224,2224,0.00,2.38,0.00,0.000,6,0.000,0.025,2428,2033,3411
$GC,2546,-1.56,-165.5,218.0,-8.6,245,2550,0.00,2.45,0.00,0.000,4,0.000,0.036,2427,3450,3412
$GC,2576,-1.56,-165.5,220.8,-9.6,246,2580,0.00,2.38,0.00,0.000,6,0.000,0.025,2427,2042,3412
$GC,2892,-1.56,-165.5,248.6,-10.0,261,2896,0.00,2.42,0.00,0.000,4,0.000,0.037,2427,3439,3412
$GC,2978,-1.60,-165.5,256.7,-8.9,265,2982,0.00,2.38,0.00,0.000,6,0.000,0.027,2427,2036,3412
$GC,3312,-1.60,-165.5,283.5,-7.4,281,3316,0.00,2.42,0.00,0.000,4,0.000,0.042,2427,638,3411
$GC,3339,-1.60,-165.5,285.9,-8.3,282,3344,0.00,2.38,0.00,0.000,6,0.000,0.027,2428,2034,3411
$GC,3656,-1.60,-165.5,311.3,-8.6,294,3660,0.00,2.47,0.00,0.000,4,0.000,0.041,2427,3455,3410
$GC,3706,-1.60,-165.5,315.7,-8.6,295,3710,0.00,2.42,0.00,0.000,6,0.000,0.028,2427,2033,3409
$GC,4019,-1.60,-165.5,344.1,-9.5,303,4023,0.00,2.47,0.00,0.000,4,0.000,0.052,2427,3446,3407
$GC,4077,-1.64,-165.5,349.4,-8.8,304,4082,0.00,2.40,0.00,0.000,6,0.000,0.030,2427,2043,3407
$GC,4397,-1.67,-165.5,372.2,-6.6,312,4402,0.00,2.47,0.00,0.000,4,0.000,0.041,2427,3453,3404
$GC,4426,-1.70,-165.5,374.1,-5.9,312,4431,0.00,2.42,0.00,0.000,6,0.000,0.028,2428,2027,3404
$GC,4759,-1.74,-165.5,392.4,-5.6,320,4764,0.12,2.50,0.00,0.000,4,0.069,0.041,2399,3446,3402
$GC,4820,-1.74,-165.5,396.8,-7.6,321,4825,0.00,2.42,0.00,0.000,6,0.000,0.030,2398,2033,3401
$GC,5163,-1.74,-165.5,424.4,-8.1,330,5167,0.00,2.50,0.00,0.000,4,0.000,0.042,2399,3451,3399
$GC,5203,-1.74,-165.5,427.2,-6.8,331,5208,0.00,2.45,0.00,0.000,6,0.000,0.031,2399,2032,3398
$STATE,5526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5526,begin apogee
$GC,5534,-0.33,0.0,451.3,8.3,339,5667,1.48,0.00,128.90,0.922,6,0.087,0.000,2706,1935,2733
$STATE,5667,end apogee,CONTROL_FINISHED_OK
$STATE,5668,begin climb
$GC,5671,1.06,165.5,457.7,0.0,342,5808,1.35,2.58,129.85,0.899,4,0.048,0.042,3008,3354,2058
$GC,5882,0.54,165.5,452.3,12.9,347,5888,0.60,2.45,0.00,0.000,6,0.140,0.034,2900,1968,2057
$GC,6202,0.24,165.5,420.7,10.0,355,6207,0.32,2.60,0.00,0.000,4,0.115,0.052,2836,533,2056
$GC,6236,0.05,165.5,417.6,8.5,355,6243,0.22,2.47,0.00,0.000,6,0.115,0.031,2795,1955,2055
$GC,6568,0.29,342.7,408.0,1.6,364,6714,0.17,2.58,137.25,0.889,4,0.075,0.046,2836,3346,1335
$GC,6751,0.16,342.7,395.7,9.8,368,6756,0.12,2.47,0.00,0.000,6,0.115,0.035,2814,1952,1335
$GC,7100,0.06,342.7,365.7,8.0,377,7104,0.00,2.50,0.00,0.000,4,0.000,0.042,2814,3351,1335
$GC,7167,-0.01,342.7,360.1,8.2,378,7172,0.17,2.47,0.00,0.000,6,0.109,0.035,2781,1941,1335
$GC,7504,-0.01,342.7,335.5,7.6,387,7509,0.00,2.50,0.00,0.000,4,0.000,0.041,2781,3351,1334
$GC,7545,-0.01,342.7,332.3,7.9,388,7549,0.00,2.47,0.00,0.000,6,0.000,0.034,2781,1939,1334
$GC,7869,0.03,364.9,311.0,6.2,396,7893,0.00,2.60,17.77,0.868,4,0.000,0.041,2781,3350,1244
$GC,7918,0.03,369.0,307.9,6.7,397,7927,0.00,2.47,4.30,0.828,6,0.000,0.032,2781,1940,1228
$GC,8245,0.03,369.0,284.2,7.4,410,8249,0.00,2.50,0.00,0.000,4,0.000,0.040,2781,3351,1227
$GC,8300,0.03,369.0,279.6,7.8,412,8307,0.00,2.45,0.00,0.000,6,0.000,0.031,2781,1944,1227
$GC,8617,0.03,369.0,256.5,7.7,428,8621,0.00,2.50,0.00,0.000,4,0.000,0.040,2781,3358,1227
$GC,8661,0.07,369.0,252.9,8.3,430,8666,0.00,2.45,0.00,0.000,6,0.000,0.031,2782,1941,1227
$GC,8983,0.09,379.5,230.2,6.5,446,8997,0.00,2.55,8.85,0.811,4,0.000,0.038,2781,3348,1185
$GC,9039,0.14,389.8,226.6,6.5,448,9054,0.12,2.42,8.85,0.806,6,0.075,0.030,2809,1949,1142
$GC,9385,0.09,389.8,202.5,7.0,465,9390,0.00,2.47,0.00,0.000,4,0.000,0.038,2808,3353,1142
$GC,9420,0.06,395.0,200.1,6.7,466,9430,0.00,2.42,4.62,0.776,6,0.000,0.029,2809,1949,1122
$GC,9756,0.06,395.0,178.0,7.3,498,9760,0.00,2.47,0.00,0.000,4,0.000,0.037,2808,3359,1123
$GC,9779,0.06,395.0,176.4,6.9,499,9785,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1950,1122
$GC,10107,0.10,417.9,156.1,6.1,530,10132,0.00,2.53,18.02,0.730,4,0.000,0.035,2808,3348,1029
$GC,10168,0.14,441.6,152.1,6.1,535,10195,0.00,2.42,19.27,0.714,6,0.000,0.028,2809,1948,931
$GC,10515,0.14,441.6,128.1,7.7,568,10518,0.00,2.45,0.00,0.000,4,0.000,0.035,2809,3355,931
$GC,10550,0.14,441.6,125.2,8.4,571,10554,0.00,2.42,0.00,0.000,6,0.000,0.027,2808,1945,932
$GC,10879,0.27,492.4,103.4,5.3,601,10925,0.12,2.55,39.05,0.652,4,0.064,0.034,2840,3354,725
$GC,10949,0.24,492.4,98.0,8.7,607,10955,0.00,2.42,0.00,0.000,6,0.000,0.027,2840,1945,725
$GC,11279,0.28,492.4,70.0,7.8,638,11283,0.00,2.45,0.00,0.000,4,0.000,0.033,2840,3357,725
$GC,11308,0.34,492.4,67.4,8.4,640,11312,0.00,2.42,0.00,0.000,6,0.000,0.025,2840,1939,726
$GC,11573,0.39,492.4,47.4,7.0,664,11578,0.10,2.45,0.00,0.000,4,0.072,0.031,2865,3363,727
$GC,11595,0.39,492.4,45.6,6.9,665,11602,0.00,2.40,0.00,0.000,6,0.000,0.024,2865,1937,726
$GC,11865,0.39,492.4,23.6,8.8,696,11872,0.00,2.45,0.00,0.000,4,0.000,0.033,2866,3361,728
$GC,11907,0.39,492.4,19.0,10.2,703,11914,0.00,2.38,0.00,0.000,6,0.000,0.025,2865,1951,728
$STATE,12070,end climb,SURFACE_DEPTH_REACHED
$STATE,12073,begin surface coast
$FINISH,1.1,1.022980
$STATE,12134,end surface coast,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$SM_CCo,12217,0.00,0.000,0,0,731,491.09
$SM_GC,1.55,10.85,0.00,0.00,0.043,0.000,0.000,408,2097,731,-10.87,1.64,491.09
$IRIDIUM_FIX,2057.14,-15746.61,140198,111157
$TT8_MAMPS,0.027612
$HUMID,1708
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.80
$XPDR_PINGS,8
$24V_AH,23.8,29.027
$10V_AH,10.2,17.787
$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,28.150,152.025,516.750,0.000,0.000,23.499,70.406,127.495,11.000,0.000,0.000,17.981,1379.799,8286.074,576.044,1773.046,551.615,33.372,1473.621,0.000,1729.787,0.000,59.943
$DEVICE_MAMPS,156.468,55.991,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.057,491.618,873.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,743
$CAP_FILE_SIZE,114945,0
$CFSIZE,260165632,246669312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,173038,2103.744,-15746.646,40,1.8,40,9.8