version: 66.03
glider: 114
mission: 3
dive: 208
start: 10 20 108 17 37 22
data:
$ID,114
$MISSION,3
$DIVE,208
$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,-595725.81
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,173038,2103.744,-15746.646,40,1.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.9
$GPS2,173627,2103.754,-15746.674,15,1.9,33,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.055,0.226
$KALMAN_X,-40165.2,616.8,-165.2,51607.3,-925.7
$KALMAN_Y,-43872.3,418.8,-426.0,20135.6,357.5
$MHEAD_RNG_PITCHd_Wd,336.5,12915,-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,-165.5,0.0,0.0,0,102,0.00,0.00,-70.03,0.000,2,0.000,0.000,408,2098,2843
$GC,106,-1.06,-165.5,3.5,-4.2,13,136,11.95,2.40,-9.43,0.000,4,0.157,0.051,2539,3445,3410
$GC,248,-1.18,-165.5,22.9,-6.8,37,255,0.00,2.40,0.00,0.000,6,0.000,0.024,2539,2023,3410
$GC,521,-1.23,-165.5,42.6,-7.9,71,526,0.12,2.47,0.00,0.000,4,0.061,0.035,2508,3448,3410
$GC,566,-1.23,-165.5,47.5,-10.4,74,572,0.00,2.38,0.00,0.000,6,0.000,0.023,2507,2035,3410
$GC,828,-1.27,-165.5,70.9,-7.7,99,833,0.00,2.45,0.00,0.000,4,0.000,0.034,2507,3453,3410
$GC,851,-1.32,-165.5,73.0,-8.3,100,858,0.00,2.38,0.00,0.000,6,0.000,0.022,2508,2027,3410
$GC,1114,-1.38,-165.5,95.4,-8.2,125,1119,0.12,2.45,0.00,0.000,4,0.058,0.032,2475,3448,3410
$GC,1155,-1.41,-165.5,99.4,-10.4,128,1158,0.00,2.35,0.00,0.000,6,0.000,0.023,2475,2038,3411
$GC,1487,-1.45,-165.5,124.7,-6.5,159,1491,0.00,2.42,0.00,0.000,4,0.000,0.033,2475,3448,3411
$GC,1543,-1.53,-165.5,128.4,-5.7,163,1550,0.12,2.35,0.00,0.000,6,0.062,0.024,2444,2043,3411
$GC,1869,-1.53,-165.5,152.4,-8.3,194,1873,0.00,2.42,0.00,0.000,4,0.000,0.034,2444,3451,3411
$GC,1932,-1.53,-165.5,158.0,-9.2,199,1936,0.00,2.40,0.00,0.000,6,0.000,0.024,2444,2028,3411
$GC,2259,-1.53,-165.5,187.4,-8.0,229,2263,0.00,2.45,0.00,0.000,4,0.000,0.035,2443,3446,3411
$GC,2303,-1.53,-165.5,191.3,-8.8,232,2310,0.00,2.38,0.00,0.000,6,0.000,0.025,2444,2034,3411
$GC,2634,-1.53,-165.5,220.2,-8.2,253,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2033,3411
$GC,2942,-1.57,-165.5,243.2,-7.2,268,2946,0.00,2.45,0.00,0.000,4,0.000,0.037,2444,3445,3411
$GC,2992,-1.63,-165.5,246.7,-6.9,270,2997,0.00,2.38,0.00,0.000,6,0.000,0.027,2444,2033,3411
$GC,3315,-1.67,-165.5,268.6,-7.8,286,3319,0.12,2.47,0.00,0.000,4,0.062,0.037,2413,3450,3410
$GC,3365,-1.67,-165.5,273.7,-9.6,288,3369,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2042,3410
$GC,3701,-1.67,-165.5,304.5,-8.2,303,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2041,3408
$GC,4027,-1.67,-165.5,330.6,-8.4,311,4030,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3444,3405
$GC,4073,-1.67,-165.5,334.7,-9.0,312,4077,0.00,2.40,0.00,0.000,6,0.000,0.030,2413,2037,3404
$GC,4403,-1.67,-165.5,364.3,-8.5,320,4407,0.00,2.47,0.00,0.000,4,0.000,0.041,2413,3444,3402
$GC,4444,-1.67,-165.5,367.9,-9.2,321,4448,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2034,3402
$GC,4768,-1.67,-165.5,396.2,-8.5,329,4772,0.00,2.47,0.00,0.000,4,0.000,0.043,2413,3442,3400
$GC,4836,-1.71,-165.5,401.8,-8.1,330,4841,0.00,2.42,0.00,0.000,6,0.000,0.031,2413,2034,3399
$GC,5175,-1.71,-165.5,421.5,-5.6,339,5179,0.00,2.47,0.00,0.000,4,0.000,0.043,2412,3446,3397
$GC,5215,-1.71,-165.5,424.1,-6.2,340,5219,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2039,3397
$GC,5539,-1.71,-165.5,449.8,-8.6,348,5544,0.00,2.47,0.00,0.000,4,0.000,0.044,2413,3441,3394
$STATE,5547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5547,begin apogee
$GC,5557,-0.33,0.0,450.9,8.7,348,5689,1.38,0.00,128.27,0.920,6,0.089,0.000,2701,1950,2733
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5693,1.06,165.5,456.7,0.0,351,5831,1.38,2.60,129.77,0.896,4,0.050,0.052,3007,541,2057
$GC,6090,0.52,165.5,419.8,16.4,360,6096,0.62,2.45,0.00,0.000,6,0.131,0.030,2895,1945,2056
$GC,6411,0.24,165.5,388.6,9.3,368,6416,0.30,2.58,0.00,0.000,4,0.138,0.053,2838,540,2054
$GC,6461,0.06,165.5,384.1,8.6,369,6466,0.22,2.47,0.00,0.000,6,0.120,0.030,2797,1964,2054
$GC,6776,0.09,230.6,366.6,4.9,377,6832,0.00,2.58,49.83,0.883,4,0.000,0.045,2797,3354,1793
$GC,6857,0.11,277.9,362.8,5.4,379,6902,0.00,2.50,37.92,0.865,6,0.000,0.034,2797,1943,1599
$GC,7231,0.11,314.6,342.4,5.7,388,7266,0.00,2.60,28.92,0.862,4,0.000,0.043,2797,3348,1449
$GC,7335,0.08,314.6,333.8,8.5,390,7339,0.00,2.47,0.00,0.000,6,0.000,0.034,2797,1943,1450
$GC,7683,0.04,314.6,306.1,8.0,399,7688,0.00,2.53,0.00,0.000,4,0.000,0.042,2797,3359,1449
$GC,7712,-0.01,314.6,303.8,8.5,399,7716,0.00,2.47,0.00,0.000,6,0.000,0.033,2797,1944,1449
$GC,8028,0.00,345.7,282.2,5.9,412,8054,0.00,0.00,24.60,0.840,6,0.000,0.000,2797,1944,1323
$GC,8357,-0.04,345.7,260.5,7.9,428,8362,0.12,2.50,0.00,0.000,4,0.116,0.040,2775,3353,1323
$GC,8390,-0.04,345.7,257.7,7.9,429,8396,0.00,2.45,0.00,0.000,6,0.000,0.031,2775,1944,1323
$GC,8707,-0.00,364.9,237.6,6.3,445,8728,0.00,2.55,15.68,0.811,4,0.000,0.038,2775,3364,1244
$GC,8775,0.05,364.9,232.4,7.8,448,8779,0.00,2.47,0.00,0.000,6,0.000,0.031,2776,1944,1244
$GC,9103,0.17,409.3,210.4,5.5,464,9142,0.20,0.00,34.75,0.781,6,0.063,0.000,2820,1943,1064
$GC,9460,0.12,409.3,183.5,7.2,490,9464,0.00,2.50,0.00,0.000,4,0.000,0.037,2820,3365,1064
$GC,9528,0.19,453.7,179.3,5.5,495,9568,0.00,2.45,34.88,0.746,6,0.000,0.030,2820,1950,883
$GC,9895,0.14,453.7,152.7,9.9,530,9899,0.00,2.47,0.00,0.000,4,0.000,0.036,2820,3360,883
$GC,9940,0.14,453.7,147.8,10.9,533,9946,0.00,2.45,0.00,0.000,6,0.000,0.028,2820,1939,883
$GC,10270,0.11,453.7,118.6,8.4,564,10274,0.00,2.47,0.00,0.000,4,0.000,0.035,2820,3359,883
$GC,10325,0.11,453.7,113.2,8.3,568,10332,0.00,2.42,0.00,0.000,6,0.000,0.027,2820,1939,884
$GC,10654,0.11,453.7,92.2,7.3,599,10658,0.00,2.47,0.00,0.000,4,0.000,0.034,2821,3368,884
$GC,10701,0.18,453.7,88.0,8.8,603,10705,0.00,2.42,0.00,0.000,6,0.000,0.026,2820,1950,885
$GC,11031,0.43,539.5,70.3,4.3,633,11107,0.20,2.55,65.85,0.610,4,0.055,0.044,2874,554,533
$GC,11125,0.40,539.5,62.7,9.9,641,11131,0.00,2.40,0.00,0.000,6,0.000,0.022,2874,1969,533
$GC,11387,0.33,539.5,36.6,10.0,666,11392,0.12,2.38,0.00,0.000,4,0.098,0.033,2851,3349,534
$GC,11439,0.37,539.5,31.7,9.1,670,11444,0.00,2.40,0.00,0.000,6,0.000,0.025,2850,1940,535
$GC,11716,0.37,539.5,10.6,7.7,716,11723,0.00,2.42,0.00,0.000,4,0.000,0.033,2850,3345,536
$GC,11747,0.37,539.5,8.1,8.1,721,11753,0.00,2.38,0.00,0.000,6,0.000,0.025,2850,1938,536
$STATE,11785,end climb,SURFACE_DEPTH_REACHED
$STATE,11785,begin surface coast
$FINISH,0.9,1.018827
$STATE,11865,end surface coast,CONTROL_FINISHED_OK
$STATE,11866,begin surface
$SM_CCo,11949,0.00,0.000,0,0,538,538.19
$SM_GC,1.57,10.85,0.00,0.00,0.045,0.000,0.000,411,2062,538,-10.85,0.62,538.19
$IRIDIUM_FIX,2052.52,-15841.50,140198,141415
$TT8_MAMPS,0.027612
$HUMID,1711
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,23.8,29.170
$10V_AH,10.2,17.874
$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,27.850,137.650,550.475,0.000,0.000,23.769,27.117,143.036,10.500,0.000,0.000,34.809,1358.831,8001.675,610.536,1799.910,526.720,33.373,1502.940,0.000,1746.177,0.000,57.451
$DEVICE_MAMPS,157.235,52.923,920.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.778,496.699,897.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37919,742
$CAP_FILE_SIZE,112738,0
$CFSIZE,260165632,246611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,205738,2105.085,-15747.494,28,1.4,28,9.8