version: 66.03
glider: 114
mission: 3
dive: 210
start: 10 21 108 0 33 59
data:
$ID,114
$MISSION,3
$DIVE,210
$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,-595754.56
$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,60
$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
$GPS1,002708,2106.375,-15747.621,41,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-60.6
$GPS2,003303,2106.377,-15747.608,10,1.9,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.060,0.225
$KALMAN_X,-41114.2,613.3,555.9,50230.6,-1752.4
$KALMAN_Y,-45324.3,-23.8,303.5,26158.7,-1398.2
$MHEAD_RNG_PITCHd_Wd,5.1,7879,-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,-165.5,0.0,0.0,0,108,0.00,0.00,-75.18,0.000,2,0.000,0.000,408,2065,2761
$GC,112,-1.06,-165.5,3.1,-3.3,14,142,11.93,2.35,-11.38,0.000,4,0.156,0.046,2541,3427,3408
$GC,223,-1.16,-165.5,18.1,-7.6,33,230,0.00,2.35,0.00,0.000,6,0.000,0.024,2541,2026,3408
$GC,500,-1.22,-165.5,39.5,-7.4,71,504,0.12,2.40,0.00,0.000,4,0.059,0.033,2509,3415,3408
$GC,563,-1.31,-165.5,44.9,-7.8,76,567,0.00,2.33,0.00,0.000,6,0.000,0.024,2509,2028,3408
$GC,825,-1.35,-165.5,69.1,-10.5,100,830,0.10,2.38,0.00,0.000,4,0.065,0.036,2482,638,3408
$GC,843,-1.35,-165.5,71.0,-10.5,101,847,0.00,2.30,0.00,0.000,6,0.000,0.022,2483,2020,3408
$GC,1105,-1.35,-165.5,95.1,-9.2,125,1109,0.00,2.42,0.00,0.000,4,0.000,0.034,2482,3448,3409
$GC,1223,-1.42,-165.5,107.9,-10.6,135,1229,0.00,2.35,0.00,0.000,6,0.000,0.024,2483,2042,3409
$GC,1549,-1.45,-165.5,138.5,-8.4,166,1553,0.00,2.40,0.00,0.000,4,0.000,0.038,2482,639,3409
$GC,1572,-1.50,-165.5,140.5,-8.3,167,1579,0.15,2.35,0.00,0.000,6,0.053,0.023,2444,2051,3409
$GC,1897,-1.50,-165.5,167.2,-8.3,198,1901,0.00,2.38,0.00,0.000,4,0.000,0.035,2444,3445,3409
$GC,1960,-1.50,-165.5,172.6,-8.3,203,1965,0.00,2.38,0.00,0.000,6,0.000,0.025,2444,2034,3410
$GC,2296,-1.50,-165.5,202.8,-9.2,233,2300,0.00,2.42,0.00,0.000,4,0.000,0.035,2444,3443,3409
$GC,2375,-1.50,-165.5,210.2,-8.9,236,2381,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2028,3409
$GC,2691,-1.50,-165.5,237.0,-8.3,252,2695,0.00,2.42,0.00,0.000,4,0.000,0.036,2444,3443,3409
$GC,2731,-1.54,-165.5,240.4,-8.6,253,2737,0.00,2.38,0.00,0.000,6,0.000,0.026,2444,2032,3409
$GC,3048,-1.58,-165.5,262.5,-6.6,269,3052,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,642,3409
$GC,3099,-1.66,-165.5,266.2,-6.9,271,3103,0.12,2.35,0.00,0.000,6,0.059,0.027,2412,2038,3409
$GC,3420,-1.66,-165.5,292.8,-8.3,287,3424,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3452,3408
$GC,3488,-1.66,-165.5,298.9,-9.1,290,3492,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2048,3408
$GC,3805,-1.66,-165.5,325.0,-8.3,299,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2048,3406
$GC,4131,-1.66,-165.5,356.4,-9.5,307,4135,0.00,2.47,0.00,0.000,4,0.000,0.042,2411,3451,3403
$GC,4164,-1.66,-165.5,359.8,-9.1,307,4171,0.00,2.42,0.00,0.000,6,0.000,0.031,2411,2038,3402
$GC,4496,-1.66,-165.5,385.0,-7.0,316,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2037,3400
$GC,4820,-1.66,-165.5,407.4,-7.1,324,4825,0.00,2.47,0.00,0.000,4,0.000,0.043,2412,3443,3398
$GC,4871,-1.66,-165.5,411.5,-7.7,325,4875,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2032,3397
$GC,5186,-1.66,-165.5,434.1,-7.4,333,5190,0.00,2.50,0.00,0.000,4,0.000,0.044,2411,3447,3395
$GC,5231,-1.70,-165.5,437.6,-6.9,334,5235,0.00,2.42,0.00,0.000,6,0.000,0.032,2411,2040,3394
$STATE,5427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5427,begin apogee
$GC,5435,-0.33,0.0,451.7,7.1,339,5567,1.42,0.00,128.20,0.925,6,0.093,0.000,2704,1933,2733
$STATE,5568,end apogee,CONTROL_FINISHED_OK
$STATE,5568,begin climb
$GC,5571,1.06,165.5,455.9,0.0,342,5709,1.38,2.55,129.68,0.897,4,0.051,0.053,3009,550,2057
$GC,5968,0.52,165.5,420.2,12.8,351,5974,0.62,2.45,0.00,0.000,6,0.140,0.030,2898,1956,2055
$GC,6288,0.24,165.5,393.5,7.8,359,6293,0.30,2.55,0.00,0.000,4,0.121,0.053,2839,561,2053
$GC,6345,0.06,165.5,389.3,7.1,360,6350,0.22,2.42,0.00,0.000,6,0.116,0.031,2797,1953,2052
$GC,6694,0.06,209.6,369.6,5.5,369,6735,0.00,2.58,33.22,0.897,4,0.000,0.047,2797,3350,1878
$GC,6764,0.02,222.2,365.2,6.4,370,6781,0.00,2.45,10.48,0.874,6,0.000,0.035,2797,1965,1827
$GC,7107,-0.04,222.2,341.5,7.1,379,7111,0.12,2.58,0.00,0.000,4,0.117,0.054,2775,541,1825
$GC,7162,-0.04,222.2,337.6,7.0,380,7167,0.00,2.45,0.00,0.000,6,0.000,0.031,2775,1953,1825
$GC,7511,0.11,303.6,320.5,4.4,389,7582,0.12,2.58,63.45,0.867,4,0.079,0.047,2801,3344,1495
$GC,7625,0.08,315.3,314.5,6.5,391,7641,0.00,2.47,9.77,0.843,6,0.000,0.034,2801,1943,1447
$GC,7948,0.04,322.2,293.6,6.6,401,7956,0.00,0.00,6.18,0.837,6,0.000,0.000,2801,1943,1419
$GC,8257,0.08,369.7,275.0,5.4,416,8300,0.00,2.62,37.38,0.833,4,0.000,0.041,2801,3356,1225
$GC,8335,0.05,369.7,269.8,6.9,419,8339,0.00,2.47,0.00,0.000,6,0.000,0.031,2801,1943,1225
$GC,8652,0.02,369.7,247.8,7.0,434,8656,0.00,2.50,0.00,0.000,4,0.000,0.051,2801,546,1225
$GC,8692,0.02,369.7,245.0,7.1,436,8696,0.00,2.42,0.00,0.000,6,0.000,0.028,2802,1952,1225
$GC,9019,0.08,403.8,224.7,5.8,452,9051,0.00,2.53,27.00,0.789,4,0.000,0.041,2801,3360,1085
$GC,9108,0.08,403.8,218.5,7.6,456,9112,0.00,2.47,0.00,0.000,6,0.000,0.031,2802,1941,1085
$GC,9431,0.08,403.8,195.3,7.5,475,9435,0.00,2.50,0.00,0.000,4,0.000,0.038,2802,3361,1085
$GC,9471,0.08,403.8,192.4,7.6,478,9475,0.00,2.45,0.00,0.000,6,0.000,0.029,2801,1946,1086
$GC,9801,0.10,418.1,169.9,6.4,508,9821,0.00,2.50,11.73,0.727,4,0.000,0.036,2802,3356,1027
$GC,9850,0.10,418.1,166.2,7.5,512,9856,0.00,2.42,0.00,0.000,6,0.000,0.028,2801,1942,1027
$GC,10178,0.12,428.1,145.1,6.5,543,10193,0.00,2.53,8.45,0.698,4,0.000,0.035,2802,3354,987
$GC,10225,0.16,435.2,142.0,6.6,547,10237,0.00,2.42,6.32,0.693,6,0.000,0.027,2801,1941,958
$GC,10556,0.23,449.5,123.1,6.4,578,10571,0.12,0.00,11.57,0.670,6,0.066,0.000,2832,1940,899
$GC,10889,0.23,449.5,93.4,7.8,609,10893,0.00,2.45,0.00,0.000,4,0.000,0.035,2832,3355,900
$GC,10922,0.23,449.5,90.6,7.6,611,10928,0.00,2.40,0.00,0.000,6,0.000,0.026,2832,1945,900
$GC,11252,0.25,464.5,66.8,6.4,642,11273,0.00,2.55,12.05,0.614,4,0.000,0.035,2832,3365,839
$GC,11314,0.31,495.8,62.9,5.9,647,11344,0.00,2.42,24.10,0.601,6,0.000,0.025,2832,1939,710
$GC,11609,0.42,527.1,43.7,5.9,675,11642,0.15,2.53,24.45,0.578,4,0.058,0.044,2874,549,584
$GC,11666,0.42,527.1,39.1,9.0,680,11671,0.00,2.40,0.00,0.000,6,0.000,0.022,2874,1965,584
$GC,11938,0.35,527.1,15.2,9.0,718,11944,0.00,2.40,0.00,0.000,4,0.000,0.032,2874,3348,584
$GC,12003,0.32,527.1,9.6,10.0,729,12010,0.12,2.38,0.00,0.000,6,0.091,0.025,2850,1944,585
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FINISH,0.9,1.009383
$STATE,12164,end surface coast,CONTROL_FINISHED_OK
$STATE,12164,begin surface
$SM_CCo,12247,0.00,0.000,0,0,584,527.15
$SM_GC,1.58,10.73,0.00,0.00,0.039,0.000,0.000,410,2086,584,-10.85,1.30,527.15
$IRIDIUM_FIX,2057.14,-15746.61,140198,212125
$TT8_MAMPS,0.027612
$HUMID,1704
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,29.463
$10V_AH,10.2,18.045
$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,27.750,137.075,544.025,0.000,0.000,25.709,45.465,151.357,12.000,0.000,0.000,11.713,1380.896,8254.747,605.758,1787.511,573.879,33.371,1518.746,0.000,1761.619,0.000,57.448
$DEVICE_MAMPS,155.701,53.690,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.050,512.675,902.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37953,757
$CAP_FILE_SIZE,114591,0
$CFSIZE,260165632,246489088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,035907,2107.137,-15747.849,12,1.3,22,9.8