version: 66.03
glider: 114
mission: 3
dive: 211
start: 10 21 108 4 7 3
data:
$ID,114
$MISSION,3
$DIVE,211
$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,-595810.75
$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,72
$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
$GPS1,035907,2107.137,-15747.849,12,1.3,22,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.9
$GPS2,040605,2107.125,-15747.873,34,2.6,53,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.035,0.230
$KALMAN_X,-41415.6,-15.2,254.4,51009.5,-1921.0
$KALMAN_Y,-45995.4,-553.2,-80.0,29126.8,-922.6
$MHEAD_RNG_PITCHd_Wd,359.0,6468,-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,-75.65,0.000,2,0.000,0.000,410,2083,2857
$GC,109,-1.06,-165.5,3.3,-3.9,14,139,11.95,2.33,-9.30,0.000,4,0.158,0.050,2541,3399,3411
$GC,164,-0.71,-165.5,15.7,-17.2,23,171,0.38,2.30,0.00,0.000,6,0.074,0.025,2621,2034,3411
$GC,449,-0.96,-165.5,30.7,-5.5,72,454,0.20,2.35,0.00,0.000,4,0.048,0.031,2567,3405,3411
$GC,494,-1.15,-165.5,33.9,-6.8,75,501,0.17,2.30,0.00,0.000,6,0.052,0.023,2525,2032,3411
$GC,759,-1.20,-165.5,58.1,-8.7,100,763,0.00,2.38,0.00,0.000,4,0.000,0.035,2524,3408,3410
$GC,783,-1.26,-165.5,60.3,-8.5,102,787,0.00,2.30,0.00,0.000,6,0.000,0.023,2525,2034,3411
$GC,1051,-1.34,-165.5,81.0,-7.4,127,1055,0.17,2.38,0.00,0.000,4,0.049,0.032,2477,3413,3411
$GC,1091,-1.34,-165.5,84.8,-10.3,130,1095,0.00,2.30,0.00,0.000,6,0.000,0.023,2477,2039,3411
$GC,1423,-1.34,-165.5,113.1,-7.6,161,1426,0.00,2.35,0.00,0.000,4,0.000,0.035,2477,3412,3411
$GC,1474,-1.39,-165.5,117.1,-7.1,165,1480,0.00,2.33,0.00,0.000,6,0.000,0.025,2477,2043,3411
$GC,1800,-1.42,-165.5,143.6,-9.0,196,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2043,3411
$GC,2121,-1.46,-165.5,171.0,-7.6,226,2124,0.00,2.35,0.00,0.000,4,0.000,0.034,2477,3411,3411
$GC,2212,-1.56,-165.5,177.9,-7.1,234,2217,0.17,2.33,0.00,0.000,6,0.054,0.025,2433,2030,3411
$GC,2546,-1.56,-165.5,205.0,-7.2,262,2550,0.00,2.38,0.00,0.000,4,0.000,0.035,2434,3411,3411
$GC,2596,-1.56,-165.5,209.0,-8.2,264,2600,0.00,2.30,0.00,0.000,6,0.000,0.025,2434,2037,3411
$GC,2918,-1.56,-165.5,240.6,-10.6,280,2922,0.00,2.38,0.00,0.000,4,0.000,0.035,2434,3415,3411
$GC,2982,-1.59,-165.5,246.9,-9.2,283,2986,0.00,2.33,0.00,0.000,6,0.000,0.025,2433,2038,3411
$GC,3310,-1.59,-165.5,274.1,-7.8,299,3314,0.00,2.42,0.00,0.000,4,0.000,0.042,2434,640,3411
$GC,3333,-1.59,-165.5,275.9,-7.8,300,3337,0.00,2.30,0.00,0.000,6,0.000,0.025,2434,2004,3411
$GC,3654,-1.59,-165.5,298.7,-7.5,316,3659,0.00,2.50,0.00,0.000,4,0.000,0.039,2434,3450,3410
$GC,3722,-1.59,-165.5,304.1,-7.5,318,3726,0.00,2.40,0.00,0.000,6,0.000,0.028,2434,2042,3410
$GC,4060,-1.62,-165.5,330.1,-7.6,327,4065,0.00,2.45,0.00,0.000,4,0.000,0.040,2434,3443,3407
$GC,4146,-1.69,-165.5,336.9,-7.5,329,4150,0.00,2.42,0.00,0.000,6,0.000,0.030,2434,2030,3407
$GC,4471,-1.72,-165.5,358.9,-6.5,337,4476,0.12,2.50,0.00,0.000,4,0.067,0.040,2404,3450,3404
$GC,4493,-1.72,-165.5,360.6,-7.1,337,4498,0.00,2.42,0.00,0.000,6,0.000,0.030,2404,2037,3404
$GC,4831,-1.72,-165.5,387.9,-8.4,346,4835,0.00,2.47,0.00,0.000,4,0.000,0.042,2404,3443,3401
$GC,4875,-1.72,-165.5,392.2,-9.3,347,4879,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2031,3401
$GC,5195,-1.72,-165.5,422.0,-9.5,355,5199,0.00,2.50,0.00,0.000,4,0.000,0.044,2404,3446,3399
$GC,5239,-1.72,-165.5,426.7,-10.0,356,5244,0.00,2.42,0.00,0.000,6,0.000,0.032,2404,2041,3398
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5515,begin apogee
$GC,5524,-0.33,0.0,453.1,9.2,363,5656,1.45,0.00,128.40,0.923,6,0.088,0.000,2705,1934,2733
$STATE,5657,end apogee,CONTROL_FINISHED_OK
$STATE,5657,begin climb
$GC,5660,1.06,165.5,459.6,0.0,366,5798,1.38,2.55,129.55,0.897,4,0.050,0.054,3010,553,2057
$GC,5835,0.51,165.5,456.8,13.9,370,5840,0.68,2.45,0.00,0.000,6,0.147,0.030,2892,1954,2057
$GC,6149,0.23,165.5,426.0,9.6,378,6154,0.30,2.58,0.00,0.000,4,0.139,0.054,2836,550,2055
$GC,6211,0.04,165.5,420.6,8.5,379,6216,0.25,2.42,0.00,0.000,6,0.126,0.031,2791,1949,2055
$GC,6555,0.01,186.8,398.4,6.2,388,6578,0.00,2.55,16.42,0.899,4,0.000,0.044,2791,3357,1970
$GC,6608,-0.01,216.3,395.2,5.9,389,6639,0.00,2.45,23.25,0.893,6,0.000,0.034,2791,1965,1849
$GC,6965,0.03,271.0,375.4,5.2,398,7015,0.00,2.67,43.15,0.894,4,0.000,0.055,2791,541,1628
$GC,7028,0.03,307.5,372.0,5.7,399,7063,0.00,2.47,28.88,0.876,6,0.000,0.031,2791,1952,1479
$GC,7378,0.00,318.8,349.9,6.5,408,7393,0.00,2.55,9.60,0.867,4,0.000,0.046,2791,3353,1433
$GC,7463,0.03,334.5,344.4,6.4,410,7482,0.00,2.47,13.05,0.872,6,0.000,0.035,2791,1950,1368
$GC,7792,-0.00,340.4,323.6,6.6,418,7799,0.00,0.00,5.25,0.857,6,0.000,0.000,2791,1950,1345
$GC,8116,0.05,370.1,302.8,5.9,426,8146,0.00,2.58,23.85,0.865,4,0.000,0.042,2791,3345,1224
$GC,8198,0.05,370.1,297.2,7.1,427,8204,0.00,2.47,0.00,0.000,6,0.000,0.033,2790,1936,1223
$GC,8515,0.06,374.8,276.0,6.7,443,8524,0.00,2.55,4.38,0.823,4,0.000,0.041,2791,3354,1205
$GC,8578,0.06,374.8,271.1,7.4,445,8584,0.00,2.45,0.00,0.000,6,0.000,0.032,2791,1950,1204
$GC,8894,0.06,374.8,246.0,7.6,461,8898,0.00,2.53,0.00,0.000,4,0.000,0.051,2790,537,1204
$GC,8916,0.06,374.8,244.2,7.7,462,8920,0.00,2.42,0.00,0.000,6,0.000,0.028,2791,1952,1204
$GC,9238,0.06,374.8,220.0,7.5,478,9242,0.00,2.45,0.00,0.000,4,0.000,0.043,2791,3350,1204
$GC,9317,0.09,375.6,214.2,6.8,481,9323,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1934,1204
$GC,9635,0.14,403.1,196.0,6.0,500,9667,0.00,2.60,22.42,0.782,4,0.000,0.038,2791,3353,1089
$GC,9708,0.21,411.9,191.4,6.6,506,9725,0.15,2.45,7.50,0.768,6,0.069,0.031,2824,1939,1052
$GC,10044,0.16,411.9,163.3,8.2,538,10048,0.00,2.47,0.00,0.000,4,0.000,0.037,2824,3352,1053
$GC,10062,0.11,411.9,161.9,7.8,539,10066,0.00,2.42,0.00,0.000,6,0.000,0.028,2824,1938,1053
$GC,10397,0.08,411.9,136.1,7.8,570,10402,0.12,2.45,0.00,0.000,4,0.099,0.035,2801,3353,1054
$GC,10461,0.22,455.8,131.6,5.5,575,10504,0.12,2.40,34.58,0.693,6,0.071,0.026,2830,1949,873
$GC,10823,0.25,472.2,109.3,6.3,609,10845,0.00,2.50,12.88,0.660,4,0.000,0.035,2830,3344,806
$GC,10863,0.25,472.2,106.7,6.9,612,10869,0.00,2.40,0.00,0.000,6,0.000,0.026,2830,1950,807
$GC,11193,0.25,472.2,81.8,8.3,643,11197,0.00,2.45,0.00,0.000,4,0.000,0.035,2830,3359,807
$GC,11226,0.25,472.2,78.5,9.2,645,11232,0.00,2.40,0.00,0.000,6,0.000,0.026,2830,1949,808
$GC,11489,0.25,472.2,58.4,7.2,670,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,808
$GC,11744,0.39,514.2,42.1,5.6,694,11786,0.15,2.55,32.35,0.579,4,0.060,0.036,2872,3354,635
$GC,11823,0.39,514.2,35.9,7.3,701,11827,0.00,2.42,0.00,0.000,6,0.000,0.027,2872,1948,637
$GC,12096,0.34,514.2,11.9,8.2,742,12102,0.00,2.42,0.00,0.000,4,0.000,0.032,2872,3355,639
$GC,12122,0.30,514.2,10.3,6.9,746,12129,0.12,2.42,0.00,0.000,6,0.093,0.025,2847,1934,639
$STATE,12195,end climb,SURFACE_DEPTH_REACHED
$STATE,12195,begin surface coast
$FINISH,1.1,1.023039
$STATE,12270,end surface coast,CONTROL_FINISHED_OK
$STATE,12270,begin surface
$SM_CCo,12353,0.00,0.000,0,0,641,513.41
$SM_GC,1.63,10.80,0.00,0.00,0.043,0.000,0.000,407,2088,641,-10.87,1.36,513.41
$IRIDIUM_FIX,2057.14,-15746.61,150198,000015
$TT8_MAMPS,0.026845
$HUMID,1731
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,23.8,29.607
$10V_AH,10.2,18.135
$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,28.700,146.400,535.500,0.000,0.000,24.697,27.772,188.155,10.500,0.000,0.000,55.571,1403.354,8311.217,601.165,1856.113,600.948,33.365,1529.843,0.000,1787.349,0.000,57.444
$DEVICE_MAMPS,158.002,55.224,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.465,518.136,930.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41144,772
$CAP_FILE_SIZE,119124,0
$CFSIZE,260165632,246415360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,073345,2108.415,-15748.786,10,1.6,10,9.8