version: 66.03
glider: 114
mission: 3
dive: 212
start: 10 21 108 7 40 51
data:
$ID,114
$MISSION,3
$DIVE,212
$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,-595845.62
$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,32
$R_STBD_OVSHOOT,67
$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
$GPS1,073345,2108.415,-15748.786,10,1.6,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.0
$GPS2,073956,2108.405,-15748.847,15,1.6,32,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.139,0.186
$KALMAN_X,-42131.0,-601.2,-593.2,51483.0,-81.8
$KALMAN_Y,-46417.1,-616.6,-254.9,32152.3,398.3
$MHEAD_RNG_PITCHd_Wd,313.4,3563,-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,-165.5,0.0,0.0,0,103,0.00,0.00,-70.32,0.000,2,0.000,0.000,407,2088,2749
$GC,107,-1.06,-165.5,3.1,-3.4,13,137,11.95,2.30,-11.68,0.000,4,0.156,0.046,2542,3416,3410
$GC,237,-1.18,-165.5,22.6,-10.8,35,244,0.00,2.35,0.00,0.000,6,0.000,0.023,2542,2016,3410
$GC,508,-1.26,-165.5,45.2,-8.3,67,513,0.15,2.42,0.00,0.000,4,0.056,0.033,2499,3419,3410
$GC,560,-1.29,-165.5,50.5,-10.2,71,564,0.00,2.33,0.00,0.000,6,0.000,0.022,2500,2032,3410
$GC,822,-1.29,-165.5,71.0,-7.6,95,826,0.00,2.38,0.00,0.000,4,0.000,0.033,2499,3410,3410
$GC,867,-1.37,-165.5,74.5,-7.2,98,873,0.00,2.30,0.00,0.000,6,0.000,0.023,2500,2031,3410
$GC,1129,-1.42,-165.5,94.3,-9.1,123,1134,0.12,2.40,0.00,0.000,4,0.059,0.037,2468,634,3410
$GC,1148,-1.45,-165.5,96.1,-9.7,124,1152,0.00,2.30,0.00,0.000,6,0.000,0.021,2468,2012,3410
$GC,1473,-1.45,-165.5,128.1,-8.9,154,1477,0.00,2.45,0.00,0.000,4,0.000,0.033,2468,3448,3410
$GC,1592,-1.50,-165.5,137.5,-7.6,164,1598,0.00,2.38,0.00,0.000,6,0.000,0.024,2468,2030,3411
$GC,1920,-1.54,-165.5,160.4,-6.9,195,1925,0.12,2.45,0.00,0.000,4,0.058,0.033,2435,3449,3410
$GC,2017,-1.54,-165.5,168.8,-8.1,203,2021,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2034,3411
$GC,2348,-1.54,-165.5,201.0,-10.0,234,2352,0.00,2.42,0.00,0.000,4,0.000,0.035,2434,3442,3411
$GC,2433,-1.59,-165.5,208.9,-8.6,237,2439,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2035,3410
$GC,2750,-1.59,-165.5,234.7,-7.6,253,2754,0.00,2.45,0.00,0.000,4,0.000,0.036,2435,3448,3410
$GC,2790,-1.62,-165.5,237.9,-8.1,255,2795,0.00,2.40,0.00,0.000,6,0.000,0.026,2434,2034,3410
$GC,3118,-1.62,-165.5,266.9,-8.7,271,3123,0.00,2.45,0.00,0.000,4,0.000,0.038,2435,3443,3410
$GC,3146,-1.62,-165.5,269.3,-8.4,272,3150,0.00,2.40,0.00,0.000,6,0.000,0.028,2434,2030,3409
$GC,3463,-1.65,-165.5,291.8,-7.7,287,3467,0.00,2.45,0.00,0.000,4,0.000,0.039,2435,3442,3408
$GC,3532,-1.70,-165.5,297.3,-8.2,290,3537,0.12,2.40,0.00,0.000,6,0.067,0.029,2405,2040,3407
$GC,3854,-1.70,-165.5,326.9,-9.2,299,3859,0.00,2.45,0.00,0.000,4,0.000,0.040,2405,3440,3404
$GC,3884,-1.70,-165.5,329.6,-9.6,299,3889,0.00,2.40,0.00,0.000,6,0.000,0.030,2405,2037,3404
$GC,4221,-1.70,-165.5,357.4,-8.1,308,4225,0.00,2.45,0.00,0.000,4,0.000,0.041,2405,3434,3402
$GC,4243,-1.70,-165.5,359.4,-8.7,308,4247,0.00,2.40,0.00,0.000,6,0.000,0.030,2405,2034,3402
$GC,4580,-1.70,-165.5,387.9,-8.5,317,4584,0.00,2.47,0.00,0.000,4,0.000,0.042,2405,3442,3399
$GC,4608,-1.70,-165.5,390.3,-8.7,317,4613,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2030,3399
$GC,4940,-1.70,-165.5,415.9,-7.5,325,4944,0.00,2.47,0.00,0.000,4,0.000,0.043,2405,3434,3397
$GC,4973,-1.70,-165.5,418.5,-7.2,325,4979,0.00,2.40,0.00,0.000,6,0.000,0.032,2405,2041,3397
$GC,5306,-1.70,-165.5,442.7,-7.2,334,5310,0.00,2.50,0.00,0.000,4,0.000,0.051,2405,633,3393
$GC,5323,-1.70,-165.5,444.1,-7.2,334,5327,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,2031,3394
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5427,-0.33,0.0,450.9,7.0,337,5559,1.45,0.00,128.32,0.921,6,0.089,0.000,2706,1936,2733
$STATE,5560,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5563,1.06,165.5,455.1,0.0,340,5698,1.35,0.00,130.05,0.897,6,0.050,0.000,3006,1936,2057
$GC,6014,0.56,165.5,417.0,12.5,351,6019,0.52,2.53,0.00,0.000,4,0.128,0.054,2907,550,2056
$GC,6082,0.23,165.5,409.9,9.6,352,6087,0.40,2.45,0.00,0.000,6,0.148,0.031,2834,1956,2056
$GC,6419,0.17,218.0,391.0,5.3,361,6462,0.00,0.00,40.17,0.892,6,0.000,0.000,2834,1956,1844
$GC,6787,0.03,223.4,368.5,6.7,370,6795,0.25,0.00,4.90,0.870,6,0.125,0.000,2789,1956,1822
$GC,7112,0.02,241.5,347.7,6.3,378,7132,0.00,2.55,14.70,0.882,4,0.000,0.046,2788,3360,1748
$GC,7161,-0.02,241.5,344.6,6.9,379,7165,0.00,2.47,0.00,0.000,6,0.000,0.033,2788,1953,1747
$GC,7475,-0.00,271.1,326.2,5.9,387,7500,0.00,0.00,24.08,0.874,6,0.000,0.000,2788,1952,1627
$GC,7800,0.01,296.8,306.3,6.1,395,7825,0.00,2.55,20.55,0.859,4,0.000,0.038,2789,3364,1521
$GC,7860,0.04,314.4,302.7,6.3,396,7881,0.00,2.50,14.05,0.845,6,0.000,0.033,2788,1941,1451
$GC,8191,0.05,337.9,282.6,6.1,411,8217,0.00,2.62,18.90,0.836,4,0.000,0.040,2789,3364,1355
$GC,8231,0.12,379.6,280.3,5.6,413,8274,0.00,2.50,33.25,0.821,6,0.000,0.031,2789,1943,1184
$GC,8583,0.15,393.4,257.3,6.4,430,8604,0.10,2.60,11.43,0.806,4,0.081,0.040,2811,3354,1128
$GC,8673,0.15,393.4,250.5,7.5,434,8678,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1944,1129
$GC,9001,0.09,393.4,225.7,7.2,450,9005,0.00,2.50,0.00,0.000,4,0.000,0.039,2811,3360,1129
$GC,9035,0.04,393.4,223.2,7.1,451,9041,0.10,2.45,0.00,0.000,6,0.110,0.030,2793,1948,1129
$GC,9352,0.11,431.9,204.8,5.7,467,9384,0.00,0.00,30.62,0.772,6,0.000,0.000,2793,1948,971
$GC,9691,0.17,464.4,184.7,5.9,494,9724,0.10,2.53,25.80,0.744,4,0.081,0.035,2815,3360,839
$GC,9786,0.17,464.4,177.8,7.2,502,9793,0.00,2.45,0.00,0.000,6,0.000,0.029,2815,1944,839
$GC,10117,0.13,464.4,150.8,9.4,533,10121,0.00,2.47,0.00,0.000,4,0.000,0.035,2815,3361,839
$GC,10146,0.13,464.4,147.8,9.2,535,10150,0.00,2.45,0.00,0.000,6,0.000,0.028,2815,1939,840
$GC,10472,0.13,464.4,122.8,6.9,565,10476,0.00,2.47,0.00,0.000,4,0.000,0.034,2816,3364,840
$GC,10505,0.13,464.4,120.3,6.9,567,10511,0.00,2.42,0.00,0.000,6,0.000,0.028,2816,1950,840
$GC,10834,0.17,486.2,99.8,6.2,598,10861,0.00,2.53,18.02,0.652,4,0.000,0.034,2816,3358,749
$GC,10874,0.17,486.2,96.9,7.1,602,10878,0.00,2.45,0.00,0.000,6,0.000,0.026,2816,1938,750
$GC,11200,0.30,542.0,77.8,5.2,632,11254,0.12,2.55,43.25,0.610,4,0.062,0.044,2847,550,523
$GC,11267,0.25,542.0,72.6,9.4,638,11272,0.00,2.40,0.00,0.000,6,0.000,0.023,2848,1960,523
$GC,11530,0.25,542.0,49.2,8.0,662,11534,0.00,2.40,0.00,0.000,4,0.000,0.035,2848,3351,523
$GC,11609,0.34,542.0,43.3,7.1,668,11615,0.00,2.40,0.00,0.000,6,0.000,0.025,2848,1936,524
$GC,11877,0.35,545.4,26.0,6.7,698,11885,0.00,2.45,3.67,0.572,4,0.000,0.032,2848,3346,508
$GC,11910,0.35,545.4,22.9,7.9,703,11916,0.00,2.38,0.00,0.000,6,0.000,0.025,2847,1948,508
$STATE,12140,end climb,SURFACE_DEPTH_REACHED
$STATE,12140,begin surface coast
$FINISH,0.8,1.003973
$STATE,12220,end surface coast,CONTROL_FINISHED_OK
$STATE,12220,begin surface
$SM_CCo,12304,0.00,0.000,0,0,508,545.79
$SM_GC,1.58,10.80,0.00,0.00,0.043,0.000,0.000,408,2069,508,-10.86,0.85,545.79
$IRIDIUM_FIX,2101.76,-15745.74,150198,040457
$TT8_MAMPS,0.027612
$HUMID,1701
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.90
$XPDR_PINGS,12
$24V_AH,23.8,29.754
$10V_AH,10.2,18.221
$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,27.675,137.000,561.775,0.000,0.000,23.320,32.724,158.142,12.000,0.000,0.000,34.278,1365.597,8384.517,648.135,1715.924,558.235,33.364,1501.070,0.000,1669.051,0.000,57.442
$DEVICE_MAMPS,156.468,53.690,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.291,506.462,909.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37963,758
$CAP_FILE_SIZE,112825,0
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,110708,2109.423,-15750.192,34,1.0,34,9.8