version: 66.03
glider: 114
mission: 3
dive: 213
start: 10 21 108 11 13 36
data:
$ID,114
$MISSION,3
$DIVE,213
$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,-595860.75
$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,33
$R_STBD_OVSHOOT,69
$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
$GPS1,110708,2109.423,-15750.192,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.9
$GPS2,111239,2109.407,-15750.119,13,1.3,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.079,-0.218
$KALMAN_X,-42959.3,-693.6,-33.5,49649.9,294.9
$KALMAN_Y,-47692.5,-279.1,72.4,34629.8,-341.7
$MHEAD_RNG_PITCHd_Wd,150.2,14250,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,112,0.00,0.00,-80.82,0.000,2,0.000,0.000,408,2069,2938
$GC,117,-1.06,-165.5,3.6,-4.1,15,142,11.98,2.40,-7.43,0.000,4,0.158,0.048,2541,3417,3410
$GC,229,-1.18,-165.5,22.9,-8.4,34,235,0.00,2.35,0.00,0.000,6,0.000,0.025,2541,2024,3410
$GC,506,-1.24,-165.5,45.3,-8.3,67,511,0.15,2.40,0.00,0.000,4,0.054,0.033,2499,3415,3410
$GC,569,-1.24,-165.5,51.7,-9.8,72,573,0.00,2.33,0.00,0.000,6,0.000,0.023,2500,2032,3410
$GC,831,-1.24,-165.5,74.4,-8.0,96,835,0.00,2.38,0.00,0.000,4,0.000,0.034,2500,3408,3410
$GC,910,-1.31,-165.5,80.4,-7.5,102,916,0.00,2.30,0.00,0.000,6,0.000,0.022,2500,2028,3411
$GC,1240,-1.36,-165.5,105.3,-7.6,133,1244,0.00,2.38,0.00,0.000,4,0.000,0.034,2500,3410,3412
$GC,1330,-1.48,-165.5,112.5,-7.4,140,1337,0.20,2.30,0.00,0.000,6,0.051,0.024,2451,2035,3411
$GC,1656,-1.48,-165.5,143.5,-8.5,171,1660,0.00,2.38,0.00,0.000,4,0.000,0.035,2452,3413,3411
$GC,1708,-1.48,-165.5,148.2,-9.3,175,1712,0.00,2.33,0.00,0.000,6,0.000,0.024,2452,2031,3411
$GC,2035,-1.48,-165.5,179.9,-10.0,205,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2031,3411
$GC,2352,-1.48,-165.5,207.7,-8.2,231,2355,0.00,2.35,0.00,0.000,4,0.000,0.034,2452,3409,3411
$GC,2445,-1.53,-165.5,215.9,-8.7,235,2449,0.00,2.33,0.00,0.000,6,0.000,0.025,2451,2033,3411
$GC,2772,-1.53,-165.5,244.7,-8.6,251,2776,0.00,2.38,0.00,0.000,4,0.000,0.035,2451,3415,3411
$GC,2800,-1.53,-165.5,247.2,-8.5,252,2804,0.00,2.33,0.00,0.000,6,0.000,0.025,2452,2035,3411
$GC,3122,-1.58,-165.5,268.8,-6.3,268,3126,0.00,2.38,0.00,0.000,4,0.000,0.037,2452,3408,3411
$GC,3195,-1.66,-165.5,273.8,-7.1,271,3200,0.15,2.33,0.00,0.000,6,0.057,0.026,2415,2032,3411
$GC,3511,-1.66,-165.5,299.1,-8.0,286,3515,0.00,2.42,0.00,0.000,4,0.000,0.043,2415,638,3410
$GC,3550,-1.66,-165.5,302.6,-8.8,288,3555,0.00,2.33,0.00,0.000,6,0.000,0.027,2415,2005,3410
$GC,3876,-1.66,-165.5,331.0,-8.9,296,3880,0.00,2.50,0.00,0.000,4,0.000,0.041,2414,3445,3408
$GC,3920,-1.66,-165.5,335.1,-9.2,297,3925,0.00,2.40,0.00,0.000,6,0.000,0.029,2415,2042,3408
$GC,4241,-1.66,-165.5,364.9,-9.7,305,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2040,3406
$GC,4565,-1.66,-165.5,395.4,-9.1,313,4569,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3447,3403
$GC,4604,-1.66,-165.5,398.6,-7.8,314,4609,0.00,2.42,0.00,0.000,6,0.000,0.031,2414,2039,3402
$GC,4931,-1.66,-165.5,423.4,-7.7,322,4935,0.00,2.47,0.00,0.000,4,0.000,0.043,2415,3444,3400
$GC,4972,-1.66,-165.5,426.6,-7.6,323,4976,0.00,2.42,0.00,0.000,6,0.000,0.031,2414,2038,3400
$STATE,5295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5295,begin apogee
$GC,5303,-0.33,0.0,451.9,7.8,331,5435,1.40,0.00,128.80,0.918,6,0.087,0.000,2706,1932,2733
$STATE,5436,end apogee,CONTROL_FINISHED_OK
$STATE,5436,begin climb
$GC,5439,1.06,165.5,457.9,0.0,334,5577,1.35,2.55,129.48,0.890,4,0.048,0.053,3008,551,2058
$GC,5592,0.53,165.5,458.4,9.0,337,5597,0.62,2.45,0.00,0.000,6,0.133,0.030,2898,1949,2058
$GC,5924,0.24,165.5,431.5,7.9,345,5929,0.32,2.55,0.00,0.000,4,0.140,0.054,2837,559,2055
$GC,5958,0.05,165.5,429.0,7.6,345,5965,0.25,2.45,0.00,0.000,6,0.121,0.032,2792,1958,2054
$GC,6291,0.13,249.8,413.6,4.3,354,6361,0.00,2.55,64.97,0.900,4,0.000,0.048,2791,3354,1713
$GC,6390,0.13,283.4,408.8,5.8,356,6424,0.00,2.47,27.02,0.881,6,0.000,0.035,2791,1959,1577
$GC,6740,0.11,307.7,387.3,6.1,365,6764,0.00,2.58,19.20,0.884,4,0.000,0.044,2791,3359,1478
$GC,6795,0.10,326.2,383.9,6.3,366,6815,0.00,2.50,15.10,0.873,6,0.000,0.035,2791,1945,1402
$GC,7148,0.05,326.2,360.5,7.0,375,7152,0.00,2.55,0.00,0.000,4,0.000,0.044,2792,3366,1401
$GC,7182,0.01,326.2,357.7,8.0,375,7188,0.00,2.50,0.00,0.000,6,0.000,0.035,2791,1945,1401
$GC,7514,-0.03,326.2,333.4,7.5,384,7518,0.00,2.53,0.00,0.000,4,0.000,0.044,2791,3361,1401
$GC,7531,-0.07,326.2,332.1,7.4,384,7536,0.15,2.45,0.00,0.000,6,0.115,0.033,2764,1949,1401
$GC,7873,0.03,384.7,313.0,5.1,393,7925,0.10,2.58,45.72,0.862,4,0.081,0.042,2786,3363,1163
$GC,7971,0.03,384.7,306.1,7.3,395,7975,0.00,2.50,0.00,0.000,6,0.000,0.033,2786,1942,1163
$GC,8302,0.03,384.7,280.3,7.1,409,8306,0.00,2.53,0.00,0.000,4,0.000,0.041,2786,3360,1163
$GC,8352,0.03,384.7,276.5,7.5,411,8356,0.00,2.45,0.00,0.000,6,0.000,0.032,2786,1952,1163
$GC,8674,0.04,387.5,256.0,6.7,427,8679,0.00,0.00,2.97,0.789,6,0.000,0.000,2786,1951,1153
$GC,8983,0.09,415.3,236.2,6.0,442,9012,0.00,2.60,22.15,0.805,4,0.000,0.038,2786,3366,1039
$GC,9071,0.14,415.3,230.0,7.6,446,9076,0.10,2.50,0.00,0.000,6,0.079,0.030,2809,1934,1039
$GC,9398,0.14,415.3,203.4,7.4,462,9402,0.00,2.47,0.00,0.000,4,0.000,0.049,2809,545,1039
$GC,9426,0.14,415.3,201.2,7.7,463,9430,0.00,2.42,0.00,0.000,6,0.000,0.026,2809,1963,1039
$GC,9753,0.14,415.3,174.2,8.8,492,9757,0.00,2.42,0.00,0.000,4,0.000,0.040,2809,3354,1039
$GC,9816,0.14,415.3,168.2,8.9,497,9820,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1946,1039
$GC,10145,0.14,415.3,139.5,7.2,527,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1946,1039
$GC,10471,0.16,429.4,118.9,6.4,558,10492,0.00,2.53,11.80,0.676,4,0.000,0.034,2809,3353,982
$GC,10532,0.21,429.4,114.8,6.8,563,10538,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1938,982
$GC,10861,0.32,469.9,93.3,5.6,594,10900,0.17,2.53,31.30,0.634,4,0.056,0.035,2855,3360,816
$GC,10925,0.24,469.9,87.8,9.4,600,10930,0.12,2.45,0.00,0.000,6,0.094,0.027,2831,1941,817
$GC,11250,0.24,469.9,62.8,7.5,630,11254,0.00,2.45,0.00,0.000,4,0.000,0.035,2831,3353,817
$GC,11290,0.29,469.9,60.0,7.0,633,11297,0.00,2.40,0.00,0.000,6,0.000,0.025,2831,1941,817
$GC,11556,0.52,559.4,46.8,4.2,658,11631,0.22,2.58,68.50,0.574,4,0.051,0.035,2892,3359,451
$GC,11685,0.47,559.4,34.4,10.8,669,11692,0.00,2.40,0.00,0.000,6,0.000,0.026,2891,1954,452
$STATE,11940,end climb,SURFACE_DEPTH_REACHED
$STATE,11940,begin surface coast
$FINISH,0.9,1.017846
$STATE,11986,end surface coast,CONTROL_FINISHED_OK
$STATE,11986,begin surface
$SM_CCo,12070,0.00,0.000,0,0,452,559.53
$SM_GC,1.63,11.00,0.00,0.00,0.041,0.000,0.000,407,2081,452,-10.86,1.16,559.53
$IRIDIUM_FIX,2059.45,-15801.19,150198,070740
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.8,29.899
$10V_AH,10.2,18.305
$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,28.300,132.125,567.025,0.000,0.000,23.249,27.019,145.499,11.500,0.000,0.000,14.501,1316.054,8239.648,605.606,1711.997,529.140,33.369,1486.012,0.000,1681.030,0.000,57.440
$DEVICE_MAMPS,158.002,53.690,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.065,466.716,851.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,719
$CAP_FILE_SIZE,110476,0
$CFSIZE,260165632,246308864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,143602,2107.661,-15749.544,37,1.2,37,9.8