version: 66.03
glider: 114
mission: 3
dive: 215
start: 10 21 108 18 10 18
data:
$ID,114
$MISSION,3
$DIVE,215
$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,-595888.62
$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,33
$R_STBD_OVSHOOT,76
$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
$GPS1,180338,2106.398,-15748.997,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.0
$GPS2,180921,2106.421,-15749.025,12,1.3,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.168,-0.160
$KALMAN_X,-45087.8,271.7,-323.5,52991.0,-842.2
$KALMAN_Y,-49097.0,594.5,-13.3,29703.3,-820.3
$MHEAD_RNG_PITCHd_Wd,123.7,8427,-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,-80.60,0.000,2,0.000,0.000,412,2089,2965
$GC,116,-1.06,-165.5,3.7,-4.3,15,141,11.95,2.28,-6.90,0.000,4,0.159,0.047,2539,3403,3407
$GC,183,-1.03,-165.5,19.9,-12.5,26,189,0.00,2.30,0.00,0.000,6,0.000,0.023,2539,2029,3408
$GC,457,-1.09,-165.5,41.4,-8.5,61,461,0.00,2.38,0.00,0.000,4,0.000,0.035,2539,3404,3408
$GC,532,-1.19,-165.5,48.0,-7.6,67,536,0.00,2.28,0.00,0.000,6,0.000,0.022,2539,2033,3408
$GC,800,-1.29,-165.5,66.3,-6.6,92,805,0.15,2.38,0.00,0.000,4,0.054,0.032,2497,3412,3408
$GC,863,-1.39,-165.5,71.2,-8.0,97,867,0.00,2.30,0.00,0.000,6,0.000,0.022,2497,2040,3409
$GC,1126,-1.42,-165.5,90.9,-7.1,121,1128,0.12,0.00,0.00,0.000,6,0.058,0.000,2463,2040,3409
$GC,1444,-1.42,-165.5,117.2,-8.8,151,1448,0.00,2.35,0.00,0.000,4,0.000,0.034,2463,3409,3410
$GC,1500,-1.48,-165.5,123.0,-10.1,155,1506,0.00,2.30,0.00,0.000,6,0.000,0.024,2463,2032,3410
$GC,1827,-1.48,-165.5,153.2,-7.3,186,1831,0.00,2.35,0.00,0.000,4,0.000,0.034,2463,3400,3410
$GC,1883,-1.53,-165.5,157.0,-6.8,190,1890,0.00,2.28,0.00,0.000,6,0.000,0.024,2463,2042,3410
$GC,2209,-1.53,-165.5,182.1,-8.6,221,2213,0.00,2.35,0.00,0.000,4,0.000,0.035,2464,3406,3410
$GC,2232,-1.57,-165.5,184.2,-8.2,222,2239,0.05,2.33,0.00,0.000,6,0.036,0.025,2435,2039,3410
$GC,2564,-1.57,-165.5,212.9,-8.7,247,2568,0.00,2.35,0.00,0.000,4,0.000,0.036,2435,3400,3410
$GC,2621,-1.60,-165.5,218.4,-8.9,249,2627,0.00,2.30,0.00,0.000,6,0.000,0.025,2435,2034,3409
$GC,2938,-1.60,-165.5,245.4,-7.7,265,2942,0.00,2.38,0.00,0.000,4,0.000,0.037,2435,3402,3409
$GC,2996,-1.64,-165.5,249.7,-7.3,267,3003,0.00,2.30,0.00,0.000,6,0.000,0.027,2435,2043,3409
$GC,3314,-1.64,-165.5,270.9,-5.8,283,3318,0.00,2.45,0.00,0.000,4,0.000,0.044,2435,638,3409
$GC,3355,-1.71,-165.5,273.7,-7.6,285,3360,0.12,2.33,0.00,0.000,6,0.063,0.027,2405,2009,3409
$GC,3686,-1.68,-165.5,300.7,-8.6,301,3690,0.00,2.50,0.00,0.000,4,0.000,0.041,2405,3443,3407
$GC,3827,-1.68,-165.5,314.4,-9.6,304,3831,0.00,2.40,0.00,0.000,6,0.000,0.030,2405,2042,3406
$GC,4140,-1.68,-165.5,344.3,-9.7,312,4144,0.00,2.47,0.00,0.000,4,0.000,0.048,2404,635,3403
$GC,4180,-1.68,-165.5,348.5,-10.5,312,4186,0.00,2.40,0.00,0.000,6,0.000,0.030,2405,2034,3403
$GC,4514,-1.68,-165.5,381.6,-10.1,321,4518,0.00,2.50,0.00,0.000,4,0.000,0.046,2405,3456,3400
$GC,4559,-1.68,-165.5,386.9,-10.6,322,4563,0.00,2.45,0.00,0.000,6,0.000,0.032,2404,2034,3400
$GC,4878,-1.68,-165.5,418.9,-9.5,330,4882,0.00,2.47,0.00,0.000,4,0.000,0.051,2405,637,3398
$GC,4911,-1.68,-165.5,422.2,-10.0,330,4917,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2042,3398
$STATE,5241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5241,begin apogee
$GC,5249,-0.33,0.0,450.8,8.3,339,5382,1.45,0.00,128.80,0.914,6,0.094,0.000,2705,1936,2733
$STATE,5382,end apogee,CONTROL_FINISHED_OK
$STATE,5382,begin climb
$GC,5386,1.06,165.5,457.2,0.0,342,5523,1.35,2.60,129.73,0.894,4,0.048,0.045,3006,3356,2057
$GC,5707,0.56,165.5,440.4,11.4,349,5712,0.55,2.47,0.00,0.000,6,0.133,0.035,2906,1956,2056
$GC,6051,0.26,165.5,413.3,8.1,358,6056,0.32,2.58,0.00,0.000,4,0.118,0.054,2841,538,2054
$GC,6130,0.06,165.5,407.5,6.9,359,6136,0.25,2.47,0.00,0.000,6,0.117,0.031,2795,1960,2054
$GC,6462,0.16,260.1,393.4,4.0,368,6540,0.00,0.00,73.57,0.889,6,0.000,0.000,2796,1960,1671
$GC,6867,0.19,315.6,371.5,5.2,378,6917,0.12,2.58,43.25,0.876,4,0.081,0.048,2822,3348,1446
$GC,7005,0.10,315.6,362.6,7.2,381,7009,0.00,2.47,0.00,0.000,6,0.000,0.035,2822,1947,1445
$GC,7324,0.00,315.6,339.5,7.5,389,7329,0.17,2.55,0.00,0.000,4,0.108,0.053,2786,541,1445
$GC,7369,0.00,315.6,335.7,7.6,390,7373,0.00,2.45,0.00,0.000,6,0.000,0.031,2786,1952,1445
$GC,7687,0.00,315.6,311.2,7.9,398,7691,0.00,2.50,0.00,0.000,4,0.000,0.047,2786,3358,1444
$GC,7743,0.00,315.6,306.7,8.2,399,7747,0.00,2.47,0.00,0.000,6,0.000,0.034,2786,1940,1444
$GC,8075,0.07,352.4,285.5,5.7,413,8109,0.00,2.60,28.48,0.847,4,0.000,0.042,2786,3348,1296
$GC,8149,0.07,352.4,280.3,7.8,416,8153,0.00,2.45,0.00,0.000,6,0.000,0.033,2786,1949,1296
$GC,8466,0.17,411.2,261.3,5.1,431,8518,0.12,2.58,46.20,0.817,4,0.076,0.052,2814,540,1055
$GC,8549,0.11,411.2,255.8,7.8,435,8553,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1948,1055
$GC,8876,0.04,411.2,229.4,9.0,451,8881,0.12,2.50,0.00,0.000,4,0.110,0.044,2792,3359,1055
$GC,8955,0.04,411.2,223.0,7.4,454,8961,0.00,2.45,0.00,0.000,6,0.000,0.032,2792,1950,1055
$GC,9273,0.06,422.5,201.8,6.5,470,9284,0.00,0.00,9.50,0.777,6,0.000,0.000,2792,1949,1010
$GC,9591,0.18,488.1,184.5,4.9,498,9648,0.12,2.55,50.95,0.745,4,0.073,0.039,2821,3362,742
$GC,9688,0.14,488.1,176.5,9.1,506,9694,0.00,2.47,0.00,0.000,6,0.000,0.030,2820,1939,743
$GC,10017,0.10,488.1,148.3,8.1,537,10021,0.00,2.50,0.00,0.000,4,0.000,0.037,2820,3358,745
$GC,10063,0.10,488.1,144.5,7.4,540,10069,0.00,2.42,0.00,0.000,6,0.000,0.028,2820,1950,745
$GC,10391,0.05,488.1,116.6,9.5,571,10398,0.15,0.00,0.00,0.000,6,0.094,0.000,2791,1950,746
$GC,10721,0.20,528.0,97.1,5.6,602,10763,0.15,2.50,32.40,0.645,4,0.062,0.035,2827,3362,579
$GC,10811,0.26,528.0,90.0,8.7,610,10815,0.00,2.45,0.00,0.000,6,0.000,0.027,2827,1941,581
$GC,11137,0.33,536.1,65.6,6.6,640,11150,0.10,2.55,7.35,0.613,4,0.070,0.033,2853,3368,546
$GC,11179,0.37,536.1,62.5,8.1,643,11185,0.00,2.42,0.00,0.000,6,0.000,0.026,2853,1951,546
$GC,11441,0.37,536.1,42.9,8.6,668,11445,0.00,2.45,0.00,0.000,4,0.000,0.033,2853,3367,547
$GC,11463,0.37,536.1,40.9,8.6,669,11469,0.00,2.42,0.00,0.000,6,0.000,0.025,2853,1933,548
$GC,11732,0.37,536.1,19.7,7.8,705,11738,0.00,2.47,0.00,0.000,4,0.000,0.032,2853,3373,548
$GC,11774,0.37,536.1,16.4,7.9,712,11780,0.00,2.42,0.00,0.000,6,0.000,0.025,2853,1944,548
$STATE,11919,end climb,SURFACE_DEPTH_REACHED
$STATE,11920,begin surface coast
$FINISH,0.9,1.009602
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11995,begin surface
$SM_CCo,12078,0.00,0.000,0,0,550,535.49
$SM_GC,1.72,10.73,0.00,0.00,0.040,0.000,0.000,411,2087,550,-10.85,1.33,535.49
$IRIDIUM_FIX,2059.45,-15750.89,150198,141453
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,23.8,30.187
$10V_AH,10.2,18.476
$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,28.125,131.775,550.225,0.000,0.000,30.817,30.383,146.560,10.750,0.000,0.000,14.383,1364.450,8083.347,631.401,1797.755,546.057,33.376,1524.042,0.000,1766.080,0.000,59.990
$DEVICE_MAMPS,158.769,54.457,914.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.139,496.349,900.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37946,751
$CAP_FILE_SIZE,112674,0
$CFSIZE,260165632,246181888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,213255,2105.225,-15748.721,23,1.1,40,9.8