version: 66.03
glider: 114
mission: 3
dive: 216
start: 10 21 108 21 39 35
data:
$ID,114
$MISSION,3
$DIVE,216
$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,-595903.88
$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,73
$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
$GPS1,213255,2105.225,-15748.721,23,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.8
$GPS2,213839,2105.238,-15748.701,13,1.3,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175,-0.152
$KALMAN_X,-46730.2,509.3,-583.9,55218.2,-561.0
$KALMAN_Y,-49341.0,556.1,194.4,27586.7,-1137.4
$MHEAD_RNG_PITCHd_Wd,121.2,6222,-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,-75.53,0.000,2,0.000,0.000,411,2086,2809
$GC,112,-1.06,-165.5,3.2,-3.4,14,142,11.95,2.55,-10.32,0.000,4,0.157,0.050,2540,631,3410
$GC,195,-1.21,-165.5,17.2,-8.2,28,202,0.12,2.30,0.00,0.000,6,0.057,0.022,2508,2009,3410
$GC,471,-1.21,-165.5,45.9,-10.4,64,475,0.00,2.45,0.00,0.000,4,0.000,0.036,2508,3436,3410
$GC,580,-1.27,-165.5,57.3,-10.0,73,584,0.00,2.38,0.00,0.000,6,0.000,0.024,2508,2025,3409
$GC,842,-1.32,-165.5,81.3,-7.7,97,846,0.00,2.45,0.00,0.000,4,0.000,0.034,2507,3446,3410
$GC,905,-1.44,-165.5,86.1,-7.7,102,910,0.20,2.38,0.00,0.000,6,0.051,0.023,2460,2032,3410
$GC,1231,-1.44,-165.5,116.8,-9.6,132,1235,0.00,2.42,0.00,0.000,4,0.000,0.034,2459,3443,3410
$GC,1293,-1.49,-165.5,122.0,-8.2,137,1299,0.00,2.35,0.00,0.000,6,0.000,0.024,2460,2038,3410
$GC,1618,-1.49,-165.5,151.3,-9.7,168,1622,0.00,2.42,0.00,0.000,4,0.000,0.035,2459,3443,3411
$GC,1686,-1.54,-165.5,158.1,-10.1,173,1691,0.00,2.38,0.00,0.000,6,0.000,0.024,2460,2028,3410
$GC,2012,-1.54,-165.5,183.6,-7.1,204,2016,0.00,2.45,0.00,0.000,4,0.000,0.035,2459,3448,3410
$GC,2053,-1.59,-165.5,186.7,-7.4,207,2058,0.12,2.38,0.00,0.000,6,0.058,0.025,2427,2042,3410
$GC,2384,-1.59,-165.5,218.9,-9.8,229,2388,0.00,2.42,0.00,0.000,4,0.000,0.041,2427,635,3410
$GC,2440,-1.64,-165.5,224.8,-10.7,231,2446,0.00,2.38,0.00,0.000,6,0.000,0.025,2427,2043,3410
$GC,2757,-1.64,-165.5,253.7,-8.8,247,2761,0.00,2.42,0.00,0.000,4,0.000,0.038,2427,3452,3410
$GC,2819,-1.67,-165.5,259.0,-7.8,249,2825,0.00,2.40,0.00,0.000,6,0.000,0.028,2427,2041,3410
$GC,3136,-1.67,-165.5,282.1,-7.4,265,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2039,3410
$GC,3443,-1.67,-165.5,307.7,-8.3,278,3447,0.00,2.47,0.00,0.000,4,0.000,0.041,2427,3449,3407
$GC,3538,-1.72,-165.5,316.4,-9.0,280,3542,0.00,2.42,0.00,0.000,6,0.000,0.030,2427,2035,3406
$GC,3854,-1.72,-165.5,342.4,-8.0,288,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2034,3404
$GC,4177,-1.72,-165.5,369.5,-8.7,296,4181,0.00,2.47,0.00,0.000,4,0.000,0.042,2427,3442,3402
$GC,4233,-1.77,-165.5,374.5,-8.7,297,4238,0.15,2.42,0.00,0.000,6,0.066,0.031,2393,2032,3401
$GC,4582,-1.74,-165.5,407.4,-8.9,306,4586,0.00,2.47,0.00,0.000,4,0.000,0.048,2393,629,3399
$GC,4612,-1.70,-165.5,410.2,-9.5,306,4617,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2034,3398
$GC,4944,-1.70,-165.5,436.8,-7.7,314,4948,0.00,2.53,0.00,0.000,4,0.000,0.049,2392,3458,3396
$GC,5017,-1.70,-165.5,442.2,-7.8,315,5021,0.00,2.45,0.00,0.000,6,0.000,0.034,2392,2042,3396
$STATE,5143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5143,begin apogee
$GC,5151,-0.33,0.0,452.2,7.9,318,5284,1.50,0.00,128.93,0.920,6,0.097,0.000,2703,1938,2733
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5288,1.06,165.5,456.5,0.0,321,5426,1.38,2.55,129.88,0.896,4,0.049,0.053,3009,554,2058
$GC,5474,0.50,165.5,450.1,14.1,325,5480,0.65,2.47,0.00,0.000,6,0.129,0.031,2893,1963,2057
$GC,5818,0.22,165.5,419.8,8.6,334,5823,0.30,2.50,0.00,0.000,4,0.118,0.047,2833,3355,2055
$GC,5859,0.08,173.7,416.9,6.6,335,5873,0.20,2.47,6.68,0.875,6,0.259,0.035,2798,1954,2024
$GC,6188,0.12,242.5,401.2,4.8,343,6247,0.00,2.65,53.50,0.900,4,0.000,0.055,2798,545,1744
$GC,6273,0.03,242.5,396.3,6.9,345,6277,0.00,2.50,0.00,0.000,6,0.000,0.032,2798,1963,1744
$GC,6598,0.01,264.3,375.6,6.2,353,6622,0.00,2.58,17.58,0.894,4,0.000,0.051,2798,3346,1655
$GC,6674,-0.05,264.3,370.2,6.8,354,6679,0.15,2.47,0.00,0.000,6,0.116,0.035,2771,1944,1655
$GC,7006,-0.00,292.3,349.9,6.0,362,7035,0.00,2.62,22.45,0.887,4,0.000,0.044,2771,3357,1540
$GC,7082,-0.00,292.6,345.2,6.8,363,7086,0.00,2.50,0.00,0.000,6,0.000,0.034,2771,1939,1541
$GC,7414,0.11,355.7,328.3,5.0,371,7469,0.15,2.60,49.05,0.871,4,0.072,0.044,2804,3356,1283
$GC,7509,0.06,355.7,321.6,7.6,373,7514,0.00,2.50,0.00,0.000,6,0.000,0.034,2804,1940,1282
$GC,7823,-0.00,355.7,298.3,7.2,381,7825,0.12,0.00,0.00,0.000,6,0.110,0.000,2782,1939,1282
$GC,8132,-0.00,355.7,274.6,7.6,396,8137,0.00,2.53,0.00,0.000,4,0.000,0.040,2782,3365,1282
$GC,8211,-0.00,355.7,268.0,8.6,399,8217,0.00,2.47,0.00,0.000,6,0.000,0.032,2781,1944,1282
$GC,8528,0.05,383.2,245.1,6.0,415,8557,0.00,2.60,22.08,0.824,4,0.000,0.038,2781,3358,1170
$GC,8598,0.15,415.5,241.1,5.9,418,8630,0.15,2.45,25.35,0.809,6,0.071,0.030,2814,1945,1039
$GC,8943,0.12,415.5,215.4,7.6,434,8947,0.00,2.50,0.00,0.000,4,0.000,0.050,2814,548,1039
$GC,8976,0.12,415.5,212.6,7.6,435,8982,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,1961,1039
$GC,9295,0.08,415.5,191.6,7.2,456,9299,0.00,2.45,0.00,0.000,4,0.000,0.041,2814,3357,1039
$GC,9353,0.08,415.5,187.6,7.2,461,9357,0.00,2.45,0.00,0.000,6,0.000,0.030,2814,1944,1039
$GC,9683,0.08,415.5,159.4,9.0,491,9687,0.00,2.47,0.00,0.000,4,0.000,0.037,2814,3358,1039
$GC,9724,0.08,415.5,155.5,9.2,494,9728,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,1951,1039
$GC,10053,0.11,433.4,131.4,6.3,524,10075,0.00,2.53,14.70,0.690,4,0.000,0.047,2814,549,966
$GC,10104,0.13,440.7,127.8,6.6,528,10115,0.00,2.40,6.50,0.683,6,0.000,0.024,2814,1963,936
$GC,10435,0.19,476.2,106.9,5.8,559,10469,0.00,2.50,27.52,0.653,4,0.000,0.036,2814,3346,790
$GC,10533,0.28,485.9,100.7,6.5,567,10551,0.12,2.40,8.10,0.650,6,0.065,0.027,2845,1950,751
$GC,10870,0.23,485.9,71.5,8.2,599,10874,0.00,2.45,0.00,0.000,4,0.000,0.035,2845,3354,754
$GC,10926,0.26,485.9,67.2,7.3,603,10932,0.00,2.40,0.00,0.000,6,0.000,0.026,2845,1944,753
$GC,11188,0.26,485.9,45.9,8.0,628,11193,0.00,2.42,0.00,0.000,4,0.000,0.032,2844,3346,755
$GC,11218,0.26,485.9,43.5,7.7,630,11222,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,1935,756
$GC,11486,0.33,511.6,26.1,6.1,659,11510,0.00,0.00,20.88,0.567,6,0.000,0.000,2845,1935,647
$GC,11782,0.33,511.6,5.8,6.9,711,11788,0.00,2.45,0.00,0.000,4,0.000,0.031,2845,3359,647
$STATE,11792,end climb,SURFACE_DEPTH_REACHED
$STATE,11792,begin surface coast
$FINISH,2.9,1.022880
$STATE,11821,end surface coast,CONTROL_FINISHED_OK
$STATE,11822,begin surface
$SM_CCo,11908,0.00,0.000,0,0,647,511.70
$SM_GC,1.68,10.98,0.00,0.00,0.051,0.000,0.000,410,2025,647,-10.86,-0.42,511.70
$IRIDIUM_FIX,2057.14,-15749.62,150198,181835
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,23.8,30.329
$10V_AH,10.2,18.560
$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,28.250,137.800,533.175,0.000,0.000,23.621,33.778,151.817,10.750,0.000,0.000,14.655,1324.040,8071.862,589.287,1724.950,542.361,33.375,1469.342,0.000,1690.885,0.000,62.400
$DEVICE_MAMPS,259.246,55.224,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.810,478.264,856.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37961,718
$CAP_FILE_SIZE,112242,0
$CFSIZE,260165632,246120448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,005908,2104.117,-15747.724,26,1.4,26,9.8