version: 66.03
glider: 114
mission: 3
dive: 217
start: 10 22 108 1 5 59
data:
$ID,114
$MISSION,3
$DIVE,217
$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,-595919.12
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,005908,2104.117,-15747.724,26,1.4,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.4
$GPS2,010503,2104.116,-15747.703,13,1.3,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.216,-0.085
$KALMAN_X,-48114.9,276.8,433.0,57534.8,-1996.0
$KALMAN_Y,-49150.5,269.2,231.7,25564.3,-1078.4
$MHEAD_RNG_PITCHd_Wd,101.6,3599,-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,-165.5,0.0,0.0,0,107,0.00,0.00,-75.07,0.000,2,0.000,0.000,410,2020,2927
$GC,111,-1.06,-165.5,3.9,-4.8,14,136,12.02,2.47,-7.53,0.000,4,0.159,0.048,2542,633,3411
$GC,201,-1.21,-165.5,21.1,-8.1,29,208,0.12,2.35,0.00,0.000,6,0.056,0.021,2509,2044,3411
$GC,477,-1.21,-165.5,49.8,-10.7,62,481,0.00,2.40,0.00,0.000,4,0.000,0.036,2509,3440,3411
$GC,556,-1.26,-165.5,57.3,-7.8,68,562,0.00,2.35,0.00,0.000,6,0.000,0.023,2509,2036,3411
$GC,818,-1.30,-165.5,76.9,-8.1,93,822,0.00,2.42,0.00,0.000,4,0.000,0.033,2509,3446,3412
$GC,858,-1.39,-165.5,80.1,-7.8,96,864,0.15,2.35,0.00,0.000,6,0.056,0.023,2472,2041,3412
$GC,1120,-1.39,-165.5,107.1,-8.6,121,1124,0.00,2.40,0.00,0.000,4,0.000,0.038,2472,644,3412
$GC,1150,-1.39,-165.5,110.1,-10.9,123,1154,0.00,2.33,0.00,0.000,6,0.000,0.021,2472,2039,3412
$GC,1476,-1.39,-165.5,139.0,-7.9,153,1480,0.00,2.40,0.00,0.000,4,0.000,0.035,2472,3444,3412
$GC,1573,-1.45,-165.5,146.1,-7.2,161,1577,0.00,2.38,0.00,0.000,6,0.000,0.025,2472,2031,3412
$GC,1899,-1.48,-165.5,172.7,-8.1,191,1903,0.00,2.45,0.00,0.000,4,0.000,0.035,2471,3450,3412
$GC,1932,-1.52,-165.5,175.9,-9.0,193,1938,0.00,2.38,0.00,0.000,6,0.000,0.025,2472,2037,3411
$GC,2268,-1.58,-165.5,201.3,-5.5,224,2273,0.15,2.42,0.00,0.000,4,0.054,0.034,2428,3439,3412
$GC,2336,-1.58,-165.5,205.8,-6.1,227,2340,0.00,2.38,0.00,0.000,6,0.000,0.025,2428,2028,3412
$GC,2661,-1.55,-165.5,232.0,-9.4,243,2665,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,638,3411
$GC,2694,-1.55,-165.5,235.9,-9.7,244,2700,0.00,2.35,0.00,0.000,6,0.000,0.026,2428,2033,3411
$GC,3010,-1.55,-165.5,266.6,-9.7,260,3014,0.00,2.45,0.00,0.000,4,0.000,0.038,2428,3452,3411
$GC,3118,-1.60,-165.5,276.2,-8.2,265,3122,0.00,2.40,0.00,0.000,6,0.000,0.028,2428,2043,3411
$GC,3446,-1.60,-165.5,301.7,-8.2,281,3450,0.00,2.45,0.00,0.000,4,0.000,0.039,2428,3446,3410
$GC,3514,-1.60,-165.5,307.8,-9.0,282,3518,0.00,2.40,0.00,0.000,6,0.000,0.028,2428,2040,3410
$GC,3851,-1.60,-165.5,336.9,-7.4,291,3855,0.00,2.47,0.00,0.000,4,0.000,0.046,2428,629,3408
$GC,3891,-1.63,-165.5,339.3,-6.7,292,3895,0.00,2.42,0.00,0.000,6,0.000,0.028,2428,2046,3408
$GC,4217,-1.66,-165.5,357.9,-5.9,300,4221,0.00,2.45,0.00,0.000,4,0.000,0.044,2428,3446,3405
$GC,4296,-1.72,-165.5,364.0,-8.1,301,4303,0.10,2.42,0.00,0.000,6,0.076,0.031,2406,2036,3404
$GC,4628,-1.72,-165.5,397.3,-10.6,310,4632,0.00,2.50,0.00,0.000,4,0.000,0.044,2406,3446,3402
$GC,4661,-1.72,-165.5,400.9,-10.5,310,4667,0.00,2.42,0.00,0.000,6,0.000,0.031,2406,2040,3401
$GC,4994,-1.72,-165.5,432.0,-9.2,319,4997,0.00,2.47,0.00,0.000,4,0.000,0.051,2405,638,3399
$GC,5022,-1.72,-165.5,434.9,-10.2,319,5026,0.00,2.42,0.00,0.000,6,0.000,0.032,2405,2042,3399
$STATE,5195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5195,begin apogee
$GC,5204,-0.33,0.0,450.0,8.6,324,5336,1.42,0.00,128.88,0.920,6,0.087,0.000,2703,1936,2733
$STATE,5337,end apogee,CONTROL_FINISHED_OK
$STATE,5337,begin climb
$GC,5341,1.06,165.5,455.7,0.0,327,5478,1.38,2.55,129.70,0.890,4,0.051,0.053,3008,557,2058
$GC,5488,0.55,165.5,455.8,7.9,330,5493,0.60,2.47,0.00,0.000,6,0.129,0.031,2901,1961,2058
$GC,5825,0.24,165.5,427.1,8.2,339,5831,0.32,2.60,0.00,0.000,4,0.118,0.054,2837,547,2056
$GC,5861,0.06,169.6,424.6,6.7,339,5871,0.22,2.45,3.72,0.844,6,0.114,0.032,2795,1948,2041
$GC,6197,0.14,257.9,410.2,4.2,348,6268,0.00,0.00,69.43,0.892,6,0.000,0.000,2795,1948,1682
$GC,6562,0.10,277.5,388.0,6.2,357,6583,0.00,2.58,16.20,0.883,4,0.000,0.048,2795,3357,1600
$GC,6629,0.07,286.0,383.9,6.6,358,6645,0.00,2.47,7.28,0.860,6,0.000,0.036,2795,1960,1567
$GC,6971,0.08,330.6,365.4,5.5,367,7012,0.00,0.00,35.08,0.881,6,0.000,0.000,2795,1960,1384
$GC,7339,0.03,330.6,339.0,7.2,376,7343,0.00,2.53,0.00,0.000,4,0.000,0.045,2795,3364,1384
$GC,7389,0.03,330.6,335.3,7.1,377,7393,0.00,2.50,0.00,0.000,6,0.000,0.035,2795,1941,1383
$GC,7703,0.09,385.6,317.5,5.2,385,7751,0.00,2.60,43.62,0.862,4,0.000,0.044,2795,3363,1159
$GC,7774,0.06,385.6,312.5,7.7,386,7780,0.00,2.50,0.00,0.000,6,0.000,0.033,2795,1944,1160
$GC,8088,0.06,385.6,286.9,8.0,398,8092,0.00,2.53,0.00,0.000,4,0.000,0.042,2795,3357,1159
$GC,8151,0.06,385.6,281.9,7.6,401,8156,0.00,2.47,0.00,0.000,6,0.000,0.032,2795,1937,1159
$GC,8479,0.15,435.1,262.5,5.4,417,8524,0.00,2.60,38.65,0.815,4,0.000,0.039,2795,3354,958
$GC,8567,0.15,437.8,257.1,6.7,421,8576,0.00,2.47,3.35,0.772,6,0.000,0.031,2795,1939,947
$GC,8900,0.15,437.8,233.9,7.7,437,8904,0.00,2.53,0.00,0.000,4,0.000,0.040,2795,3366,947
$GC,8922,0.15,437.8,232.0,8.0,438,8926,0.00,2.47,0.00,0.000,6,0.000,0.030,2795,1939,947
$GC,9243,0.15,437.8,206.3,8.3,454,9247,0.00,2.50,0.00,0.000,4,0.000,0.038,2795,3362,947
$GC,9293,0.15,437.8,201.9,8.6,456,9297,0.00,2.42,0.00,0.000,6,0.000,0.028,2795,1941,948
$GC,9626,0.15,437.8,175.8,8.2,486,9630,0.00,2.50,0.00,0.000,4,0.000,0.038,2794,3369,948
$GC,9659,0.15,437.8,172.6,8.0,488,9665,0.00,2.45,0.00,0.000,6,0.000,0.029,2795,1940,948
$GC,9988,0.25,475.2,151.1,5.7,519,10023,0.15,2.58,29.40,0.701,4,0.062,0.037,2836,3359,795
$GC,10054,0.18,475.2,145.2,9.7,525,10059,0.00,2.45,0.00,0.000,6,0.000,0.028,2835,1950,795
$GC,10381,0.12,475.2,113.6,10.0,555,10385,0.15,2.47,0.00,0.000,4,0.095,0.035,2802,3362,795
$GC,10422,0.16,475.2,109.9,8.6,558,10426,0.00,2.45,0.00,0.000,6,0.000,0.028,2802,1937,795
$GC,10748,0.24,475.2,87.6,6.9,588,10753,0.12,2.47,0.00,0.000,4,0.065,0.033,2833,3360,795
$GC,10771,0.29,475.2,85.9,7.2,589,10777,0.00,2.40,0.00,0.000,6,0.000,0.027,2833,1951,795
$GC,11099,0.35,514.9,62.8,5.6,620,11136,0.10,2.50,30.95,0.603,4,0.069,0.034,2859,3361,633
$GC,11187,0.39,514.9,56.5,7.4,627,11194,0.00,2.42,0.00,0.000,6,0.000,0.026,2859,1943,636
$GC,11449,0.39,514.9,37.2,7.2,652,11453,0.00,2.45,0.00,0.000,4,0.000,0.044,2859,547,636
$GC,11473,0.43,538.0,35.7,6.1,654,11499,0.00,2.40,19.10,0.572,6,0.000,0.023,2859,1971,537
$GC,11768,0.43,538.0,13.8,7.5,698,11775,0.00,2.38,0.00,0.000,4,0.000,0.034,2859,3354,537
$GC,11822,0.43,538.0,9.2,8.4,707,11828,0.00,2.40,0.00,0.000,6,0.000,0.025,2859,1937,539
$STATE,11877,end climb,SURFACE_DEPTH_REACHED
$STATE,11877,begin surface coast
$FINISH,0.8,0.997711
$STATE,11960,end surface coast,CONTROL_FINISHED_OK
$STATE,11960,begin surface
$SM_CCo,12043,0.00,0.000,0,0,540,537.94
$SM_GC,1.65,10.82,0.00,0.00,0.041,0.000,0.000,408,2079,540,-10.87,1.10,537.94
$IRIDIUM_FIX,2057.14,-15749.62,150198,212148
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,8
$24V_AH,23.8,30.476
$10V_AH,10.2,18.644
$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,27.850,147.450,555.350,0.000,0.000,25.559,40.346,152.723,11.000,0.000,0.000,14.630,1337.856,8162.038,637.837,1711.122,549.714,33.369,1503.788,0.000,1673.110,0.000,57.439
$DEVICE_MAMPS,158.769,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.226,476.600,858.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,731
$CAP_FILE_SIZE,113962,0
$CFSIZE,260165632,246059008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,042801,2102.915,-15746.470,35,1.2,40,9.8