version: 66.03
glider: 114
mission: 3
dive: 252
start: 10 27 108 0 41 0
data:
$ID,114
$MISSION,3
$DIVE,252
$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,400
$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,-596644.56
$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,34
$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
$GPS1,003408,2110.438,-15749.886,34,1.5,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.9
$GPS2,004003,2110.420,-15749.907,11,1.7,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.109,-0.205
$KALMAN_X,-70639.5,-69.3,-339.9,77374.9,-510.1
$KALMAN_Y,-58952.6,-108.9,-260.9,47914.3,-22.7
$MHEAD_RNG_PITCHd_Wd,142.2,15876,-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,29,-1.06,-165.5,0.0,0.0,0,107,0.00,0.00,-75.40,0.000,2,0.000,0.000,410,2088,2853
$GC,111,-1.06,-165.5,3.2,-3.3,14,141,11.93,2.58,-9.52,0.000,4,0.158,0.053,2539,642,3411
$GC,234,-1.19,-165.5,21.4,-8.8,35,240,0.00,2.28,0.00,0.000,6,0.000,0.021,2539,2011,3410
$GC,510,-1.28,-165.5,45.5,-9.1,69,515,0.15,2.45,0.00,0.000,4,0.057,0.033,2499,3443,3410
$GC,641,-1.38,-165.5,57.5,-7.0,80,645,0.00,2.38,0.00,0.000,6,0.000,0.024,2498,2034,3411
$GC,904,-1.41,-165.5,76.6,-7.7,104,908,0.12,2.42,0.00,0.000,4,0.059,0.033,2467,3435,3411
$GC,960,-1.41,-165.5,82.5,-10.9,108,966,0.00,2.35,0.00,0.000,6,0.000,0.024,2467,2032,3410
$GC,1285,-1.41,-165.5,111.6,-9.1,139,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2031,3410
$GC,1607,-1.41,-165.5,138.5,-9.2,169,1611,0.00,2.42,0.00,0.000,4,0.000,0.034,2467,3438,3410
$GC,1708,-1.46,-165.5,147.4,-7.4,177,1714,0.00,2.35,0.00,0.000,6,0.000,0.025,2467,2037,3411
$GC,2033,-1.46,-165.5,175.1,-8.6,208,2037,0.00,2.42,0.00,0.000,4,0.000,0.035,2466,3443,3411
$GC,2079,-1.52,-165.5,179.1,-8.4,211,2085,0.00,2.38,0.00,0.000,6,0.000,0.024,2467,2029,3410
$GC,2407,-1.57,-165.5,200.0,-6.4,242,2412,0.12,2.45,0.00,0.000,4,0.062,0.035,2435,3444,3410
$GC,2457,-1.57,-165.5,204.3,-8.2,244,2462,0.00,2.38,0.00,0.000,6,0.000,0.025,2435,2036,3410
$GC,2775,-1.57,-165.5,233.1,-9.7,259,2779,0.00,2.42,0.00,0.000,4,0.000,0.036,2435,3436,3410
$GC,2792,-1.57,-165.5,234.7,-9.2,260,2797,0.00,2.38,0.00,0.000,6,0.000,0.025,2435,2031,3410
$GC,3120,-1.57,-165.5,262.7,-7.9,276,3124,0.00,2.45,0.00,0.000,4,0.000,0.038,2435,3440,3410
$GC,3153,-1.57,-165.5,265.3,-7.5,277,3159,0.00,2.38,0.00,0.000,6,0.000,0.027,2435,2040,3410
$GC,3470,-1.57,-165.5,287.6,-7.6,293,3474,0.00,2.42,0.00,0.000,4,0.000,0.038,2435,3432,3409
$GC,3526,-1.62,-165.5,292.3,-7.3,295,3532,0.00,2.38,0.00,0.000,6,0.000,0.028,2435,2038,3409
$GC,3839,-1.62,-165.5,315.6,-6.9,306,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2038,3407
$GC,4165,-1.65,-165.5,340.3,-7.9,314,4169,0.00,2.45,0.00,0.000,4,0.000,0.039,2435,3433,3405
$GC,4193,-1.69,-165.5,342.7,-8.2,314,4198,0.10,2.40,0.00,0.000,6,0.074,0.029,2412,2031,3404
$GC,4526,-1.69,-165.5,370.1,-8.0,322,4530,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3444,3402
$GC,4553,-1.69,-165.5,372.4,-8.1,322,4557,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2043,3401
$GC,4885,-1.69,-165.5,397.6,-7.7,330,4889,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3441,3400
$GC,4901,-1.69,-165.5,398.9,-7.5,330,4905,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2039,3399
$GC,5245,-1.69,-165.5,423.5,-7.3,339,5249,0.00,2.45,0.00,0.000,4,0.000,0.042,2412,3432,3398
$GC,5295,-1.69,-165.5,427.6,-7.7,340,5299,0.00,2.40,0.00,0.000,6,0.000,0.031,2412,2036,3398
$STATE,5607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5607,begin apogee
$GC,5616,-0.33,0.0,452.4,7.9,348,5748,1.40,0.00,128.95,0.926,6,0.095,0.000,2703,1930,2733
$STATE,5749,end apogee,CONTROL_FINISHED_OK
$STATE,5749,begin climb
$GC,5753,1.06,165.5,457.0,0.0,351,5893,1.38,2.62,130.75,0.897,4,0.053,0.040,3007,3348,2058
$GC,5944,0.55,165.5,450.0,12.7,355,5950,0.57,2.45,0.00,0.000,6,0.136,0.034,2904,1954,2057
$GC,6282,0.26,165.5,416.6,9.7,364,6287,0.32,2.55,0.00,0.000,4,0.126,0.053,2842,536,2056
$GC,6305,0.03,165.5,414.4,8.9,364,6310,0.28,2.45,0.00,0.000,6,0.114,0.029,2790,1951,2056
$GC,6643,0.09,232.3,396.2,4.8,373,6702,0.00,2.60,51.90,0.894,4,0.000,0.044,2791,3357,1786
$GC,6733,0.12,273.3,391.7,5.6,375,6772,0.00,2.50,33.28,0.883,6,0.000,0.035,2791,1944,1617
$GC,7099,0.09,286.4,369.6,6.4,384,7115,0.00,2.55,10.85,0.877,4,0.000,0.042,2791,3350,1564
$GC,7149,0.06,286.4,365.7,7.9,385,7154,0.00,2.47,0.00,0.000,6,0.000,0.034,2790,1947,1564
$GC,7464,0.04,302.3,344.3,6.3,393,7478,0.00,0.00,12.88,0.881,6,0.000,0.000,2791,1947,1499
$GC,7789,0.04,320.8,323.9,6.3,401,7809,0.00,2.55,14.75,0.873,4,0.000,0.042,2791,3350,1425
$GC,7837,0.04,320.8,320.5,7.3,402,7842,0.00,2.47,0.00,0.000,6,0.000,0.033,2790,1944,1424
$GC,8152,0.01,320.8,296.6,8.2,411,8156,0.00,2.50,0.00,0.000,4,0.000,0.041,2790,3351,1424
$GC,8197,0.01,320.8,292.5,9.0,413,8201,0.00,2.45,0.00,0.000,6,0.000,0.032,2790,1949,1424
$GC,8524,0.01,320.8,264.7,8.1,429,8528,0.00,2.50,0.00,0.000,4,0.000,0.041,2791,3360,1423
$GC,8547,0.01,320.8,262.9,7.7,430,8552,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1946,1423
$GC,8869,0.04,337.4,242.5,6.3,446,8891,0.00,2.55,13.38,0.834,4,0.000,0.039,2790,3344,1357
$GC,8915,0.04,337.4,239.2,7.7,448,8919,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1947,1357
$GC,9242,0.12,387.0,215.9,5.3,464,9283,0.00,0.00,38.90,0.798,6,0.000,0.000,2791,1947,1155
$GC,9594,0.17,412.1,195.2,6.1,484,9619,0.12,2.53,19.90,0.775,4,0.071,0.037,2819,3352,1053
$GC,9687,0.17,412.1,188.1,7.2,492,9693,0.00,2.45,0.00,0.000,6,0.000,0.030,2819,1941,1053
$GC,10016,0.13,412.1,162.7,7.3,523,10020,0.00,2.47,0.00,0.000,4,0.000,0.037,2819,3353,1053
$GC,10049,0.14,414.0,160.0,6.8,525,10059,0.00,2.42,2.50,0.715,6,0.000,0.028,2820,1946,1045
$GC,10385,0.14,414.0,139.0,7.6,557,10389,0.00,2.47,0.00,0.000,4,0.000,0.036,2820,3365,1046
$GC,10442,0.18,414.0,134.8,7.1,561,10448,0.00,2.42,0.00,0.000,6,0.000,0.028,2819,1950,1046
$GC,10772,0.28,475.0,116.8,5.0,592,10826,0.00,2.50,47.40,0.671,4,0.000,0.034,2820,3355,795
$GC,10863,0.34,477.0,111.4,6.8,600,10868,0.15,2.45,0.00,0.000,6,0.063,0.025,2855,1935,795
$GC,11189,0.30,477.0,80.1,8.5,630,11201,0.00,2.55,2.40,0.629,4,0.000,0.033,2855,3364,788
$GC,11248,0.30,477.0,75.4,7.5,635,11252,0.00,2.42,0.00,0.000,6,0.000,0.025,2854,1943,788
$GC,11510,0.36,510.4,59.3,5.8,659,11543,0.00,2.50,25.85,0.605,4,0.000,0.031,2854,3364,650
$GC,11580,0.43,521.8,55.1,6.5,665,11595,0.00,2.42,10.18,0.604,6,0.000,0.025,2854,1944,604
$GC,11857,0.43,521.8,34.9,8.2,690,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1944,606
$GC,12131,0.43,521.8,13.8,6.8,734,12137,0.00,2.42,0.00,0.000,4,0.000,0.031,2854,3356,608
$GC,12184,0.48,521.8,10.0,7.3,743,12191,0.12,2.40,0.00,0.000,6,0.063,0.024,2886,1934,609
$STATE,12252,end climb,SURFACE_DEPTH_REACHED
$STATE,12252,begin surface coast
$FINISH,0.9,1.021958
$STATE,12327,end surface coast,CONTROL_FINISHED_OK
$STATE,12327,begin surface
$SM_CCo,12411,0.00,0.000,0,0,608,521.02
$SM_GC,1.59,10.93,0.00,0.00,0.041,0.000,0.000,411,2096,608,-10.85,1.58,521.02
$IRIDIUM_FIX,2101.76,-15750.89,200198,212110
$TT8_MAMPS,0.028379
$HUMID,1696
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,25.00
$XPDR_PINGS,19
$24V_AH,23.8,35.239
$10V_AH,10.2,21.588
$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,27.700,137.625,543.850,0.000,0.000,23.850,32.694,163.158,13.750,0.000,0.000,12.771,1386.938,8445.160,626.034,1736.405,573.081,33.375,1499.431,0.000,1709.515,0.000,59.926
$DEVICE_MAMPS,158.002,52.923,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.923,510.029,916.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,768
$CAP_FILE_SIZE,113524,0
$CFSIZE,260165632,243990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271008,040908,2108.940,-15749.767,38,1.3,38,9.8