version: 66.03
glider: 114
mission: 3
dive: 221
start: 10 22 108 13 32 24
data:
$ID,114
$MISSION,3
$DIVE,221
$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,-595995.56
$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,78
$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
$GPS1,132538,2103.277,-15746.944,23,2.0,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.1
$GPS2,133127,2103.270,-15746.923,15,2.0,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.010,0.232
$KALMAN_X,-49725.3,261.9,341.1,60596.0,-785.5
$KALMAN_Y,-51845.3,-260.4,124.4,27340.1,-908.2
$MHEAD_RNG_PITCHd_Wd,347.7,13549,-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,-165.4,0.0,0.0,0,107,0.00,0.00,-75.20,0.000,2,0.000,0.000,411,2077,2880
$GC,111,-1.06,-165.5,3.4,-3.9,14,141,11.90,2.33,-8.75,0.000,4,0.156,0.048,2541,3399,3410
$GC,216,-1.17,-165.5,21.1,-8.1,32,223,0.00,2.30,0.00,0.000,6,0.000,0.024,2541,2029,3410
$GC,495,-1.24,-165.5,43.3,-8.1,67,500,0.15,2.38,0.00,0.000,4,0.055,0.032,2499,3406,3410
$GC,558,-1.28,-165.5,50.1,-9.8,72,562,0.00,2.30,0.00,0.000,6,0.000,0.023,2500,2035,3410
$GC,820,-1.28,-165.5,74.9,-8.8,96,824,0.00,2.35,0.00,0.000,4,0.000,0.033,2500,3403,3410
$GC,850,-1.28,-165.5,77.4,-8.5,98,854,0.00,2.30,0.00,0.000,6,0.000,0.023,2500,2027,3410
$GC,1116,-1.32,-165.5,96.9,-6.2,122,1119,0.00,2.38,0.00,0.000,4,0.000,0.034,2500,3411,3410
$GC,1164,-1.43,-165.5,100.3,-6.7,126,1168,0.15,2.30,0.00,0.000,6,0.057,0.024,2462,2036,3410
$GC,1494,-1.43,-165.5,132.2,-10.0,157,1498,0.00,2.40,0.00,0.000,4,0.000,0.038,2462,637,3411
$GC,1517,-1.43,-165.5,134.5,-10.0,158,1523,0.00,2.28,0.00,0.000,6,0.000,0.023,2462,2004,3411
$GC,1844,-1.43,-165.5,162.0,-8.2,189,1848,0.00,2.45,0.00,0.000,4,0.000,0.035,2462,3444,3411
$GC,1929,-1.49,-165.5,168.9,-8.0,196,1933,0.00,2.38,0.00,0.000,6,0.000,0.025,2462,2034,3411
$GC,2256,-1.49,-165.5,193.9,-7.4,226,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2034,3410
$GC,2567,-1.54,-165.5,219.2,-8.3,245,2571,0.00,2.42,0.00,0.000,4,0.000,0.036,2462,3441,3410
$GC,2617,-1.62,-165.5,223.4,-7.9,247,2622,0.15,2.38,0.00,0.000,6,0.056,0.025,2425,2031,3411
$GC,2934,-1.62,-165.5,251.0,-8.0,262,2938,0.00,2.45,0.00,0.000,4,0.000,0.038,2425,3445,3411
$GC,3007,-1.62,-165.5,257.2,-8.1,265,3011,0.00,2.38,0.00,0.000,6,0.000,0.026,2425,2038,3411
$GC,3323,-1.62,-165.5,284.6,-9.1,280,3327,0.00,2.45,0.00,0.000,4,0.000,0.038,2425,3449,3409
$GC,3380,-1.62,-165.5,289.6,-9.1,282,3387,0.00,2.40,0.00,0.000,6,0.000,0.028,2425,2029,3409
$GC,3713,-1.62,-165.5,316.3,-7.6,294,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2029,3407
$GC,4039,-1.62,-165.5,342.3,-8.0,302,4043,0.00,2.47,0.00,0.000,4,0.000,0.041,2425,3444,3405
$GC,4079,-1.65,-165.5,345.9,-8.8,302,4085,0.00,2.40,0.00,0.000,6,0.000,0.029,2425,2037,3405
$GC,4411,-1.65,-165.5,373.7,-8.7,311,4414,0.00,2.45,0.00,0.000,4,0.000,0.041,2425,3445,3402
$GC,4445,-1.68,-165.5,376.9,-9.2,311,4449,0.00,2.40,0.00,0.000,6,0.000,0.029,2425,2036,3402
$GC,4779,-1.68,-165.5,402.4,-7.4,319,4783,0.00,2.47,0.00,0.000,4,0.000,0.042,2425,3445,3400
$GC,4806,-1.68,-165.5,404.8,-8.3,319,4810,0.00,2.40,0.00,0.000,6,0.000,0.031,2425,2038,3399
$GC,5144,-1.68,-165.5,433.7,-8.9,328,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2038,3397
$STATE,5344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5344,begin apogee
$GC,5352,-0.33,0.0,451.5,8.8,333,5484,1.35,0.00,128.48,0.916,6,0.085,0.000,2707,1931,2733
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5489,1.06,165.5,457.7,0.0,336,5625,1.35,2.58,129.02,0.901,4,0.047,0.041,3010,3353,2058
$GC,5862,0.55,165.5,426.2,14.1,344,5868,0.57,2.45,0.00,0.000,6,0.122,0.035,2905,1957,2056
$GC,6200,0.26,165.5,397.6,7.9,353,6202,0.35,0.00,0.00,0.000,6,0.117,0.000,2839,1956,2053
$GC,6525,0.10,167.2,376.5,6.8,361,6530,0.17,2.47,0.00,0.000,4,0.117,0.041,2805,3354,2052
$GC,6621,0.05,185.6,370.2,6.3,363,6641,0.00,2.45,14.95,0.891,6,0.000,0.034,2805,1945,1976
$GC,6974,0.03,218.7,348.7,5.8,372,7002,0.00,0.00,26.05,0.890,6,0.000,0.000,2805,1945,1841
$GC,7298,0.01,246.2,329.7,6.0,380,7327,0.12,2.62,21.62,0.886,4,0.121,0.053,2782,544,1729
$GC,7357,0.01,267.1,326.2,6.2,381,7383,0.00,2.42,17.30,0.861,6,0.000,0.029,2782,1944,1644
$GC,7709,0.15,344.7,308.8,4.5,390,7776,0.12,2.55,60.47,0.845,4,0.078,0.044,2810,3358,1326
$GC,7847,0.10,344.7,299.7,7.7,393,7851,0.00,2.47,0.00,0.000,6,0.000,0.033,2810,1943,1326
$GC,8165,0.05,344.7,275.3,7.8,408,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1943,1326
$GC,8474,-0.00,344.7,251.9,7.3,423,8479,0.15,2.50,0.00,0.000,4,0.103,0.039,2778,3364,1326
$GC,8520,0.10,374.8,249.0,5.9,425,8550,0.10,2.45,23.83,0.807,6,0.081,0.031,2800,1941,1204
$GC,8869,0.19,427.8,229.5,5.2,442,8918,0.00,2.53,41.65,0.778,4,0.000,0.037,2800,3355,988
$GC,8954,0.19,427.8,223.4,8.4,446,8959,0.00,2.45,0.00,0.000,6,0.000,0.029,2800,1945,988
$GC,9272,0.19,427.8,197.7,8.0,462,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1945,988
$GC,9590,0.19,427.8,173.1,8.7,492,9594,0.00,2.45,0.00,0.000,4,0.000,0.036,2800,3355,989
$GC,9646,0.24,427.8,168.5,8.4,496,9653,0.15,2.40,0.00,0.000,6,0.064,0.028,2834,1949,989
$GC,9975,0.17,427.8,138.6,9.1,527,9979,0.00,2.45,0.00,0.000,4,0.000,0.036,2834,3364,989
$GC,9998,0.09,427.8,136.2,8.6,528,10004,0.17,2.40,0.00,0.000,6,0.093,0.026,2799,1950,990
$GC,10324,0.16,431.7,117.0,6.7,559,10336,0.00,2.47,4.15,0.669,4,0.000,0.035,2799,3349,972
$GC,10373,0.24,434.6,113.8,6.7,563,10385,0.15,2.40,3.10,0.676,6,0.061,0.026,2835,1940,961
$GC,10704,0.24,434.6,89.1,7.8,594,10707,0.00,2.42,0.00,0.000,4,0.000,0.045,2835,549,961
$GC,10766,0.29,434.6,83.9,9.0,599,10772,0.00,2.35,0.00,0.000,6,0.000,0.023,2835,1959,961
$GC,11095,0.48,507.3,60.4,4.7,630,11159,0.17,2.47,55.22,0.592,4,0.058,0.036,2883,3350,663
$GC,11199,0.48,507.3,53.0,8.2,639,11205,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1939,666
$GC,11461,0.41,507.3,30.2,9.3,664,11466,0.00,2.45,0.00,0.000,4,0.000,0.033,2883,3356,666
$GC,11491,0.33,507.3,27.3,9.5,668,11498,0.15,2.38,0.00,0.000,6,0.093,0.025,2853,1949,666
$GC,11771,0.33,507.3,6.0,7.2,717,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1949,666
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,0.8,1.007673
$STATE,11860,end surface coast,CONTROL_FINISHED_OK
$STATE,11860,begin surface
$SM_CCo,11944,0.00,0.000,0,0,668,506.54
$SM_GC,1.53,10.75,0.00,0.00,0.041,0.000,0.000,410,2057,668,-10.85,0.48,506.54
$IRIDIUM_FIX,2054.83,-15746.61,160198,101043
$TT8_MAMPS,0.027612
$HUMID,1728
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,13
$24V_AH,23.8,30.905
$10V_AH,10.2,18.961
$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,28.200,116.500,525.850,0.000,0.000,25.379,29.452,153.966,12.250,0.000,0.000,16.891,1331.794,8134.929,584.179,1704.962,537.428,33.382,1438.525,0.000,1671.797,0.000,57.453
$DEVICE_MAMPS,156.468,52.923,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.433,485.395,878.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37951,733
$CAP_FILE_SIZE,108057,0
$CFSIZE,260165632,245841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,165238,2104.476,-15747.109,31,1.6,31,9.8