version: 66.03
glider: 114
mission: 3
dive: 222
start: 10 22 108 16 59 24
data:
$ID,114
$MISSION,3
$DIVE,222
$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,-596007.06
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,165238,2104.476,-15747.109,31,1.6,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.2
$GPS2,165827,2104.484,-15747.139,9,1.7,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.029,0.231
$KALMAN_X,-50092.8,448.5,301.3,60443.4,-1493.8
$KALMAN_Y,-52823.3,153.2,-127.0,30401.6,-736.2
$MHEAD_RNG_PITCHd_Wd,357.3,11348,-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,-165.5,0.0,0.0,0,103,0.00,0.00,-70.47,0.000,2,0.000,0.000,410,2062,2779
$GC,107,-1.06,-165.5,3.1,-3.5,13,137,11.93,2.35,-10.90,0.000,4,0.156,0.045,2540,3427,3409
$GC,190,-1.16,-165.5,17.1,-8.5,27,196,0.00,2.35,0.00,0.000,6,0.000,0.022,2541,2027,3408
$GC,461,-1.22,-165.5,39.4,-8.0,65,466,0.12,2.40,0.00,0.000,4,0.059,0.033,2509,3419,3408
$GC,536,-1.26,-165.5,46.4,-9.4,71,540,0.00,2.33,0.00,0.000,6,0.000,0.022,2508,2032,3408
$GC,798,-1.30,-165.5,71.7,-9.4,95,802,0.00,2.38,0.00,0.000,4,0.000,0.033,2508,3420,3408
$GC,855,-1.40,-165.5,77.3,-10.1,99,862,0.15,2.30,0.00,0.000,6,0.056,0.022,2472,2035,3408
$GC,1120,-1.40,-165.5,108.5,-10.1,124,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2035,3409
$GC,1449,-1.40,-165.5,135.9,-7.2,155,1453,0.00,2.38,0.00,0.000,4,0.000,0.034,2471,3421,3409
$GC,1525,-1.47,-165.5,141.1,-6.5,161,1529,0.00,2.33,0.00,0.000,6,0.000,0.025,2472,2036,3409
$GC,1853,-1.52,-165.5,163.5,-8.0,191,1857,0.10,2.38,0.00,0.000,4,0.063,0.032,2444,3422,3409
$GC,1886,-1.52,-165.5,166.9,-10.4,193,1892,0.00,2.33,0.00,0.000,6,0.000,0.025,2444,2034,3409
$GC,2212,-1.52,-165.5,200.9,-10.8,224,2216,0.00,2.40,0.00,0.000,4,0.000,0.035,2444,3429,3409
$GC,2263,-1.58,-165.5,206.3,-9.9,226,2267,0.00,2.35,0.00,0.000,6,0.000,0.025,2444,2029,3409
$GC,2579,-1.58,-165.5,232.0,-7.4,241,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2028,3409
$GC,2888,-1.58,-165.5,252.2,-5.7,256,2893,0.00,2.40,0.00,0.000,4,0.000,0.037,2444,3419,3409
$GC,2985,-1.64,-165.5,257.7,-5.6,260,2989,0.00,2.33,0.00,0.000,6,0.000,0.027,2444,2043,3409
$GC,3302,-1.64,-165.5,279.7,-7.9,275,3306,0.00,2.40,0.00,0.000,4,0.000,0.038,2444,3429,3407
$GC,3352,-1.70,-165.5,284.1,-8.3,277,3357,0.15,2.35,0.00,0.000,6,0.060,0.027,2408,2040,3407
$GC,3691,-1.70,-165.5,315.9,-8.9,290,3696,0.00,2.40,0.00,0.000,4,0.000,0.038,2408,3421,3404
$GC,3765,-1.70,-165.5,322.2,-7.9,291,3769,0.00,2.35,0.00,0.000,6,0.000,0.028,2408,2042,3404
$GC,4102,-1.70,-165.5,349.6,-7.8,300,4107,0.00,2.47,0.00,0.000,4,0.000,0.047,2408,630,3402
$GC,4135,-1.70,-165.5,352.2,-7.9,300,4140,0.00,2.38,0.00,0.000,6,0.000,0.028,2408,2025,3402
$GC,4467,-1.70,-165.5,376.5,-7.4,308,4472,0.00,2.47,0.00,0.000,4,0.000,0.044,2408,3443,3400
$GC,4540,-1.70,-165.5,382.3,-8.2,309,4544,0.00,2.40,0.00,0.000,6,0.000,0.031,2408,2040,3399
$GC,4873,-1.70,-165.5,412.5,-9.8,317,4877,0.00,2.47,0.00,0.000,4,0.000,0.043,2408,3450,3397
$GC,4907,-1.70,-165.5,416.2,-10.5,317,4911,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2039,3397
$GC,5240,-1.70,-165.5,446.0,-8.4,325,5244,0.00,2.47,0.00,0.000,4,0.000,0.044,2408,3443,3393
$STATE,5287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5287,begin apogee
$GC,5298,-0.33,0.0,450.4,8.4,326,5430,1.40,0.00,128.02,0.915,6,0.091,0.000,2700,1955,2733
$STATE,5431,end apogee,CONTROL_FINISHED_OK
$STATE,5431,begin climb
$GC,5434,1.06,165.5,455.1,0.0,329,5574,1.38,2.67,130.05,0.886,4,0.051,0.054,3006,535,2057
$GC,5834,0.51,165.5,417.8,15.2,338,5839,0.62,2.47,0.00,0.000,6,0.130,0.031,2894,1956,2055
$GC,6153,0.24,165.5,391.9,7.4,346,6159,0.30,2.58,0.00,0.000,4,0.131,0.054,2836,544,2053
$GC,6199,0.05,165.5,388.3,7.4,347,6204,0.22,2.45,0.00,0.000,6,0.127,0.030,2796,1956,2052
$GC,6518,0.16,271.3,374.6,3.7,355,6607,0.00,2.60,81.47,0.877,4,0.000,0.046,2796,3361,1626
$GC,6680,0.16,295.5,366.0,6.1,358,6705,0.00,2.50,19.42,0.864,6,0.000,0.035,2796,1941,1528
$GC,7020,0.20,353.2,346.9,5.1,367,7071,0.12,2.58,45.17,0.858,4,0.079,0.044,2823,3355,1293
$GC,7117,0.12,353.2,340.4,7.2,369,7121,0.00,2.47,0.00,0.000,6,0.000,0.034,2823,1948,1292
$GC,7466,0.02,353.2,311.0,8.9,378,7471,0.17,2.53,0.00,0.000,4,0.111,0.041,2788,3365,1292
$GC,7522,0.02,353.2,306.3,7.6,379,7527,0.00,2.47,0.00,0.000,6,0.000,0.032,2787,1945,1292
$GC,7855,0.02,353.2,281.4,7.5,393,7859,0.00,2.50,0.00,0.000,4,0.000,0.041,2787,3357,1292
$GC,7882,0.02,353.2,279.4,6.9,394,7886,0.00,2.45,0.00,0.000,6,0.000,0.032,2787,1943,1291
$GC,8199,0.03,356.7,258.3,6.7,409,8208,0.00,2.55,3.50,0.800,4,0.000,0.041,2787,3357,1278
$GC,8245,0.03,356.7,255.0,7.4,411,8249,0.00,2.45,0.00,0.000,6,0.000,0.031,2788,1949,1278
$GC,8573,0.03,356.7,232.8,7.3,427,8577,0.00,2.50,0.00,0.000,4,0.000,0.041,2788,3370,1278
$GC,8600,0.03,356.7,230.5,7.6,428,8604,0.00,2.45,0.00,0.000,6,0.000,0.031,2787,1950,1278
$GC,8917,0.03,356.7,207.7,7.6,443,8920,0.00,2.47,0.00,0.000,4,0.000,0.038,2788,3370,1278
$GC,8968,0.07,356.7,203.5,8.5,445,8972,0.00,2.45,0.00,0.000,6,0.000,0.030,2787,1945,1278
$GC,9300,0.09,367.6,180.1,6.5,474,9314,0.00,2.55,8.90,0.763,4,0.000,0.049,2786,547,1234
$GC,9358,0.19,398.6,176.6,5.9,479,9391,0.15,2.42,24.50,0.749,6,0.065,0.025,2822,1965,1108
$GC,9711,0.15,402.9,156.7,6.7,512,9723,0.00,2.45,4.30,0.720,4,0.000,0.039,2822,3341,1090
$GC,9781,0.15,402.9,151.8,7.0,518,9785,0.00,2.42,0.00,0.000,6,0.000,0.029,2822,1938,1090
$GC,10109,0.15,402.9,128.3,7.0,548,10113,0.00,2.45,0.00,0.000,4,0.000,0.035,2822,3351,1091
$GC,10128,0.15,402.9,126.9,6.8,549,10132,0.00,2.40,0.00,0.000,6,0.000,0.027,2822,1949,1091
$GC,10456,0.15,402.9,105.8,7.3,579,10460,0.00,2.42,0.00,0.000,4,0.000,0.035,2822,3351,1092
$GC,10489,0.15,402.9,103.1,7.7,581,10496,0.00,2.40,0.00,0.000,6,0.000,0.026,2822,1937,1092
$GC,10818,0.29,462.1,85.1,5.1,612,10872,0.00,2.53,45.50,0.627,4,0.000,0.034,2822,3343,849
$GC,10912,0.37,462.1,78.9,6.9,620,10919,0.17,2.38,0.00,0.000,6,0.058,0.025,2864,1953,849
$GC,11177,0.37,462.1,52.4,9.1,645,11181,0.00,2.47,0.00,0.000,4,0.000,0.045,2864,545,850
$GC,11193,0.37,462.1,50.7,8.4,646,11200,0.00,2.38,0.00,0.000,6,0.000,0.022,2864,1965,850
$GC,11455,0.37,462.1,29.3,7.8,671,11461,0.00,2.38,0.00,0.000,4,0.000,0.034,2864,3352,851
$GC,11486,0.37,462.1,26.8,7.9,676,11493,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,1934,851
$GC,11765,0.37,462.1,6.6,7.2,725,11771,0.00,2.42,0.00,0.000,4,0.000,0.033,2864,3346,852
$STATE,11786,end climb,SURFACE_DEPTH_REACHED
$STATE,11787,begin surface coast
$FINISH,4.3,1.022897
$STATE,11793,end surface coast,CONTROL_FINISHED_OK
$STATE,11793,begin surface
$SM_CCo,11880,0.00,0.000,0,0,853,461.16
$SM_GC,1.82,11.02,0.00,0.00,0.052,0.000,0.000,412,2025,853,-10.85,-0.42,461.16
$IRIDIUM_FIX,2057.14,-15746.61,160198,131330
$TT8_MAMPS,0.026845
$HUMID,1718
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.8,31.037
$10V_AH,10.2,19.046
$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,28.025,146.100,490.850,0.000,0.000,23.754,29.037,163.928,11.250,0.000,0.000,10.872,1346.830,7970.447,554.271,1790.266,569.281,33.367,1461.979,0.000,1765.817,0.000,60.095
$DEVICE_MAMPS,155.701,53.690,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.081,488.798,875.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,730
$CAP_FILE_SIZE,112838,0
$CFSIZE,260165632,245780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,201858,2105.477,-15747.639,35,2.6,54,9.8