version: 66.03
glider: 114
mission: 3
dive: 235
start: 10 24 108 13 15 46
data:
$ID,114
$MISSION,3
$DIVE,235
$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,-596332.38
$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,35
$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
$GPS1,130553,2102.260,-15746.428,8,3.0,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.3
$GPS2,131450,2102.282,-15746.470,14,2.0,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.156,0.173
$KALMAN_X,-60658.0,472.5,-355.2,72793.9,608.6
$KALMAN_Y,-52376.4,-0.1,-131.9,26034.9,1119.1
$MHEAD_RNG_PITCHd_Wd,308.1,15540,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.06,-165.5,0.0,0.0,0,88,0.00,0.00,-58.80,0.000,2,0.000,0.000,412,2031,2889
$GC,92,-1.06,-165.5,3.7,-4.8,11,122,11.88,2.53,-8.25,0.000,4,0.155,0.045,2539,3453,3411
$GC,214,-1.18,-165.5,26.0,-10.0,32,220,0.00,2.40,0.00,0.000,6,0.000,0.024,2539,2033,3411
$GC,485,-1.23,-165.5,47.0,-9.0,61,490,0.12,2.45,0.00,0.000,4,0.061,0.033,2508,3451,3410
$GC,559,-1.23,-165.5,54.9,-11.0,67,564,0.00,2.40,0.00,0.000,6,0.000,0.022,2508,2026,3411
$GC,822,-1.27,-165.5,82.5,-10.4,91,826,0.00,2.45,0.00,0.000,4,0.000,0.033,2508,3447,3410
$GC,855,-1.35,-165.5,86.3,-10.4,93,862,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2040,3411
$GC,1184,-1.41,-165.5,113.8,-7.6,124,1189,0.17,2.42,0.00,0.000,4,0.051,0.033,2461,3446,3411
$GC,1247,-1.41,-165.5,119.1,-7.9,129,1251,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2040,3411
$GC,1578,-1.41,-165.5,147.9,-7.8,160,1582,0.00,2.42,0.00,0.000,4,0.000,0.034,2461,3447,3411
$GC,1664,-1.45,-165.5,155.3,-7.9,167,1668,0.00,2.38,0.00,0.000,6,0.000,0.025,2461,2042,3411
$GC,1989,-1.45,-165.5,184.3,-7.7,197,1994,0.00,2.42,0.00,0.000,4,0.000,0.034,2461,3449,3411
$GC,2081,-1.52,-165.5,191.8,-7.9,204,2088,0.00,2.38,0.00,0.000,6,0.000,0.025,2461,2031,3412
$GC,2412,-1.57,-165.5,219.1,-7.5,225,2416,0.10,2.40,0.00,0.000,4,0.065,0.039,2434,633,3411
$GC,2452,-1.57,-165.5,222.6,-8.7,227,2457,0.00,2.38,0.00,0.000,6,0.000,0.024,2434,2045,3411
$GC,2780,-1.57,-165.5,249.3,-7.8,243,2784,0.00,2.40,0.00,0.000,4,0.000,0.038,2433,3446,3411
$GC,2830,-1.61,-165.5,253.5,-8.0,245,2835,0.00,2.38,0.00,0.000,6,0.000,0.026,2433,2043,3411
$GC,3154,-1.61,-165.5,280.4,-8.5,261,3157,0.00,2.45,0.00,0.000,4,0.000,0.038,2434,3448,3411
$GC,3233,-1.66,-165.5,287.4,-8.3,264,3237,0.00,2.40,0.00,0.000,6,0.000,0.027,2434,2036,3410
$GC,3547,-1.66,-165.5,309.3,-6.7,276,3552,0.00,2.45,0.00,0.000,4,0.000,0.039,2434,3440,3409
$GC,3565,-1.66,-165.5,310.4,-6.2,276,3568,0.00,2.38,0.00,0.000,6,0.000,0.028,2434,2039,3409
$GC,3913,-1.66,-165.5,333.7,-6.9,285,3917,0.00,2.45,0.00,0.000,4,0.000,0.040,2434,3440,3406
$GC,3943,-1.69,-165.5,335.9,-7.7,285,3947,0.00,2.40,0.00,0.000,6,0.000,0.028,2434,2033,3406
$GC,4276,-1.74,-165.5,363.3,-8.4,293,4281,0.15,2.47,0.00,0.000,4,0.064,0.040,2393,3442,3404
$GC,4316,-1.74,-165.5,367.2,-10.2,294,4320,0.00,2.42,0.00,0.000,6,0.000,0.030,2393,2032,3403
$GC,4640,-1.74,-165.5,399.4,-9.5,302,4645,0.00,2.47,0.00,0.000,4,0.000,0.042,2393,3437,3401
$GC,4674,-1.74,-165.5,402.7,-9.5,302,4678,0.00,2.40,0.00,0.000,6,0.000,0.030,2393,2039,3400
$GC,5005,-1.74,-165.5,434.7,-9.6,310,5009,0.00,2.47,0.00,0.000,4,0.000,0.043,2393,3443,3398
$GC,5040,-1.74,-165.5,437.9,-9.2,310,5045,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2033,3398
$STATE,5166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5166,begin apogee
$GC,5174,-0.33,0.0,450.6,9.9,314,5307,1.50,0.00,128.98,0.918,6,0.100,0.000,2702,1928,2733
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5311,1.06,165.5,457.6,0.0,317,5450,1.40,2.55,129.57,0.900,4,0.049,0.054,3010,548,2057
$GC,5700,0.51,165.5,424.2,14.6,326,5705,0.65,2.45,0.00,0.000,6,0.145,0.030,2894,1951,2056
$GC,6044,0.28,195.4,399.8,5.9,335,6070,0.28,0.00,23.12,0.897,6,0.120,0.000,2843,1951,1936
$GC,6369,0.13,200.4,379.9,6.7,343,6379,0.15,2.58,4.43,0.863,4,0.134,0.054,2813,554,1915
$GC,6409,0.01,202.3,377.1,6.8,344,6414,0.15,2.45,0.00,0.000,6,0.122,0.031,2787,1954,1915
$GC,6734,0.06,251.1,358.5,5.4,352,6779,0.00,2.58,39.55,0.897,4,0.000,0.048,2787,3357,1709
$GC,6808,0.10,295.8,355.0,5.5,353,6849,0.00,2.47,35.55,0.884,6,0.000,0.033,2787,1955,1526
$GC,7176,0.21,360.3,337.8,4.9,362,7233,0.15,2.55,50.62,0.868,4,0.074,0.043,2824,3350,1263
$GC,7281,0.15,360.3,329.2,9.8,364,7285,0.00,2.50,0.00,0.000,6,0.000,0.035,2823,1939,1263
$GC,7624,0.06,360.3,297.4,9.1,373,7629,0.15,2.53,0.00,0.000,4,0.109,0.041,2796,3351,1263
$GC,7664,0.06,360.3,293.8,8.3,375,7669,0.00,2.47,0.00,0.000,6,0.000,0.032,2796,1941,1263
$GC,7992,0.10,384.2,270.7,6.1,391,8017,0.00,2.55,19.20,0.834,4,0.000,0.040,2796,3352,1166
$GC,8052,0.13,400.5,267.0,6.3,393,8071,0.00,2.47,13.52,0.829,6,0.000,0.031,2796,1939,1099
$GC,8389,0.13,400.5,243.1,7.8,410,8393,0.00,2.50,0.00,0.000,4,0.000,0.039,2796,3356,1099
$GC,8428,0.13,400.5,239.7,8.9,411,8434,0.00,2.42,0.00,0.000,6,0.000,0.031,2796,1953,1099
$GC,8745,0.15,414.0,216.8,6.4,427,8762,0.00,0.00,11.00,0.795,6,0.000,0.000,2796,1952,1045
$GC,9075,0.15,414.0,192.4,7.8,447,9079,0.00,2.53,0.00,0.000,4,0.000,0.049,2796,534,1045
$GC,9108,0.15,414.0,189.5,8.9,449,9114,0.00,2.42,0.00,0.000,6,0.000,0.026,2796,1955,1045
$GC,9437,0.20,441.0,167.7,6.0,480,9468,0.12,2.53,21.70,0.739,4,0.073,0.038,2825,3349,935
$GC,9516,0.20,441.0,162.0,7.1,487,9520,0.00,2.45,0.00,0.000,6,0.000,0.029,2825,1940,935
$GC,9846,0.17,441.0,136.6,8.4,517,9850,0.00,2.47,0.00,0.000,4,0.000,0.048,2824,544,935
$GC,9870,0.17,441.0,134.2,8.5,518,9877,0.00,2.40,0.00,0.000,6,0.000,0.025,2825,1964,935
$GC,10199,0.17,441.0,109.1,7.9,549,10203,0.00,2.40,0.00,0.000,4,0.000,0.036,2824,3353,935
$GC,10244,0.20,441.0,105.4,7.6,552,10250,0.00,2.40,0.00,0.000,6,0.000,0.027,2824,1944,935
$GC,10572,0.25,466.9,82.9,6.1,583,10598,0.00,2.45,20.88,0.639,4,0.000,0.033,2825,3343,828
$GC,10639,0.33,480.3,78.6,6.4,588,10657,0.12,2.40,10.45,0.639,6,0.064,0.026,2855,1941,775
$GC,10911,0.33,480.3,55.1,8.3,614,10915,0.00,2.45,0.00,0.000,4,0.000,0.044,2855,541,776
$GC,10946,0.33,480.3,52.2,8.4,617,10951,0.00,2.40,0.00,0.000,6,0.000,0.023,2855,1963,776
$GC,11208,0.33,480.3,34.6,7.3,641,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1964,777
$GC,11474,0.33,480.3,11.8,9.4,682,11481,0.00,2.38,0.00,0.000,4,0.000,0.033,2856,3355,778
$GC,11499,0.33,480.3,10.1,8.1,686,11506,0.00,2.40,0.00,0.000,6,0.000,0.029,2856,1952,778
$STATE,11611,end climb,SURFACE_DEPTH_REACHED
$STATE,11611,begin surface coast
$FINISH,0.9,1.022961
$STATE,11697,end surface coast,CONTROL_FINISHED_OK
$STATE,11697,begin surface
$SM_CCo,11781,0.00,0.000,0,0,780,479.32
$SM_GC,1.61,10.77,0.00,0.00,0.042,0.000,0.000,410,2064,780,-10.86,0.68,479.32
$IRIDIUM_FIX,2054.83,-15746.61,180198,131327
$TT8_MAMPS,0.028379
$HUMID,1733
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,16
$24V_AH,23.8,32.754
$10V_AH,10.2,20.142
$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,27.875,137.150,508.575,0.000,0.000,53.208,59.302,217.098,13.000,0.000,0.000,33.215,1324.131,8032.615,573.286,1732.627,658.010,33.368,1430.312,0.000,1680.738,0.000,57.454
$DEVICE_MAMPS,154.934,53.690,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.973,479.075,861.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37944,721
$CAP_FILE_SIZE,112820,0
$CFSIZE,260165632,245022720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241008,163326,2103.791,-15747.092,40,1.3,40,9.8