version: 66.03
glider: 114
mission: 3
dive: 321
start: 11 5 108 20 43 0
data:
$ID,114
$MISSION,3
$DIVE,321
$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,-597892.88
$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,64
$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
$GPS1,203632,2107.542,-15748.646,36,1.3,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.6
$GPS2,204203,2107.565,-15748.639,11,1.2,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.036,-0.230
$KALMAN_X,-105068.4,726.2,-629.0,113489.3,560.9
$KALMAN_Y,-99613.5,352.0,219.5,82351.0,-417.0
$MHEAD_RNG_PITCHd_Wd,161.3,10171,-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,27,-1.06,-165.4,0.0,0.0,0,110,0.00,0.00,-81.05,0.000,2,0.000,0.000,409,2077,2839
$GC,114,-1.06,-165.5,3.3,-3.2,15,144,11.88,2.55,-9.77,0.000,4,0.154,0.051,2540,640,3410
$GC,203,-1.23,-165.5,17.8,-7.9,30,210,0.12,2.30,0.00,0.000,6,0.058,0.021,2508,2021,3410
$GC,478,-1.23,-165.5,46.5,-11.0,66,483,0.00,2.42,0.00,0.000,4,0.000,0.035,2509,3430,3411
$GC,569,-1.31,-165.5,55.6,-9.2,73,575,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2027,3410
$GC,831,-1.34,-165.5,80.5,-9.1,98,836,0.00,2.45,0.00,0.000,4,0.000,0.034,2508,3442,3410
$GC,862,-1.38,-165.5,83.2,-9.1,100,866,0.15,2.38,0.00,0.000,6,0.056,0.022,2471,2029,3410
$GC,1187,-1.38,-165.5,117.0,-10.7,130,1191,0.00,2.42,0.00,0.000,4,0.000,0.035,2472,3433,3411
$GC,1272,-1.42,-165.5,125.7,-10.3,137,1279,0.00,2.33,0.00,0.000,6,0.000,0.023,2472,2042,3411
$GC,1597,-1.42,-165.5,155.4,-8.7,168,1602,0.00,2.40,0.00,0.000,4,0.000,0.034,2472,3433,3411
$GC,1661,-1.49,-165.5,161.1,-9.1,173,1665,0.00,2.35,0.00,0.000,6,0.000,0.024,2472,2039,3411
$GC,1989,-1.52,-165.5,188.6,-6.9,203,1994,0.10,2.42,0.00,0.000,4,0.064,0.034,2445,3442,3411
$GC,2056,-1.56,-165.5,193.3,-7.3,208,2063,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2029,3411
$GC,2386,-1.56,-165.5,222.8,-9.1,229,2390,0.00,2.45,0.00,0.000,4,0.000,0.035,2445,3442,3411
$GC,2472,-1.61,-165.5,229.5,-7.5,233,2476,0.00,2.38,0.00,0.000,6,0.000,0.025,2445,2038,3410
$GC,2800,-1.61,-165.5,257.0,-9.6,249,2804,0.00,2.42,0.00,0.000,4,0.000,0.037,2445,3432,3411
$GC,2868,-1.67,-165.5,263.0,-8.1,252,2872,0.12,2.38,0.00,0.000,6,0.064,0.026,2414,2030,3411
$GC,3190,-1.67,-165.5,290.2,-8.9,268,3194,0.00,2.45,0.00,0.000,4,0.000,0.038,2414,3441,3410
$GC,3229,-1.67,-165.5,293.8,-9.0,269,3235,0.00,2.38,0.00,0.000,6,0.000,0.027,2414,2044,3410
$GC,3562,-1.67,-165.5,319.1,-7.5,280,3566,0.00,2.42,0.00,0.000,4,0.000,0.038,2415,3431,3409
$GC,3624,-1.67,-165.5,324.2,-8.3,281,3628,0.00,2.38,0.00,0.000,6,0.000,0.028,2415,2037,3408
$GC,3968,-1.67,-165.5,351.1,-7.6,290,3972,0.00,2.45,0.00,0.000,4,0.000,0.040,2414,3433,3406
$GC,4013,-1.67,-165.5,354.8,-7.6,291,4017,0.00,2.40,0.00,0.000,6,0.000,0.028,2414,2031,3405
$GC,4333,-1.67,-165.5,381.7,-8.3,299,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2030,3403
$GC,4657,-1.67,-165.5,406.8,-7.8,307,4661,0.00,2.47,0.00,0.000,4,0.000,0.041,2415,3435,3400
$GC,4690,-1.67,-165.5,409.5,-8.1,307,4696,0.00,2.40,0.00,0.000,6,0.000,0.030,2415,2035,3400
$GC,5022,-1.67,-165.5,433.3,-6.9,316,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2035,3398
$STATE,5345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5345,begin apogee
$GC,5353,-0.33,0.0,451.9,5.8,324,5486,1.40,0.00,129.20,0.935,6,0.087,0.000,2706,1928,2733
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5491,1.06,165.5,455.5,0.0,327,5630,1.35,2.62,130.12,0.910,4,0.050,0.039,3006,3342,2058
$GC,5707,0.56,165.5,446.6,11.1,332,5713,0.55,2.45,0.00,0.000,6,0.139,0.034,2907,1958,2057
$GC,6027,0.27,165.5,421.4,7.8,340,6032,0.32,2.58,0.00,0.000,4,0.120,0.053,2842,540,2056
$GC,6095,0.07,165.5,416.4,7.4,341,6100,0.25,2.42,0.00,0.000,6,0.120,0.030,2797,1938,2056
$GC,6433,0.11,230.1,399.2,4.9,350,6488,0.00,2.58,49.97,0.912,4,0.000,0.044,2797,3356,1794
$GC,6517,0.05,230.1,393.9,7.6,352,6522,0.00,2.50,0.00,0.000,6,0.000,0.034,2796,1943,1794
$GC,6837,0.05,259.9,374.5,5.9,360,6863,0.00,0.00,24.02,0.900,6,0.000,0.000,2796,1942,1673
$GC,7162,0.04,282.0,353.9,6.2,368,7186,0.00,2.60,18.05,0.894,4,0.000,0.041,2796,3352,1583
$GC,7207,0.08,328.5,351.5,5.4,369,7249,0.00,2.47,36.80,0.887,6,0.000,0.031,2796,1950,1392
$GC,7575,0.10,364.5,331.3,5.8,378,7609,0.00,2.60,28.48,0.881,4,0.000,0.041,2796,3355,1247
$GC,7662,0.18,408.5,326.4,5.5,380,7705,0.10,2.47,34.92,0.869,6,0.086,0.032,2817,1941,1067
$GC,8030,0.10,408.5,296.5,9.1,389,8034,0.00,2.53,0.00,0.000,4,0.000,0.041,2817,3356,1066
$GC,8098,0.05,408.5,290.1,9.1,392,8103,0.12,2.47,0.00,0.000,6,0.109,0.031,2794,1941,1066
$GC,8420,0.05,408.5,262.1,8.7,408,8424,0.00,2.53,0.00,0.000,4,0.000,0.040,2794,3365,1066
$GC,8459,0.05,408.5,258.6,8.8,410,8464,0.00,2.47,0.00,0.000,6,0.000,0.031,2794,1950,1066
$GC,8787,0.05,408.5,231.6,7.9,426,8791,0.00,2.50,0.00,0.000,4,0.000,0.038,2794,3365,1066
$GC,8827,0.05,408.5,228.8,7.3,428,8831,0.00,2.47,0.00,0.000,6,0.000,0.031,2794,1941,1066
$GC,9154,0.10,438.8,208.3,5.9,444,9183,0.00,2.55,24.17,0.793,4,0.000,0.050,2794,548,942
$GC,9198,0.19,489.1,205.8,5.3,446,9243,0.12,2.45,39.38,0.782,6,0.076,0.026,2822,1965,739
$GC,9570,0.16,489.1,178.0,7.7,477,9573,0.00,2.42,0.00,0.000,4,0.000,0.038,2822,3354,739
$GC,9639,0.20,489.1,172.8,7.0,483,9643,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,1946,739
$GC,9973,0.20,489.1,147.0,7.7,514,9977,0.00,2.45,0.00,0.000,4,0.000,0.035,2822,3349,740
$GC,10006,0.20,489.1,144.3,6.9,516,10013,0.00,2.40,0.00,0.000,6,0.000,0.027,2822,1944,740
$GC,10335,0.20,489.1,121.7,7.1,547,10339,0.00,2.45,0.00,0.000,4,0.000,0.035,2822,3353,740
$GC,10376,0.23,489.1,118.8,6.9,550,10380,0.00,2.40,0.00,0.000,6,0.000,0.026,2821,1949,741
$GC,10710,0.23,489.1,91.7,9.0,581,10714,0.00,2.42,0.00,0.000,4,0.000,0.034,2822,3350,741
$GC,10732,0.23,489.1,89.3,9.0,582,10738,0.00,2.40,0.00,0.000,6,0.000,0.025,2822,1937,741
$GC,11062,0.27,489.1,61.6,6.9,613,11066,0.00,2.45,0.00,0.000,4,0.000,0.033,2821,3355,742
$GC,11107,0.41,518.2,58.5,6.0,616,11138,0.22,2.38,24.02,0.614,6,0.054,0.025,2876,1952,619
$GC,11402,0.37,518.2,33.5,8.5,644,11406,0.00,2.47,0.00,0.000,4,0.000,0.043,2876,542,622
$GC,11421,0.33,518.2,31.7,9.0,645,11426,0.12,2.38,0.00,0.000,6,0.094,0.023,2852,1958,622
$GC,11697,0.33,518.2,12.2,7.3,691,11703,0.00,2.38,0.00,0.000,4,0.000,0.033,2852,3356,623
$GC,11751,0.39,518.2,8.5,7.1,700,11758,0.00,2.40,0.00,0.000,6,0.000,0.025,2852,1932,624
$STATE,11796,end climb,SURFACE_DEPTH_REACHED
$STATE,11796,begin surface coast
$FINISH,0.9,1.022340
$STATE,11884,end surface coast,CONTROL_FINISHED_OK
$STATE,11884,begin surface
$SM_CCo,11968,0.00,0.000,0,0,623,517.58
$SM_GC,1.56,10.75,0.00,0.00,0.040,0.000,0.000,409,2081,623,-10.86,1.13,517.58
$IRIDIUM_FIX,2101.76,-15747.88,300198,171755
$TT8_MAMPS,0.027612
$HUMID,1738
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,8
$24V_AH,23.8,44.903
$10V_AH,10.2,27.400
$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,27.700,137.150,539.150,0.000,0.000,22.190,37.595,137.759,11.000,0.000,0.000,12.757,1331.385,8128.198,597.398,1710.591,533.740,33.376,1469.649,0.000,1676.997,0.000,59.968
$DEVICE_MAMPS,154.167,52.923,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.342,471.537,844.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38137,723
$CAP_FILE_SIZE,110638,0
$CFSIZE,260165632,239898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061108,000338,2105.908,-15748.418,30,1.3,30,9.8