version: 66.03
glider: 114
mission: 3
dive: 284
start: 10 31 108 14 44 35
data:
$ID,114
$MISSION,3
$DIVE,284
$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,-597196.88
$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,33
$R_STBD_OVSHOOT,68
$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
$GPS1,143738,2102.617,-15747.033,66,0.9,66,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-57.7
$GPS2,144338,2102.586,-15747.093,9,0.9,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.008,0.232
$KALMAN_X,-93469.4,129.7,-281.6,104804.7,-1069.7
$KALMAN_Y,-78997.8,110.7,-417.6,53395.9,-425.7
$MHEAD_RNG_PITCHd_Wd,352.2,14619,-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,-165.5,0.0,0.0,0,112,0.00,0.00,-80.57,0.000,2,0.000,0.000,410,2068,2839
$GC,116,-1.06,-165.5,3.2,-3.3,15,146,11.90,2.35,-9.80,0.000,4,0.155,0.047,2539,3403,3410
$GC,171,-0.74,-165.5,14.6,-15.2,24,178,0.38,2.33,0.00,0.000,6,0.077,0.022,2617,2022,3409
$GC,451,-0.98,-165.5,23.2,-2.7,73,458,0.20,2.40,0.00,0.000,4,0.048,0.033,2562,3408,3410
$GC,506,-1.13,-165.5,25.2,-4.3,82,513,0.12,2.30,0.00,0.000,6,0.059,0.023,2530,2036,3410
$GC,776,-1.13,-165.5,47.7,-9.0,112,780,0.00,2.38,0.00,0.000,4,0.000,0.035,2530,3410,3410
$GC,833,-1.22,-165.5,53.4,-9.0,116,839,0.00,2.30,0.00,0.000,6,0.000,0.023,2530,2035,3410
$GC,1096,-1.30,-165.5,77.2,-8.3,141,1100,0.15,2.38,0.00,0.000,4,0.054,0.032,2488,3414,3410
$GC,1152,-1.37,-165.5,83.0,-9.5,145,1158,0.00,2.30,0.00,0.000,6,0.000,0.022,2488,2036,3410
$GC,1481,-1.37,-165.5,108.3,-7.1,176,1485,0.00,2.38,0.00,0.000,4,0.000,0.033,2488,3416,3411
$GC,1557,-1.47,-165.5,113.8,-6.4,182,1561,0.12,2.33,0.00,0.000,6,0.059,0.023,2456,2033,3411
$GC,1883,-1.47,-165.5,140.3,-8.4,212,1887,0.00,2.35,0.00,0.000,4,0.000,0.033,2455,3411,3410
$GC,1922,-1.47,-165.5,143.9,-8.8,215,1928,0.00,2.30,0.00,0.000,6,0.000,0.023,2455,2033,3411
$GC,2249,-1.47,-165.5,170.3,-7.6,246,2253,0.00,2.38,0.00,0.000,4,0.000,0.034,2456,3416,3411
$GC,2295,-1.52,-165.5,173.9,-7.0,249,2301,0.00,2.33,0.00,0.000,6,0.000,0.024,2455,2029,3410
$GC,2630,-1.52,-165.5,201.8,-8.0,280,2634,0.00,2.38,0.00,0.000,4,0.000,0.035,2455,3410,3410
$GC,2697,-1.59,-165.5,206.7,-7.1,283,2701,0.00,2.30,0.00,0.000,6,0.000,0.025,2455,2043,3410
$GC,3019,-1.63,-165.5,229.6,-6.9,299,3025,0.12,2.38,0.00,0.000,4,0.061,0.035,2424,3413,3410
$GC,3070,-1.63,-165.5,233.9,-7.8,301,3074,0.00,2.33,0.00,0.000,6,0.000,0.025,2423,2036,3410
$GC,3392,-1.63,-165.5,259.7,-8.7,317,3397,0.00,2.38,0.00,0.000,4,0.000,0.036,2423,3415,3410
$GC,3487,-1.63,-165.5,268.7,-9.5,321,3491,0.00,2.35,0.00,0.000,6,0.000,0.026,2423,2028,3409
$GC,3810,-1.63,-165.5,300.6,-10.0,337,3814,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,638,3407
$GC,3832,-1.63,-165.5,303.1,-10.2,337,3836,0.00,2.33,0.00,0.000,6,0.000,0.027,2423,2006,3408
$GC,4175,-1.63,-165.5,331.4,-7.2,346,4179,0.00,2.50,0.00,0.000,4,0.000,0.042,2423,3443,3405
$GC,4261,-1.63,-165.5,337.8,-7.7,348,4265,0.00,2.40,0.00,0.000,6,0.000,0.030,2423,2038,3404
$GC,4592,-1.63,-165.5,362.3,-7.0,356,4596,0.00,2.47,0.00,0.000,4,0.000,0.041,2424,3446,3402
$GC,4671,-1.68,-165.5,367.8,-6.9,357,4677,0.00,2.42,0.00,0.000,6,0.000,0.031,2424,2036,3401
$GC,5003,-1.68,-165.5,392.6,-7.5,366,5008,0.00,2.47,0.00,0.000,4,0.000,0.048,2424,632,3399
$GC,5055,-1.72,-165.5,396.3,-6.9,367,5059,0.00,2.42,0.00,0.000,6,0.000,0.031,2424,2043,3399
$GC,5369,-1.72,-165.5,418.5,-7.4,375,5373,0.00,2.47,0.00,0.000,4,0.000,0.048,2423,3444,3397
$GC,5404,-1.76,-165.5,421.2,-7.1,375,5410,0.12,2.42,0.00,0.000,6,0.073,0.031,2396,2038,3397
$GC,5736,-1.76,-165.5,446.9,-7.4,384,5740,0.00,2.50,0.00,0.000,4,0.000,0.044,2396,3450,3394
$STATE,5778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5778,begin apogee
$GC,5788,-0.33,0.0,450.2,7.4,385,5920,1.48,0.00,127.40,0.930,6,0.093,0.000,2702,1951,2733
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5924,1.06,165.5,453.7,0.0,388,6062,1.38,2.60,129.38,0.900,4,0.051,0.052,3006,541,2058
$GC,6321,0.52,165.5,414.6,14.1,397,6327,0.62,2.47,0.00,0.000,6,0.142,0.030,2895,1959,2056
$GC,6641,0.25,165.5,388.9,7.4,405,6646,0.28,2.60,0.00,0.000,4,0.118,0.052,2839,539,2054
$GC,6743,0.06,167.7,382.1,6.8,407,6748,0.22,2.45,0.00,0.000,6,0.116,0.030,2798,1952,2054
$GC,7092,0.12,246.1,366.2,4.5,416,7161,0.00,2.70,61.53,0.885,4,0.000,0.056,2798,540,1729
$GC,7196,0.16,309.2,361.7,5.0,418,7251,0.00,2.47,49.62,0.871,6,0.000,0.031,2798,1953,1472
$GC,7580,0.13,322.5,338.1,6.4,427,7596,0.00,2.55,10.98,0.858,4,0.000,0.046,2798,3357,1418
$GC,7647,0.15,333.1,333.7,6.5,428,7663,0.00,2.47,8.95,0.855,6,0.000,0.032,2797,1950,1375
$GC,7989,0.11,333.1,310.8,6.8,437,7994,0.00,2.50,0.00,0.000,4,0.000,0.042,2798,3350,1374
$GC,8040,0.13,342.9,307.4,6.5,438,8054,0.00,2.45,8.70,0.850,6,0.000,0.032,2797,1950,1333
$GC,8382,0.09,343.4,285.1,6.8,452,8386,0.00,2.55,0.00,0.000,4,0.000,0.053,2798,535,1332
$GC,8432,0.09,343.4,280.8,8.2,454,8436,0.00,2.45,0.00,0.000,6,0.000,0.030,2798,1952,1332
$GC,8749,0.06,343.4,254.9,7.8,469,8753,0.00,2.47,0.00,0.000,4,0.000,0.044,2798,3357,1333
$GC,8788,0.06,343.4,251.7,7.9,470,8794,0.00,2.45,0.00,0.000,6,0.000,0.031,2797,1948,1332
$GC,9104,0.10,369.2,230.0,6.1,486,9130,0.00,2.53,20.65,0.811,4,0.000,0.038,2798,3352,1227
$GC,9159,0.19,416.7,226.9,5.4,488,9206,0.10,2.45,36.90,0.798,6,0.081,0.030,2819,1950,1033
$GC,9518,0.13,416.7,201.9,7.7,506,9522,0.00,2.50,0.00,0.000,4,0.000,0.039,2820,3361,1033
$GC,9586,0.13,416.7,196.7,7.6,510,9592,0.00,2.45,0.00,0.000,6,0.000,0.030,2820,1949,1033
$GC,9914,0.08,416.7,172.7,7.5,541,9919,0.10,2.47,0.00,0.000,4,0.110,0.037,2803,3361,1034
$GC,9955,0.08,416.7,169.7,7.3,544,9959,0.00,2.45,0.00,0.000,6,0.000,0.028,2802,1944,1034
$GC,10283,0.09,419.4,151.3,6.7,574,10289,0.00,0.00,3.00,0.713,6,0.000,0.000,2802,1944,1023
$GC,10612,0.24,503.8,134.9,4.3,605,10687,0.12,2.55,64.72,0.689,4,0.071,0.035,2832,3352,678
$GC,10749,0.24,503.8,123.8,9.2,617,10753,0.00,2.45,0.00,0.000,6,0.000,0.027,2832,1938,678
$GC,11075,0.21,503.8,92.2,9.9,647,11079,0.00,2.47,0.00,0.000,4,0.000,0.035,2832,3354,679
$GC,11116,0.21,503.8,88.1,10.2,650,11120,0.00,2.42,0.00,0.000,6,0.000,0.026,2832,1944,679
$GC,11445,0.26,535.2,63.5,5.9,680,11478,0.00,2.53,25.02,0.614,4,0.000,0.035,2832,3349,551
$GC,11529,0.38,565.8,58.2,5.9,687,11561,0.12,2.40,24.85,0.607,6,0.065,0.025,2863,1944,425
$GC,11823,0.34,565.8,37.7,8.1,715,11828,0.00,2.45,0.00,0.000,4,0.000,0.033,2862,3356,426
$GC,11853,0.34,565.8,35.1,8.1,717,11857,0.00,2.40,0.00,0.000,6,0.000,0.024,2862,1945,426
$GC,12127,0.30,565.8,12.0,7.5,759,12134,0.00,2.45,0.00,0.000,4,0.000,0.034,2863,3363,426
$GC,12153,0.26,565.8,9.3,10.3,763,12160,0.12,2.40,0.00,0.000,6,0.092,0.024,2837,1944,427
$STATE,12204,end climb,SURFACE_DEPTH_REACHED
$STATE,12204,begin surface coast
$FINISH,1.1,1.012614
$STATE,12288,end surface coast,CONTROL_FINISHED_OK
$STATE,12288,begin surface
$SM_CCo,12372,0.00,0.000,0,0,428,565.66
$SM_GC,1.63,10.73,0.00,0.00,0.041,0.000,0.000,407,2081,428,-10.86,1.13,565.66
$IRIDIUM_FIX,2059.45,-15748.75,250198,111104
$TT8_MAMPS,0.027612
$HUMID,1748
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,12
$24V_AH,23.8,39.780
$10V_AH,10.2,24.311
$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,28.400,151.125,571.700,0.000,0.000,24.034,31.437,166.744,12.000,0.000,0.000,15.933,1428.357,8141.099,620.136,1947.141,596.888,33.364,1610.906,0.000,1912.404,0.000,57.456
$DEVICE_MAMPS,154.934,55.991,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.225,520.877,957.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,786
$CAP_FILE_SIZE,120831,0
$CFSIZE,260165632,242065408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311008,181207,2104.041,-15747.502,41,1.0,41,9.8