version: 66.03
glider: 114
mission: 3
dive: 309
start: 11 4 108 4 16 53
data:
$ID,114
$MISSION,3
$DIVE,309
$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,-597635.88
$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,59
$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
$GPS1,040937,2104.834,-15748.293,29,1.1,29,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.0
$GPS2,041557,2104.818,-15748.386,12,1.2,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.195,-0.127
$KALMAN_X,-101212.2,-498.0,-165.6,110834.3,-1388.8
$KALMAN_Y,-94388.4,-196.3,-215.3,73021.5,-550.0
$MHEAD_RNG_PITCHd_Wd,113.2,5276,-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,-69.93,0.000,2,0.000,0.000,408,2060,2880
$GC,107,-1.06,-165.5,3.4,-3.6,13,137,11.95,2.53,-8.60,0.000,4,0.156,0.048,2539,638,3410
$GC,173,-1.11,-165.5,17.0,-9.8,24,179,0.00,2.33,0.00,0.000,6,0.000,0.022,2540,2026,3410
$GC,450,-1.16,-165.5,39.8,-8.3,63,454,0.00,2.42,0.00,0.000,4,0.000,0.035,2540,3437,3410
$GC,536,-1.31,-165.5,47.4,-8.1,70,543,0.20,2.38,0.00,0.000,6,0.052,0.023,2492,2023,3410
$GC,801,-1.28,-165.5,72.8,-8.3,95,805,0.00,2.45,0.00,0.000,4,0.000,0.033,2492,3444,3410
$GC,823,-1.28,-165.5,75.1,-8.9,96,829,0.00,2.35,0.00,0.000,6,0.000,0.021,2493,2037,3410
$GC,1085,-1.28,-165.5,96.0,-8.3,121,1089,0.00,2.42,0.00,0.000,4,0.000,0.033,2492,3450,3410
$GC,1132,-1.33,-165.5,99.7,-7.5,125,1139,0.00,2.38,0.00,0.000,6,0.000,0.022,2492,2036,3410
$GC,1466,-1.38,-165.5,126.8,-8.3,156,1470,0.00,2.42,0.00,0.000,4,0.000,0.033,2493,3443,3410
$GC,1540,-1.50,-165.5,132.7,-7.9,162,1545,0.17,2.38,0.00,0.000,6,0.054,0.023,2450,2030,3410
$GC,1865,-1.50,-165.5,162.3,-8.8,192,1869,0.00,2.42,0.00,0.000,4,0.000,0.034,2450,3438,3410
$GC,1909,-1.50,-165.5,166.3,-8.3,195,1915,0.00,2.35,0.00,0.000,6,0.000,0.024,2450,2038,3410
$GC,2235,-1.50,-165.5,192.4,-7.9,226,2239,0.00,2.42,0.00,0.000,4,0.000,0.035,2450,3443,3410
$GC,2280,-1.50,-165.5,196.0,-7.5,229,2285,0.00,2.38,0.00,0.000,6,0.000,0.024,2450,2030,3410
$GC,2608,-1.50,-165.5,222.1,-9.2,248,2612,0.00,2.45,0.00,0.000,4,0.000,0.036,2450,3448,3410
$GC,2695,-1.56,-165.5,230.4,-9.5,251,2701,0.00,2.38,0.00,0.000,6,0.000,0.025,2450,2043,3410
$GC,3012,-1.59,-165.5,258.0,-7.7,267,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2041,3410
$GC,3322,-1.64,-165.5,280.4,-6.0,282,3327,0.12,2.42,0.00,0.000,4,0.063,0.036,2418,3436,3410
$GC,3364,-1.64,-165.5,283.0,-6.0,284,3368,0.00,2.40,0.00,0.000,6,0.000,0.027,2418,2026,3409
$GC,3690,-1.64,-165.5,306.7,-7.5,298,3694,0.00,2.47,0.00,0.000,4,0.000,0.038,2418,3444,3408
$GC,3746,-1.64,-165.5,311.0,-7.3,299,3750,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2035,3407
$GC,4096,-1.64,-165.5,336.8,-7.3,308,4100,0.00,2.45,0.00,0.000,4,0.000,0.039,2418,3435,3404
$GC,4140,-1.64,-165.5,340.4,-7.9,309,4144,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2030,3404
$GC,4459,-1.64,-165.5,366.9,-8.4,317,4463,0.00,2.45,0.00,0.000,4,0.000,0.046,2418,637,3402
$GC,4476,-1.64,-165.5,368.4,-8.6,317,4480,0.00,2.40,0.00,0.000,6,0.000,0.029,2418,2037,3402
$GC,4818,-1.64,-165.5,395.0,-7.2,326,4822,0.00,2.47,0.00,0.000,4,0.000,0.046,2418,3444,3399
$GC,4898,-1.67,-165.5,399.9,-6.1,327,4905,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2036,3398
$GC,5230,-1.67,-165.5,419.9,-6.1,336,5235,0.00,2.47,0.00,0.000,4,0.000,0.049,2418,638,3397
$GC,5253,-1.67,-165.5,421.4,-6.4,336,5257,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2047,3397
$GC,5596,-1.67,-165.5,444.1,-6.6,345,5600,0.00,2.47,0.00,0.000,4,0.000,0.048,2418,3445,3393
$GC,5629,-1.67,-165.5,446.6,-7.3,345,5635,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2041,3393
$STATE,5714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5715,begin apogee
$GC,5723,-0.33,0.0,452.2,6.6,348,5855,1.38,0.00,128.70,0.941,6,0.100,0.000,2703,1937,2733
$STATE,5856,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5860,1.06,165.5,457.0,0.0,351,5999,1.38,2.60,130.23,0.923,4,0.051,0.053,3004,558,2058
$GC,6207,0.52,165.5,429.8,13.9,359,6212,0.60,2.45,0.00,0.000,6,0.133,0.031,2898,1955,2057
$GC,6532,0.23,165.5,400.7,8.3,367,6537,0.35,2.58,0.00,0.000,4,0.142,0.054,2835,552,2055
$GC,6651,0.05,165.5,391.8,7.7,369,6656,0.22,2.45,0.00,0.000,6,0.163,0.031,2794,1960,2054
$GC,6983,0.15,261.6,376.8,4.0,377,7065,0.00,2.55,73.97,0.920,4,0.000,0.047,2795,3350,1666
$GC,7115,0.22,331.7,371.3,4.7,380,7176,0.17,2.47,54.92,0.896,6,0.074,0.034,2829,1953,1380
$GC,7522,0.10,331.7,343.5,6.9,390,7527,0.15,2.55,0.00,0.000,4,0.114,0.054,2804,546,1379
$GC,7556,0.05,343.2,341.0,6.5,390,7571,0.00,2.47,9.65,0.874,6,0.000,0.031,2805,1955,1333
$GC,7886,-0.00,343.2,319.5,7.1,399,7891,0.12,2.50,0.00,0.000,4,0.123,0.047,2784,3353,1332
$GC,7947,-0.00,343.2,314.9,7.1,400,7951,0.00,2.45,0.00,0.000,6,0.000,0.032,2783,1949,1332
$GC,8271,-0.00,343.2,290.3,7.8,411,8276,0.00,2.53,0.00,0.000,4,0.000,0.042,2784,3366,1332
$GC,8312,-0.00,343.2,287.0,8.5,413,8316,0.00,2.47,0.00,0.000,6,0.000,0.032,2784,1949,1332
$GC,8639,0.03,362.6,263.1,6.2,429,8661,0.00,2.58,15.75,0.852,4,0.000,0.051,2782,542,1254
$GC,8679,0.03,362.6,260.5,7.0,430,8685,0.00,2.45,0.00,0.000,6,0.000,0.029,2783,1955,1253
$GC,8995,0.04,370.1,239.5,6.6,446,9009,0.00,2.55,6.55,0.833,4,0.000,0.042,2784,3354,1224
$GC,9050,0.09,370.1,235.8,7.2,448,9054,0.00,2.45,0.00,0.000,6,0.000,0.031,2784,1938,1224
$GC,9367,0.19,424.5,216.1,5.2,463,9417,0.15,2.58,42.55,0.805,4,0.071,0.038,2822,3343,1002
$GC,9453,0.15,424.5,209.9,7.6,467,9457,0.00,2.45,0.00,0.000,6,0.000,0.030,2822,1943,1002
$GC,9778,0.10,424.5,182.4,9.8,491,9782,0.00,2.47,0.00,0.000,4,0.000,0.037,2823,3352,1002
$GC,9814,0.06,424.5,178.8,9.3,494,9818,0.15,2.42,0.00,0.000,6,0.097,0.028,2793,1950,1002
$GC,10140,0.21,488.2,160.6,4.9,524,10196,0.15,2.55,49.42,0.739,4,0.067,0.035,2832,3353,742
$GC,10226,0.17,488.2,153.7,9.2,532,10231,0.00,2.45,0.00,0.000,6,0.000,0.027,2832,1944,743
$GC,10555,0.13,488.2,121.8,8.3,562,10560,0.12,2.47,0.00,0.000,4,0.099,0.034,2808,3355,743
$GC,10589,0.14,492.8,119.1,6.7,564,10599,0.00,2.42,5.12,0.693,6,0.000,0.026,2808,1937,723
$GC,10921,0.22,516.1,101.5,6.1,595,10947,0.00,2.55,18.60,0.670,4,0.000,0.032,2808,3358,628
$GC,10993,0.34,516.1,96.6,7.5,601,11000,0.20,2.40,0.00,0.000,6,0.057,0.024,2856,1948,629
$GC,11320,0.61,516.1,68.1,8.1,632,11325,0.22,2.42,0.00,0.000,4,0.060,0.029,2912,3359,629
$GC,11387,0.55,516.1,62.3,9.0,637,11394,0.00,2.40,0.00,0.000,6,0.000,0.025,2911,1950,631
$GC,11650,0.41,516.1,33.2,12.2,662,11655,0.17,2.47,0.00,0.000,4,0.100,0.041,2874,538,631
$GC,11668,0.29,516.1,30.9,12.5,663,11673,0.15,2.40,0.00,0.000,6,0.101,0.022,2846,1970,631
$GC,11946,0.33,516.1,10.1,6.9,710,11952,0.00,2.35,0.00,0.000,4,0.000,0.033,2846,3348,632
$GC,11999,0.39,516.1,5.9,7.7,719,12006,0.00,2.40,0.00,0.000,6,0.000,0.025,2845,1925,631
$STATE,12010,end climb,SURFACE_DEPTH_REACHED
$STATE,12010,begin surface coast
$FINISH,1.0,1.014474
$STATE,12096,end surface coast,CONTROL_FINISHED_OK
$STATE,12096,begin surface
$SM_CCo,12180,0.00,0.000,0,0,632,515.62
$SM_GC,1.56,10.75,0.00,0.00,0.041,0.000,0.000,408,2059,632,-10.86,0.54,515.62
$IRIDIUM_FIX,2057.14,-15748.75,290198,000003
$TT8_MAMPS,0.027612
$HUMID,1744
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.8,43.271
$10V_AH,10.2,26.414
$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,28.900,152.200,535.475,0.000,0.000,22.550,39.017,180.708,11.250,0.000,0.000,13.886,1365.980,8195.734,598.223,1804.838,595.427,33.373,1524.550,0.000,1766.514,0.000,57.463
$DEVICE_MAMPS,162.604,53.690,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.651,486.029,864.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37991,736
$CAP_FILE_SIZE,119430,0
$CFSIZE,260165632,240586752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041108,074059,2103.410,-15748.053,7,8.7,26,9.8