version: 66.03
glider: 114
mission: 3
dive: 315
start: 11 5 108 0 0 18
data:
$ID,114
$MISSION,3
$DIVE,315
$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,-597784.19
$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,32
$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
$GPS1,235315,2106.240,-15746.708,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.9
$GPS2,235923,2106.219,-15746.704,14,9.2,33,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.031,0.230
$KALMAN_X,-105905.1,753.3,458.2,116541.1,-1601.1
$KALMAN_Y,-98784.7,163.2,251.1,79187.3,-1573.6
$MHEAD_RNG_PITCHd_Wd,357.9,9025,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,106,0.00,0.00,-76.03,0.000,2,0.000,0.000,408,2068,2888
$GC,110,-1.06,-165.5,3.6,-3.9,14,140,11.98,2.38,-8.62,0.000,4,0.156,0.048,2541,3410,3411
$GC,210,-1.18,-165.5,20.1,-7.8,31,217,0.00,2.33,0.00,0.000,6,0.000,0.023,2541,2027,3411
$GC,490,-1.24,-165.5,42.4,-8.5,67,494,0.15,2.40,0.00,0.000,4,0.055,0.033,2500,3415,3411
$GC,575,-1.24,-165.5,51.6,-10.8,74,579,0.00,2.33,0.00,0.000,6,0.000,0.022,2499,2028,3411
$GC,837,-1.24,-165.5,76.5,-9.0,98,841,0.00,2.40,0.00,0.000,4,0.000,0.034,2499,3420,3411
$GC,878,-1.30,-165.5,79.8,-7.8,101,882,0.00,2.33,0.00,0.000,6,0.000,0.022,2500,2036,3411
$GC,1141,-1.35,-165.5,98.6,-7.1,125,1145,0.00,2.38,0.00,0.000,4,0.000,0.033,2499,3414,3411
$GC,1209,-1.47,-165.5,103.0,-6.2,130,1216,0.17,2.30,0.00,0.000,6,0.053,0.023,2456,2039,3411
$GC,1535,-1.43,-165.5,135.7,-10.0,161,1539,0.00,2.38,0.00,0.000,4,0.000,0.032,2456,3424,3411
$GC,1568,-1.43,-165.5,139.4,-10.3,163,1574,0.00,2.33,0.00,0.000,6,0.000,0.022,2456,2031,3411
$GC,1893,-1.43,-165.5,169.8,-8.8,194,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2031,3411
$GC,2214,-1.43,-165.5,196.5,-7.8,224,2218,0.00,2.38,0.00,0.000,4,0.000,0.035,2456,3413,3411
$GC,2278,-1.49,-165.5,201.4,-7.1,229,2283,0.00,2.33,0.00,0.000,6,0.000,0.025,2456,2034,3411
$GC,2606,-1.53,-165.5,225.9,-8.3,245,2611,0.00,2.40,0.00,0.000,4,0.000,0.035,2455,3424,3411
$GC,2671,-1.61,-165.5,231.4,-8.0,248,2676,0.12,2.35,0.00,0.000,6,0.062,0.025,2425,2031,3411
$GC,2998,-1.61,-165.5,258.6,-7.9,264,3002,0.00,2.40,0.00,0.000,4,0.000,0.036,2425,3415,3411
$GC,3026,-1.61,-165.5,261.3,-9.4,265,3031,0.00,2.33,0.00,0.000,6,0.000,0.025,2425,2038,3410
$GC,3345,-1.61,-165.5,290.1,-9.1,280,3349,0.00,2.40,0.00,0.000,4,0.000,0.038,2425,3419,3410
$GC,3385,-1.61,-165.5,294.3,-10.0,282,3389,0.00,2.35,0.00,0.000,6,0.000,0.027,2425,2040,3410
$GC,3728,-1.61,-165.5,326.5,-9.1,292,3732,0.00,2.40,0.00,0.000,4,0.000,0.038,2425,3415,3408
$GC,3795,-1.65,-165.5,332.3,-8.1,293,3800,0.00,2.35,0.00,0.000,6,0.000,0.028,2425,2037,3407
$GC,4133,-1.65,-165.5,358.1,-7.4,302,4137,0.00,2.40,0.00,0.000,4,0.000,0.039,2425,3412,3405
$GC,4172,-1.69,-165.5,361.1,-7.3,302,4178,0.00,2.35,0.00,0.000,6,0.000,0.028,2425,2036,3405
$GC,4504,-1.69,-165.5,386.5,-7.9,311,4509,0.00,2.42,0.00,0.000,4,0.000,0.040,2425,3419,3402
$GC,4555,-1.75,-165.5,390.7,-7.9,312,4560,0.12,2.38,0.00,0.000,6,0.071,0.030,2397,2035,3401
$GC,4868,-1.75,-165.5,418.5,-8.6,320,4872,0.00,2.40,0.00,0.000,4,0.000,0.041,2397,3413,3400
$GC,4916,-1.75,-165.5,422.6,-9.0,321,4921,0.00,2.38,0.00,0.000,6,0.000,0.031,2397,2037,3399
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5247,-0.33,0.0,451.9,9.0,329,5380,1.50,0.00,129.30,0.930,6,0.107,0.000,2707,1929,2732
$STATE,5381,end apogee,CONTROL_FINISHED_OK
$STATE,5381,begin climb
$GC,5385,1.06,165.5,457.2,0.0,332,5523,1.38,2.58,130.02,0.913,4,0.047,0.038,3010,3321,2058
$GC,5630,0.55,165.5,447.6,12.2,338,5635,0.60,2.40,0.00,0.000,6,0.132,0.033,2901,1963,2057
$GC,5979,0.26,165.5,420.0,7.6,347,5985,0.30,2.60,0.00,0.000,4,0.117,0.054,2842,536,2056
$GC,6008,0.07,178.7,418.1,6.4,347,6024,0.22,2.42,10.73,0.901,6,0.118,0.029,2800,1935,2004
$GC,6348,0.17,276.8,404.5,3.9,356,6430,0.00,2.62,76.47,0.917,4,0.000,0.044,2800,3349,1604
$GC,6523,0.18,303.1,395.7,6.0,360,6549,0.00,2.50,20.95,0.895,6,0.000,0.034,2800,1939,1497
$GC,6887,0.12,303.9,372.5,6.8,369,6892,0.00,2.53,0.00,0.000,4,0.000,0.041,2800,3352,1497
$GC,6928,0.08,303.9,369.2,8.0,370,6932,0.00,2.47,0.00,0.000,6,0.000,0.033,2799,1946,1496
$GC,7253,0.03,303.9,344.7,7.7,378,7258,0.00,2.50,0.00,0.000,4,0.000,0.041,2800,3351,1495
$GC,7277,-0.02,303.9,343.0,7.4,378,7282,0.12,2.45,0.00,0.000,6,0.112,0.031,2777,1947,1495
$GC,7614,0.07,356.3,324.3,5.3,387,7663,0.00,2.55,41.33,0.890,4,0.000,0.038,2778,3355,1279
$GC,7692,0.10,356.3,319.5,7.0,388,7699,0.12,2.47,0.00,0.000,6,0.077,0.031,2804,1952,1280
$GC,8005,0.06,356.3,295.1,7.7,398,8010,0.00,2.47,0.00,0.000,4,0.000,0.039,2804,3349,1279
$GC,8050,0.06,356.3,291.5,8.0,400,8054,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1944,1279
$GC,8378,0.03,356.3,267.7,7.1,416,8382,0.00,2.47,0.00,0.000,4,0.000,0.038,2804,3349,1279
$GC,8399,-0.01,356.3,266.5,7.1,417,8404,0.12,2.45,0.00,0.000,6,0.107,0.030,2781,1941,1279
$GC,8726,0.00,361.1,243.5,6.7,433,8736,0.00,2.53,4.35,0.812,4,0.000,0.038,2782,3358,1261
$GC,8777,0.05,361.1,240.1,7.3,435,8781,0.00,2.45,0.00,0.000,6,0.000,0.030,2782,1943,1261
$GC,9099,0.06,363.1,218.6,6.8,451,9108,0.00,2.55,2.72,0.772,4,0.000,0.050,2781,545,1252
$GC,9138,0.11,363.1,215.8,7.7,452,9145,0.10,2.40,0.00,0.000,6,0.080,0.025,2804,1956,1252
$GC,9456,0.17,399.9,197.1,5.7,470,9491,0.00,2.50,28.83,0.781,4,0.000,0.037,2804,3341,1102
$GC,9538,0.20,399.9,191.5,6.9,477,9544,0.00,2.42,0.00,0.000,6,0.000,0.028,2804,1946,1102
$GC,9866,0.35,486.3,174.7,4.3,508,9939,0.20,0.00,66.95,0.742,6,0.060,0.000,2856,1946,749
$GC,10258,0.25,486.3,134.1,12.0,545,10263,0.12,2.45,0.00,0.000,4,0.104,0.034,2832,3343,750
$GC,10326,0.25,486.3,127.2,8.6,550,10332,0.00,2.40,0.00,0.000,6,0.000,0.027,2833,1947,751
$GC,10655,0.22,486.3,97.5,9.0,581,10659,0.00,2.45,0.00,0.000,4,0.000,0.033,2833,3356,752
$GC,10677,0.22,486.3,95.1,8.7,582,10683,0.00,2.40,0.00,0.000,6,0.000,0.025,2832,1947,753
$GC,11007,0.22,486.3,69.9,7.9,613,11011,0.00,2.42,0.00,0.000,4,0.000,0.032,2832,3347,755
$GC,11065,0.29,486.3,65.4,7.2,617,11071,0.00,2.38,0.00,0.000,6,0.000,0.025,2832,1950,755
$GC,11328,0.44,546.5,49.7,5.0,642,11382,0.15,2.53,47.75,0.611,4,0.058,0.043,2875,541,504
$GC,11407,0.44,546.5,43.3,9.9,649,11411,0.00,2.40,0.00,0.000,6,0.000,0.021,2876,1955,504
$GC,11676,0.38,546.5,18.6,9.4,683,11682,0.00,2.40,0.00,0.000,4,0.000,0.033,2876,3352,505
$GC,11735,0.38,546.5,13.0,9.2,693,11741,0.00,2.40,0.00,0.000,6,0.000,0.025,2876,1946,505
$STATE,11823,end climb,SURFACE_DEPTH_REACHED
$STATE,11823,begin surface coast
$FINISH,0.9,1.018913
$STATE,11891,end surface coast,CONTROL_FINISHED_OK
$STATE,11891,begin surface
$SM_CCo,11975,0.00,0.000,0,0,506,546.28
$SM_GC,1.73,10.98,0.00,0.00,0.044,0.000,0.000,410,2073,506,-10.85,0.93,546.28
$IRIDIUM_FIX,2054.83,-15741.46,290198,202046
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,23.8,44.042
$10V_AH,10.2,26.898
$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,28.475,140.850,559.400,0.000,0.000,25.699,41.089,145.157,10.500,0.000,0.000,35.943,1316.385,8119.340,616.949,1735.973,554.108,33.369,1497.346,0.000,1681.730,0.000,57.436
$DEVICE_MAMPS,156.468,54.457,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.236,475.134,835.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38021,720
$CAP_FILE_SIZE,112303,0
$CFSIZE,260165632,240254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051108,032108,2107.341,-15746.833,36,0.9,36,9.8