version: 66.03
glider: 114
mission: 3
dive: 319
start: 11 5 108 13 48 0
data:
$ID,114
$MISSION,3
$DIVE,319
$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,-597861.94
$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,56
$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
$GPS1,134111,2110.294,-15749.743,9,2.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-65.7
$GPS2,134705,2110.252,-15749.667,10,4.0,29,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.081,-0.218
$KALMAN_X,-105259.2,-59.8,638.9,111416.0,19.8
$KALMAN_Y,-100036.6,165.3,16.4,88138.9,-549.5
$MHEAD_RNG_PITCHd_Wd,149.7,15450,-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,-165.5,0.0,0.0,0,89,0.00,0.00,-59.53,0.000,2,0.000,0.000,406,2067,2818
$GC,93,-1.06,-165.5,3.3,-3.7,11,123,11.93,2.55,-10.02,0.000,4,0.155,0.048,2541,616,3410
$GC,193,-1.23,-165.5,18.5,-7.5,28,200,0.15,2.38,0.00,0.000,6,0.054,0.021,2504,2040,3410
$GC,463,-1.23,-165.5,44.2,-9.5,63,468,0.00,2.40,0.00,0.000,4,0.000,0.035,2504,3436,3410
$GC,565,-1.31,-165.5,53.5,-8.5,71,572,0.00,2.35,0.00,0.000,6,0.000,0.023,2503,2033,3410
$GC,828,-1.34,-165.5,75.1,-7.5,96,832,0.00,2.42,0.00,0.000,4,0.000,0.033,2503,3442,3410
$GC,897,-1.44,-165.5,81.1,-8.5,101,904,0.17,2.35,0.00,0.000,6,0.053,0.022,2461,2034,3410
$GC,1224,-1.44,-165.5,111.5,-8.9,132,1228,0.00,2.42,0.00,0.000,4,0.000,0.034,2461,3438,3410
$GC,1276,-1.48,-165.5,116.4,-8.7,136,1280,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2028,3411
$GC,1607,-1.48,-165.5,145.9,-8.7,167,1611,0.00,2.42,0.00,0.000,4,0.000,0.034,2461,3435,3411
$GC,1682,-1.52,-165.5,152.0,-8.3,173,1686,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2037,3411
$GC,2007,-1.52,-165.5,175.5,-7.4,203,2011,0.00,2.40,0.00,0.000,4,0.000,0.034,2460,3433,3411
$GC,2049,-1.56,-165.5,178.5,-7.6,206,2055,0.00,2.35,0.00,0.000,6,0.000,0.023,2461,2029,3411
$GC,2375,-1.56,-165.5,199.8,-6.5,237,2379,0.00,2.42,0.00,0.000,4,0.000,0.035,2461,3436,3411
$GC,2455,-1.62,-165.5,205.4,-7.0,241,2460,0.15,2.35,0.00,0.000,6,0.058,0.024,2423,2039,3411
$GC,2771,-1.62,-165.5,235.0,-8.5,256,2775,0.00,2.42,0.00,0.000,4,0.000,0.037,2423,3438,3411
$GC,2865,-1.62,-165.5,243.2,-8.2,260,2869,0.00,2.35,0.00,0.000,6,0.000,0.025,2423,2041,3411
$GC,3188,-1.62,-165.5,271.1,-9.1,276,3192,0.00,2.42,0.00,0.000,4,0.000,0.041,2423,639,3410
$GC,3221,-1.62,-165.5,274.6,-9.8,277,3227,0.00,2.35,0.00,0.000,6,0.000,0.025,2423,2030,3410
$GC,3537,-1.62,-165.5,303.2,-8.1,292,3540,0.00,2.45,0.00,0.000,4,0.000,0.040,2423,3445,3409
$GC,3644,-1.62,-165.5,312.3,-7.9,294,3648,0.00,2.40,0.00,0.000,6,0.000,0.028,2423,2037,3407
$GC,3957,-1.62,-165.5,338.4,-8.2,302,3961,0.00,2.45,0.00,0.000,4,0.000,0.039,2423,3441,3405
$GC,3980,-1.62,-165.5,340.2,-8.0,302,3984,0.00,2.38,0.00,0.000,6,0.000,0.028,2423,2041,3405
$GC,4323,-1.62,-165.5,367.5,-7.9,311,4327,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3449,3403
$GC,4359,-1.66,-165.5,370.4,-8.8,311,4365,0.00,2.42,0.00,0.000,6,0.000,0.028,2423,2031,3402
$GC,4690,-1.66,-165.5,399.1,-8.7,320,4695,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3440,3401
$GC,4724,-1.66,-165.5,402.0,-8.1,320,4730,0.00,2.40,0.00,0.000,6,0.000,0.031,2423,2042,3400
$GC,5056,-1.66,-165.5,426.3,-7.0,329,5060,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3446,3398
$GC,5113,-1.71,-165.5,430.1,-6.7,330,5117,0.00,2.42,0.00,0.000,6,0.000,0.031,2423,2034,3398
$GC,5429,-1.71,-165.5,448.8,-6.1,338,5433,0.00,2.47,0.00,0.000,4,0.000,0.051,2423,638,3395
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5443,begin apogee
$GC,5453,-0.33,0.0,450.0,6.0,338,5585,1.33,0.00,128.60,0.934,6,0.090,0.000,2700,1952,2733
$STATE,5586,end apogee,CONTROL_FINISHED_OK
$STATE,5586,begin climb
$GC,5589,1.06,165.5,453.7,0.0,341,5724,1.40,0.00,130.30,0.910,6,0.051,0.000,3009,1953,2058
$GC,6037,0.57,165.5,415.3,12.5,352,6043,0.55,2.58,0.00,0.000,4,0.136,0.051,2908,543,2057
$GC,6133,0.22,165.5,405.2,9.7,354,6139,0.43,2.45,0.00,0.000,6,0.150,0.030,2832,1954,2056
$GC,6448,0.15,201.1,386.5,5.8,362,6482,0.00,2.60,27.23,0.903,4,0.000,0.044,2832,3355,1913
$GC,6518,0.02,207.3,382.4,6.6,363,6530,0.25,2.47,5.93,0.886,6,0.127,0.033,2788,1954,1886
$GC,6856,0.15,303.8,368.3,4.0,371,6939,0.12,2.60,75.57,0.898,4,0.077,0.053,2813,546,1493
$GC,6951,0.07,306.3,362.8,6.7,373,6961,0.00,2.47,2.80,0.806,6,0.000,0.029,2815,1956,1483
$GC,7271,-0.01,306.3,337.9,8.0,381,7275,0.15,2.50,0.00,0.000,4,0.114,0.044,2782,3355,1483
$GC,7332,-0.01,306.3,333.3,7.1,382,7337,0.00,2.47,0.00,0.000,6,0.000,0.032,2782,1941,1482
$GC,7675,-0.01,306.3,308.4,7.4,391,7679,0.00,2.50,0.00,0.000,4,0.000,0.039,2783,3358,1482
$GC,7709,0.02,321.6,306.2,6.4,391,7727,0.00,2.45,12.35,0.878,6,0.000,0.031,2782,1950,1420
$GC,8047,0.12,379.7,287.2,5.1,405,8098,0.10,2.55,45.25,0.861,4,0.085,0.039,2805,3356,1185
$GC,8121,0.09,379.7,282.4,7.0,408,8128,0.00,2.47,0.00,0.000,6,0.000,0.030,2804,1940,1185
$GC,8438,0.05,379.7,259.8,7.6,424,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1940,1186
$GC,8748,0.02,379.7,235.4,7.8,439,8752,0.00,2.50,0.00,0.000,4,0.000,0.037,2805,3362,1186
$GC,8810,0.02,379.7,230.8,7.0,442,8815,0.00,2.45,0.00,0.000,6,0.000,0.029,2805,1951,1186
$GC,9138,0.02,379.7,207.3,7.1,458,9142,0.00,2.50,0.00,0.000,4,0.000,0.048,2804,545,1186
$GC,9156,0.02,379.7,206.0,7.4,459,9160,0.00,2.42,0.00,0.000,6,0.000,0.025,2805,1965,1187
$GC,9482,0.03,382.8,183.2,6.7,485,9493,0.00,2.45,3.75,0.753,4,0.000,0.037,2804,3345,1172
$GC,9540,0.03,382.8,179.1,7.3,490,9544,0.00,2.42,0.00,0.000,6,0.000,0.028,2805,1944,1172
$GC,9868,0.03,382.8,153.7,7.8,520,9872,0.00,2.45,0.00,0.000,4,0.000,0.034,2804,3352,1172
$GC,9908,0.03,382.8,150.3,7.9,523,9912,0.00,2.42,0.00,0.000,6,0.000,0.028,2805,1943,1173
$GC,10243,0.12,434.9,131.6,5.3,554,10288,0.00,2.50,40.40,0.706,4,0.000,0.033,2805,3348,959
$GC,10321,0.16,434.9,126.9,6.9,561,10325,0.00,2.42,0.00,0.000,6,0.000,0.026,2805,1949,959
$GC,10650,0.25,470.3,106.0,5.8,591,10684,0.12,2.47,27.73,0.670,4,0.065,0.032,2836,3348,814
$GC,10713,0.25,470.3,101.3,7.5,596,10719,0.00,2.42,0.00,0.000,6,0.000,0.025,2836,1935,814
$GC,11041,0.25,470.3,78.6,7.6,627,11045,0.00,2.47,0.00,0.000,4,0.000,0.033,2836,3359,815
$GC,11074,0.25,470.3,75.8,7.6,629,11081,0.00,2.42,0.00,0.000,6,0.000,0.026,2836,1940,815
$GC,11337,0.25,470.3,58.7,7.2,654,11341,0.00,2.45,0.00,0.000,4,0.000,0.031,2836,3359,816
$GC,11371,0.31,470.3,56.0,7.4,656,11377,0.00,2.40,0.00,0.000,6,0.000,0.025,2836,1944,815
$GC,11633,0.36,470.3,37.0,7.7,681,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1944,816
$GC,11898,0.43,477.5,18.7,6.6,720,11911,0.15,2.42,6.75,0.578,4,0.058,0.030,2879,3351,784
$GC,11952,0.43,477.5,14.3,8.4,729,11959,0.00,2.40,0.00,0.000,6,0.000,0.028,2879,1942,785
$STATE,12070,end climb,SURFACE_DEPTH_REACHED
$STATE,12070,begin surface coast
$FINISH,1.0,1.023089
$STATE,12139,end surface coast,CONTROL_FINISHED_OK
$STATE,12139,begin surface
$SM_CCo,12223,0.00,0.000,0,0,785,477.84
$SM_GC,1.59,10.90,0.00,0.00,0.041,0.000,0.000,411,2081,785,-10.85,1.16,477.84
$IRIDIUM_FIX,2101.76,-15733.30,300198,101022
$TT8_MAMPS,0.027612
$HUMID,1754
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.8,44.604
$10V_AH,10.2,27.235
$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,27.900,146.525,506.650,0.000,0.000,31.352,31.889,138.625,11.500,0.000,0.000,32.328,1397.820,8242.910,563.407,1825.478,547.964,33.369,1469.627,0.000,1772.580,0.000,63.097
$DEVICE_MAMPS,154.934,52.923,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.740,505.031,916.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,762
$CAP_FILE_SIZE,114789,0
$CFSIZE,260165632,240013312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051108,171301,2108.896,-15748.953,38,1.3,38,9.8