version: 66.03
glider: 114
mission: 3
dive: 322
start: 11 6 108 0 10 12
data:
$ID,114
$MISSION,3
$DIVE,322
$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,-597904.81
$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,38
$R_STBD_OVSHOOT,79
$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
$GPS1,000338,2105.908,-15748.418,30,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.0
$GPS2,000915,2105.948,-15748.424,9,1.7,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.125,-0.196
$KALMAN_X,-105471.1,255.4,134.6,113971.9,-504.1
$KALMAN_Y,-99295.5,185.8,108.1,79313.4,-461.8
$MHEAD_RNG_PITCHd_Wd,137.6,7212,-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,-165.4,0.0,0.0,0,105,0.00,0.00,-75.65,0.000,2,0.000,0.000,409,2078,2885
$GC,109,-1.06,-165.5,3.4,-3.9,14,139,11.95,2.55,-8.70,0.000,4,0.157,0.047,2538,642,3410
$GC,181,-1.16,-165.5,17.7,-9.7,26,187,0.00,2.28,0.00,0.000,6,0.000,0.021,2538,2000,3410
$GC,452,-1.22,-165.5,41.7,-9.4,63,457,0.12,2.47,0.00,0.000,4,0.063,0.035,2508,3440,3410
$GC,550,-1.28,-165.5,51.7,-10.1,71,554,0.00,2.38,0.00,0.000,6,0.000,0.023,2508,2026,3410
$GC,812,-1.34,-165.5,75.1,-8.2,95,816,0.00,2.45,0.00,0.000,4,0.000,0.033,2508,3446,3410
$GC,868,-1.46,-165.5,79.8,-7.9,99,875,0.20,2.35,0.00,0.000,6,0.051,0.022,2459,2039,3410
$GC,1134,-1.42,-165.5,108.3,-11.1,124,1138,0.00,2.42,0.00,0.000,4,0.000,0.035,2459,3440,3410
$GC,1190,-1.42,-165.5,114.5,-9.4,128,1196,0.00,2.35,0.00,0.000,6,0.000,0.023,2459,2037,3410
$GC,1515,-1.42,-165.5,146.3,-10.1,159,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2036,3411
$GC,1837,-1.42,-165.5,173.3,-8.3,189,1841,0.00,2.42,0.00,0.000,4,0.000,0.033,2460,3446,3410
$GC,1927,-1.46,-165.5,182.0,-8.9,196,1934,0.00,2.38,0.00,0.000,6,0.000,0.024,2460,2030,3410
$GC,2252,-1.46,-165.5,208.3,-8.1,222,2256,0.00,2.45,0.00,0.000,4,0.000,0.035,2459,3450,3410
$GC,2326,-1.53,-165.5,215.5,-10.0,225,2330,0.00,2.38,0.00,0.000,6,0.000,0.025,2459,2039,3410
$GC,2643,-1.58,-165.5,237.4,-5.7,240,2648,0.10,2.42,0.00,0.000,4,0.066,0.039,2432,638,3410
$GC,2684,-1.62,-165.5,240.1,-6.9,242,2688,0.00,2.35,0.00,0.000,6,0.000,0.025,2432,2039,3410
$GC,3016,-1.62,-165.5,265.3,-8.1,258,3020,0.00,2.42,0.00,0.000,4,0.000,0.038,2432,3446,3410
$GC,3107,-1.67,-165.5,272.1,-7.0,262,3111,0.00,2.38,0.00,0.000,6,0.000,0.027,2432,2044,3410
$GC,3434,-1.67,-165.5,296.4,-8.0,278,3438,0.00,2.45,0.00,0.000,4,0.000,0.038,2432,3446,3409
$GC,3485,-1.71,-165.5,300.4,-7.3,280,3489,0.12,2.40,0.00,0.000,6,0.066,0.028,2402,2039,3410
$GC,3818,-1.67,-165.5,331.6,-10.0,288,3822,0.00,2.47,0.00,0.000,4,0.000,0.041,2402,3446,3407
$GC,3896,-1.67,-165.5,339.6,-9.6,289,3903,0.00,2.42,0.00,0.000,6,0.000,0.029,2402,2029,3406
$GC,4228,-1.67,-165.5,367.6,-8.4,298,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2028,3404
$GC,4554,-1.67,-165.5,392.4,-7.3,306,4558,0.00,2.50,0.00,0.000,4,0.000,0.042,2402,3444,3401
$GC,4610,-1.67,-165.5,396.7,-6.4,307,4614,0.00,2.42,0.00,0.000,6,0.000,0.031,2402,2033,3400
$GC,4960,-1.67,-165.5,421.5,-7.3,316,4965,0.00,2.50,0.00,0.000,4,0.000,0.043,2402,3447,3398
$GC,4995,-1.67,-165.5,424.1,-6.8,316,5001,0.00,2.42,0.00,0.000,6,0.000,0.032,2403,2044,3398
$GC,5328,-1.67,-165.5,447.9,-7.5,325,5332,0.00,2.50,0.00,0.000,4,0.000,0.050,2402,635,3395
$STATE,5355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5355,begin apogee
$GC,5365,-0.33,0.0,450.3,8.0,325,5498,1.45,0.00,128.95,0.934,6,0.095,0.000,2702,1956,2733
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5502,1.06,165.5,456.4,0.0,329,5642,1.40,2.60,130.27,0.911,4,0.054,0.044,3008,3355,2057
$GC,5730,0.55,165.5,446.3,12.1,334,5735,0.57,2.50,0.00,0.000,6,0.132,0.034,2904,1939,2057
$GC,6079,0.26,165.5,417.7,8.3,343,6084,0.32,2.53,0.00,0.000,4,0.120,0.053,2841,547,2055
$GC,6234,0.06,165.5,406.0,7.8,346,6239,0.25,2.45,0.00,0.000,6,0.117,0.029,2794,1960,2054
$GC,6577,0.07,210.8,386.8,5.5,355,6619,0.00,2.55,34.85,0.909,4,0.000,0.047,2794,3353,1872
$GC,6666,0.02,216.3,381.3,6.7,357,6676,0.00,2.50,5.00,0.873,6,0.000,0.035,2794,1944,1851
$GC,6991,0.11,301.9,365.7,4.3,365,7061,0.00,0.00,67.47,0.900,6,0.000,0.000,2794,1943,1502
$GC,7356,0.12,333.4,344.5,5.9,374,7386,0.00,2.58,25.25,0.884,4,0.000,0.041,2794,3354,1372
$GC,7443,0.15,347.0,339.0,6.4,376,7460,0.00,2.50,11.27,0.874,6,0.000,0.034,2793,1939,1317
$GC,7804,0.12,351.2,314.8,6.7,385,7813,0.00,2.55,4.28,0.842,4,0.000,0.042,2794,3353,1301
$GC,7836,0.14,361.8,312.6,6.5,385,7851,0.00,2.47,9.25,0.866,6,0.000,0.032,2793,1942,1258
$GC,8180,0.17,378.8,289.9,6.3,397,8202,0.10,2.58,13.95,0.862,4,0.088,0.041,2816,3358,1188
$GC,8259,0.14,378.8,283.8,7.8,400,8263,0.00,2.47,0.00,0.000,6,0.000,0.032,2815,1950,1188
$GC,8576,0.08,378.8,259.2,8.4,415,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1949,1188
$GC,8885,0.04,378.8,234.5,7.3,430,8889,0.15,2.47,0.00,0.000,4,0.106,0.038,2784,3352,1187
$GC,8958,0.11,384.7,229.5,6.6,433,8970,0.00,2.45,5.55,0.809,6,0.000,0.029,2784,1935,1164
$GC,9281,0.20,408.3,211.9,6.1,449,9306,0.15,2.58,18.62,0.796,4,0.069,0.050,2822,544,1067
$GC,9318,0.16,408.3,209.1,7.0,450,9324,0.00,2.42,0.00,0.000,6,0.000,0.026,2822,1955,1067
$GC,9641,0.15,418.4,185.4,6.5,475,9655,0.00,2.50,8.68,0.760,4,0.000,0.037,2822,3351,1027
$GC,9697,0.15,423.3,181.7,6.7,480,9708,0.00,2.45,4.57,0.748,6,0.000,0.028,2822,1944,1007
$GC,10029,0.15,423.3,157.0,7.0,511,10033,0.00,2.45,0.00,0.000,4,0.000,0.034,2821,3348,1007
$GC,10069,0.15,423.3,153.7,7.9,514,10073,0.00,2.42,0.00,0.000,6,0.000,0.027,2822,1943,1008
$GC,10398,0.22,459.5,132.6,5.7,544,10433,0.00,2.53,28.70,0.701,4,0.000,0.034,2821,3342,858
$GC,10465,0.22,459.5,127.7,7.2,550,10469,0.00,2.42,0.00,0.000,6,0.000,0.026,2821,1943,859
$GC,10793,0.22,459.5,101.4,7.4,580,10798,0.00,2.45,0.00,0.000,4,0.000,0.033,2822,3350,859
$GC,10823,0.22,459.5,99.0,7.3,582,10828,0.00,2.42,0.00,0.000,6,0.000,0.025,2822,1934,859
$GC,11150,0.46,560.1,79.2,3.8,612,11236,0.22,2.50,78.03,0.625,4,0.056,0.032,2880,3349,449
$GC,11275,0.40,560.1,70.3,9.5,623,11279,0.00,2.40,0.00,0.000,6,0.000,0.025,2880,1954,449
$GC,11540,0.34,560.1,44.0,9.5,647,11545,0.12,2.45,0.00,0.000,4,0.097,0.032,2855,3360,450
$GC,11581,0.34,560.1,40.2,7.9,650,11586,0.00,2.42,0.00,0.000,6,0.000,0.025,2855,1943,452
$GC,11851,0.34,560.1,17.3,8.5,686,11857,0.00,2.45,0.00,0.000,4,0.000,0.032,2855,3358,452
$GC,11876,0.34,560.1,15.2,8.4,690,11883,0.00,2.40,0.00,0.000,6,0.000,0.023,2854,1940,453
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11994,begin surface coast
$FINISH,0.8,1.009116
$STATE,12065,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12148,0.00,0.000,0,0,453,559.28
$SM_GC,1.54,10.85,0.00,0.00,0.043,0.000,0.000,408,2086,453,-10.86,1.30,559.28
$IRIDIUM_FIX,2059.45,-15745.74,300198,202027
$TT8_MAMPS,0.027612
$HUMID,1738
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.8,45.054
$10V_AH,10.2,27.484
$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,28.100,137.525,574.700,0.000,0.000,22.276,29.566,150.651,11.750,0.000,0.000,11.299,1336.323,8220.196,633.711,1747.231,549.108,33.375,1522.457,0.000,1714.925,0.000,60.319
$DEVICE_MAMPS,157.235,52.923,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.356,473.265,840.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,723
$CAP_FILE_SIZE,114039,0
$CFSIZE,260165632,239837184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061108,033347,2104.526,-15747.646,8,2.4,27,9.8