version: 66.03
glider: 114
mission: 3
dive: 323
start: 11 6 108 3 41 20
data:
$ID,114
$MISSION,3
$DIVE,323
$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,-597952.75
$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,36
$R_STBD_OVSHOOT,77
$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
$GPS1,033347,2104.526,-15747.646,8,2.4,27,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.1
$GPS2,034025,2104.534,-15747.580,28,1.1,45,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.138,-0.187
$KALMAN_X,-105366.2,-430.9,516.2,115621.2,-1222.7
$KALMAN_Y,-98852.2,-59.9,-116.4,76723.0,238.6
$MHEAD_RNG_PITCHd_Wd,133.9,4270,-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,-165.4,0.0,0.0,0,113,0.00,0.00,-80.62,0.000,2,0.000,0.000,408,2084,2902
$GC,117,-1.06,-165.5,3.9,-4.9,15,147,12.00,2.55,-7.90,0.000,4,0.159,0.042,2540,633,3409
$GC,178,-0.95,-165.5,18.4,-15.1,25,185,0.15,2.33,0.00,0.000,6,0.079,0.022,2572,2001,3409
$GC,460,-1.08,-165.5,35.0,-6.5,68,464,0.12,2.47,0.00,0.000,4,0.059,0.033,2541,3441,3409
$GC,545,-1.21,-165.5,41.3,-7.6,75,550,0.12,2.35,0.00,0.000,6,0.060,0.022,2509,2036,3409
$GC,808,-1.21,-165.5,65.2,-8.5,99,812,0.00,2.42,0.00,0.000,4,0.000,0.034,2509,3439,3409
$GC,861,-1.29,-165.5,69.6,-7.7,103,865,0.00,2.35,0.00,0.000,6,0.000,0.022,2509,2037,3409
$GC,1123,-1.32,-165.5,96.3,-9.8,127,1127,0.00,2.42,0.00,0.000,4,0.000,0.033,2509,3442,3410
$GC,1176,-1.41,-165.5,100.2,-6.2,131,1181,0.17,2.35,0.00,0.000,6,0.052,0.022,2467,2036,3410
$GC,1503,-1.41,-165.5,126.8,-8.1,161,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2035,3410
$GC,1824,-1.41,-165.5,156.5,-6.6,191,1828,0.00,2.42,0.00,0.000,4,0.000,0.035,2466,3442,3411
$GC,1933,-1.48,-165.5,163.9,-6.5,200,1939,0.00,2.35,0.00,0.000,6,0.000,0.024,2466,2040,3410
$GC,2259,-1.48,-165.5,192.0,-8.6,231,2263,0.00,2.42,0.00,0.000,4,0.000,0.035,2466,3444,3411
$GC,2338,-1.56,-165.5,197.6,-6.6,237,2344,0.12,2.38,0.00,0.000,6,0.063,0.025,2436,2031,3411
$GC,2666,-1.56,-165.5,226.9,-9.6,255,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2030,3411
$GC,2974,-1.56,-165.5,251.8,-7.2,270,2979,0.00,2.45,0.00,0.000,4,0.000,0.036,2435,3444,3410
$GC,3038,-1.61,-165.5,257.1,-9.1,273,3043,0.00,2.40,0.00,0.000,6,0.000,0.026,2435,2030,3410
$GC,3367,-1.61,-165.5,283.8,-7.3,289,3371,0.00,2.45,0.00,0.000,4,0.000,0.038,2435,3438,3410
$GC,3401,-1.61,-165.5,286.4,-7.5,290,3408,0.00,2.38,0.00,0.000,6,0.000,0.027,2435,2034,3409
$GC,3716,-1.61,-165.5,309.8,-7.3,303,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2033,3408
$GC,4040,-1.61,-165.5,333.8,-7.9,311,4045,0.00,2.47,0.00,0.000,4,0.000,0.039,2435,3447,3405
$GC,4091,-1.68,-165.5,338.6,-9.5,312,4096,0.00,2.40,0.00,0.000,6,0.000,0.029,2435,2045,3405
$GC,4406,-1.71,-165.5,366.9,-9.1,320,4408,0.12,0.00,0.00,0.000,6,0.070,0.000,2406,2044,3402
$GC,4730,-1.71,-165.5,396.9,-8.9,328,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2044,3400
$GC,5055,-1.71,-165.5,425.5,-8.8,336,5059,0.00,2.45,0.00,0.000,4,0.000,0.041,2406,3435,3397
$GC,5116,-1.71,-165.5,431.2,-9.1,337,5120,0.00,2.40,0.00,0.000,6,0.000,0.031,2406,2039,3397
$STATE,5381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5381,begin apogee
$GC,5389,-0.33,0.0,452.3,7.8,344,5522,1.45,0.00,129.10,0.932,6,0.107,0.000,2707,1933,2733
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5523,begin climb
$GC,5526,1.06,165.5,457.4,0.0,347,5665,1.40,2.55,130.25,0.910,4,0.050,0.052,3013,549,2057
$GC,5852,0.51,165.5,434.0,13.4,355,5857,0.68,2.42,0.00,0.000,6,0.146,0.029,2894,1943,2057
$GC,6172,0.23,165.5,408.5,7.7,363,6177,0.30,2.53,0.00,0.000,4,0.123,0.044,2837,3355,2055
$GC,6228,0.10,178.5,404.4,6.4,364,6244,0.17,2.45,10.30,0.889,6,0.134,0.033,2807,1959,2005
$GC,6578,0.13,242.8,386.5,4.9,373,6633,0.00,2.62,49.80,0.907,4,0.000,0.054,2805,541,1743
$GC,6651,0.09,271.1,382.6,6.0,374,6680,0.00,2.47,23.50,0.888,6,0.000,0.031,2806,1954,1626
$GC,7024,0.03,271.1,356.9,7.3,384,7029,0.00,2.50,0.00,0.000,4,0.000,0.046,2806,3352,1625
$GC,7059,-0.03,271.1,354.5,7.0,384,7065,0.17,2.47,0.00,0.000,6,0.121,0.033,2775,1943,1625
$GC,7391,0.08,332.8,336.8,5.0,393,7445,0.00,2.60,47.62,0.885,4,0.000,0.040,2776,3350,1375
$GC,7476,0.18,390.5,332.6,5.1,395,7528,0.20,2.47,45.85,0.867,6,0.071,0.031,2818,1949,1140
$GC,7846,0.10,390.5,302.8,8.6,404,7850,0.00,2.53,0.00,0.000,4,0.000,0.042,2818,3360,1139
$GC,7880,0.03,390.5,299.3,9.1,404,7886,0.15,2.47,0.00,0.000,6,0.105,0.031,2790,1943,1140
$GC,8196,0.07,411.3,277.7,6.2,420,8218,0.00,2.53,16.80,0.842,4,0.000,0.038,2790,3352,1055
$GC,8247,0.07,413.7,274.3,6.7,422,8256,0.00,2.47,2.92,0.792,6,0.000,0.031,2790,1940,1045
$GC,8573,0.07,413.7,250.9,8.0,438,8577,0.00,2.50,0.00,0.000,4,0.000,0.039,2790,3361,1045
$GC,8615,0.07,413.7,247.3,9.7,440,8620,0.00,2.47,0.00,0.000,6,0.000,0.030,2790,1940,1045
$GC,8943,0.08,421.1,221.1,6.6,456,8956,0.00,2.58,6.45,0.798,4,0.000,0.036,2790,3358,1015
$GC,8987,0.12,421.1,218.0,7.6,458,8991,0.00,2.47,0.00,0.000,6,0.000,0.029,2790,1937,1015
$GC,9305,0.13,422.6,195.1,6.8,476,9309,0.00,2.47,0.00,0.000,4,0.000,0.035,2790,3355,1015
$GC,9335,0.18,422.6,193.0,7.2,478,9340,0.12,2.42,0.00,0.000,6,0.073,0.028,2818,1950,1015
$GC,9660,0.19,431.7,168.3,6.5,508,9672,0.00,0.00,8.95,0.749,6,0.000,0.000,2818,1950,973
$GC,9995,0.19,431.7,148.5,7.8,539,9999,0.00,2.45,0.00,0.000,4,0.000,0.034,2818,3356,973
$GC,10036,0.19,431.7,144.7,8.9,542,10041,0.00,2.42,0.00,0.000,6,0.000,0.027,2818,1945,973
$GC,10362,0.19,431.7,120.5,9.4,572,10367,0.00,2.45,0.00,0.000,4,0.000,0.033,2818,3360,973
$GC,10396,0.23,431.7,117.4,9.1,574,10402,0.00,2.40,0.00,0.000,6,0.000,0.025,2818,1950,973
$GC,10727,0.37,477.3,99.3,5.5,605,10768,0.15,2.47,35.53,0.656,4,0.061,0.032,2861,3356,786
$GC,10791,0.37,477.3,94.5,7.7,611,10798,0.00,2.40,0.00,0.000,6,0.000,0.025,2860,1950,787
$GC,11121,0.36,488.4,71.5,6.5,642,11136,0.00,2.50,9.40,0.627,4,0.000,0.032,2860,3355,741
$GC,11171,0.36,488.4,67.2,8.0,646,11177,0.00,2.40,0.00,0.000,6,0.000,0.024,2860,1946,742
$GC,11433,0.36,488.4,49.1,7.2,671,11437,0.00,2.45,0.00,0.000,4,0.000,0.043,2860,548,742
$GC,11451,0.36,488.4,47.7,7.5,672,11455,0.00,2.38,0.00,0.000,6,0.000,0.021,2860,1968,742
$GC,11719,0.36,488.4,25.4,8.0,701,11725,0.00,2.35,0.00,0.000,4,0.000,0.032,2860,3347,743
$GC,11773,0.39,488.4,20.9,7.8,710,11780,0.00,2.40,0.00,0.000,6,0.000,0.026,2861,1928,744
$STATE,11998,end climb,SURFACE_DEPTH_REACHED
$STATE,11998,begin surface coast
$FINISH,0.9,1.022928
$STATE,12073,end surface coast,CONTROL_FINISHED_OK
$STATE,12073,begin surface
$SM_CCo,12157,0.00,0.000,0,0,747,487.17
$SM_GC,1.67,10.77,0.00,0.00,0.041,0.000,0.000,410,2068,747,-10.85,0.79,487.17
$IRIDIUM_FIX,2059.45,-15748.75,310198,000028
$TT8_MAMPS,0.027612
$HUMID,1718
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,11
$24V_AH,23.8,45.195
$10V_AH,10.2,27.571
$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,28.400,127.650,516.475,0.000,0.000,30.509,32.002,161.172,11.750,0.000,0.000,47.314,1374.388,8231.947,577.483,1799.643,570.411,33.370,1459.110,0.000,1738.448,0.000,59.956
$DEVICE_MAMPS,158.769,53.690,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.713,508.253,914.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41011,763
$CAP_FILE_SIZE,112387,0
$CFSIZE,260165632,239771648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061108,070508,2102.917,-15747.059,32,1.9,32,9.8