version: 66.03
glider: 114
mission: 3
dive: 329
start: 11 7 108 0 16 53
data:
$ID,114
$MISSION,3
$DIVE,329
$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,-598062.31
$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,75
$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
$GPS1,001002,2107.943,-15748.971,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.3
$GPS2,001556,2107.952,-15748.971,8,1.0,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.085,0.216
$KALMAN_X,-104508.2,202.1,-5.4,112251.8,55.9
$KALMAN_Y,-99973.3,72.0,179.8,83748.9,-558.7
$MHEAD_RNG_PITCHd_Wd,328.6,4188,-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,-165.5,0.0,0.0,0,100,0.00,0.00,-70.38,0.000,2,0.000,0.000,410,2088,2719
$GC,104,-1.06,-165.5,3.1,-3.1,13,134,11.95,2.33,-12.50,0.000,4,0.157,0.045,2541,3402,3410
$GC,176,-1.12,-165.5,14.6,-9.5,25,182,0.00,2.30,0.00,0.000,6,0.000,0.023,2541,2032,3410
$GC,449,-1.18,-165.5,37.0,-8.3,66,453,0.00,2.38,0.00,0.000,4,0.000,0.034,2541,3407,3410
$GC,517,-1.32,-165.5,42.8,-8.0,71,524,0.22,2.30,0.00,0.000,6,0.048,0.028,2487,2034,3410
$GC,780,-1.26,-165.5,70.3,-10.5,96,784,0.00,2.38,0.00,0.000,4,0.000,0.034,2487,3414,3410
$GC,831,-1.26,-165.5,75.7,-9.2,100,835,0.00,2.30,0.00,0.000,6,0.000,0.022,2487,2037,3410
$GC,1094,-1.26,-165.5,97.2,-6.8,124,1098,0.00,2.35,0.00,0.000,4,0.000,0.032,2488,3406,3410
$GC,1173,-1.36,-165.5,102.8,-6.8,130,1179,0.00,2.30,0.00,0.000,6,0.000,0.023,2488,2029,3410
$GC,1499,-1.36,-165.5,127.8,-8.5,161,1503,0.00,2.38,0.00,0.000,4,0.000,0.032,2487,3414,3410
$GC,1533,-1.42,-165.5,131.0,-8.5,163,1540,0.00,2.30,0.00,0.000,6,0.000,0.022,2488,2034,3410
$GC,1859,-1.46,-165.5,158.1,-7.8,194,1864,0.12,2.35,0.00,0.000,4,0.059,0.032,2455,3401,3410
$GC,1932,-1.46,-165.5,164.5,-8.5,200,1937,0.00,2.30,0.00,0.000,6,0.000,0.023,2455,2030,3410
$GC,2258,-1.46,-165.5,189.1,-8.5,230,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2029,3410
$GC,2581,-1.46,-165.5,219.0,-8.2,251,2585,0.00,2.38,0.00,0.000,4,0.000,0.034,2454,3410,3410
$GC,2623,-1.51,-165.5,222.1,-8.1,253,2627,0.00,2.30,0.00,0.000,6,0.000,0.024,2454,2043,3410
$GC,2951,-1.54,-165.5,243.5,-6.5,269,2955,0.00,2.35,0.00,0.000,4,0.000,0.035,2454,3401,3410
$GC,3001,-1.62,-165.5,247.3,-7.2,271,3006,0.12,2.30,0.00,0.000,6,0.063,0.025,2424,2036,3410
$GC,3318,-1.62,-165.5,274.3,-7.7,286,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2035,3410
$GC,3627,-1.62,-165.5,295.4,-6.7,301,3631,0.00,2.38,0.00,0.000,4,0.000,0.037,2424,3402,3409
$GC,3696,-1.62,-165.5,300.0,-6.2,304,3700,0.00,2.33,0.00,0.000,6,0.000,0.027,2424,2032,3407
$GC,4039,-1.62,-165.5,325.4,-8.2,313,4044,0.00,2.40,0.00,0.000,4,0.000,0.038,2424,3408,3405
$GC,4090,-1.65,-165.5,329.9,-8.3,314,4095,0.00,2.33,0.00,0.000,6,0.000,0.028,2424,2043,3405
$GC,4409,-1.65,-165.5,356.7,-8.3,322,4414,0.00,2.38,0.00,0.000,4,0.000,0.039,2424,3402,3402
$GC,4443,-1.65,-165.5,359.7,-8.6,322,4450,0.00,2.33,0.00,0.000,6,0.000,0.028,2424,2042,3402
$GC,4775,-1.65,-165.5,387.0,-8.2,331,4779,0.00,2.38,0.00,0.000,4,0.000,0.040,2424,3398,3400
$GC,4810,-1.68,-165.5,390.0,-8.1,331,4816,0.00,2.33,0.00,0.000,6,0.000,0.030,2423,2042,3399
$GC,5141,-1.68,-165.5,418.0,-8.4,340,5145,0.00,2.50,0.00,0.000,4,0.000,0.049,2423,627,3397
$GC,5164,-1.72,-165.5,419.9,-8.8,340,5169,0.00,2.35,0.00,0.000,6,0.000,0.029,2424,2000,3397
$GC,5507,-1.72,-165.5,444.5,-6.8,349,5512,0.00,2.55,0.00,0.000,4,0.000,0.045,2423,3449,3393
$GC,5575,-1.79,-165.5,449.3,-7.7,350,5580,0.15,2.45,0.00,0.000,6,0.071,0.032,2390,2030,3393
$STATE,5585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5585,begin apogee
$GC,5593,-0.33,0.0,450.1,6.8,351,5726,1.52,0.00,129.05,0.926,6,0.093,0.000,2704,1943,2733
$STATE,5727,end apogee,CONTROL_FINISHED_OK
$STATE,5727,begin climb
$GC,5730,1.06,165.5,455.0,0.0,354,5870,1.38,2.62,130.20,0.913,4,0.048,0.053,3008,551,2057
$GC,6105,0.52,165.5,424.1,13.7,362,6110,0.62,2.45,0.00,0.000,6,0.139,0.030,2897,1953,2056
$GC,6443,0.27,174.6,400.1,6.5,371,6457,0.28,2.62,7.22,0.890,4,0.123,0.053,2841,552,2021
$GC,6492,0.08,175.8,397.0,6.8,372,6497,0.22,2.45,0.00,0.000,6,0.120,0.031,2802,1956,2021
$GC,6812,0.10,225.3,380.8,5.4,380,6854,0.00,0.00,39.78,0.912,6,0.000,0.000,2801,1956,1814
$GC,7177,0.08,254.2,357.3,6.0,389,7206,0.00,2.58,23.25,0.894,4,0.000,0.046,2801,3351,1696
$GC,7242,0.08,286.0,353.6,5.9,390,7273,0.00,2.45,25.92,0.887,6,0.000,0.032,2801,1959,1566
$GC,7587,0.03,286.0,330.2,7.2,399,7592,0.00,2.50,0.00,0.000,4,0.000,0.041,2801,3359,1565
$GC,7628,-0.01,286.0,327.1,7.5,400,7633,0.10,2.47,0.00,0.000,6,0.124,0.031,2783,1950,1565
$GC,7953,0.06,326.9,307.5,5.6,408,7994,0.00,2.60,31.58,0.876,4,0.000,0.041,2783,3353,1400
$GC,8011,0.16,383.4,304.6,5.1,409,8062,0.15,2.47,44.72,0.858,6,0.077,0.031,2814,1945,1170
$GC,8384,0.10,383.4,278.7,7.3,425,8389,0.00,2.53,0.00,0.000,4,0.000,0.041,2815,3362,1169
$GC,8435,0.06,383.4,274.7,7.3,427,8440,0.10,2.47,0.00,0.000,6,0.115,0.031,2795,1948,1169
$GC,8751,0.06,383.4,253.0,7.0,442,8755,0.00,2.50,0.00,0.000,4,0.000,0.039,2796,3361,1169
$GC,8774,0.06,384.7,251.4,6.8,443,8779,0.00,2.47,0.00,0.000,6,0.000,0.030,2796,1937,1169
$GC,9097,0.09,401.9,231.7,6.3,459,9118,0.00,2.55,15.48,0.811,4,0.000,0.036,2796,3362,1093
$GC,9147,0.11,413.2,228.4,6.5,461,9163,0.00,2.47,9.18,0.804,6,0.000,0.029,2796,1943,1048
$GC,9474,0.11,413.2,206.7,7.0,477,9478,0.00,2.47,0.00,0.000,4,0.000,0.035,2796,3358,1048
$GC,9530,0.16,413.2,202.7,6.9,479,9534,0.00,2.45,0.00,0.000,6,0.000,0.028,2796,1940,1048
$GC,9859,0.20,438.9,181.7,6.1,507,9886,0.12,2.53,20.83,0.759,4,0.072,0.034,2825,3360,942
$GC,9914,0.20,438.9,177.3,8.6,511,9920,0.00,2.45,0.00,0.000,6,0.000,0.028,2825,1947,942
$GC,10245,0.16,438.9,149.6,8.2,542,10249,0.00,2.50,0.00,0.000,4,0.000,0.046,2825,537,943
$GC,10263,0.12,438.9,147.7,8.7,543,10267,0.00,2.42,0.00,0.000,6,0.000,0.024,2825,1969,943
$GC,10594,0.12,438.9,119.7,8.3,574,10598,0.00,2.38,0.00,0.000,4,0.000,0.035,2825,3345,943
$GC,10663,0.12,438.9,114.3,8.0,579,10669,0.00,2.40,0.00,0.000,6,0.000,0.027,2825,1938,943
$GC,10992,0.21,491.3,92.8,5.3,610,11040,0.00,2.53,40.47,0.653,4,0.000,0.033,2825,3344,730
$GC,11058,0.32,529.7,89.0,5.7,616,11097,0.12,2.40,30.38,0.647,6,0.064,0.025,2855,1949,572
$GC,11416,0.32,529.7,62.0,7.5,650,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1948,576
$GC,11671,0.32,529.7,42.2,7.6,674,11675,0.00,2.42,0.00,0.000,4,0.000,0.031,2855,3352,576
$GC,11711,0.36,529.7,39.1,7.3,677,11715,0.00,2.38,0.00,0.000,6,0.000,0.024,2855,1946,577
$GC,11982,0.36,529.7,19.0,7.2,714,11988,0.00,2.42,0.00,0.000,4,0.000,0.034,2855,3348,578
$GC,12007,0.36,529.7,17.1,7.4,718,12013,0.00,2.38,0.00,0.000,6,0.000,0.023,2855,1942,578
$STATE,12175,end climb,SURFACE_DEPTH_REACHED
$STATE,12178,begin surface coast
$FINISH,0.9,1.010628
$STATE,12268,end surface coast,CONTROL_FINISHED_OK
$STATE,12268,begin surface
$SM_CCo,12352,0.00,0.000,0,0,579,528.38
$SM_GC,1.50,10.80,0.00,0.00,0.042,0.000,0.000,406,2087,579,-10.87,1.33,528.38
$IRIDIUM_FIX,2059.45,-15748.75,310198,202038
$TT8_MAMPS,0.027612
$HUMID,1743
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.8,46.009
$10V_AH,10.2,28.081
$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,28.000,140.600,548.050,0.000,0.000,23.665,32.068,158.425,12.750,0.000,0.000,14.545,1391.119,8319.831,611.950,1809.896,574.109,33.370,1526.109,0.000,1781.880,0.000,57.481
$DEVICE_MAMPS,157.235,56.758,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.371,510.534,914.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41172,764
$CAP_FILE_SIZE,116821,0
$CFSIZE,260165632,239419392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071108,034402,2109.583,-15749.221,33,2.0,38,9.8