version: 66.03
glider: 114
mission: 3
dive: 340
start: 11 8 108 13 58 53
data:
$ID,114
$MISSION,3
$DIVE,340
$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,-598289.56
$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,35
$R_STBD_OVSHOOT,50
$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
$GPS1,135203,2106.890,-15748.245,34,1.8,34,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.9
$GPS2,135756,2106.885,-15748.215,9,1.5,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.152,0.176
$KALMAN_X,-103729.4,390.5,-202.0,112785.6,707.9
$KALMAN_Y,-98662.3,182.3,-145.9,80677.6,118.7
$MHEAD_RNG_PITCHd_Wd,309.3,6542,-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,29,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-69.88,0.000,2,0.000,0.000,407,2055,2852
$GC,106,-1.06,-165.5,3.4,-3.8,13,136,11.90,2.40,-9.32,0.000,4,0.156,0.049,2538,3425,3410
$GC,253,-1.18,-165.5,22.9,-8.6,38,260,0.00,2.38,0.00,0.000,6,0.000,0.022,2538,2033,3410
$GC,530,-1.23,-165.5,46.2,-8.5,71,535,0.12,2.42,0.00,0.000,4,0.061,0.033,2507,3433,3410
$GC,575,-1.27,-165.5,50.2,-8.0,74,581,0.00,2.33,0.00,0.000,6,0.000,0.022,2507,2042,3410
$GC,837,-1.27,-165.5,73.8,-9.0,99,841,0.00,2.40,0.00,0.000,4,0.000,0.033,2507,3433,3410
$GC,878,-1.32,-165.5,77.3,-9.1,102,882,0.00,2.35,0.00,0.000,6,0.000,0.022,2507,2033,3411
$GC,1141,-1.36,-165.5,99.0,-7.8,126,1145,0.12,2.40,0.00,0.000,4,0.058,0.031,2475,3429,3410
$GC,1204,-1.40,-165.5,104.8,-9.2,131,1208,0.00,2.33,0.00,0.000,6,0.000,0.022,2475,2037,3411
$GC,1535,-1.40,-165.5,136.9,-9.5,162,1539,0.00,2.40,0.00,0.000,4,0.000,0.033,2475,3431,3410
$GC,1558,-1.40,-165.5,139.2,-9.6,163,1564,0.00,2.33,0.00,0.000,6,0.000,0.022,2475,2036,3411
$GC,1883,-1.40,-165.5,168.9,-9.5,194,1887,0.00,2.40,0.00,0.000,4,0.000,0.034,2475,3430,3411
$GC,1946,-1.49,-165.5,174.5,-8.7,199,1950,0.00,2.35,0.00,0.000,6,0.000,0.024,2475,2034,3411
$GC,2272,-1.53,-165.5,199.2,-6.6,229,2277,0.12,2.40,0.00,0.000,4,0.062,0.033,2444,3428,3411
$GC,2317,-1.53,-165.5,203.0,-8.6,231,2321,0.00,2.33,0.00,0.000,6,0.000,0.024,2443,2038,3411
$GC,2645,-1.53,-165.5,229.5,-6.5,247,2653,0.00,2.40,0.00,0.000,4,0.000,0.035,2443,3430,3411
$GC,2681,-1.53,-165.5,232.3,-8.2,248,2685,0.00,2.35,0.00,0.000,6,0.000,0.024,2443,2034,3411
$GC,2998,-1.53,-165.5,259.4,-8.6,263,3003,0.00,2.42,0.00,0.000,4,0.000,0.036,2443,3433,3411
$GC,3045,-1.59,-165.5,263.5,-8.7,265,3049,0.00,2.38,0.00,0.000,6,0.000,0.026,2443,2034,3411
$GC,3372,-1.59,-165.5,289.2,-7.0,281,3376,0.00,2.42,0.00,0.000,4,0.000,0.037,2443,3429,3410
$GC,3435,-1.65,-165.5,293.4,-7.2,284,3440,0.10,2.38,0.00,0.000,6,0.073,0.027,2419,2036,3410
$GC,3780,-1.65,-165.5,322.2,-8.7,295,3784,0.00,2.42,0.00,0.000,4,0.000,0.038,2419,3428,3408
$GC,3809,-1.65,-165.5,324.8,-8.6,295,3813,0.00,2.38,0.00,0.000,6,0.000,0.028,2419,2035,3408
$GC,4141,-1.65,-165.5,355.5,-10.0,303,4145,0.00,2.42,0.00,0.000,4,0.000,0.039,2419,3427,3405
$GC,4181,-1.65,-165.5,359.4,-9.4,304,4185,0.00,2.38,0.00,0.000,6,0.000,0.028,2419,2042,3405
$GC,4507,-1.65,-165.5,384.3,-7.3,312,4511,0.00,2.42,0.00,0.000,4,0.000,0.041,2419,3425,3402
$GC,4558,-1.68,-165.5,388.5,-8.0,313,4562,0.00,2.38,0.00,0.000,6,0.000,0.030,2418,2039,3401
$GC,4871,-1.68,-165.5,413.9,-8.4,321,4875,0.00,2.45,0.00,0.000,4,0.000,0.041,2419,3433,3399
$GC,4904,-1.68,-165.5,416.7,-8.2,321,4910,0.00,2.40,0.00,0.000,6,0.000,0.030,2419,2038,3399
$GC,5237,-1.68,-165.5,441.4,-7.1,330,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2037,3397
$STATE,5396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5396,begin apogee
$GC,5404,-0.33,0.0,452.0,6.5,334,5537,1.38,0.00,129.18,0.930,6,0.095,0.000,2703,1931,2733
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,1.06,165.5,455.9,0.0,337,5677,1.38,0.00,130.57,0.909,6,0.052,0.000,3008,1930,2058
$GC,5989,0.57,165.5,420.2,11.4,348,5995,0.52,2.50,0.00,0.000,4,0.126,0.053,2908,558,2055
$GC,6035,0.24,165.5,415.8,9.5,349,6040,0.40,2.40,0.00,0.000,6,0.130,0.031,2835,1933,2056
$GC,6355,0.17,207.1,398.0,5.6,357,6393,0.00,0.00,32.60,0.905,6,0.000,0.000,2835,1933,1887
$GC,6719,0.03,207.1,369.6,8.1,366,6724,0.22,2.55,0.00,0.000,4,0.118,0.044,2789,3361,1885
$GC,6787,-0.01,207.1,364.8,7.6,367,6791,0.00,2.45,0.00,0.000,6,0.000,0.033,2789,1961,1885
$GC,7131,0.02,247.1,345.1,5.6,376,7167,0.00,2.53,31.00,0.897,4,0.000,0.041,2789,3355,1725
$GC,7218,0.08,279.0,340.2,5.9,377,7249,0.00,2.47,25.95,0.888,6,0.000,0.033,2789,1951,1595
$GC,7575,0.14,316.4,319.6,5.7,385,7610,0.00,2.58,29.35,0.877,4,0.000,0.041,2789,3364,1442
$GC,7634,0.18,341.1,316.3,6.1,386,7661,0.15,2.50,20.00,0.867,6,0.074,0.032,2821,1944,1342
$GC,7969,0.12,349.9,293.0,6.6,397,7983,0.00,2.58,7.55,0.858,4,0.000,0.040,2821,3352,1306
$GC,8002,0.05,355.5,290.6,6.7,398,8015,0.15,2.47,5.47,0.854,6,0.107,0.031,2794,1941,1283
$GC,8323,0.11,389.7,269.4,5.8,414,8356,0.00,2.58,27.20,0.845,4,0.000,0.038,2794,3366,1143
$GC,8396,0.16,413.8,265.6,6.1,417,8420,0.00,2.47,19.17,0.831,6,0.000,0.031,2794,1946,1046
$GC,8738,0.16,413.8,242.8,7.2,434,8742,0.00,2.50,0.00,0.000,4,0.000,0.038,2794,3366,1046
$GC,8765,0.16,413.8,240.8,6.9,435,8769,0.00,2.47,0.00,0.000,6,0.000,0.029,2794,1941,1046
$GC,9081,0.16,413.8,218.7,8.4,450,9085,0.00,2.50,0.00,0.000,4,0.000,0.036,2794,3365,1046
$GC,9104,0.16,413.8,216.9,8.1,451,9108,0.00,2.45,0.00,0.000,6,0.000,0.028,2794,1945,1045
$GC,9427,0.16,416.4,196.0,6.7,469,9438,0.00,2.53,3.00,0.749,4,0.000,0.035,2794,3361,1034
$GC,9463,0.20,416.4,193.4,6.8,472,9468,0.12,2.45,0.00,0.000,6,0.073,0.028,2822,1945,1034
$GC,9790,0.23,433.1,166.2,6.3,502,9811,0.00,2.55,13.75,0.740,4,0.000,0.035,2822,3363,967
$GC,9836,0.32,483.9,163.5,5.3,506,9882,0.12,2.45,39.47,0.729,6,0.071,0.027,2851,1950,759
$GC,10209,0.23,483.9,130.6,10.1,541,10213,0.00,2.47,0.00,0.000,4,0.000,0.035,2851,3365,759
$GC,10242,0.15,483.9,127.1,10.7,543,10250,0.17,2.45,0.00,0.000,6,0.092,0.026,2816,1936,760
$GC,10569,0.26,521.9,104.2,5.7,574,10605,0.00,2.53,30.62,0.662,4,0.000,0.033,2816,3368,605
$GC,10647,0.35,521.9,99.2,7.0,581,10652,0.17,2.45,0.00,0.000,6,0.057,0.025,2858,1945,606
$GC,10973,0.32,521.9,70.6,7.1,611,10977,0.00,2.47,0.00,0.000,4,0.000,0.033,2859,3369,607
$GC,11036,0.39,534.0,66.3,6.5,616,11052,0.00,2.42,10.57,0.627,6,0.000,0.025,2858,1940,555
$GC,11313,0.39,534.0,46.5,8.5,641,11318,0.00,2.47,0.00,0.000,4,0.000,0.032,2859,3370,556
$GC,11336,0.39,534.0,44.3,7.7,642,11342,0.00,2.42,0.00,0.000,6,0.000,0.023,2859,1937,556
$GC,11606,0.40,542.4,26.0,6.6,672,11619,0.00,2.53,7.43,0.583,4,0.000,0.031,2858,3360,520
$GC,11643,0.40,542.4,22.3,8.5,678,11650,0.00,2.40,0.00,0.000,6,0.000,0.023,2858,1948,520
$STATE,11846,end climb,SURFACE_DEPTH_REACHED
$STATE,11846,begin surface coast
$FINISH,1.4,1.023031
$STATE,11898,end surface coast,CONTROL_FINISHED_OK
$STATE,11898,begin surface
$SM_CCo,11981,0.00,0.000,0,0,520,542.85
$SM_GC,1.57,10.85,0.00,0.00,0.043,0.000,0.000,410,2087,520,-10.86,1.33,542.85
$IRIDIUM_FIX,2059.45,-15746.61,020298,101007
$TT8_MAMPS,0.027612
$HUMID,1742
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,47.558
$10V_AH,10.2,29.006
$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,28.025,141.725,562.900,0.000,0.000,22.872,29.583,160.529,12.000,0.000,0.000,15.690,1325.140,8153.663,619.516,1672.350,564.272,33.373,1479.623,0.000,1639.879,0.000,57.458
$DEVICE_MAMPS,155.701,52.923,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.892,480.222,856.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,723
$CAP_FILE_SIZE,113009,0
$CFSIZE,260165632,238772224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081108,171958,2108.469,-15748.817,25,3.0,44,9.8