version: 66.03
glider: 114
mission: 3
dive: 341
start: 11 8 108 17 27 13
data:
$ID,114
$MISSION,3
$DIVE,341
$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,-598302.12
$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,72
$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
$GPS1,171958,2108.469,-15748.817,25,3.0,44,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.2
$GPS2,172614,2108.465,-15748.821,10,1.1,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.119,0.200
$KALMAN_X,-103344.2,383.1,384.9,110774.4,-308.8
$KALMAN_Y,-98373.5,227.0,129.3,82990.8,1.5
$MHEAD_RNG_PITCHd_Wd,319.4,3496,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.18,0.000,2,0.000,0.000,410,2087,2776
$GC,109,-1.06,-165.5,3.3,-3.7,14,139,11.80,2.28,-10.90,0.000,4,0.152,0.045,2539,3406,3410
$GC,220,-1.16,-165.5,19.1,-8.5,33,227,0.00,2.35,0.00,0.000,6,0.000,0.021,2539,2030,3409
$GC,493,-1.22,-165.5,42.8,-8.5,68,498,0.12,2.38,0.00,0.000,4,0.060,0.032,2508,3404,3409
$GC,571,-1.28,-165.5,50.3,-9.0,74,578,0.00,2.30,0.00,0.000,6,0.000,0.022,2508,2029,3409
$GC,833,-1.28,-165.5,74.3,-8.5,99,837,0.00,2.38,0.00,0.000,4,0.000,0.033,2508,3409,3409
$GC,879,-1.36,-165.5,77.9,-7.5,102,886,0.12,2.30,0.00,0.000,6,0.060,0.021,2477,2031,3409
$GC,1141,-1.36,-165.5,98.4,-7.9,127,1145,0.00,2.38,0.00,0.000,4,0.000,0.032,2477,3411,3410
$GC,1208,-1.40,-165.5,104.1,-8.4,132,1214,0.00,2.30,0.00,0.000,6,0.000,0.022,2477,2035,3410
$GC,1536,-1.40,-165.5,130.1,-7.5,163,1540,0.00,2.38,0.00,0.000,4,0.000,0.033,2477,3415,3410
$GC,1577,-1.46,-165.5,133.7,-8.2,166,1582,0.00,2.33,0.00,0.000,6,0.000,0.022,2477,2028,3410
$GC,1903,-1.49,-165.5,157.7,-7.2,196,1907,0.00,2.38,0.00,0.000,4,0.000,0.033,2477,3410,3410
$GC,1971,-1.58,-165.5,162.1,-5.6,201,1977,0.17,2.30,0.00,0.000,6,0.054,0.023,2433,2038,3410
$GC,2296,-1.54,-165.5,191.3,-10.9,232,2300,0.00,2.38,0.00,0.000,4,0.000,0.034,2433,3416,3410
$GC,2370,-1.54,-165.5,199.2,-10.6,238,2375,0.00,2.33,0.00,0.000,6,0.000,0.024,2434,2037,3410
$GC,2698,-1.54,-165.5,230.6,-9.1,254,2702,0.00,2.38,0.00,0.000,4,0.000,0.035,2434,3410,3410
$GC,2726,-1.54,-165.5,233.3,-9.4,255,2730,0.00,2.33,0.00,0.000,6,0.000,0.024,2433,2029,3409
$GC,3043,-1.54,-165.5,258.8,-7.9,270,3047,0.00,2.40,0.00,0.000,4,0.000,0.037,2434,3414,3409
$GC,3099,-1.58,-165.5,263.4,-8.2,272,3105,0.00,2.33,0.00,0.000,6,0.000,0.025,2434,2034,3409
$GC,3416,-1.58,-165.5,290.6,-8.5,288,3420,0.00,2.38,0.00,0.000,4,0.000,0.038,2433,3403,3408
$GC,3478,-1.62,-165.5,295.9,-8.5,290,3485,0.00,2.33,0.00,0.000,6,0.000,0.027,2434,2031,3407
$GC,3791,-1.62,-165.5,319.8,-7.6,300,3795,0.00,2.40,0.00,0.000,4,0.000,0.038,2434,3405,3405
$GC,3825,-1.66,-165.5,322.3,-7.6,300,3829,0.00,2.33,0.00,0.000,6,0.000,0.028,2434,2043,3405
$GC,4157,-1.66,-165.5,347.8,-7.8,308,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2042,3402
$GC,4484,-1.69,-165.5,371.7,-7.1,316,4488,0.00,2.40,0.00,0.000,4,0.000,0.040,2434,3413,3400
$GC,4551,-1.76,-165.5,376.9,-7.0,317,4556,0.17,2.35,0.00,0.000,6,0.064,0.029,2394,2042,3399
$GC,4891,-1.72,-165.5,408.3,-9.5,326,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2043,3398
$GC,5214,-1.68,-165.5,434.4,-7.9,334,5218,0.00,2.40,0.00,0.000,4,0.000,0.041,2394,3410,3394
$GC,5270,-1.68,-165.5,439.2,-7.8,335,5275,0.10,2.38,0.00,0.000,6,0.120,0.031,2412,2031,3394
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5422,-0.33,0.0,450.8,8.0,339,5555,1.42,0.00,129.00,0.929,6,0.091,0.000,2706,1936,2732
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5559,1.06,165.5,456.2,0.0,342,5699,1.35,2.55,129.98,0.911,4,0.048,0.039,3007,3314,2058
$GC,5793,0.57,165.5,446.5,11.8,347,5798,0.55,2.38,0.00,0.000,6,0.130,0.034,2908,1968,2057
$GC,6136,0.27,165.5,413.0,10.3,356,6141,0.32,2.60,0.00,0.000,4,0.120,0.054,2843,536,2056
$GC,6227,0.08,165.5,404.8,9.1,358,6232,0.25,2.40,0.00,0.000,6,0.115,0.031,2797,1915,2055
$GC,6546,0.11,223.7,386.7,5.1,366,6596,0.00,2.62,44.75,0.907,4,0.000,0.044,2796,3358,1821
$GC,6648,0.10,245.1,381.0,6.2,368,6672,0.00,2.50,17.83,0.894,6,0.000,0.034,2797,1943,1732
$GC,7000,0.17,320.6,363.6,4.6,377,7064,0.00,2.60,58.88,0.896,4,0.000,0.041,2796,3349,1425
$GC,7100,0.13,320.6,357.7,7.1,379,7104,0.00,2.47,0.00,0.000,6,0.000,0.033,2797,1948,1425
$GC,7449,0.10,323.5,333.7,6.7,388,7454,0.00,0.00,3.17,0.828,6,0.000,0.000,2797,1948,1414
$GC,7774,0.14,369.7,313.7,5.5,396,7816,0.00,2.62,36.53,0.878,4,0.000,0.040,2797,3363,1225
$GC,7863,0.18,393.0,308.6,6.1,398,7888,0.10,2.50,18.98,0.863,6,0.086,0.033,2818,1950,1130
$GC,8217,0.11,393.0,278.8,8.7,412,8221,0.00,2.50,0.00,0.000,4,0.000,0.041,2818,3353,1130
$GC,8258,0.06,393.0,275.1,8.3,414,8263,0.12,2.47,0.00,0.000,6,0.106,0.031,2795,1942,1130
$GC,8585,0.11,418.6,254.1,6.1,430,8611,0.00,2.55,20.62,0.829,4,0.000,0.038,2796,3358,1025
$GC,8639,0.13,430.2,250.7,6.5,432,8654,0.00,2.47,9.80,0.822,6,0.000,0.031,2796,1941,978
$GC,8978,0.25,498.5,229.8,4.8,449,9040,0.15,2.58,53.65,0.799,4,0.070,0.038,2834,3349,700
$GC,9100,0.21,498.5,218.4,10.5,454,9104,0.00,2.45,0.00,0.000,6,0.000,0.030,2834,1947,701
$GC,9421,0.13,498.5,184.2,9.5,476,9426,0.12,2.47,0.00,0.000,4,0.106,0.035,2811,3356,701
$GC,9466,0.16,498.5,180.4,7.5,479,9472,0.00,2.45,0.00,0.000,6,0.000,0.028,2810,1940,701
$GC,9795,0.16,498.5,153.7,8.1,510,9799,0.00,2.47,0.00,0.000,4,0.000,0.035,2811,3357,702
$GC,9840,0.21,498.5,149.8,7.7,513,9846,0.00,2.42,0.00,0.000,6,0.000,0.027,2810,1946,702
$GC,10169,0.24,498.5,125.6,6.9,544,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1946,703
$GC,10498,0.29,498.5,104.0,6.8,575,10503,0.15,2.45,0.00,0.000,4,0.062,0.032,2847,3363,705
$GC,10539,0.29,498.5,100.6,7.9,578,10543,0.00,2.42,0.00,0.000,6,0.000,0.026,2848,1947,705
$GC,10867,0.29,498.5,73.6,7.2,608,10871,0.00,2.47,0.00,0.000,4,0.000,0.044,2847,536,707
$GC,10890,0.31,511.6,71.9,6.4,609,10908,0.00,2.40,11.90,0.634,6,0.000,0.023,2848,1970,646
$GC,11167,0.31,511.6,54.1,7.1,635,11171,0.00,2.35,0.00,0.000,4,0.000,0.033,2848,3346,648
$GC,11219,0.47,556.2,50.8,5.5,639,11264,0.15,2.38,34.97,0.597,6,0.061,0.025,2884,1940,464
$GC,11524,0.40,556.2,20.1,11.7,674,11530,0.00,2.42,0.00,0.000,4,0.000,0.041,2884,550,465
$GC,11544,0.32,556.2,18.2,10.8,677,11551,0.17,2.40,0.00,0.000,6,0.089,0.022,2849,1960,465
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11718,begin surface coast
$FINISH,0.9,0.998125
$STATE,11811,end surface coast,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$SM_CCo,11895,0.00,0.000,0,0,465,556.10
$SM_GC,1.65,10.80,0.00,0.00,0.043,0.000,0.000,411,2065,465,-10.85,0.71,556.10
$IRIDIUM_FIX,2057.14,-15713.57,020298,141455
$TT8_MAMPS,0.027612
$HUMID,1740
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,12
$24V_AH,23.8,47.712
$10V_AH,10.2,29.091
$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,28.175,130.725,570.050,0.000,0.000,28.773,27.136,183.590,12.000,0.000,0.000,11.943,1328.308,8009.362,613.245,1740.716,582.743,33.374,1504.008,0.000,1707.411,0.000,57.447
$DEVICE_MAMPS,151.866,57.525,928.837,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.409,475.830,869.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37964,724
$CAP_FILE_SIZE,113299,0
$CFSIZE,260165632,238714880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081108,204637,2109.938,-15749.689,30,1.1,30,9.8