version: 66.03
glider: 114
mission: 3
dive: 343
start: 11 9 108 0 18 54
data:
$ID,114
$MISSION,3
$DIVE,343
$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,-598330.19
$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,37
$R_STBD_OVSHOOT,78
$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
$GPS1,001202,2108.590,-15749.465,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.0
$GPS2,001757,2108.628,-15749.443,14,1.0,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.038,-0.229
$KALMAN_X,-102801.6,-263.9,-473.5,110670.7,518.1
$KALMAN_Y,-97583.2,19.8,-76.5,82915.8,251.0
$MHEAD_RNG_PITCHd_Wd,160.8,12480,-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,-69.95,0.000,2,0.000,0.000,412,2078,2796
$GC,104,-1.06,-165.5,3.2,-3.3,13,134,11.88,2.30,-10.43,0.000,4,0.153,0.051,2541,3398,3410
$GC,263,-1.19,-165.5,23.5,-7.1,40,269,0.00,2.30,0.00,0.000,6,0.000,0.023,2541,2030,3410
$GC,538,-1.25,-165.5,46.9,-8.3,72,543,0.15,2.38,0.00,0.000,4,0.056,0.032,2500,3403,3410
$GC,601,-1.25,-165.5,52.7,-9.2,77,605,0.00,2.30,0.00,0.000,6,0.000,0.022,2500,2036,3410
$GC,864,-1.21,-165.5,79.7,-10.7,101,868,0.00,2.35,0.00,0.000,4,0.000,0.033,2500,3405,3410
$GC,922,-1.21,-165.5,85.7,-9.6,106,926,0.00,2.30,0.00,0.000,6,0.000,0.022,2500,2034,3410
$GC,1248,-1.24,-165.5,113.0,-8.6,136,1252,0.00,2.35,0.00,0.000,4,0.000,0.033,2500,3401,3410
$GC,1333,-1.34,-165.5,120.8,-8.9,143,1339,0.00,2.28,0.00,0.000,6,0.000,0.022,2500,2036,3411
$GC,1659,-1.44,-165.5,144.6,-7.0,174,1664,0.15,2.35,0.00,0.000,4,0.054,0.031,2462,3404,3411
$GC,1749,-1.50,-165.5,152.8,-9.1,181,1755,0.00,2.30,0.00,0.000,6,0.000,0.023,2462,2033,3411
$GC,2075,-1.50,-165.5,181.8,-8.0,212,2079,0.00,2.35,0.00,0.000,4,0.000,0.033,2462,3400,3411
$GC,2120,-1.56,-165.5,185.6,-8.2,215,2126,0.00,2.30,0.00,0.000,6,0.000,0.023,2462,2028,3411
$GC,2455,-1.60,-165.5,212.8,-8.7,240,2460,0.15,2.38,0.00,0.000,4,0.056,0.033,2424,3404,3411
$GC,2511,-1.60,-165.5,218.6,-9.7,242,2518,0.00,2.33,0.00,0.000,6,0.000,0.024,2424,2039,3411
$GC,2828,-1.60,-165.5,250.1,-9.7,258,2832,0.00,2.35,0.00,0.000,4,0.000,0.035,2424,3398,3411
$GC,2856,-1.60,-165.5,253.3,-10.4,259,2861,0.00,2.30,0.00,0.000,6,0.000,0.025,2424,2033,3411
$GC,3172,-1.60,-165.5,284.2,-9.2,274,3176,0.00,2.38,0.00,0.000,4,0.000,0.036,2424,3402,3411
$GC,3240,-1.60,-165.5,289.8,-7.7,277,3245,0.00,2.33,0.00,0.000,6,0.000,0.026,2424,2029,3411
$GC,3585,-1.60,-165.5,318.7,-9.0,289,3589,0.00,2.40,0.00,0.000,4,0.000,0.038,2424,3405,3409
$GC,3625,-1.60,-165.5,322.5,-9.3,290,3629,0.00,2.33,0.00,0.000,6,0.000,0.028,2424,2044,3409
$GC,3950,-1.60,-165.5,349.1,-7.4,298,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2044,3406
$GC,4274,-1.60,-165.5,374.1,-8.0,306,4278,0.00,2.38,0.00,0.000,4,0.000,0.040,2424,3398,3404
$GC,4342,-1.63,-165.5,379.2,-7.6,307,4346,0.00,2.33,0.00,0.000,6,0.000,0.029,2424,2042,3403
$GC,4680,-1.63,-165.5,403.7,-7.4,316,4684,0.00,2.38,0.00,0.000,4,0.000,0.040,2424,3396,3400
$GC,4725,-1.68,-165.5,407.2,-7.4,317,4729,0.00,2.35,0.00,0.000,6,0.000,0.030,2424,2028,3399
$GC,5045,-1.68,-165.5,429.5,-6.6,325,5053,0.00,2.40,0.00,0.000,4,0.000,0.041,2424,3396,3398
$GC,5076,-1.72,-165.5,431.7,-7.1,325,5080,0.00,2.35,0.00,0.000,6,0.000,0.031,2424,2030,3397
$STATE,5370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5370,begin apogee
$GC,5378,-0.33,0.0,452.9,7.5,333,5511,1.35,0.00,128.85,0.934,6,0.086,0.000,2705,1935,2733
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5515,1.06,165.5,458.8,0.0,336,5655,1.38,2.55,130.30,0.912,4,0.051,0.040,3010,3308,2058
$GC,5856,0.56,165.5,433.9,14.3,343,5862,0.57,2.38,0.00,0.000,6,0.129,0.034,2908,1963,2057
$GC,6188,0.26,165.5,401.0,9.6,352,6193,0.32,2.55,0.00,0.000,4,0.127,0.053,2844,544,2055
$GC,6222,0.07,165.5,398.2,7.9,352,6228,0.25,2.38,0.00,0.000,6,0.118,0.030,2798,1914,2055
$GC,6555,0.18,268.6,383.9,3.8,361,6640,0.00,2.60,80.15,0.901,4,0.000,0.044,2798,3348,1637
$GC,6672,0.17,293.7,378.2,6.1,363,6698,0.00,2.47,20.45,0.881,6,0.000,0.033,2797,1946,1535
$GC,7042,0.22,351.3,356.3,5.1,373,7093,0.15,2.55,44.90,0.888,4,0.074,0.040,2834,3348,1300
$GC,7133,0.12,351.3,350.1,7.5,375,7138,0.15,2.47,0.00,0.000,6,0.110,0.032,2808,1945,1300
$GC,7447,0.06,351.3,326.2,8.1,383,7452,0.00,2.50,0.00,0.000,4,0.000,0.040,2807,3349,1299
$GC,7470,-0.01,351.3,323.9,9.7,383,7475,0.15,2.45,0.00,0.000,6,0.109,0.031,2780,1950,1300
$GC,7807,-0.01,351.3,297.4,8.3,392,7811,0.00,2.47,0.00,0.000,4,0.000,0.038,2780,3349,1299
$GC,7835,-0.01,351.3,295.0,8.5,393,7840,0.00,2.45,0.00,0.000,6,0.000,0.031,2780,1941,1299
$GC,8152,0.06,389.5,274.5,5.7,408,8187,0.00,2.55,30.05,0.850,4,0.000,0.038,2781,3349,1145
$GC,8228,0.12,401.5,269.8,6.5,410,8243,0.12,2.45,10.25,0.839,6,0.079,0.031,2807,1940,1096
$GC,8561,0.12,401.5,244.6,7.1,427,8564,0.00,2.50,0.00,0.000,4,0.000,0.038,2808,3354,1096
$GC,8608,0.15,418.3,241.6,6.3,429,8629,0.00,2.45,13.98,0.820,6,0.000,0.030,2807,1948,1026
$GC,8939,0.15,418.3,217.2,7.3,445,8943,0.00,2.45,0.00,0.000,4,0.000,0.036,2808,3350,1026
$GC,8963,0.15,418.3,215.5,7.0,446,8967,0.00,2.42,0.00,0.000,6,0.000,0.028,2807,1950,1026
$GC,9283,0.15,418.3,191.6,7.8,466,9287,0.00,2.45,0.00,0.000,4,0.000,0.035,2807,3350,1026
$GC,9329,0.18,418.3,188.2,8.2,470,9333,0.00,2.42,0.00,0.000,6,0.000,0.028,2807,1950,1026
$GC,9657,0.22,442.1,167.9,6.1,500,9682,0.00,2.53,19.02,0.741,4,0.000,0.035,2808,3349,930
$GC,9719,0.29,448.1,163.7,6.6,505,9731,0.15,2.42,5.45,0.739,6,0.062,0.027,2843,1944,906
$GC,10051,0.22,448.1,135.5,9.2,536,10055,0.00,2.45,0.00,0.000,4,0.000,0.034,2842,3352,906
$GC,10102,0.22,448.1,130.6,9.7,540,10106,0.00,2.42,0.00,0.000,6,0.000,0.026,2842,1938,906
$GC,10431,0.22,448.1,103.0,8.2,570,10435,0.00,2.45,0.00,0.000,4,0.000,0.033,2843,3352,907
$GC,10472,0.22,448.1,99.4,8.5,573,10476,0.00,2.40,0.00,0.000,6,0.000,0.025,2842,1950,907
$GC,10801,0.41,552.4,77.9,3.7,603,10890,0.12,2.47,80.88,0.618,4,0.062,0.034,2874,3352,480
$GC,10907,0.36,552.4,70.6,8.7,613,10914,0.00,2.42,0.00,0.000,6,0.000,0.024,2874,1936,480
$GC,11170,0.31,552.4,46.1,9.1,638,11175,0.12,2.47,0.00,0.000,4,0.094,0.032,2850,3357,482
$GC,11222,0.38,552.4,41.9,7.3,642,11226,0.00,2.40,0.00,0.000,6,0.000,0.023,2850,1944,483
$GC,11491,0.40,560.2,22.4,6.6,675,11503,0.00,2.45,7.15,0.574,4,0.000,0.031,2850,3354,448
$GC,11522,0.40,560.2,20.1,7.3,680,11529,0.00,2.38,0.00,0.000,6,0.000,0.023,2850,1951,448
$STATE,11713,end climb,SURFACE_DEPTH_REACHED
$STATE,11713,begin surface coast
$FINISH,0.9,1.011230
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11866,0.00,0.000,0,0,449,560.27
$SM_GC,1.57,10.80,0.00,0.00,0.042,0.000,0.000,409,2068,449,-10.85,0.79,560.27
$IRIDIUM_FIX,2101.76,-15747.88,020298,202033
$TT8_MAMPS,0.027612
$HUMID,1749
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,23.8,48.005
$10V_AH,10.2,29.258
$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,27.975,139.875,571.425,0.000,0.000,27.591,28.851,157.758,10.750,0.000,0.000,16.406,1326.252,7984.307,612.432,1729.129,570.396,33.366,1500.174,0.000,1700.936,0.000,57.470
$DEVICE_MAMPS,153.400,56.758,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.346,486.450,861.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37914,726
$CAP_FILE_SIZE,112228,0
$CFSIZE,260165632,238587904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091108,033801,2107.045,-15748.978,37,1.2,42,9.8