version: 66.03
glider: 114
mission: 3
dive: 344
start: 11 9 108 3 48 12
data:
$ID,114
$MISSION,3
$DIVE,344
$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,-598344.5
$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,57
$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
$GPS1,033801,2107.045,-15748.978,37,1.2,42,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.7
$GPS2,034715,2106.986,-15748.921,12,1.2,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.009,-0.232
$KALMAN_X,-102628.1,-464.4,-54.7,111176.0,900.4
$KALMAN_Y,-97435.1,-103.6,-115.7,79895.0,458.9
$MHEAD_RNG_PITCHd_Wd,167.9,9316,-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,-75.62,0.000,2,0.000,0.000,409,2065,2718
$GC,109,-1.06,-165.5,3.0,-3.2,14,140,11.93,2.53,-12.30,0.000,4,0.156,0.051,2540,631,3408
$GC,204,-1.20,-165.5,18.6,-10.6,30,211,0.05,2.35,0.00,0.000,6,0.033,0.021,2512,2021,3408
$GC,474,-1.20,-165.5,44.8,-10.5,65,478,0.00,2.42,0.00,0.000,4,0.000,0.035,2511,3435,3408
$GC,560,-1.28,-165.5,53.2,-9.6,72,564,0.00,2.35,0.00,0.000,6,0.000,0.023,2511,2034,3408
$GC,822,-1.28,-165.5,75.7,-9.2,96,826,0.00,2.42,0.00,0.000,4,0.000,0.034,2512,3435,3408
$GC,885,-1.39,-165.5,81.6,-8.3,101,890,0.15,2.35,0.00,0.000,6,0.058,0.023,2475,2026,3408
$GC,1211,-1.39,-165.5,111.2,-9.0,131,1216,0.00,2.42,0.00,0.000,4,0.000,0.033,2475,3434,3408
$GC,1320,-1.44,-165.5,121.5,-9.7,140,1324,0.00,2.35,0.00,0.000,6,0.000,0.023,2475,2035,3408
$GC,1645,-1.44,-165.5,151.7,-9.1,170,1649,0.00,2.42,0.00,0.000,4,0.000,0.034,2475,3441,3408
$GC,1691,-1.50,-165.5,155.7,-8.5,173,1697,0.10,2.35,0.00,0.000,6,0.069,0.023,2451,2040,3409
$GC,2017,-1.50,-165.5,184.5,-8.2,204,2021,0.00,2.40,0.00,0.000,4,0.000,0.035,2451,3433,3408
$GC,2062,-1.56,-165.5,188.0,-7.5,207,2068,0.00,2.35,0.00,0.000,6,0.000,0.025,2451,2036,3408
$GC,2386,-1.56,-165.5,209.1,-7.2,232,2390,0.00,2.42,0.00,0.000,4,0.000,0.035,2450,3433,3408
$GC,2454,-1.64,-165.5,214.4,-7.4,235,2459,0.12,2.35,0.00,0.000,6,0.063,0.025,2420,2037,3408
$GC,2778,-1.60,-165.5,244.4,-8.8,251,2782,0.00,2.42,0.00,0.000,4,0.000,0.037,2419,3440,3408
$GC,2835,-1.60,-165.5,249.3,-8.0,253,2839,0.00,2.38,0.00,0.000,6,0.000,0.025,2419,2032,3408
$GC,3152,-1.60,-165.5,270.1,-6.9,268,3156,0.00,2.45,0.00,0.000,4,0.000,0.038,2419,3440,3406
$GC,3215,-1.60,-165.5,275.1,-7.7,271,3219,0.00,2.38,0.00,0.000,6,0.000,0.027,2419,2045,3405
$GC,3542,-1.60,-165.5,299.2,-8.5,287,3546,0.00,2.42,0.00,0.000,4,0.000,0.039,2419,3432,3404
$GC,3576,-1.60,-165.5,302.4,-8.7,288,3580,0.00,2.38,0.00,0.000,6,0.000,0.028,2420,2033,3404
$GC,3914,-1.60,-165.5,330.9,-8.3,297,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2033,3401
$GC,4238,-1.60,-165.5,358.8,-8.5,305,4242,0.00,2.47,0.00,0.000,4,0.000,0.041,2419,3440,3398
$GC,4300,-1.63,-165.5,363.6,-7.5,306,4304,0.00,2.40,0.00,0.000,6,0.000,0.029,2419,2042,3398
$GC,4642,-1.63,-165.5,388.0,-7.3,315,4646,0.00,2.45,0.00,0.000,4,0.000,0.041,2420,3438,3395
$GC,4676,-1.66,-165.5,391.1,-9.0,315,4680,0.00,2.40,0.00,0.000,6,0.000,0.030,2419,2040,3395
$GC,5013,-1.66,-165.5,418.5,-7.9,324,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2039,3392
$GC,5338,-1.66,-165.5,444.0,-7.8,332,5342,0.00,2.47,0.00,0.000,4,0.000,0.043,2419,3442,3390
$GC,5395,-1.71,-165.5,448.3,-7.3,333,5400,0.00,2.42,0.00,0.000,6,0.000,0.031,2419,2037,3389
$STATE,5416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5416,begin apogee
$GC,5424,-0.33,0.0,450.1,7.8,334,5556,1.38,0.00,127.78,0.941,6,0.093,0.000,2703,1934,2732
$STATE,5557,end apogee,CONTROL_FINISHED_OK
$STATE,5557,begin climb
$GC,5560,1.06,165.5,454.9,0.0,337,5700,1.38,2.62,130.02,0.917,4,0.055,0.040,3005,3347,2058
$GC,5743,0.56,165.5,449.8,12.4,341,5749,0.55,2.45,0.00,0.000,6,0.138,0.033,2907,1963,2058
$GC,6092,0.26,165.5,417.8,8.9,350,6098,0.32,2.58,0.00,0.000,4,0.124,0.053,2843,544,2057
$GC,6121,0.04,165.5,415.6,7.5,350,6126,0.28,2.45,0.00,0.000,6,0.119,0.030,2792,1954,2057
$GC,6454,0.14,261.0,400.6,4.0,358,6536,0.00,2.58,74.28,0.907,4,0.000,0.044,2792,3352,1669
$GC,6571,0.15,290.6,394.8,5.9,360,6601,0.00,2.50,24.20,0.893,6,0.000,0.034,2792,1941,1548
$GC,6911,0.21,346.5,376.0,5.2,369,6957,0.15,0.00,44.05,0.898,6,0.077,0.000,2824,1941,1320
$GC,7276,0.11,346.5,342.5,9.8,378,7280,0.00,2.53,0.00,0.000,4,0.000,0.042,2823,3351,1320
$GC,7327,0.04,346.5,337.3,9.8,379,7332,0.17,2.47,0.00,0.000,6,0.107,0.033,2791,1944,1319
$GC,7640,0.01,346.5,311.5,8.0,387,7645,0.00,2.50,0.00,0.000,4,0.000,0.042,2791,3348,1318
$GC,7685,0.01,346.5,307.6,8.8,388,7690,0.00,2.45,0.00,0.000,6,0.000,0.033,2791,1950,1318
$GC,8009,0.07,382.8,287.2,5.7,401,8040,0.00,0.00,28.92,0.864,6,0.000,0.000,2791,1950,1172
$GC,8337,0.07,382.8,263.7,7.6,417,8341,0.00,2.50,0.00,0.000,4,0.000,0.040,2792,3353,1172
$GC,8377,0.07,382.8,260.8,6.9,418,8383,0.00,2.45,0.00,0.000,6,0.000,0.032,2791,1944,1171
$GC,8693,0.08,385.4,239.8,6.7,434,8702,0.00,2.55,3.00,0.814,4,0.000,0.038,2791,3353,1161
$GC,8739,0.08,385.4,236.7,7.7,436,8743,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1951,1161
$GC,9066,0.08,385.4,216.9,7.2,452,9070,0.00,2.47,0.00,0.000,4,0.000,0.038,2791,3354,1161
$GC,9106,0.12,385.4,213.7,8.3,454,9110,0.00,2.45,0.00,0.000,6,0.000,0.031,2791,1947,1161
$GC,9428,0.16,412.7,190.5,6.0,476,9453,0.10,0.00,21.62,0.785,6,0.082,0.000,2814,1947,1050
$GC,9769,0.16,412.7,166.8,7.5,508,9773,0.00,2.47,0.00,0.000,4,0.000,0.036,2814,3360,1050
$GC,9819,0.19,412.7,162.7,7.4,512,9826,0.00,2.45,0.00,0.000,6,0.000,0.028,2814,1937,1050
$GC,10149,0.23,430.1,142.1,6.3,543,10171,0.00,2.55,14.20,0.724,4,0.000,0.034,2814,3353,979
$GC,10199,0.23,430.1,138.2,7.1,547,10206,0.00,2.42,0.00,0.000,6,0.000,0.027,2814,1950,979
$GC,10528,0.28,460.1,119.7,5.9,578,10562,0.12,2.55,23.58,0.689,4,0.067,0.034,2845,3353,857
$GC,10620,0.28,460.1,111.7,8.8,586,10625,0.00,2.42,0.00,0.000,6,0.000,0.026,2844,1941,859
$GC,10955,0.32,483.7,83.9,6.1,617,10980,0.00,2.53,19.12,0.646,4,0.000,0.033,2844,3349,760
$GC,11013,0.46,539.0,80.5,5.2,622,11066,0.15,2.42,43.20,0.634,6,0.061,0.025,2880,1937,534
$GC,11322,0.39,539.0,53.2,9.2,651,11326,0.00,2.47,0.00,0.000,4,0.000,0.033,2880,3361,536
$GC,11344,0.33,539.0,50.9,9.4,652,11351,0.15,2.40,0.00,0.000,6,0.093,0.023,2851,1948,536
$GC,11609,0.34,543.8,32.0,6.7,677,11621,0.00,2.47,4.68,0.591,4,0.000,0.033,2851,3347,516
$GC,11635,0.36,555.8,30.1,6.5,679,11652,0.00,2.38,9.55,0.585,6,0.000,0.021,2851,1943,466
$GC,11925,0.36,555.8,10.2,7.3,729,11931,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3365,467
$GC,11963,0.39,555.8,6.6,10.0,735,11969,0.00,2.40,0.00,0.000,6,0.000,0.022,2851,1944,467
$STATE,11979,end climb,SURFACE_DEPTH_REACHED
$STATE,11979,begin surface coast
$FINISH,1.0,1.009472
$STATE,12048,end surface coast,CONTROL_FINISHED_OK
$STATE,12048,begin surface
$SM_CCo,12132,0.00,0.000,0,0,468,555.60
$SM_GC,1.60,10.88,0.00,0.00,0.045,0.000,0.000,411,2089,468,-10.85,1.39,555.60
$IRIDIUM_FIX,2059.45,-15756.04,030298,030358
$TT8_MAMPS,0.027612
$HUMID,1730
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,11
$24V_AH,23.8,48.162
$10V_AH,10.2,29.346
$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,27.975,137.275,568.200,0.000,0.000,49.854,70.909,219.972,11.750,0.000,0.000,13.672,1349.434,8252.587,633.290,1738.258,714.100,33.376,1519.273,0.000,1711.917,0.000,57.439
$DEVICE_MAMPS,155.701,52.923,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.735,496.848,888.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37940,750
$CAP_FILE_SIZE,114978,0
$CFSIZE,260165632,238522368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091108,071138,2105.529,-15748.730,34,1.2,34,9.8