version: 66.03
glider: 114
mission: 3
dive: 345
start: 11 9 108 7 18 53
data:
$ID,114
$MISSION,3
$DIVE,345
$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,-598358.69
$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,70
$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
$GPS1,071138,2105.529,-15748.730,34,1.2,34,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.3
$GPS2,071757,2105.537,-15748.747,12,1.2,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.108,-0.206
$KALMAN_X,-102920.7,-399.2,342.2,111311.2,-175.4
$KALMAN_Y,-97218.4,-141.7,84.7,76831.2,301.0
$MHEAD_RNG_PITCHd_Wd,142.5,6746,-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,30,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-80.68,0.000,2,0.000,0.000,412,2089,2916
$GC,117,-1.06,-165.5,3.8,-4.4,15,142,11.90,2.58,-7.85,0.000,4,0.156,0.045,2538,638,3411
$GC,224,-1.20,-165.5,21.3,-5.6,33,231,0.00,2.33,0.00,0.000,6,0.000,0.021,2538,2012,3411
$GC,503,-1.24,-165.5,48.1,-7.4,67,507,0.15,2.45,0.00,0.000,4,0.060,0.031,2499,3447,3411
$GC,583,-1.29,-165.5,55.9,-8.8,73,589,0.00,2.38,0.00,0.000,6,0.000,0.022,2498,2027,3411
$GC,845,-1.29,-165.5,82.3,-10.9,98,849,0.00,2.45,0.00,0.000,4,0.000,0.034,2499,3445,3411
$GC,897,-1.37,-165.5,87.8,-9.8,102,901,0.00,2.38,0.00,0.000,6,0.000,0.021,2498,2031,3411
$GC,1223,-1.41,-165.5,117.7,-9.2,132,1228,0.12,2.42,0.00,0.000,4,0.059,0.032,2467,3441,3411
$GC,1298,-1.44,-165.5,125.1,-9.2,138,1302,0.00,2.35,0.00,0.000,6,0.000,0.022,2467,2037,3411
$GC,1624,-1.44,-165.5,151.3,-7.9,168,1627,0.00,2.40,0.00,0.000,4,0.000,0.033,2467,3436,3411
$GC,1733,-1.50,-165.5,159.3,-6.7,177,1739,0.00,2.35,0.00,0.000,6,0.000,0.023,2467,2032,3411
$GC,2060,-1.50,-165.5,184.4,-8.9,208,2064,0.00,2.42,0.00,0.000,4,0.000,0.034,2467,3437,3411
$GC,2127,-1.58,-165.5,190.5,-8.2,213,2134,0.15,2.35,0.00,0.000,6,0.060,0.023,2430,2035,3411
$GC,2459,-1.55,-165.5,217.3,-7.2,234,2463,0.00,2.42,0.00,0.000,4,0.000,0.035,2430,3445,3411
$GC,2476,-1.55,-165.5,219.0,-7.5,234,2482,0.00,2.35,0.00,0.000,6,0.000,0.024,2430,2042,3411
$GC,2793,-1.55,-165.5,247.1,-9.6,250,2797,0.00,2.42,0.00,0.000,4,0.000,0.036,2430,3441,3411
$GC,2878,-1.58,-165.5,254.9,-9.1,254,2883,0.00,2.38,0.00,0.000,6,0.000,0.025,2430,2038,3411
$GC,3207,-1.58,-165.5,280.1,-8.3,270,3211,0.00,2.45,0.00,0.000,4,0.000,0.038,2430,3445,3410
$GC,3247,-1.62,-165.5,283.7,-8.3,272,3251,0.00,2.40,0.00,0.000,6,0.000,0.026,2430,2033,3410
$GC,3573,-1.62,-165.5,310.9,-7.9,285,3577,0.00,2.45,0.00,0.000,4,0.000,0.039,2430,3432,3408
$GC,3635,-1.67,-165.5,316.0,-8.3,286,3640,0.00,2.38,0.00,0.000,6,0.000,0.028,2430,2041,3408
$GC,3978,-1.67,-165.5,343.3,-7.8,295,3982,0.00,2.45,0.00,0.000,4,0.000,0.040,2430,3440,3405
$GC,4019,-1.73,-165.5,346.2,-7.0,296,4024,0.12,2.40,0.00,0.000,6,0.074,0.029,2402,2042,3404
$GC,4345,-1.73,-165.5,376.2,-9.7,304,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2041,3402
$GC,4668,-1.73,-165.5,407.1,-9.0,312,4672,0.00,2.45,0.00,0.000,4,0.000,0.041,2402,3432,3400
$GC,4713,-1.73,-165.5,411.0,-8.5,313,4717,0.00,2.40,0.00,0.000,6,0.000,0.030,2403,2034,3399
$GC,5032,-1.73,-165.5,433.5,-6.7,321,5036,0.00,2.47,0.00,0.000,4,0.000,0.043,2403,3434,3397
$GC,5059,-1.73,-165.5,435.7,-7.4,321,5063,0.00,2.40,0.00,0.000,6,0.000,0.030,2402,2038,3397
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5277,-0.33,0.0,450.2,6.9,326,5410,1.45,0.00,129.18,0.930,6,0.091,0.000,2703,1933,2733
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5414,1.06,165.5,454.8,0.0,329,5554,1.38,2.60,130.15,0.909,4,0.053,0.052,3007,552,2058
$GC,5765,0.53,165.5,428.9,13.0,337,5771,0.60,2.42,0.00,0.000,6,0.145,0.030,2900,1938,2057
$GC,6085,0.25,165.5,402.8,8.4,345,6090,0.32,2.53,0.00,0.000,4,0.127,0.051,2837,554,2055
$GC,6165,0.07,165.5,396.0,9.0,346,6171,0.22,2.45,0.00,0.000,6,0.124,0.031,2797,1961,2054
$GC,6497,0.10,221.2,376.8,5.2,355,6546,0.00,2.58,42.80,0.903,4,0.000,0.045,2797,3354,1830
$GC,6571,0.12,262.9,373.2,5.6,356,6611,0.00,2.45,33.70,0.891,6,0.000,0.033,2797,1964,1660
$GC,6950,0.10,282.0,350.3,6.3,366,6971,0.00,2.53,15.60,0.884,4,0.000,0.041,2797,3356,1582
$GC,6994,0.05,282.0,347.3,7.0,367,6998,0.00,2.47,0.00,0.000,6,0.000,0.031,2797,1947,1582
$GC,7314,0.23,410.7,334.6,3.0,375,7420,0.15,2.58,99.90,0.874,4,0.077,0.041,2834,3359,1057
$GC,7466,0.15,410.7,324.0,8.5,378,7470,0.00,2.50,0.00,0.000,6,0.000,0.032,2833,1939,1057
$GC,7780,0.03,410.7,290.9,10.6,387,7785,0.20,2.53,0.00,0.000,4,0.111,0.040,2793,3358,1057
$GC,7808,-0.02,410.7,288.2,9.0,388,7812,0.00,2.45,0.00,0.000,6,0.000,0.030,2793,1948,1057
$GC,8124,0.04,444.2,268.0,5.8,403,8158,0.00,2.60,26.65,0.838,4,0.000,0.039,2793,3358,921
$GC,8193,0.04,444.2,263.0,7.9,406,8197,0.00,2.47,0.00,0.000,6,0.000,0.030,2793,1940,922
$GC,8515,0.04,444.2,239.0,8.4,422,8519,0.00,2.50,0.00,0.000,4,0.000,0.038,2793,3360,921
$GC,8543,0.04,444.2,236.3,9.4,423,8547,0.00,2.45,0.00,0.000,6,0.000,0.029,2793,1945,922
$GC,8865,0.10,475.8,213.4,5.9,439,8895,0.00,2.53,25.23,0.797,4,0.000,0.036,2793,3358,792
$GC,8935,0.14,475.8,208.7,7.5,442,8940,0.00,2.45,0.00,0.000,6,0.000,0.028,2793,1938,792
$GC,9257,0.14,475.8,188.5,6.8,465,9261,0.00,2.47,0.00,0.000,4,0.000,0.035,2793,3358,792
$GC,9291,0.19,475.8,186.1,7.0,467,9297,0.12,2.42,0.00,0.000,6,0.074,0.028,2820,1948,792
$GC,9617,0.19,475.8,158.3,7.8,498,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1947,792
$GC,9936,0.19,475.8,131.9,7.6,528,9940,0.00,2.45,0.00,0.000,4,0.000,0.034,2821,3361,792
$GC,9999,0.26,475.8,127.2,7.4,533,10003,0.00,2.42,0.00,0.000,6,0.000,0.025,2820,1941,793
$GC,10325,0.30,475.8,103.4,8.4,563,10330,0.10,2.45,0.00,0.000,4,0.074,0.032,2845,3360,793
$GC,10356,0.30,475.8,100.8,8.1,565,10360,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,1952,793
$GC,10682,0.33,496.4,80.4,6.2,595,10705,0.00,2.47,16.88,0.636,4,0.000,0.032,2845,3360,708
$GC,10723,0.45,542.2,78.0,5.5,598,10765,0.15,2.42,36.30,0.629,6,0.060,0.024,2881,1936,521
$GC,11022,0.37,542.2,51.4,9.0,626,11026,0.00,2.47,0.00,0.000,4,0.000,0.033,2881,3367,523
$GC,11080,0.37,542.2,45.9,9.3,631,11084,0.00,2.40,0.00,0.000,6,0.000,0.022,2881,1950,524
$GC,11349,0.32,542.2,19.9,9.3,664,11355,0.15,2.45,0.00,0.000,4,0.090,0.039,2846,538,525
$GC,11374,0.33,546.9,18.5,6.7,668,11387,0.00,2.38,4.85,0.579,6,0.000,0.021,2846,1968,502
$STATE,11571,end climb,SURFACE_DEPTH_REACHED
$STATE,11571,begin surface coast
$FINISH,1.2,1.022963
$STATE,11634,end surface coast,CONTROL_FINISHED_OK
$STATE,11635,begin surface
$SM_CCo,11719,0.00,0.000,0,0,503,547.26
$SM_GC,1.64,10.80,0.00,0.00,0.043,0.000,0.000,410,2060,503,-10.86,0.54,547.26
$IRIDIUM_FIX,2101.76,-15745.74,030298,030300
$TT8_MAMPS,0.026845
$HUMID,1745
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,11
$24V_AH,23.8,48.314
$10V_AH,10.2,29.430
$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,28.100,137.200,561.225,0.000,0.000,28.290,27.594,181.625,11.750,0.000,0.000,13.536,1329.957,7841.167,599.413,1744.150,582.673,33.376,1491.005,0.000,1710.230,0.000,59.969
$DEVICE_MAMPS,155.701,61.360,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.198,468.256,845.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37969,714
$CAP_FILE_SIZE,112729,0
$CFSIZE,260165632,238465024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091108,103537,2103.898,-15748.732,46,0.9,46,9.8