version: 66.03
glider: 114
mission: 3
dive: 352
start: 11 10 108 7 32 32
data:
$ID,114
$MISSION,3
$DIVE,352
$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,-598532
$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,69
$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
$GPS1,072508,2107.259,-15748.293,126,1.1,126,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.0
$GPS2,073133,2107.257,-15748.272,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.033,0.230
$KALMAN_X,-105936.7,87.3,593.4,114399.5,-916.9
$KALMAN_Y,-100283.4,-123.7,345.4,82800.3,-726.1
$MHEAD_RNG_PITCHd_Wd,342.0,5891,-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,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,99,0.00,0.00,-69.82,0.000,2,0.000,0.000,410,2077,2963
$GC,104,-1.06,-165.5,3.8,-4.0,13,128,11.93,2.33,-6.82,0.000,4,0.155,0.050,2541,3413,3409
$GC,199,-1.14,-165.5,22.1,-6.6,29,205,0.00,2.33,0.00,0.000,6,0.000,0.021,2541,2024,3409
$GC,471,-1.19,-165.5,43.0,-8.8,64,475,0.00,2.40,0.00,0.000,4,0.000,0.035,2541,3411,3409
$GC,546,-1.32,-165.5,49.1,-7.2,70,551,0.22,2.30,0.00,0.000,6,0.049,0.022,2487,2042,3409
$GC,811,-1.27,-165.5,78.3,-11.4,94,815,0.00,2.35,0.00,0.000,4,0.000,0.034,2487,3408,3409
$GC,863,-1.27,-165.5,84.3,-10.1,98,867,0.00,2.30,0.00,0.000,6,0.000,0.022,2487,2038,3409
$GC,1191,-1.30,-165.5,112.2,-7.1,128,1195,0.00,2.35,0.00,0.000,4,0.000,0.032,2487,3408,3410
$GC,1237,-1.39,-165.5,115.6,-6.5,131,1243,0.00,2.30,0.00,0.000,6,0.000,0.022,2487,2027,3410
$GC,1564,-1.43,-165.5,140.0,-7.3,162,1568,0.00,2.38,0.00,0.000,4,0.000,0.033,2488,3409,3410
$GC,1621,-1.55,-165.5,144.1,-6.1,166,1628,0.20,2.30,0.00,0.000,6,0.051,0.023,2438,2032,3410
$GC,1947,-1.51,-165.5,173.3,-9.7,197,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2031,3410
$GC,2279,-1.47,-165.5,202.5,-9.0,227,2283,0.00,2.38,0.00,0.000,4,0.000,0.034,2438,3411,3410
$GC,2335,-1.47,-165.5,207.6,-8.3,229,2341,0.00,2.30,0.00,0.000,6,0.000,0.024,2438,2040,3410
$GC,2651,-1.47,-165.5,236.9,-10.1,245,2656,0.10,2.38,0.00,0.000,4,0.102,0.035,2457,3414,3410
$GC,2708,-1.56,-165.5,242.6,-9.7,247,2713,0.00,2.33,0.00,0.000,6,0.000,0.025,2457,2031,3410
$GC,3025,-1.62,-165.5,270.9,-8.7,263,3027,0.12,0.00,0.00,0.000,6,0.064,0.000,2426,2030,3410
$GC,3333,-1.62,-165.5,295.2,-7.5,278,3337,0.00,2.40,0.00,0.000,4,0.000,0.038,2426,3414,3409
$GC,3406,-1.62,-165.5,300.4,-6.5,281,3410,0.00,2.33,0.00,0.000,6,0.000,0.027,2426,2039,3408
$GC,3751,-1.62,-165.5,322.5,-6.6,290,3755,0.00,2.40,0.00,0.000,4,0.000,0.039,2426,3413,3405
$GC,3807,-1.65,-165.5,326.9,-7.8,291,3812,0.00,2.35,0.00,0.000,6,0.000,0.028,2426,2035,3405
$GC,4158,-1.65,-165.5,356.6,-8.8,300,4162,0.00,2.40,0.00,0.000,4,0.000,0.041,2426,3404,3402
$GC,4215,-1.70,-165.5,362.1,-9.0,301,4219,0.00,2.35,0.00,0.000,6,0.000,0.028,2425,2029,3402
$GC,4564,-1.70,-165.5,394.5,-9.6,310,4568,0.00,2.42,0.00,0.000,4,0.000,0.041,2426,3411,3399
$GC,4614,-1.75,-165.5,399.4,-9.2,311,4619,0.12,2.35,0.00,0.000,6,0.071,0.030,2397,2040,3399
$GC,4928,-1.75,-165.5,429.6,-9.4,319,4935,0.00,2.40,0.00,0.000,4,0.000,0.041,2397,3403,3397
$GC,4982,-1.75,-165.5,434.6,-9.4,320,4986,0.00,2.35,0.00,0.000,6,0.000,0.030,2397,2036,3397
$STATE,5178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5179,begin apogee
$GC,5187,-0.33,0.0,452.0,8.8,325,5319,1.48,0.00,128.80,0.927,6,0.091,0.000,2702,1932,2733
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5324,1.06,165.5,457.4,0.0,328,5464,1.38,2.60,130.30,0.907,4,0.050,0.052,3009,554,2058
$GC,5698,0.52,165.5,425.7,14.2,336,5704,0.62,2.38,0.00,0.000,6,0.137,0.031,2896,1912,2056
$GC,6036,0.26,165.5,395.5,8.4,345,6041,0.28,2.58,0.00,0.000,4,0.128,0.044,2843,3355,2054
$GC,6104,0.09,165.5,390.7,6.8,346,6109,0.22,2.42,0.00,0.000,6,0.127,0.033,2803,1963,2054
$GC,6442,0.20,267.9,376.7,3.8,355,6527,0.00,2.55,79.10,0.897,4,0.000,0.041,2803,3358,1640
$GC,6540,0.20,306.0,372.3,5.7,357,6576,0.00,2.50,30.33,0.876,6,0.000,0.031,2803,1941,1485
$GC,6891,0.16,314.9,348.9,6.6,366,6905,0.00,2.60,7.45,0.864,4,0.000,0.040,2803,3356,1449
$GC,6946,0.17,342.9,345.3,6.0,367,6978,0.00,2.47,22.52,0.871,6,0.000,0.032,2803,1949,1334
$GC,7304,0.14,348.1,321.9,6.7,376,7314,0.00,2.55,4.62,0.841,4,0.000,0.041,2803,3366,1314
$GC,7349,0.15,353.9,319.0,6.6,377,7360,0.00,2.50,5.62,0.854,6,0.000,0.031,2803,1940,1290
$GC,7668,0.11,353.9,298.0,6.9,385,7672,0.00,2.53,0.00,0.000,4,0.000,0.039,2803,3363,1290
$GC,7710,0.11,353.9,294.7,8.4,387,7714,0.00,2.47,0.00,0.000,6,0.000,0.031,2803,1949,1290
$GC,8038,0.13,387.0,273.1,5.8,403,8072,0.00,2.55,26.35,0.841,4,0.000,0.038,2804,3363,1154
$GC,8102,0.13,387.0,268.8,7.5,406,8107,0.00,2.50,0.00,0.000,6,0.000,0.030,2803,1938,1154
$GC,8430,0.13,387.0,246.0,7.5,422,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1938,1154
$GC,8739,0.13,387.0,221.0,7.7,437,8744,0.00,2.50,0.00,0.000,4,0.000,0.035,2803,3369,1154
$GC,8791,0.16,387.0,217.2,6.8,439,8795,0.00,2.45,0.00,0.000,6,0.000,0.028,2803,1949,1154
$GC,9108,0.22,417.2,198.5,5.9,455,9140,0.10,2.58,23.67,0.769,4,0.081,0.048,2826,547,1032
$GC,9158,0.17,417.2,194.9,7.9,459,9164,0.00,2.45,0.00,0.000,6,0.000,0.025,2826,1969,1032
$GC,9486,0.12,417.2,168.4,8.6,490,9491,0.00,2.40,0.00,0.000,4,0.000,0.038,2826,3349,1032
$GC,9543,0.12,417.2,163.1,9.0,494,9549,0.00,2.42,0.00,0.000,6,0.000,0.028,2826,1939,1032
$GC,9872,0.08,417.2,139.5,7.4,525,9878,0.15,0.00,0.00,0.000,6,0.097,0.000,2794,1939,1032
$GC,10201,0.24,475.8,122.5,5.1,556,10255,0.15,2.55,45.60,0.676,4,0.064,0.035,2834,3349,792
$GC,10320,0.24,475.8,113.4,7.9,566,10326,0.00,2.42,0.00,0.000,6,0.000,0.027,2834,1938,793
$GC,10648,0.24,475.8,91.1,7.7,597,10652,0.00,2.47,0.00,0.000,4,0.000,0.034,2834,3358,793
$GC,10693,0.29,475.8,87.7,6.9,600,10699,0.00,2.42,0.00,0.000,6,0.000,0.026,2834,1936,793
$GC,11022,0.45,535.0,69.3,5.1,631,11071,0.15,0.00,46.20,0.612,6,0.058,0.000,2876,1936,551
$GC,11325,0.39,535.0,43.4,8.6,660,11329,0.00,2.45,0.00,0.000,4,0.000,0.031,2876,3352,554
$GC,11365,0.39,535.0,39.6,9.6,663,11369,0.00,2.40,0.00,0.000,6,0.000,0.025,2876,1949,555
$GC,11637,0.35,535.0,15.9,9.9,701,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1949,555
$STATE,11760,end climb,SURFACE_DEPTH_REACHED
$STATE,11760,begin surface coast
$FINISH,1.0,1.008873
$STATE,11816,end surface coast,CONTROL_FINISHED_OK
$STATE,11816,begin surface
$SM_CCo,11900,0.00,0.000,0,0,557,533.77
$SM_GC,1.61,10.88,0.00,0.00,0.041,0.000,0.000,409,2082,557,-10.86,1.16,533.77
$IRIDIUM_FIX,2059.45,-15746.61,040298,040434
$TT8_MAMPS,0.027612
$HUMID,1746
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.8,49.276
$10V_AH,10.2,30.032
$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,28.100,121.500,550.575,0.000,0.000,31.217,27.740,183.734,11.250,0.000,0.000,15.122,1334.812,8013.130,596.956,1761.329,580.787,33.372,1481.209,0.000,1724.511,0.000,57.453
$DEVICE_MAMPS,154.934,52.156,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.005,481.853,878.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38009,732
$CAP_FILE_SIZE,111061,0
$CFSIZE,260165632,238055424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101108,105207,2108.632,-15748.699,35,0.9,35,9.8