version: 66.03
glider: 114
mission: 3
dive: 376
start: 11 13 108 18 44 0
data:
$ID,114
$MISSION,3
$DIVE,376
$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,-598977.81
$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,35
$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
$GPS1,183708,2106.627,-15747.707,27,1.0,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.7
$GPS2,184303,2106.614,-15747.622,15,1.1,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.132,0.191
$KALMAN_X,-108409.0,1016.3,-189.8,117845.3,468.3
$KALMAN_Y,-106285.0,517.3,-73.5,87392.5,-563.2
$MHEAD_RNG_PITCHd_Wd,315.5,7495,-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,-75.75,0.000,2,0.000,0.000,412,2067,2786
$GC,109,-1.06,-165.5,3.2,-3.5,14,139,11.90,2.33,-10.77,0.000,4,0.156,0.046,2541,3409,3409
$GC,245,-1.19,-165.5,21.2,-7.8,37,252,0.00,2.33,0.00,0.000,6,0.000,0.023,2540,2027,3409
$GC,522,-1.25,-165.5,45.5,-8.9,71,527,0.15,2.40,0.00,0.000,4,0.055,0.031,2500,3416,3409
$GC,574,-1.29,-165.5,50.6,-9.1,75,578,0.00,2.33,0.00,0.000,6,0.000,0.022,2499,2036,3409
$GC,836,-1.29,-165.5,76.6,-9.0,99,840,0.00,2.38,0.00,0.000,4,0.000,0.032,2499,3415,3409
$GC,882,-1.33,-165.5,80.7,-8.4,102,888,0.00,2.30,0.00,0.000,6,0.000,0.021,2499,2037,3409
$GC,1213,-1.37,-165.5,107.3,-6.2,133,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2037,3410
$GC,1544,-1.41,-165.5,129.1,-7.2,164,1549,0.12,2.38,0.00,0.000,4,0.059,0.032,2467,3417,3410
$GC,1665,-1.47,-165.5,140.2,-8.8,174,1672,0.00,2.30,0.00,0.000,6,0.000,0.023,2467,2042,3410
$GC,1993,-1.47,-165.5,168.7,-8.3,205,1997,0.00,2.42,0.00,0.000,4,0.000,0.038,2467,632,3410
$GC,2011,-1.47,-165.5,170.2,-7.9,206,2015,0.00,2.30,0.00,0.000,6,0.000,0.023,2467,2010,3410
$GC,2345,-1.47,-165.5,193.5,-7.3,237,2349,0.00,2.45,0.00,0.000,4,0.000,0.035,2467,3445,3410
$GC,2414,-1.55,-165.5,199.0,-7.4,242,2421,0.12,2.38,0.00,0.000,6,0.064,0.025,2436,2029,3410
$GC,2741,-1.55,-165.5,229.5,-8.8,259,2746,0.00,2.45,0.00,0.000,4,0.000,0.035,2436,3446,3410
$GC,2820,-1.59,-165.5,235.7,-7.3,262,2824,0.00,2.38,0.00,0.000,6,0.000,0.025,2436,2037,3410
$GC,3137,-1.59,-165.5,258.5,-7.8,277,3141,0.00,2.42,0.00,0.000,4,0.000,0.037,2436,3443,3410
$GC,3210,-1.65,-165.5,264.9,-8.8,280,3215,0.00,2.38,0.00,0.000,6,0.000,0.026,2436,2040,3410
$GC,3533,-1.65,-165.5,290.5,-7.1,296,3537,0.00,2.45,0.00,0.000,4,0.000,0.038,2436,3446,3408
$GC,3573,-1.70,-165.5,293.4,-7.0,298,3578,0.12,2.40,0.00,0.000,6,0.067,0.028,2407,2039,3408
$GC,3898,-1.66,-165.5,322.7,-9.3,308,3902,0.00,2.45,0.00,0.000,4,0.000,0.040,2407,3437,3406
$GC,3965,-1.66,-165.5,329.4,-9.2,309,3969,0.00,2.38,0.00,0.000,6,0.000,0.028,2407,2041,3405
$GC,4309,-1.63,-165.5,362.2,-9.9,318,4313,0.00,2.45,0.00,0.000,4,0.000,0.040,2407,3435,3402
$GC,4336,-1.63,-165.5,365.2,-10.0,318,4341,0.00,2.40,0.00,0.000,6,0.000,0.029,2407,2032,3402
$GC,4668,-1.63,-165.5,396.9,-9.3,326,4672,0.00,2.47,0.00,0.000,4,0.000,0.041,2407,3441,3399
$GC,4713,-1.63,-165.5,401.0,-8.7,327,4717,0.00,2.40,0.00,0.000,6,0.000,0.030,2407,2043,3399
$GC,5033,-1.63,-165.5,428.2,-8.6,335,5037,0.00,2.45,0.00,0.000,4,0.000,0.042,2407,3435,3397
$GC,5077,-1.63,-165.5,432.2,-8.4,336,5082,0.00,2.40,0.00,0.000,6,0.000,0.031,2406,2039,3397
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5321,-0.33,0.0,450.4,7.6,342,5455,1.42,0.00,129.55,0.930,6,0.088,0.000,2702,1933,2733
$STATE,5456,end apogee,CONTROL_FINISHED_OK
$STATE,5456,begin climb
$GC,5459,1.06,165.5,455.2,0.0,345,5600,1.38,2.60,130.95,0.907,4,0.049,0.053,3008,557,2057
$GC,5859,0.53,165.5,421.8,13.2,354,5865,0.62,2.42,0.00,0.000,6,0.147,0.031,2897,1946,2056
$GC,6180,0.26,165.5,394.5,8.6,362,6182,0.30,0.00,0.00,0.000,6,0.118,0.000,2840,1946,2054
$GC,6505,0.10,165.5,371.9,7.0,370,6510,0.17,2.47,0.00,0.000,4,0.133,0.044,2807,3351,2053
$GC,6545,0.02,165.5,369.1,7.3,371,6550,0.12,2.42,0.00,0.000,6,0.127,0.033,2786,1967,2052
$GC,6870,0.06,209.1,350.8,5.5,379,6912,0.00,2.67,32.88,0.903,4,0.000,0.054,2786,538,1879
$GC,6960,0.08,244.9,345.9,5.8,381,6994,0.00,2.47,28.92,0.887,6,0.000,0.030,2786,1956,1733
$GC,7327,0.29,361.0,331.4,3.4,390,7425,0.22,2.53,90.78,0.869,4,0.067,0.045,2838,3352,1260
$GC,7464,0.19,361.0,321.4,9.0,393,7468,0.00,2.50,0.00,0.000,6,0.000,0.035,2839,1940,1260
$GC,7794,0.07,361.0,289.9,10.0,403,7796,0.22,0.00,0.00,0.000,6,0.104,0.000,2797,1940,1260
$GC,8102,0.07,361.0,267.6,6.9,418,8106,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3349,1260
$GC,8142,0.08,370.8,265.0,6.5,419,8156,0.00,2.45,8.40,0.832,6,0.000,0.031,2797,1942,1220
$GC,8479,0.08,370.9,242.6,6.8,436,8483,0.00,2.50,0.00,0.000,4,0.000,0.051,2797,548,1220
$GC,8513,0.08,370.9,240.0,8.5,437,8519,0.00,2.42,0.00,0.000,6,0.000,0.028,2797,1955,1220
$GC,8829,0.13,396.9,218.6,6.0,453,8855,0.00,2.50,20.83,0.805,4,0.000,0.040,2797,3354,1114
$GC,8914,0.19,403.8,213.0,6.6,457,8926,0.10,2.47,6.03,0.795,6,0.081,0.031,2819,1938,1087
$GC,9247,0.23,447.2,189.1,5.5,480,9290,0.00,2.58,34.58,0.772,4,0.000,0.036,2819,3353,909
$GC,9314,0.27,473.8,185.4,6.0,486,9340,0.00,2.45,21.08,0.760,6,0.000,0.028,2819,1952,800
$GC,9660,0.27,473.8,157.3,7.8,518,9664,0.00,2.45,0.00,0.000,4,0.000,0.035,2819,3355,801
$GC,9688,0.27,473.8,155.2,7.5,520,9695,0.00,2.42,0.00,0.000,6,0.000,0.027,2819,1944,801
$GC,10017,0.27,473.8,130.3,10.1,551,10021,0.00,2.47,0.00,0.000,4,0.000,0.046,2819,547,801
$GC,10033,0.27,473.8,128.1,10.4,552,10040,0.00,2.40,0.00,0.000,6,0.000,0.024,2819,1968,801
$GC,10364,0.27,473.8,100.7,7.9,583,10368,0.00,2.38,0.00,0.000,4,0.000,0.035,2819,3348,801
$GC,10422,0.37,473.8,96.1,7.7,587,10429,0.17,2.40,0.00,0.000,6,0.061,0.026,2861,1938,802
$GC,10748,0.37,473.8,71.3,7.5,618,10752,0.00,2.45,0.00,0.000,4,0.000,0.044,2861,544,803
$GC,10777,0.37,473.8,69.1,8.3,620,10781,0.00,2.38,0.00,0.000,6,0.000,0.023,2861,1953,803
$GC,11039,0.37,473.8,50.3,7.0,644,11043,0.00,2.38,0.00,0.000,4,0.000,0.033,2861,3348,803
$GC,11069,0.37,473.8,48.0,7.6,646,11075,0.00,2.38,0.00,0.000,6,0.000,0.025,2861,1942,803
$GC,11332,0.37,473.8,29.0,7.2,672,11338,0.00,2.42,0.00,0.000,4,0.000,0.043,2860,551,805
$GC,11363,0.37,473.8,26.6,7.4,677,11369,0.00,2.38,0.00,0.000,6,0.000,0.022,2861,1983,806
$GC,11642,0.37,473.8,6.4,6.8,726,11648,0.00,2.33,0.00,0.000,4,0.000,0.032,2860,3355,807
$STATE,11658,end climb,SURFACE_DEPTH_REACHED
$STATE,11658,begin surface coast
$FINISH,3.5,1.022938
$STATE,11681,end surface coast,CONTROL_FINISHED_OK
$STATE,11681,begin surface
$SM_CCo,11767,0.00,0.000,0,0,808,472.20
$SM_GC,1.59,11.00,0.00,0.00,0.051,0.000,0.000,409,2024,808,-10.87,-0.45,472.20
$IRIDIUM_FIX,2059.45,-15748.75,070298,151531
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,23.8,52.686
$10V_AH,10.2,32.062
$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,28.175,135.775,503.975,0.000,0.000,30.522,37.937,144.574,10.000,0.000,0.000,16.731,1340.652,7886.816,571.808,1753.081,570.935,33.371,1457.357,0.000,1722.647,0.000,57.455
$DEVICE_MAMPS,155.701,53.690,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.627,494.750,880.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38004,733
$CAP_FILE_SIZE,110200,0
$CFSIZE,260165632,236621824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131108,220108,2107.743,-15747.727,22,1.9,22,9.8