version: 66.03
glider: 114
mission: 3
dive: 391
start: 11 15 108 20 40 2
data:
$ID,114
$MISSION,3
$DIVE,391
$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,-599300.69
$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,76
$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
$GPS1,203308,2105.699,-15745.051,25,1.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.0
$GPS2,203907,2105.681,-15744.952,10,1.5,26,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.052,0.226
$KALMAN_X,-107618.1,566.5,231.4,121685.8,-310.6
$KALMAN_Y,-117151.3,761.9,393.8,95810.0,-2068.2
$MHEAD_RNG_PITCHd_Wd,337.2,11830,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,94,0.00,0.00,-64.28,0.000,2,0.000,0.000,409,2082,2728
$GC,98,-1.06,-165.5,3.1,-3.1,12,129,11.85,2.53,-12.30,0.000,4,0.153,0.048,2540,640,3408
$GC,154,-0.78,-165.5,13.3,-14.1,21,161,0.32,2.30,0.00,0.000,6,0.068,0.022,2609,2010,3408
$GC,434,-0.99,-165.5,27.6,-4.7,70,440,0.17,2.45,0.00,0.000,4,0.051,0.033,2562,3441,3408
$GC,509,-1.15,-165.5,32.5,-6.0,80,516,0.15,2.38,0.00,0.000,6,0.054,0.022,2525,2022,3408
$GC,771,-1.15,-165.5,54.8,-9.5,105,775,0.00,2.38,0.00,0.000,4,0.000,0.037,2524,638,3408
$GC,789,-1.19,-165.5,56.5,-9.7,106,795,0.00,2.35,0.00,0.000,6,0.000,0.021,2525,2048,3408
$GC,1051,-1.23,-165.5,79.4,-8.6,131,1055,0.00,2.38,0.00,0.000,4,0.000,0.034,2524,3445,3408
$GC,1125,-1.38,-165.5,85.4,-7.3,137,1132,0.20,2.35,0.00,0.000,6,0.048,0.022,2475,2036,3408
$GC,1450,-1.38,-165.5,113.7,-7.7,168,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2036,3409
$GC,1772,-1.38,-165.5,134.6,-6.5,198,1776,0.00,2.42,0.00,0.000,4,0.000,0.034,2475,3445,3410
$GC,1825,-1.45,-165.5,137.8,-5.9,202,1829,0.00,2.38,0.00,0.000,6,0.000,0.022,2475,2029,3410
$GC,2152,-1.49,-165.5,158.9,-7.0,232,2156,0.00,2.42,0.00,0.000,4,0.000,0.034,2475,3436,3410
$GC,2231,-1.58,-165.5,164.4,-6.2,238,2239,0.17,2.38,0.00,0.000,6,0.055,0.024,2432,2018,3410
$GC,2559,-1.54,-165.5,190.6,-8.6,269,2563,0.00,2.47,0.00,0.000,4,0.000,0.036,2432,3447,3410
$GC,2621,-1.54,-165.5,196.6,-9.0,274,2626,0.00,2.40,0.00,0.000,6,0.000,0.026,2432,2032,3410
$GC,2939,-1.54,-165.5,222.5,-7.3,291,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2031,3410
$GC,3249,-1.54,-165.5,243.8,-7.0,306,3253,0.00,2.45,0.00,0.000,4,0.000,0.037,2432,3443,3410
$GC,3316,-1.58,-165.5,249.1,-7.6,309,3320,0.00,2.38,0.00,0.000,6,0.000,0.026,2432,2042,3409
$GC,3638,-1.58,-165.5,275.9,-8.8,325,3642,0.00,2.42,0.00,0.000,4,0.000,0.038,2432,3434,3409
$GC,3690,-1.63,-165.5,280.5,-8.3,327,3694,0.00,2.38,0.00,0.000,6,0.000,0.027,2432,2030,3408
$GC,4010,-1.63,-165.5,308.6,-9.1,341,4014,0.00,2.45,0.00,0.000,4,0.000,0.039,2432,3440,3406
$GC,4044,-1.66,-165.5,312.1,-10.0,341,4048,0.00,2.40,0.00,0.000,6,0.000,0.028,2432,2031,3406
$GC,4383,-1.66,-165.5,341.8,-8.3,350,4387,0.00,2.47,0.00,0.000,4,0.000,0.040,2432,3444,3404
$GC,4445,-1.72,-165.5,347.0,-7.6,351,4450,0.12,2.40,0.00,0.000,6,0.068,0.029,2403,2040,3403
$GC,4791,-1.68,-165.5,377.5,-8.6,360,4795,0.00,2.45,0.00,0.000,4,0.000,0.041,2403,3434,3401
$GC,4824,-1.68,-165.5,380.5,-8.4,360,4829,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,2032,3400
$GC,5155,-1.68,-165.5,408.2,-8.4,369,5159,0.00,2.47,0.00,0.000,4,0.000,0.042,2403,3436,3398
$GC,5206,-1.68,-165.5,412.3,-7.0,370,5210,0.00,2.40,0.00,0.000,6,0.000,0.031,2403,2038,3398
$GC,5521,-1.68,-165.5,434.7,-7.0,378,5526,0.00,2.47,0.00,0.000,4,0.000,0.043,2403,3440,3395
$GC,5555,-1.68,-165.5,437.4,-7.3,378,5561,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,2031,3395
$STATE,5762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5762,begin apogee
$GC,5771,-0.33,0.0,453.1,7.6,384,5903,1.45,0.00,128.57,0.944,6,0.089,0.000,2703,1933,2733
$STATE,5904,end apogee,CONTROL_FINISHED_OK
$STATE,5904,begin climb
$GC,5908,1.06,165.5,456.6,0.0,387,6048,1.38,2.60,130.20,0.916,4,0.051,0.053,3008,561,2057
$GC,6096,0.51,165.5,448.1,14.9,391,6102,0.65,2.42,0.00,0.000,6,0.141,0.030,2892,1944,2057
$GC,6440,0.24,165.5,415.8,8.5,400,6445,0.28,2.55,0.00,0.000,4,0.117,0.053,2837,557,2056
$GC,6491,0.07,165.5,411.9,8.0,401,6496,0.22,2.45,0.00,0.000,6,0.143,0.031,2796,1957,2056
$GC,6805,0.14,243.9,396.8,4.5,409,6868,0.00,0.00,61.08,0.919,6,0.000,0.000,2796,1957,1738
$GC,7170,0.13,268.2,377.0,6.1,418,7195,0.00,2.58,19.62,0.905,4,0.000,0.048,2796,3360,1639
$GC,7240,0.10,268.2,371.9,7.0,419,7245,0.00,2.45,0.00,0.000,6,0.000,0.034,2795,1973,1639
$GC,7573,0.06,274.3,348.5,6.6,427,7584,0.00,2.50,5.65,0.875,4,0.000,0.042,2796,3354,1613
$GC,7602,0.06,292.8,346.6,6.3,427,7622,0.00,2.47,14.98,0.897,6,0.000,0.033,2796,1949,1539
$GC,7937,0.08,324.5,327.1,5.9,436,7967,0.00,2.55,25.08,0.890,4,0.000,0.041,2796,3352,1409
$GC,8012,0.16,372.0,323.0,5.4,437,8059,0.00,2.47,37.67,0.878,6,0.000,0.032,2795,1947,1215
$GC,8385,0.21,400.2,301.8,6.0,447,8414,0.15,2.60,22.75,0.861,4,0.073,0.041,2829,3355,1101
$GC,8438,0.11,400.2,297.1,9.8,448,8443,0.12,2.47,0.00,0.000,6,0.107,0.031,2806,1947,1101
$GC,8755,0.07,400.2,270.8,8.4,463,8759,0.00,2.53,0.00,0.000,4,0.000,0.040,2807,3365,1101
$GC,8806,0.07,400.2,266.4,8.1,465,8810,0.00,2.47,0.00,0.000,6,0.000,0.031,2807,1943,1101
$GC,9123,0.10,436.1,243.7,5.8,480,9158,0.00,2.58,28.42,0.824,4,0.000,0.037,2807,3353,955
$GC,9198,0.10,436.1,238.8,6.9,483,9203,0.00,2.45,0.00,0.000,6,0.000,0.030,2807,1940,955
$GC,9515,0.10,436.1,215.3,7.4,498,9519,0.00,2.50,0.00,0.000,4,0.000,0.049,2807,544,955
$GC,9542,0.10,436.1,213.0,7.9,499,9547,0.00,2.42,0.00,0.000,6,0.000,0.027,2806,1958,955
$GC,9863,0.10,436.1,187.8,8.2,521,9867,0.00,2.42,0.00,0.000,4,0.000,0.039,2806,3347,955
$GC,9903,0.10,436.1,184.4,8.6,524,9908,0.00,2.42,0.00,0.000,6,0.000,0.030,2806,1951,955
$GC,10232,0.12,448.5,160.0,6.5,554,10248,0.00,0.00,10.75,0.746,6,0.000,0.000,2806,1951,903
$GC,10571,0.12,448.5,136.8,8.2,586,10575,0.00,2.45,0.00,0.000,4,0.000,0.034,2806,3354,903
$GC,10634,0.19,448.5,132.1,6.9,591,10638,0.00,2.42,0.00,0.000,6,0.000,0.027,2806,1935,904
$GC,10968,0.23,448.5,108.5,6.9,622,10973,0.10,2.45,0.00,0.000,4,0.072,0.045,2831,550,904
$GC,11002,0.23,448.5,105.2,9.4,624,11008,0.00,2.38,0.00,0.000,6,0.000,0.024,2831,1962,904
$GC,11331,0.33,506.6,84.1,5.1,655,11384,0.00,2.47,44.80,0.648,4,0.000,0.035,2831,3346,667
$GC,11432,0.48,541.2,78.2,5.8,664,11466,0.25,2.40,28.27,0.643,6,0.051,0.024,2891,1941,526
$GC,11721,0.39,541.2,53.9,10.2,691,11726,0.12,2.45,0.00,0.000,4,0.096,0.042,2866,552,527
$GC,11761,0.39,541.2,49.9,8.7,694,11766,0.00,2.38,0.00,0.000,6,0.000,0.022,2866,1960,527
$GC,12025,0.39,541.2,27.0,9.2,720,12032,0.00,2.38,0.00,0.000,4,0.000,0.034,2866,3347,528
$GC,12073,0.39,541.2,22.8,9.1,728,12079,0.00,2.38,0.00,0.000,6,0.000,0.025,2866,1948,529
$STATE,12282,end climb,SURFACE_DEPTH_REACHED
$STATE,12282,begin surface coast
$FINISH,0.9,1.021338
$STATE,12355,end surface coast,CONTROL_FINISHED_OK
$STATE,12355,begin surface
$SM_CCo,12440,0.00,0.000,0,0,529,540.64
$SM_GC,1.58,10.88,0.00,0.00,0.042,0.000,0.000,407,2073,529,-10.87,0.93,540.64
$IRIDIUM_FIX,2057.14,-15746.61,090298,171732
$TT8_MAMPS,0.027612
$HUMID,1777
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,23.8,54.770
$10V_AH,10.2,33.303
$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,28.600,141.900,557.850,0.000,0.000,28.958,29.277,144.785,10.250,0.000,0.000,27.804,1412.396,8393.967,621.405,1806.006,563.326,33.367,1518.977,0.000,1763.915,0.000,57.451
$DEVICE_MAMPS,152.633,55.224,944.177,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.154,514.669,943.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41104,778
$CAP_FILE_SIZE,116315,0
$CFSIZE,260165632,235745280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161108,000838,2106.918,-15745.241,37,1.0,37,9.8