version: 66.03
glider: 114
mission: 3
dive: 396
start: 11 16 108 14 1 6
data:
$ID,114
$MISSION,3
$DIVE,396
$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,-599404.06
$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,35
$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
$GPS1,135425,2109.934,-15749.291,33,2.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.3
$GPS2,140009,2109.947,-15749.331,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.117,-0.201
$KALMAN_X,-107092.1,394.0,366.2,113650.2,-542.2
$KALMAN_Y,-119377.4,291.0,97.2,106706.5,-780.6
$MHEAD_RNG_PITCHd_Wd,140.0,14739,-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,-165.5,0.0,0.0,0,110,0.00,0.00,-80.88,0.000,2,0.000,0.000,407,2092,2819
$GC,115,-1.06,-165.5,3.3,-3.4,15,145,11.93,2.35,-10.23,0.000,4,0.155,0.048,2541,3443,3410
$GC,237,-1.19,-165.5,21.0,-8.4,36,244,0.00,2.38,0.00,0.000,6,0.000,0.022,2542,2025,3410
$GC,515,-1.25,-165.5,41.6,-8.0,72,520,0.15,2.47,0.00,0.000,4,0.054,0.042,2500,3452,3410
$GC,578,-1.25,-165.5,47.3,-8.0,77,582,0.00,2.38,0.00,0.000,6,0.000,0.022,2500,2038,3410
$GC,846,-1.25,-165.5,69.4,-9.6,102,850,0.00,2.42,0.00,0.000,4,0.000,0.033,2499,3443,3410
$GC,921,-1.33,-165.5,76.4,-8.9,108,925,0.00,2.35,0.00,0.000,6,0.000,0.022,2500,2040,3410
$GC,1187,-1.38,-165.5,100.3,-9.0,132,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2039,3410
$GC,1517,-1.46,-165.5,126.7,-5.8,163,1521,0.15,2.42,0.00,0.000,4,0.054,0.033,2457,3445,3411
$GC,1584,-1.51,-165.5,132.6,-8.8,168,1590,0.00,2.38,0.00,0.000,6,0.000,0.023,2456,2030,3411
$GC,1911,-1.51,-165.5,164.0,-7.9,199,1915,0.00,2.45,0.00,0.000,4,0.000,0.034,2457,3452,3410
$GC,1974,-1.56,-165.5,168.4,-6.4,204,1978,0.00,2.38,0.00,0.000,6,0.000,0.024,2457,2040,3411
$GC,2306,-1.56,-165.5,187.7,-6.3,235,2310,0.00,2.42,0.00,0.000,4,0.000,0.035,2456,3445,3411
$GC,2340,-1.61,-165.5,190.1,-7.0,237,2347,0.12,2.38,0.00,0.000,6,0.064,0.024,2426,2032,3411
$GC,2664,-1.56,-165.5,220.4,-9.1,258,2668,0.00,2.42,0.00,0.000,4,0.000,0.040,2426,631,3411
$GC,2714,-1.56,-165.5,225.2,-7.4,260,2718,0.00,2.40,0.00,0.000,6,0.000,0.025,2426,2052,3411
$GC,3036,-1.56,-165.5,247.6,-6.6,276,3040,0.00,2.40,0.00,0.000,4,0.000,0.038,2426,3442,3411
$GC,3154,-1.56,-165.5,256.2,-7.9,281,3158,0.00,2.38,0.00,0.000,6,0.000,0.025,2426,2040,3410
$GC,3470,-1.56,-165.5,282.7,-9.3,296,3474,0.00,2.45,0.00,0.000,4,0.000,0.038,2426,3445,3410
$GC,3556,-1.56,-165.5,290.1,-9.3,300,3560,0.00,2.40,0.00,0.000,6,0.000,0.027,2426,2036,3409
$GC,3901,-1.56,-165.5,322.2,-8.9,311,3905,0.00,2.45,0.00,0.000,4,0.000,0.038,2425,3446,3407
$GC,3929,-1.56,-165.5,325.0,-9.4,311,3933,0.00,2.40,0.00,0.000,6,0.000,0.027,2426,2038,3407
$GC,4266,-1.56,-165.5,353.2,-8.1,320,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2037,3405
$GC,4591,-1.56,-165.5,378.5,-8.1,328,4595,0.00,2.47,0.00,0.000,4,0.000,0.042,2426,3445,3402
$GC,4664,-1.61,-165.5,384.5,-7.7,329,4668,0.00,2.42,0.00,0.000,6,0.000,0.030,2426,2032,3402
$GC,4997,-1.61,-165.5,412.5,-8.5,337,5001,0.00,2.50,0.00,0.000,4,0.000,0.041,2426,3448,3400
$GC,5042,-1.66,-165.5,416.3,-8.3,338,5046,0.00,2.42,0.00,0.000,6,0.000,0.030,2426,2036,3399
$GC,5363,-1.66,-165.5,440.9,-7.7,346,5367,0.00,2.47,0.00,0.000,4,0.000,0.042,2426,3440,3398
$GC,5420,-1.73,-165.5,445.3,-7.3,347,5425,0.00,2.42,0.00,0.000,6,0.000,0.031,2426,2033,3397
$STATE,5523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5523,begin apogee
$GC,5531,-0.33,0.0,452.1,6.4,350,5664,1.33,0.00,129.45,0.927,6,0.084,0.000,2703,1929,2733
$STATE,5665,end apogee,CONTROL_FINISHED_OK
$STATE,5665,begin climb
$GC,5668,1.06,165.5,454.7,0.0,353,5807,1.40,2.60,130.45,0.907,4,0.060,0.052,3010,551,2058
$GC,5817,0.56,165.5,450.5,10.6,357,5822,0.60,2.45,0.00,0.000,6,0.131,0.028,2904,1950,2058
$GC,6137,0.28,165.5,419.2,8.8,365,6142,0.32,2.58,0.00,0.000,4,0.139,0.053,2844,548,2056
$GC,6216,0.08,165.5,413.4,7.1,366,6223,0.22,2.45,0.00,0.000,6,0.129,0.030,2803,1953,2056
$GC,6548,0.15,247.6,398.2,4.4,375,6614,0.00,0.00,64.28,0.904,6,0.000,0.000,2803,1952,1723
$GC,6913,0.09,247.6,374.9,6.9,384,6917,0.00,2.53,0.00,0.000,4,0.000,0.048,2803,3360,1722
$GC,6954,0.04,247.6,372.1,7.3,385,6958,0.00,2.47,0.00,0.000,6,0.000,0.033,2803,1955,1722
$GC,7279,0.10,309.2,353.8,5.0,393,7333,0.00,2.58,48.05,0.894,4,0.000,0.041,2803,3348,1472
$GC,7352,0.08,328.1,349.6,6.3,394,7372,0.00,2.47,15.55,0.875,6,0.000,0.032,2803,1948,1395
$GC,7687,0.03,328.1,324.2,7.9,403,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1948,1394
$GC,8011,-0.01,328.1,300.1,7.2,411,8013,0.12,0.00,0.00,0.000,6,0.121,0.000,2781,1948,1394
$GC,8321,0.04,355.9,280.9,6.0,425,8349,0.00,2.60,21.90,0.849,4,0.000,0.038,2781,3359,1282
$GC,8397,0.12,377.8,276.4,6.2,428,8422,0.12,2.47,17.98,0.847,6,0.077,0.031,2808,1939,1192
$GC,8742,0.08,377.8,251.6,6.9,445,8746,0.00,2.50,0.00,0.000,4,0.000,0.038,2808,3360,1191
$GC,8771,0.05,377.8,249.2,7.5,446,8775,0.00,2.45,0.00,0.000,6,0.000,0.030,2807,1951,1192
$GC,9092,0.05,377.8,226.9,7.2,462,9096,0.00,2.47,0.00,0.000,4,0.000,0.038,2808,3361,1192
$GC,9148,0.05,377.8,222.7,7.4,464,9153,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1949,1192
$GC,9465,0.05,377.8,198.4,8.8,479,9470,0.00,2.53,0.00,0.000,4,0.000,0.049,2808,535,1192
$GC,9499,0.05,377.8,195.2,9.1,481,9505,0.00,2.45,0.00,0.000,6,0.000,0.027,2808,1968,1192
$GC,9829,0.12,418.4,173.2,5.6,512,9866,0.00,2.45,31.67,0.749,4,0.000,0.036,2808,3349,1026
$GC,9906,0.19,431.1,168.3,6.4,518,9923,0.00,2.42,10.52,0.748,6,0.000,0.028,2808,1949,975
$GC,10244,0.22,431.1,147.9,7.3,550,10248,0.00,2.47,0.00,0.000,4,0.000,0.035,2808,3361,975
$GC,10277,0.28,431.1,145.1,7.5,552,10285,0.15,2.45,0.00,0.000,6,0.063,0.027,2843,1934,975
$GC,10606,0.23,431.1,119.2,8.3,583,10610,0.00,2.47,0.00,0.000,4,0.000,0.035,2843,3356,976
$GC,10640,0.23,431.1,116.5,7.3,585,10646,0.00,2.40,0.00,0.000,6,0.000,0.025,2843,1947,976
$GC,10970,0.32,479.2,97.7,5.4,616,11013,0.00,2.47,37.50,0.656,4,0.000,0.031,2843,3350,778
$GC,11039,0.39,502.8,93.5,6.1,622,11064,0.10,2.42,18.58,0.650,6,0.071,0.025,2867,1943,682
$GC,11391,0.39,503.5,64.6,6.8,655,11395,0.00,2.45,0.00,0.000,4,0.000,0.032,2868,3353,684
$GC,11432,0.42,517.7,62.0,6.4,658,11454,0.00,2.40,12.38,0.612,6,0.000,0.024,2868,1946,622
$GC,11714,0.38,517.7,41.1,8.4,684,11718,0.00,2.42,0.00,0.000,4,0.000,0.031,2868,3354,625
$GC,11736,0.38,517.7,38.7,8.4,685,11742,0.00,2.38,0.00,0.000,6,0.000,0.023,2868,1947,626
$GC,12007,0.38,517.7,17.7,8.2,723,12013,0.00,2.42,0.00,0.000,4,0.000,0.032,2868,3363,627
$GC,12051,0.38,517.7,14.2,8.3,730,12057,0.00,2.38,0.00,0.000,6,0.000,0.023,2868,1950,628
$STATE,12174,end climb,SURFACE_DEPTH_REACHED
$STATE,12174,begin surface coast
$FINISH,0.9,1.009981
$STATE,12254,end surface coast,CONTROL_FINISHED_OK
$STATE,12255,begin surface
$SM_CCo,12338,0.00,0.000,0,0,628,516.36
$SM_GC,1.71,10.85,0.00,0.00,0.041,0.000,0.000,408,2078,628,-10.87,1.10,516.36
$IRIDIUM_FIX,2101.76,-15745.74,100298,101004
$TT8_MAMPS,0.027612
$HUMID,1742
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,11
$24V_AH,23.8,55.522
$10V_AH,10.2,33.732
$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,27.575,137.175,538.300,0.000,0.000,23.419,28.018,148.268,11.750,0.000,0.000,14.899,1385.416,8348.942,619.030,1763.020,566.301,33.376,1503.486,0.000,1734.661,0.000,60.377
$DEVICE_MAMPS,154.934,52.923,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.163,512.224,912.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41157,766
$CAP_FILE_SIZE,113870,0
$CFSIZE,260165632,235446272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161108,172807,2108.602,-15748.897,38,1.2,44,9.8