version: 66.03
glider: 114
mission: 3
dive: 417
start: 11 19 108 13 47 0
data:
$ID,114
$MISSION,3
$DIVE,417
$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,-599813
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2790
$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,65
$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
$GPS1,133953,2101.942,-15747.498,35,3.0,54,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.1
$GPS2,134603,2101.905,-15747.538,12,1.5,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,0.075
$KALMAN_X,-120220.5,177.6,472.0,129994.1,-2338.8
$KALMAN_Y,-129271.0,-250.7,-157.3,102512.8,-580.5
$MHEAD_RNG_PITCHd_Wd,61.4,1265,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-54.03,0.000,2,0.000,0.000,410,2080,2711
$GC,87,-1.06,-165.5,3.2,-3.6,10,118,11.95,2.55,-12.05,0.000,4,0.154,0.052,2550,639,3409
$GC,154,-1.13,-165.5,16.0,-11.3,21,160,0.00,2.33,0.00,0.000,6,0.000,0.021,2550,2024,3409
$GC,425,-1.21,-165.5,39.3,-7.1,58,429,0.12,2.45,0.00,0.000,4,0.061,0.033,2519,3449,3409
$GC,504,-1.30,-165.5,46.6,-10.3,64,510,0.00,2.38,0.00,0.000,6,0.000,0.023,2519,2035,3410
$GC,766,-1.30,-165.5,70.8,-7.4,89,770,0.00,2.42,0.00,0.000,4,0.000,0.032,2519,3442,3410
$GC,818,-1.39,-165.5,75.0,-7.1,93,823,0.15,2.38,0.00,0.000,6,0.056,0.022,2482,2027,3410
$GC,1084,-1.35,-165.5,98.6,-9.7,117,1087,0.00,2.38,0.00,0.000,4,0.000,0.036,2482,640,3409
$GC,1119,-1.38,-165.5,102.2,-9.3,120,1123,0.00,2.35,0.00,0.000,6,0.000,0.021,2482,2040,3410
$GC,1444,-1.38,-165.5,131.3,-8.8,150,1448,0.00,2.40,0.00,0.000,4,0.000,0.035,2482,3448,3410
$GC,1581,-1.46,-165.5,143.6,-7.1,162,1586,0.00,2.38,0.00,0.000,6,0.000,0.023,2482,2031,3411
$GC,1907,-1.49,-165.5,165.3,-6.0,192,1912,0.00,2.42,0.00,0.000,4,0.000,0.033,2482,3441,3411
$GC,1964,-1.58,-165.5,169.3,-7.2,196,1971,0.17,2.35,0.00,0.000,6,0.053,0.024,2439,2038,3410
$GC,2299,-1.55,-165.5,204.8,-11.4,226,2303,0.00,2.40,0.00,0.000,4,0.000,0.038,2439,642,3410
$GC,2327,-1.55,-165.5,208.0,-11.0,227,2331,0.00,2.35,0.00,0.000,6,0.000,0.023,2439,2044,3410
$GC,2643,-1.55,-165.5,234.8,-8.9,242,2647,0.00,2.40,0.00,0.000,4,0.000,0.036,2439,3445,3411
$GC,2701,-1.59,-165.5,240.3,-10.1,244,2708,0.00,2.38,0.00,0.000,6,0.000,0.025,2439,2033,3411
$GC,3018,-1.59,-165.5,268.9,-8.6,260,3022,0.00,2.45,0.00,0.000,4,0.000,0.037,2439,3443,3410
$GC,3082,-1.65,-165.5,274.2,-7.9,263,3086,0.00,2.40,0.00,0.000,6,0.000,0.027,2439,2031,3410
$GC,3429,-1.65,-165.5,304.8,-8.7,279,3433,0.00,2.47,0.00,0.000,4,0.000,0.038,2439,3447,3409
$GC,3485,-1.70,-165.5,309.5,-8.0,280,3490,0.00,2.40,0.00,0.000,6,0.000,0.027,2439,2034,3409
$GC,3800,-1.70,-165.5,332.9,-7.0,288,3804,0.00,2.47,0.00,0.000,4,0.000,0.040,2439,3447,3407
$GC,3850,-1.76,-165.5,336.8,-7.3,289,3855,0.15,2.40,0.00,0.000,6,0.064,0.028,2404,2042,3407
$GC,4165,-1.72,-165.5,363.4,-8.4,297,4169,0.00,2.45,0.00,0.000,4,0.000,0.041,2404,3444,3405
$GC,4215,-1.72,-165.5,368.1,-8.8,298,4219,0.00,2.40,0.00,0.000,6,0.000,0.029,2404,2035,3404
$GC,4541,-1.69,-165.5,398.7,-9.9,306,4545,0.00,2.47,0.00,0.000,4,0.000,0.047,2404,629,3402
$GC,4569,-1.65,-165.5,401.7,-10.5,306,4574,0.12,2.42,0.00,0.000,6,0.103,0.030,2428,2041,3401
$GC,4902,-1.65,-165.5,431.1,-8.4,314,4906,0.00,2.45,0.00,0.000,4,0.000,0.044,2428,3444,3399
$GC,4964,-1.70,-165.5,436.0,-7.6,315,4969,0.00,2.42,0.00,0.000,6,0.000,0.031,2428,2037,3399
$STATE,5151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5151,begin apogee
$GC,5159,-0.33,0.0,450.7,8.0,320,5293,1.38,0.00,129.32,0.920,6,0.084,0.000,2716,1934,2733
$STATE,5293,end apogee,CONTROL_FINISHED_OK
$STATE,5293,begin climb
$GC,5297,1.06,165.5,456.4,0.0,323,5437,1.35,2.60,130.18,0.903,4,0.047,0.052,3017,554,2057
$GC,5570,0.50,165.5,440.0,14.9,329,5576,0.65,2.45,0.00,0.000,6,0.137,0.030,2901,1955,2056
$GC,5919,0.23,165.5,405.6,9.9,338,5924,0.28,2.58,0.00,0.000,4,0.114,0.051,2845,548,2054
$GC,5987,0.04,165.5,399.8,8.2,339,5993,0.25,2.45,0.00,0.000,6,0.114,0.030,2799,1958,2055
$GC,6325,0.12,241.8,383.6,4.6,348,6390,0.00,2.65,58.55,0.897,4,0.000,0.052,2798,554,1747
$GC,6426,0.06,241.8,376.9,8.7,350,6430,0.00,2.45,0.00,0.000,6,0.000,0.030,2798,1953,1746
$GC,6774,0.01,244.8,353.0,6.7,359,6784,0.00,2.55,2.92,0.824,4,0.000,0.045,2798,3349,1735
$GC,6820,-0.02,244.8,349.8,7.1,360,6824,0.00,2.45,0.00,0.000,6,0.000,0.032,2798,1955,1735
$GC,7145,-0.06,244.8,324.9,8.3,368,7149,0.00,2.50,0.00,0.000,4,0.000,0.041,2798,3355,1734
$GC,7178,-0.10,244.8,322.0,8.2,368,7185,0.15,2.47,0.00,0.000,6,0.113,0.031,2771,1937,1734
$GC,7510,0.04,325.0,304.1,4.4,377,7576,0.12,0.00,62.90,0.867,6,0.074,0.000,2799,1937,1407
$GC,7860,0.01,325.0,278.6,7.7,392,7864,0.00,2.53,0.00,0.000,4,0.000,0.039,2799,3357,1407
$GC,7899,0.01,325.0,275.4,8.0,394,7904,0.00,2.47,0.00,0.000,6,0.000,0.031,2799,1944,1407
$GC,8227,0.05,351.2,251.2,6.0,410,8253,0.00,2.55,20.83,0.829,4,0.000,0.037,2799,3363,1300
$GC,8293,0.13,392.6,247.6,5.6,413,8332,0.00,2.47,32.83,0.821,6,0.000,0.031,2799,1946,1131
$GC,8662,0.13,392.6,224.4,6.9,431,8666,0.00,2.50,0.00,0.000,4,0.000,0.037,2799,3361,1132
$GC,8691,0.13,392.6,222.3,7.3,432,8695,0.00,2.45,0.00,0.000,6,0.000,0.029,2799,1947,1132
$GC,9007,0.18,420.8,204.1,6.0,447,9032,0.12,0.00,22.50,0.782,6,0.071,0.000,2828,1947,1017
$GC,9347,0.14,420.8,179.1,7.8,476,9352,0.00,2.47,0.00,0.000,4,0.000,0.035,2827,3358,1017
$GC,9390,0.14,420.8,175.7,8.1,479,9394,0.00,2.45,0.00,0.000,6,0.000,0.028,2828,1943,1017
$GC,9719,0.14,420.8,151.0,7.1,509,9723,0.00,2.47,0.00,0.000,4,0.000,0.034,2828,3364,1017
$GC,9749,0.15,427.0,148.8,6.6,511,9761,0.00,2.45,5.75,0.723,6,0.000,0.026,2828,1938,991
$GC,10080,0.15,428.6,126.3,6.8,542,10083,0.00,2.45,0.00,0.000,4,0.000,0.032,2828,3355,992
$GC,10119,0.19,428.6,123.4,7.4,545,10126,0.00,2.40,0.00,0.000,6,0.000,0.025,2828,1945,992
$GC,10450,0.19,428.6,98.6,7.7,576,10454,0.00,2.47,0.00,0.000,4,0.000,0.044,2828,538,993
$GC,10502,0.25,428.6,94.0,8.0,580,10506,0.00,2.40,0.00,0.000,6,0.000,0.022,2828,1966,993
$GC,10831,0.31,428.6,71.5,7.0,610,10838,0.12,0.00,2.67,0.634,6,0.067,0.000,2859,1971,985
$GC,11096,0.42,491.7,55.9,5.0,635,11151,0.10,2.40,47.88,0.601,4,0.074,0.033,2884,3338,727
$GC,11192,0.42,491.7,50.0,6.9,643,11198,0.00,2.38,0.00,0.000,6,0.000,0.025,2884,1951,728
$GC,11454,0.35,491.7,29.2,10.0,668,11461,0.00,2.47,0.00,0.000,4,0.000,0.045,2884,548,730
$GC,11480,0.28,491.7,26.5,10.3,672,11487,0.15,2.35,0.00,0.000,6,0.085,0.021,2853,1943,731
$GC,11759,0.31,508.8,7.1,6.3,721,11783,0.00,2.47,14.12,0.551,4,0.000,0.031,2853,3348,657
$STATE,11799,end climb,SURFACE_DEPTH_REACHED
$STATE,11799,begin surface coast
$FINISH,3.9,1.023078
$STATE,11811,end surface coast,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$SM_CCo,11898,0.00,0.000,0,0,659,509.00
$SM_GC,1.54,11.00,0.00,0.00,0.049,0.000,0.000,410,2028,659,-10.90,-0.34,509.00
$IRIDIUM_FIX,2057.14,-15748.75,130298,111105
$TT8_MAMPS,0.028379
$HUMID,1750
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,450.7,64.9
$24V_AH,23.8,58.490
$10V_AH,10.2,35.506
$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,28.350,141.750,530.450,0.000,0.000,24.756,27.862,191.315,10.500,0.000,0.000,14.171,1350.541,8003.382,595.375,1742.823,579.806,33.367,1462.682,0.000,1706.730,0.000,60.830
$DEVICE_MAMPS,154.167,52.156,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.666,480.252,875.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38000,730
$CAP_FILE_SIZE,112884,0
$CFSIZE,260165632,234217472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,170719,2101.906,-15746.464,61,4.4,80,9.8