version: 66.03
glider: 114
mission: 3
dive: 423
start: 11 20 108 7 29 42
data:
$ID,114
$MISSION,3
$DIVE,423
$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,-599962.44
$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,38
$R_STBD_OVSHOOT,81
$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
$GPS1,072309,2102.766,-15746.920,17,1.6,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.1
$GPS2,072844,2102.779,-15746.963,14,1.6,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.110,0.205
$KALMAN_X,-125473.3,-376.7,-323.7,137581.4,-1898.2
$KALMAN_Y,-134441.8,171.0,137.7,108574.4,-1570.5
$MHEAD_RNG_PITCHd_Wd,18.5,14365,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-53.42,0.000,2,0.000,0.000,408,2070,2739
$GC,87,-1.06,-165.5,3.7,-4.7,10,117,11.93,2.30,-11.35,0.000,4,0.154,0.047,2549,3400,3409
$GC,159,-1.13,-165.5,16.4,-9.5,22,165,0.00,2.30,0.00,0.000,6,0.000,0.022,2549,2029,3409
$GC,431,-1.20,-165.5,40.7,-7.4,60,435,0.00,2.38,0.00,0.000,4,0.000,0.032,2549,3408,3409
$GC,483,-1.34,-165.5,44.3,-5.9,64,488,0.22,2.30,0.00,0.000,6,0.049,0.022,2496,2036,3409
$GC,749,-1.31,-165.5,68.8,-10.1,88,753,0.00,2.35,0.00,0.000,4,0.000,0.033,2496,3399,3409
$GC,805,-1.31,-165.5,74.7,-8.4,92,811,0.00,2.28,0.00,0.000,6,0.000,0.021,2496,2030,3410
$GC,1068,-1.34,-165.5,99.6,-9.2,117,1073,0.00,2.35,0.00,0.000,4,0.000,0.032,2496,3402,3410
$GC,1115,-1.44,-165.5,103.6,-8.9,121,1119,0.00,2.28,0.00,0.000,6,0.000,0.021,2496,2039,3410
$GC,1447,-1.49,-165.5,124.7,-5.6,152,1452,0.15,2.35,0.00,0.000,4,0.054,0.031,2453,3407,3410
$GC,1522,-1.49,-165.5,130.0,-7.1,158,1526,0.00,2.30,0.00,0.000,6,0.000,0.023,2453,2039,3410
$GC,1849,-1.49,-165.5,159.9,-9.8,188,1854,0.00,2.33,0.00,0.000,4,0.000,0.032,2453,3398,3411
$GC,1911,-1.52,-165.5,165.9,-9.1,193,1917,0.00,2.28,0.00,0.000,6,0.000,0.022,2453,2035,3410
$GC,2237,-1.52,-165.5,193.4,-8.0,224,2241,0.00,2.35,0.00,0.000,4,0.000,0.033,2453,3403,3410
$GC,2270,-1.56,-165.5,196.0,-7.6,226,2277,0.00,2.30,0.00,0.000,6,0.000,0.024,2453,2030,3410
$GC,2599,-1.56,-165.5,219.4,-6.3,245,2603,0.00,2.35,0.00,0.000,4,0.000,0.034,2453,3398,3410
$GC,2678,-1.63,-165.5,225.0,-6.6,248,2685,0.00,2.28,0.00,0.000,6,0.000,0.024,2453,2039,3410
$GC,2995,-1.68,-165.5,248.5,-7.9,264,2999,0.12,2.35,0.00,0.000,4,0.061,0.035,2421,3400,3410
$GC,3029,-1.68,-165.5,251.5,-8.8,265,3034,0.00,2.30,0.00,0.000,6,0.000,0.025,2420,2037,3411
$GC,3346,-1.68,-165.5,278.1,-8.1,280,3350,0.00,2.35,0.00,0.000,4,0.000,0.037,2421,3395,3410
$GC,3431,-1.71,-165.5,285.6,-8.5,284,3435,0.00,2.30,0.00,0.000,6,0.000,0.027,2421,2036,3409
$GC,3763,-1.71,-165.5,310.6,-7.6,297,3767,0.00,2.38,0.00,0.000,4,0.000,0.038,2420,3399,3407
$GC,3830,-1.71,-165.5,316.2,-8.0,298,3834,0.00,2.33,0.00,0.000,6,0.000,0.028,2420,2038,3407
$GC,4174,-1.71,-165.5,341.6,-7.1,307,4178,0.00,2.47,0.00,0.000,4,0.000,0.046,2420,632,3404
$GC,4197,-1.71,-165.5,343.2,-6.7,307,4201,0.00,2.33,0.00,0.000,6,0.000,0.028,2420,1991,3404
$GC,4534,-1.71,-165.5,367.0,-6.9,316,4538,0.00,2.55,0.00,0.000,4,0.000,0.043,2420,3448,3401
$GC,4640,-1.76,-165.5,374.9,-7.6,318,4645,0.00,2.42,0.00,0.000,6,0.000,0.031,2420,2038,3400
$GC,4984,-1.76,-165.5,405.0,-9.1,327,4988,0.00,2.50,0.00,0.000,4,0.000,0.041,2420,3452,3398
$GC,5045,-1.81,-165.5,411.0,-9.4,328,5050,0.12,2.45,0.00,0.000,6,0.075,0.031,2393,2031,3397
$GC,5388,-1.81,-165.5,445.7,-10.0,337,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2030,3395
$STATE,5468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5468,begin apogee
$GC,5476,-0.33,0.0,453.9,10.0,339,5609,1.55,0.00,128.93,0.944,6,0.094,0.000,2713,1933,2733
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5613,1.06,165.5,460.8,0.0,342,5753,1.38,2.60,130.25,0.927,4,0.048,0.052,3020,559,2057
$GC,5949,0.50,165.5,441.8,12.4,349,5954,0.65,2.45,0.00,0.000,6,0.140,0.030,2902,1958,2057
$GC,6282,0.21,165.5,418.0,7.1,357,6287,0.32,2.55,0.00,0.000,4,0.117,0.052,2838,568,2054
$GC,6416,0.03,165.9,408.9,6.8,360,6421,0.20,2.42,0.00,0.000,6,0.118,0.031,2802,1953,2053
$GC,6741,0.09,238.9,392.8,4.7,368,6802,0.00,2.55,56.20,0.934,4,0.000,0.044,2802,3354,1759
$GC,6871,0.05,247.3,385.7,6.6,371,6885,0.00,2.45,7.82,0.903,6,0.000,0.034,2802,1970,1724
$GC,7200,0.02,267.9,365.3,6.2,379,7224,0.00,2.70,16.92,0.912,4,0.000,0.053,2801,536,1640
$GC,7238,-0.01,287.6,362.9,6.2,379,7259,0.00,2.47,16.23,0.900,6,0.000,0.030,2802,1952,1560
$GC,7567,-0.06,287.6,337.0,8.5,388,7572,0.12,2.50,0.00,0.000,4,0.118,0.045,2780,3350,1560
$GC,7612,-0.06,287.6,333.1,8.0,389,7616,0.00,2.47,0.00,0.000,6,0.000,0.033,2779,1938,1560
$GC,7931,-0.00,317.3,312.8,5.9,397,7957,0.00,0.00,23.70,0.891,6,0.000,0.000,2780,1938,1438
$GC,8276,0.09,369.1,294.0,5.3,408,8323,0.12,2.58,40.90,0.874,4,0.079,0.040,2807,3355,1228
$GC,8369,0.09,369.1,287.2,8.4,412,8373,0.00,2.47,0.00,0.000,6,0.000,0.032,2806,1948,1228
$GC,8686,0.05,369.1,259.8,8.4,427,8689,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3358,1228
$GC,8714,0.05,369.1,257.3,8.6,428,8718,0.00,2.45,0.00,0.000,6,0.000,0.030,2806,1949,1228
$GC,9036,0.05,369.1,233.6,7.2,444,9039,0.00,2.50,0.00,0.000,4,0.000,0.038,2807,3365,1228
$GC,9064,0.05,369.1,231.7,7.2,445,9068,0.00,2.47,0.00,0.000,6,0.000,0.030,2806,1937,1228
$GC,9385,0.12,409.4,210.7,5.6,461,9427,0.00,2.60,31.75,0.802,4,0.000,0.036,2807,3354,1062
$GC,9457,0.16,414.0,206.4,6.7,464,9465,0.00,2.45,4.35,0.776,6,0.000,0.028,2806,1948,1045
$GC,9792,0.20,434.0,184.8,6.2,490,9815,0.12,2.55,16.55,0.767,4,0.071,0.048,2836,543,962
$GC,9845,0.14,434.0,180.5,8.7,494,9852,0.00,2.42,0.00,0.000,6,0.000,0.026,2836,1958,961
$GC,10175,0.08,434.0,153.8,8.0,525,10180,0.15,2.42,0.00,0.000,4,0.099,0.036,2807,3351,962
$GC,10240,0.13,437.2,149.2,6.7,530,10252,0.00,2.42,3.55,0.720,6,0.000,0.027,2807,1941,949
$GC,10572,0.17,459.2,128.9,6.2,561,10595,0.00,2.50,17.80,0.706,4,0.000,0.033,2807,3353,860
$GC,10613,0.19,470.3,126.3,6.5,564,10630,0.10,2.42,9.23,0.708,6,0.074,0.025,2831,1946,814
$GC,10949,0.19,470.3,101.5,7.2,596,10954,0.00,2.45,0.00,0.000,4,0.000,0.034,2831,3352,815
$GC,10991,0.22,470.3,98.5,7.5,599,10995,0.00,2.40,0.00,0.000,6,0.000,0.025,2831,1951,816
$GC,11321,0.28,470.3,74.3,7.5,629,11326,0.00,2.47,0.00,0.000,4,0.000,0.044,2831,547,816
$GC,11345,0.35,477.9,72.3,6.6,630,11362,0.15,2.38,6.85,0.646,6,0.064,0.023,2867,1962,783
$GC,11616,0.38,494.3,50.6,6.3,656,11639,0.00,2.42,13.18,0.616,4,0.000,0.031,2867,3338,716
$GC,11663,0.41,511.8,47.5,6.3,660,11685,0.00,2.40,13.85,0.615,6,0.000,0.026,2867,1939,645
$GC,11945,0.38,516.9,27.0,6.7,690,11957,0.00,2.47,5.12,0.598,4,0.000,0.042,2867,545,624
$GC,11976,0.39,522.1,24.7,6.7,695,11989,0.00,2.38,4.50,0.600,6,0.000,0.021,2867,1955,603
$STATE,12202,end climb,SURFACE_DEPTH_REACHED
$STATE,12203,begin surface coast
$FINISH,0.9,1.013341
$STATE,12271,end surface coast,CONTROL_FINISHED_OK
$STATE,12271,begin surface
$SM_CCo,12355,0.00,0.000,0,0,604,522.24
$SM_GC,1.66,10.88,0.00,0.00,0.042,0.000,0.000,411,2055,604,-10.90,0.42,522.24
$IRIDIUM_FIX,2057.14,-15746.61,140298,050549
$TT8_MAMPS,0.027612
$HUMID,1783
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.7,59.066
$10V_AH,10.2,35.960
$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,28.300,145.325,547.675,0.000,0.000,25.658,29.368,133.367,11.500,0.000,0.000,32.561,1394.565,8305.133,597.017,1848.679,551.591,33.363,1528.838,0.000,1795.511,0.000,57.455
$DEVICE_MAMPS,154.167,55.224,944.177,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.424,500.201,889.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,747
$CAP_FILE_SIZE,117971,0
$CFSIZE,260165632,233910272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201108,105655,2103.603,-15746.623,38,1.0,38,9.8