version: 66.03
glider: 114
mission: 3
dive: 426
start: 11 20 108 17 56 40
data:
$ID,114
$MISSION,3
$DIVE,426
$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,-600010.75
$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,34
$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
$GPS1,174921,2105.822,-15746.414,8,1.9,8,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.4
$GPS2,175545,2105.834,-15746.471,17,1.9,17,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.003,0.232
$KALMAN_X,-128262.3,611.3,54.5,139847.3,-1604.9
$KALMAN_Y,-137255.7,59.6,79.6,117216.9,-1083.7
$MHEAD_RNG_PITCHd_Wd,351.0,9832,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,103,0.00,0.00,-69.95,0.000,2,0.000,0.000,409,2052,2906
$GC,107,-1.06,-165.5,3.7,-4.9,13,132,11.98,2.40,-8.07,0.000,4,0.155,0.048,2551,3404,3409
$GC,180,-1.17,-165.5,18.1,-7.8,25,187,0.00,2.35,0.00,0.000,6,0.000,0.023,2551,2029,3410
$GC,452,-1.26,-165.5,38.4,-7.6,64,457,0.15,2.40,0.00,0.000,4,0.054,0.032,2509,3415,3410
$GC,509,-1.33,-165.5,43.8,-9.1,68,515,0.00,2.33,0.00,0.000,6,0.000,0.022,2508,2027,3410
$GC,771,-1.33,-165.5,68.5,-9.9,93,775,0.00,2.38,0.00,0.000,4,0.000,0.034,2508,3407,3410
$GC,841,-1.42,-165.5,74.8,-8.0,99,845,0.12,2.30,0.00,0.000,6,0.061,0.022,2478,2033,3410
$GC,1103,-1.42,-165.5,99.8,-8.7,123,1111,0.00,2.38,0.00,0.000,4,0.000,0.033,2478,3413,3411
$GC,1197,-1.45,-165.5,108.2,-8.8,131,1202,0.00,2.30,0.00,0.000,6,0.000,0.022,2478,2041,3411
$GC,1524,-1.48,-165.5,142.2,-10.4,161,1527,0.00,2.35,0.00,0.000,4,0.000,0.034,2478,3414,3411
$GC,1574,-1.55,-165.5,147.3,-9.6,165,1582,0.12,2.33,0.00,0.000,6,0.060,0.023,2446,2019,3411
$GC,1901,-1.55,-165.5,180.5,-9.3,196,1904,0.00,2.38,0.00,0.000,4,0.000,0.034,2446,3404,3411
$GC,1963,-1.59,-165.5,186.4,-9.2,201,1969,0.00,2.30,0.00,0.000,6,0.000,0.024,2446,2036,3411
$GC,2297,-1.59,-165.5,216.5,-10.1,225,2301,0.00,2.38,0.00,0.000,4,0.000,0.035,2446,3413,3411
$GC,2360,-1.63,-165.5,223.0,-9.5,228,2364,0.00,2.33,0.00,0.000,6,0.000,0.025,2446,2038,3411
$GC,2687,-1.63,-165.5,253.6,-9.0,244,2691,0.00,2.38,0.00,0.000,4,0.000,0.037,2446,3409,3411
$GC,2760,-1.70,-165.5,259.8,-7.6,247,2768,0.12,2.33,0.00,0.000,6,0.064,0.025,2416,2034,3411
$GC,3091,-1.70,-165.5,285.5,-6.9,263,3095,0.00,2.40,0.00,0.000,4,0.000,0.038,2416,3415,3411
$GC,3154,-1.70,-165.5,290.3,-7.4,266,3158,0.00,2.35,0.00,0.000,6,0.000,0.027,2416,2035,3411
$GC,3499,-1.70,-165.5,320.1,-8.9,278,3503,0.00,2.40,0.00,0.000,4,0.000,0.039,2416,3413,3408
$GC,3538,-1.70,-165.5,323.6,-8.7,278,3544,0.00,2.35,0.00,0.000,6,0.000,0.028,2416,2039,3408
$GC,3870,-1.70,-165.5,349.6,-7.7,287,3877,0.00,2.40,0.00,0.000,4,0.000,0.041,2416,3407,3406
$GC,3934,-1.74,-165.5,354.9,-7.9,288,3938,0.00,2.35,0.00,0.000,6,0.000,0.030,2416,2036,3406
$GC,4285,-1.74,-165.5,382.2,-7.8,297,4288,0.00,2.40,0.00,0.000,4,0.000,0.041,2416,3399,3403
$GC,4331,-1.77,-165.5,385.8,-7.4,298,4335,0.00,2.35,0.00,0.000,6,0.000,0.030,2416,2034,3402
$GC,4661,-1.77,-165.5,409.4,-7.0,306,4666,0.00,2.42,0.00,0.000,4,0.000,0.042,2416,3412,3400
$GC,4690,-1.77,-165.5,411.5,-7.8,306,4694,0.00,2.38,0.00,0.000,6,0.000,0.031,2416,2029,3399
$GC,5022,-1.77,-165.5,435.6,-7.3,314,5026,0.00,2.42,0.00,0.000,4,0.000,0.041,2416,3409,3398
$GC,5084,-1.81,-165.5,440.4,-7.5,315,5088,0.00,2.38,0.00,0.000,6,0.000,0.031,2416,2030,3397
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5229,-0.33,0.0,450.7,7.3,319,5363,1.45,0.00,129.55,0.936,6,0.087,0.000,2716,1933,2733
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5367,1.06,165.5,455.7,0.0,322,5507,1.38,2.60,130.55,0.919,4,0.051,0.053,3021,562,2058
$GC,5567,0.49,165.5,450.4,13.2,326,5573,0.68,2.35,0.00,0.000,6,0.132,0.029,2901,1912,2058
$GC,5899,0.20,165.5,424.5,7.4,334,5905,0.32,2.58,0.00,0.000,4,0.118,0.044,2838,3360,2055
$GC,5967,0.14,221.3,420.5,5.2,335,6017,0.00,2.45,43.28,0.933,6,0.000,0.034,2837,1968,1829
$GC,6351,0.06,254.4,398.0,5.8,345,6385,0.17,2.70,26.33,0.924,4,0.123,0.054,2804,540,1694
$GC,6404,0.02,285.7,395.0,5.9,346,6435,0.00,2.50,25.10,0.913,6,0.000,0.031,2804,1962,1568
$GC,6762,-0.03,289.1,371.4,6.7,355,6771,0.00,2.55,3.60,0.855,4,0.000,0.046,2804,3354,1554
$GC,6818,-0.08,289.1,367.2,7.7,356,6822,0.15,2.47,0.00,0.000,6,0.116,0.034,2778,1950,1554
$GC,7131,-0.02,321.0,348.4,5.9,364,7161,0.00,2.55,25.15,0.906,4,0.000,0.040,2778,3353,1424
$GC,7185,0.02,346.0,345.1,6.1,365,7211,0.00,2.47,20.23,0.897,6,0.000,0.032,2777,1948,1322
$GC,7537,0.08,379.3,324.3,5.8,374,7571,0.15,2.62,26.95,0.884,4,0.075,0.041,2815,3361,1186
$GC,7595,0.02,379.3,319.6,8.3,375,7600,0.00,2.50,0.00,0.000,6,0.000,0.031,2814,1942,1186
$GC,7926,-0.04,379.3,290.9,8.7,386,7931,0.15,2.53,0.00,0.000,4,0.107,0.038,2783,3360,1186
$GC,7976,-0.00,379.3,287.0,7.0,388,7981,0.00,2.47,0.00,0.000,6,0.000,0.031,2782,1943,1186
$GC,8294,0.12,449.6,268.7,4.7,403,8356,0.15,2.55,55.55,0.844,4,0.074,0.039,2820,3351,899
$GC,8403,0.12,449.6,260.2,8.8,408,8407,0.00,2.47,0.00,0.000,6,0.000,0.032,2819,1943,899
$GC,8730,0.06,449.6,231.6,8.8,424,8735,0.00,2.50,0.00,0.000,4,0.000,0.038,2820,3353,899
$GC,8781,0.06,449.6,226.9,8.9,426,8785,0.00,2.45,0.00,0.000,6,0.000,0.031,2819,1948,899
$GC,9098,0.01,449.6,198.2,9.1,442,9103,0.12,2.47,0.00,0.000,4,0.104,0.037,2797,3356,900
$GC,9121,0.01,449.6,196.2,8.2,443,9127,0.00,2.45,0.00,0.000,6,0.000,0.028,2797,1937,899
$GC,9450,0.04,462.6,173.0,6.4,474,9466,0.00,2.53,11.00,0.757,4,0.000,0.035,2797,3359,846
$GC,9519,0.18,504.0,169.0,5.6,479,9557,0.15,2.45,32.67,0.749,6,0.067,0.027,2832,1940,677
$GC,9876,0.14,504.0,138.3,10.4,513,9880,0.00,2.50,0.00,0.000,4,0.000,0.035,2832,3366,677
$GC,9909,0.14,504.0,134.8,10.2,515,9916,0.00,2.45,0.00,0.000,6,0.000,0.026,2832,1939,678
$GC,10238,0.15,514.8,106.2,6.5,546,10253,0.00,2.53,9.45,0.681,4,0.000,0.034,2831,3350,634
$GC,10284,0.18,527.8,103.0,6.4,550,10301,0.00,2.42,11.38,0.682,6,0.000,0.025,2832,1943,581
$GC,10622,0.30,565.1,84.5,5.7,581,10658,0.10,2.55,29.48,0.649,4,0.074,0.033,2857,3363,429
$GC,10692,0.30,565.1,79.4,7.7,587,10698,0.00,2.45,0.00,0.000,6,0.000,0.025,2857,1939,429
$GC,10955,0.30,565.1,58.7,8.4,612,10959,0.00,2.47,0.00,0.000,4,0.000,0.032,2858,3365,430
$GC,10977,0.30,565.1,56.7,8.3,613,10983,0.00,2.42,0.00,0.000,6,0.000,0.024,2858,1937,431
$GC,11241,0.30,565.1,36.3,8.4,638,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1937,431
$GC,11514,0.30,565.1,13.2,8.2,680,11520,0.00,2.45,0.00,0.000,4,0.000,0.031,2858,3365,433
$GC,11562,0.33,565.1,9.4,7.8,688,11568,0.00,2.40,0.00,0.000,6,0.000,0.023,2857,1945,433
$STATE,11617,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FINISH,0.9,1.012094
$STATE,11692,end surface coast,CONTROL_FINISHED_OK
$STATE,11695,begin surface
$SM_CCo,11779,0.00,0.000,0,0,434,563.94
$SM_GC,1.54,10.80,0.00,0.00,0.041,0.000,0.000,411,2096,434,-10.90,1.58,563.94
$IRIDIUM_FIX,2057.14,-15748.75,140298,141458
$TT8_MAMPS,0.027612
$HUMID,1767
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,23.7,59.509
$10V_AH,10.2,36.216
$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,28.275,146.350,580.250,0.000,0.000,23.367,29.459,184.564,10.250,0.000,0.000,19.087,1310.622,7901.018,627.596,1731.873,590.268,33.371,1526.853,0.000,1694.992,0.000,57.467
$DEVICE_MAMPS,154.934,55.224,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.968,465.979,842.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37959,711
$CAP_FILE_SIZE,113762,0
$CFSIZE,260165632,233725952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201108,211408,2107.082,-15747.123,30,1.4,30,9.8