version: 66.03
glider: 114
mission: 3
dive: 428
start: 11 21 108 0 48 39
data:
$ID,114
$MISSION,3
$DIVE,428
$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,-600074.5
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,003808,2108.298,-15747.794,25,1.3,25,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.9
$GPS2,004744,2108.288,-15747.765,12,1.4,29,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.048,0.227
$KALMAN_X,-130075.0,493.8,244.2,139357.1,-1710.9
$KALMAN_Y,-138763.6,138.6,-12.0,123282.1,-1072.5
$MHEAD_RNG_PITCHd_Wd,338.3,4995,-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,-165.5,0.0,0.0,0,114,0.00,0.00,-80.62,0.000,2,0.000,0.000,407,2013,2840
$GC,118,-1.06,-165.5,3.4,-4.0,15,148,12.02,2.50,-9.70,0.000,4,0.156,0.047,2549,3430,3409
$GC,218,-1.21,-165.5,18.6,-8.1,32,224,0.00,2.35,0.00,0.000,6,0.000,0.022,2549,2034,3409
$GC,492,-1.29,-165.5,41.6,-7.3,68,497,0.15,2.42,0.00,0.000,4,0.055,0.032,2507,3433,3409
$GC,549,-1.35,-165.5,46.8,-8.3,72,555,0.00,2.35,0.00,0.000,6,0.000,0.022,2507,2031,3409
$GC,811,-1.35,-165.5,70.8,-9.5,97,815,0.00,2.42,0.00,0.000,4,0.000,0.034,2507,3433,3409
$GC,896,-1.35,-165.5,78.9,-9.8,104,900,0.00,2.35,0.00,0.000,6,0.000,0.022,2507,2038,3409
$GC,1159,-1.39,-165.5,99.2,-6.9,128,1163,0.00,2.40,0.00,0.000,4,0.000,0.033,2507,3435,3409
$GC,1210,-1.51,-165.5,102.3,-5.8,132,1217,0.20,2.35,0.00,0.000,6,0.049,0.022,2458,2028,3409
$GC,1537,-1.47,-165.5,132.2,-9.2,163,1541,0.00,2.40,0.00,0.000,4,0.000,0.038,2458,636,3409
$GC,1559,-1.47,-165.5,134.6,-9.7,164,1565,0.00,2.35,0.00,0.000,6,0.000,0.022,2458,2043,3409
$GC,1885,-1.47,-165.5,165.1,-9.9,195,1889,0.00,2.40,0.00,0.000,4,0.000,0.035,2458,3446,3409
$GC,1915,-1.47,-165.5,168.4,-11.6,197,1919,0.00,2.38,0.00,0.000,6,0.000,0.023,2458,2038,3409
$GC,2240,-1.47,-165.5,196.9,-7.2,227,2245,0.00,2.42,0.00,0.000,4,0.000,0.035,2458,3442,3409
$GC,2304,-1.55,-165.5,201.6,-7.3,232,2308,0.00,2.38,0.00,0.000,6,0.000,0.025,2458,2036,3409
$GC,2632,-1.59,-165.5,225.2,-6.8,248,2636,0.00,2.42,0.00,0.000,4,0.000,0.035,2458,3438,3409
$GC,2689,-1.69,-165.5,229.4,-7.3,250,2696,0.15,2.38,0.00,0.000,6,0.059,0.025,2422,2028,3409
$GC,3005,-1.69,-165.5,255.5,-9.2,266,3010,0.00,2.45,0.00,0.000,4,0.000,0.037,2421,3438,3408
$GC,3039,-1.69,-165.5,258.9,-9.7,267,3045,0.00,2.38,0.00,0.000,6,0.000,0.026,2421,2036,3409
$GC,3356,-1.69,-165.5,288.7,-9.0,283,3360,0.00,2.45,0.00,0.000,4,0.000,0.038,2421,3441,3407
$GC,3412,-1.72,-165.5,293.8,-9.4,285,3418,0.00,2.40,0.00,0.000,6,0.000,0.028,2421,2033,3407
$GC,3746,-1.72,-165.5,320.3,-7.7,296,3749,0.00,2.47,0.00,0.000,4,0.000,0.040,2421,3444,3405
$GC,3847,-1.77,-165.5,329.0,-8.7,298,3852,0.00,2.40,0.00,0.000,6,0.000,0.029,2421,2042,3404
$GC,4161,-1.77,-165.5,354.8,-8.0,306,4165,0.00,2.45,0.00,0.000,4,0.000,0.041,2421,3435,3402
$GC,4183,-1.77,-165.5,356.8,-8.5,306,4187,0.00,2.40,0.00,0.000,6,0.000,0.030,2421,2029,3401
$GC,4527,-1.77,-165.5,382.3,-7.5,315,4531,0.00,2.47,0.00,0.000,4,0.000,0.041,2421,3436,3399
$GC,4600,-1.82,-165.5,387.9,-7.2,316,4605,0.12,2.40,0.00,0.000,6,0.121,0.031,2394,2042,3398
$GC,4934,-1.79,-165.5,418.5,-9.5,324,4938,0.00,2.47,0.00,0.000,4,0.000,0.043,2395,3442,3395
$GC,4957,-1.79,-165.5,420.6,-8.5,324,4961,0.00,2.42,0.00,0.000,6,0.000,0.031,2394,2035,3395
$GC,5300,-1.79,-165.5,448.2,-8.3,333,5304,0.00,2.47,0.00,0.000,4,0.000,0.044,2395,3434,3392
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5330,-0.33,0.0,450.2,8.6,333,5466,1.52,0.00,128.80,0.936,6,0.094,0.000,2710,1948,2733
$STATE,5467,end apogee,CONTROL_FINISHED_OK
$STATE,5467,begin climb
$GC,5471,1.06,165.5,456.5,0.0,337,5611,1.40,2.65,130.48,0.919,4,0.051,0.053,3019,546,2057
$GC,5755,0.49,165.5,438.3,13.2,343,5761,0.65,2.45,0.00,0.000,6,0.130,0.030,2903,1948,2056
$GC,6094,0.22,168.9,413.0,6.7,352,6099,0.32,0.00,2.95,0.865,6,0.118,0.000,2842,1947,2044
$GC,6419,0.14,213.1,396.2,5.5,360,6457,0.00,0.00,34.78,0.926,6,0.000,0.000,2842,1949,1863
$GC,6784,0.03,226.4,372.8,6.4,369,6801,0.20,2.60,11.05,0.907,4,0.120,0.053,2801,547,1808
$GC,6836,-0.00,247.9,369.7,6.2,370,6860,0.00,2.47,17.48,0.912,6,0.000,0.038,2801,1954,1722
$GC,7194,-0.06,247.9,347.2,7.0,379,7198,0.12,2.53,0.00,0.000,4,0.118,0.047,2779,3362,1722
$GC,7249,-0.06,247.9,343.5,6.9,380,7254,0.00,2.47,0.00,0.000,6,0.000,0.034,2779,1952,1721
$GC,7598,0.12,348.9,328.4,3.8,389,7683,0.15,2.58,78.97,0.894,4,0.076,0.042,2816,3355,1310
$GC,7699,0.08,361.9,322.8,6.4,391,7715,0.00,2.50,11.00,0.861,6,0.000,0.031,2816,1941,1257
$GC,8027,0.01,361.9,295.6,8.3,400,8032,0.12,2.53,0.00,0.000,4,0.110,0.041,2794,3352,1257
$GC,8061,0.01,361.9,293.1,7.2,401,8067,0.00,2.47,0.00,0.000,6,0.000,0.032,2793,1941,1257
$GC,8378,0.01,363.8,272.7,6.8,417,8382,0.00,2.50,0.00,0.000,4,0.000,0.040,2794,3353,1257
$GC,8401,0.01,363.8,271.1,7.0,418,8405,0.00,2.47,0.00,0.000,6,0.000,0.031,2793,1938,1257
$GC,8729,0.04,377.0,247.5,6.4,434,8751,0.00,2.60,12.48,0.834,4,0.000,0.039,2794,3359,1196
$GC,8780,0.07,394.4,244.3,6.3,436,8799,0.00,2.47,14.25,0.828,6,0.000,0.031,2793,1947,1125
$GC,9129,0.15,444.1,226.1,5.3,453,9176,0.15,2.60,39.70,0.807,4,0.074,0.050,2827,547,921
$GC,9189,0.09,444.1,221.5,8.2,456,9194,0.00,2.47,0.00,0.000,6,0.000,0.028,2827,1966,921
$GC,9508,0.03,444.1,196.0,8.0,473,9513,0.15,2.45,0.00,0.000,4,0.100,0.039,2794,3355,922
$GC,9554,0.10,447.6,192.8,6.7,476,9563,0.00,2.45,3.95,0.759,6,0.000,0.029,2794,1941,907
$GC,9890,0.22,494.8,171.8,5.4,508,9933,0.15,2.60,37.03,0.746,4,0.068,0.036,2833,3361,715
$GC,9974,0.22,494.8,165.9,7.3,515,9980,0.00,2.45,0.00,0.000,6,0.000,0.028,2834,1951,715
$GC,10303,0.16,494.8,139.6,9.4,546,10307,0.00,2.50,0.00,0.000,4,0.000,0.045,2834,545,715
$GC,10332,0.12,494.8,136.2,10.1,548,10337,0.00,2.42,0.00,0.000,6,0.000,0.025,2834,1964,715
$GC,10659,0.08,494.8,108.0,8.9,578,10663,0.12,2.40,0.00,0.000,4,0.098,0.035,2810,3350,715
$GC,10725,0.18,494.8,102.8,7.0,583,10732,0.00,2.40,0.00,0.000,6,0.000,0.025,2810,1942,716
$GC,11055,0.26,503.2,82.3,6.6,614,11070,0.15,2.50,8.05,0.650,4,0.063,0.033,2851,3348,680
$GC,11089,0.26,503.2,79.7,7.8,617,11093,0.00,2.40,0.00,0.000,6,0.000,0.025,2851,1948,680
$GC,11353,0.30,524.1,61.3,6.2,641,11376,0.00,2.50,16.85,0.630,4,0.000,0.043,2851,549,595
$GC,11401,0.35,526.9,58.2,6.7,645,11413,0.00,2.40,3.05,0.635,6,0.000,0.022,2851,1961,584
$GC,11673,0.35,526.9,40.4,6.9,670,11677,0.00,2.38,0.00,0.000,4,0.000,0.033,2851,3345,585
$GC,11725,0.43,526.9,36.4,7.1,674,11730,0.15,2.38,0.00,0.000,6,0.061,0.024,2887,1942,586
$GC,12000,0.35,526.9,11.1,10.2,715,12006,0.10,0.00,0.00,0.000,6,0.103,0.000,2868,1942,586
$STATE,12066,end climb,SURFACE_DEPTH_REACHED
$STATE,12067,begin surface coast
$FINISH,1.0,1.002880
$STATE,12138,end surface coast,CONTROL_FINISHED_OK
$STATE,12138,begin surface
$SM_CCo,12222,0.00,0.000,0,0,587,526.66
$SM_GC,1.74,10.90,0.00,0.00,0.044,0.000,0.000,412,2069,587,-10.89,0.82,526.66
$IRIDIUM_FIX,2059.45,-15743.60,150298,000024
$TT8_MAMPS,0.027612
$HUMID,1771
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,83
$24V_AH,23.7,59.819
$10V_AH,10.2,36.387
$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,29.025,147.300,550.850,0.000,0.000,47.391,75.109,225.244,29.750,0.000,0.000,30.873,1354.649,8331.369,634.122,1754.823,721.823,33.376,1521.532,0.000,1708.229,0.000,60.063
$DEVICE_MAMPS,156.468,52.923,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.526,487.868,869.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,739
$CAP_FILE_SIZE,118796,0
$CFSIZE,260165632,233594880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,041338,2109.686,-15748.051,37,1.3,37,9.8