version: 66.03
glider: 114
mission: 3
dive: 432
start: 11 21 108 13 35 3
data:
$ID,114
$MISSION,3
$DIVE,432
$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,-600180.06
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,33
$R_STBD_OVSHOOT,63
$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
$GPS1,132751,2108.772,-15749.532,10,2.0,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.4
$GPS2,133408,2108.742,-15749.472,30,1.5,30,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.082,-0.217
$KALMAN_X,-129575.6,148.3,-61.4,136573.5,62.3
$KALMAN_Y,-139442.8,163.4,10.1,124751.1,-277.4
$MHEAD_RNG_PITCHd_Wd,149.4,12694,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-80.82,0.000,2,0.000,0.000,411,2080,2820
$GC,118,-1.06,-165.5,3.2,-3.3,15,147,12.00,2.55,-10.32,0.000,4,0.156,0.050,2552,632,3409
$GC,206,-1.25,-165.5,16.9,-7.4,30,213,0.15,2.33,0.00,0.000,6,0.052,0.021,2514,2025,3409
$GC,483,-1.25,-165.5,42.2,-9.5,68,487,0.00,2.42,0.00,0.000,4,0.000,0.036,2514,3432,3409
$GC,596,-1.33,-165.5,52.6,-9.1,77,602,0.00,2.35,0.00,0.000,6,0.000,0.023,2514,2032,3409
$GC,858,-1.33,-165.5,78.4,-9.3,102,862,0.00,2.42,0.00,0.000,4,0.000,0.034,2514,3440,3409
$GC,898,-1.42,-165.5,81.3,-6.4,105,905,0.15,2.35,0.00,0.000,6,0.055,0.022,2477,2034,3409
$GC,1224,-1.42,-165.5,109.7,-9.1,136,1229,0.00,2.42,0.00,0.000,4,0.000,0.034,2477,3438,3410
$GC,1350,-1.49,-165.5,120.9,-7.9,147,1354,0.00,2.35,0.00,0.000,6,0.000,0.023,2477,2041,3410
$GC,1676,-1.53,-165.5,146.4,-7.6,177,1680,0.00,2.40,0.00,0.000,4,0.000,0.034,2477,3430,3411
$GC,1729,-1.62,-165.5,150.5,-7.9,181,1734,0.17,2.35,0.00,0.000,6,0.052,0.023,2434,2029,3411
$GC,2055,-1.57,-165.5,181.4,-9.4,211,2059,0.00,2.42,0.00,0.000,4,0.000,0.034,2434,3436,3411
$GC,2112,-1.57,-165.5,187.1,-9.9,215,2118,0.00,2.35,0.00,0.000,6,0.000,0.023,2434,2038,3411
$GC,2445,-1.57,-165.5,217.3,-9.1,238,2449,0.00,2.42,0.00,0.000,4,0.000,0.035,2434,3441,3411
$GC,2496,-1.61,-165.5,222.1,-8.8,240,2500,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2031,3411
$GC,2813,-1.61,-165.5,249.9,-8.6,255,2820,0.00,2.42,0.00,0.000,4,0.000,0.041,2434,634,3410
$GC,2843,-1.64,-165.5,252.6,-8.3,256,2848,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2035,3410
$GC,3166,-1.64,-165.5,276.9,-8.1,272,3170,0.00,2.45,0.00,0.000,4,0.000,0.039,2433,3450,3410
$GC,3239,-1.70,-165.5,283.7,-8.7,275,3243,0.00,2.40,0.00,0.000,6,0.000,0.027,2434,2042,3410
$GC,3553,-1.70,-165.5,309.7,-7.9,287,3561,0.00,2.45,0.00,0.000,4,0.000,0.038,2434,3442,3408
$GC,3618,-1.77,-165.5,314.5,-7.0,288,3623,0.12,2.40,0.00,0.000,6,0.065,0.028,2404,2036,3408
$GC,3967,-1.74,-165.5,341.2,-7.9,297,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2035,3406
$GC,4291,-1.74,-165.5,369.5,-8.6,305,4295,0.00,2.47,0.00,0.000,4,0.000,0.041,2404,3444,3403
$GC,4342,-1.74,-165.5,374.1,-9.4,306,4347,0.00,2.42,0.00,0.000,6,0.000,0.030,2404,2031,3402
$GC,4662,-1.74,-165.5,402.3,-9.1,314,4666,0.00,2.47,0.00,0.000,4,0.000,0.041,2404,3441,3400
$GC,4720,-1.74,-165.5,407.8,-9.9,315,4724,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2031,3399
$GC,5034,-1.74,-165.5,436.0,-8.9,323,5038,0.00,2.50,0.00,0.000,4,0.000,0.042,2404,3446,3397
$GC,5067,-1.74,-165.5,439.2,-9.4,323,5073,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2041,3396
$STATE,5193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5193,begin apogee
$GC,5202,-0.33,0.0,450.3,8.7,327,5336,1.50,0.00,130.20,0.938,6,0.090,0.000,2714,1932,2732
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5340,1.06,165.5,455.4,0.0,330,5481,1.38,2.62,131.02,0.916,4,0.049,0.040,3020,3353,2058
$GC,5598,0.54,165.5,440.8,13.8,336,5604,0.60,2.45,0.00,0.000,6,0.127,0.034,2911,1965,2057
$GC,5924,0.24,165.5,411.3,8.6,344,5929,0.32,2.60,0.00,0.000,4,0.118,0.053,2848,536,2056
$GC,5969,0.04,165.5,407.6,7.9,345,5974,0.25,2.47,0.00,0.000,6,0.114,0.031,2801,1957,2055
$GC,6289,0.04,211.7,390.0,5.4,353,6331,0.00,2.53,35.92,0.910,4,0.000,0.044,2802,3353,1868
$GC,6360,0.01,237.3,385.9,6.1,354,6386,0.00,2.50,20.48,0.914,6,0.000,0.035,2802,1941,1765
$GC,6701,-0.01,255.5,365.6,6.3,363,6718,0.00,0.00,15.07,0.912,6,0.000,0.000,2801,1941,1691
$GC,7025,-0.07,255.5,342.4,7.4,371,7030,0.12,2.53,0.00,0.000,4,0.116,0.041,2779,3355,1690
$GC,7070,-0.04,270.1,339.3,6.4,372,7089,0.00,2.47,12.32,0.909,6,0.000,0.033,2779,1944,1631
$GC,7434,0.10,354.7,323.0,4.3,381,7505,0.15,2.60,65.50,0.911,4,0.074,0.053,2811,541,1286
$GC,7537,0.05,354.7,315.6,8.9,383,7541,0.00,2.47,0.00,0.000,6,0.000,0.030,2811,1951,1286
$GC,7861,-0.01,354.7,288.7,7.6,394,7866,0.12,2.50,0.00,0.000,4,0.113,0.044,2789,3353,1286
$GC,7906,-0.01,354.7,285.4,7.4,396,7910,0.00,2.47,0.00,0.000,6,0.000,0.032,2789,1942,1286
$GC,8227,0.05,388.9,265.5,5.8,412,8262,0.00,2.62,27.40,0.862,4,0.000,0.039,2789,3362,1147
$GC,8294,0.11,419.9,261.9,5.9,415,8324,0.12,2.50,24.65,0.848,6,0.077,0.031,2816,1940,1021
$GC,8645,0.06,419.9,238.0,7.0,432,8650,0.00,2.53,0.00,0.000,4,0.000,0.039,2816,3365,1020
$GC,8680,0.02,419.9,234.9,8.2,433,8685,0.00,2.47,0.00,0.000,6,0.000,0.030,2815,1944,1020
$GC,8997,-0.02,419.9,208.0,7.0,449,9002,0.15,2.53,0.00,0.000,4,0.100,0.049,2783,538,1020
$GC,9019,0.08,474.4,206.8,5.2,450,9070,0.12,2.45,43.10,0.795,6,0.072,0.027,2811,1963,798
$GC,9394,0.08,474.4,181.5,7.7,480,9398,0.00,2.42,0.00,0.000,4,0.000,0.038,2811,3351,799
$GC,9457,0.12,474.4,176.8,6.9,485,9462,0.00,2.45,0.00,0.000,6,0.000,0.029,2811,1941,799
$GC,9786,0.12,474.4,150.1,8.5,515,9790,0.00,2.47,0.00,0.000,4,0.000,0.035,2811,3355,799
$GC,9827,0.16,474.4,146.3,8.5,518,9831,0.00,2.42,0.00,0.000,6,0.000,0.027,2811,1947,799
$GC,10156,0.16,474.4,121.7,7.6,548,10160,0.00,2.45,0.00,0.000,4,0.000,0.034,2811,3355,799
$GC,10185,0.19,474.4,119.3,7.3,550,10190,0.00,2.42,0.00,0.000,6,0.000,0.025,2811,1939,800
$GC,10512,0.25,505.7,97.8,5.9,580,10546,0.15,2.53,25.08,0.676,4,0.063,0.034,2852,3360,671
$GC,10564,0.19,505.7,93.9,8.5,584,10570,0.00,2.42,0.00,0.000,6,0.000,0.025,2852,1948,671
$GC,10894,0.19,505.7,69.7,8.7,615,10898,0.00,2.45,0.00,0.000,4,0.000,0.033,2852,3358,674
$GC,10939,0.25,505.7,65.5,8.4,618,10946,0.00,2.40,0.00,0.000,6,0.000,0.025,2852,1943,675
$GC,11201,0.25,505.7,46.1,7.1,643,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1943,675
$GC,11458,0.25,505.7,27.9,7.4,669,11464,0.00,2.42,0.00,0.000,4,0.000,0.031,2852,3355,676
$GC,11499,0.25,505.7,24.9,7.1,676,11506,0.00,2.38,0.00,0.000,6,0.000,0.024,2852,1950,677
$STATE,11774,end climb,SURFACE_DEPTH_REACHED
$STATE,11774,begin surface coast
$FINISH,1.0,1.013411
$STATE,11848,end surface coast,CONTROL_FINISHED_OK
$STATE,11848,begin surface
$SM_CCo,11933,0.00,0.000,0,0,680,503.60
$SM_GC,1.64,10.75,0.00,0.00,0.040,0.000,0.000,408,2077,680,-10.91,1.05,503.60
$IRIDIUM_FIX,2104.07,-15747.88,150298,101038
$TT8_MAMPS,0.027612
$HUMID,1783
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,23.7,60.288
$10V_AH,10.2,36.703
$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,28.350,137.625,530.750,0.000,0.000,22.715,32.713,160.927,10.000,0.000,0.000,32.385,1352.517,8010.938,599.491,1778.732,566.666,33.375,1489.869,0.000,1729.084,0.000,57.462
$DEVICE_MAMPS,155.701,52.923,938.041,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.887,493.655,890.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37911,738
$CAP_FILE_SIZE,112940,0
$CFSIZE,260165632,233381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,165508,2107.463,-15748.965,33,1.1,33,9.8