version: 66.03
glider: 114
mission: 3
dive: 435
start: 11 21 108 23 51 40
data:
$ID,114
$MISSION,3
$DIVE,435
$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,-600219.75
$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,41
$R_STBD_OVSHOOT,44
$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
$GPS1,234505,2104.606,-15748.882,11,2.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.9
$GPS2,235045,2104.624,-15748.934,8,1.2,8,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175,-0.153
$KALMAN_X,-132843.4,-463.4,-412.1,141733.8,-703.6
$KALMAN_Y,-139149.9,3.4,-228.7,117241.0,16.8
$MHEAD_RNG_PITCHd_Wd,121.5,5499,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.06,-165.5,0.0,0.0,0,111,0.00,0.00,-81.22,0.000,2,0.000,0.000,408,2013,2841
$GC,116,-1.06,-165.5,3.3,-3.5,15,145,12.02,2.45,-9.80,0.000,4,0.156,0.050,2551,639,3410
$GC,165,-0.55,-165.5,14.5,-20.1,23,172,0.55,2.35,0.00,0.000,6,0.063,0.022,2670,2036,3410
$GC,439,-1.01,-165.5,39.8,-11.3,64,445,0.43,2.40,0.00,0.000,4,0.057,0.031,2572,3441,3410
$GC,474,-1.39,-165.5,43.6,-10.5,66,481,0.40,2.35,0.00,0.000,6,0.058,0.021,2483,2036,3410
$GC,739,-1.32,-165.5,69.9,-10.6,91,743,0.00,2.42,0.00,0.000,4,0.000,0.034,2483,3440,3410
$GC,807,-1.32,-165.5,78.1,-12.1,96,814,0.00,2.35,0.00,0.000,6,0.000,0.022,2483,2036,3410
$GC,1070,-1.32,-165.5,104.7,-9.2,121,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3411
$GC,1390,-1.32,-165.5,133.3,-8.7,151,1394,0.00,2.42,0.00,0.000,4,0.000,0.032,2483,3446,3411
$GC,1443,-1.41,-165.5,137.9,-7.7,155,1447,0.00,2.38,0.00,0.000,6,0.000,0.022,2483,2026,3411
$GC,1770,-1.44,-165.5,160.7,-7.2,185,1774,0.00,2.45,0.00,0.000,4,0.000,0.033,2483,3449,3411
$GC,1861,-1.53,-165.5,167.8,-8.1,192,1868,0.12,2.38,0.00,0.000,6,0.062,0.023,2453,2030,3411
$GC,2189,-1.53,-165.5,199.2,-9.4,223,2193,0.00,2.45,0.00,0.000,4,0.000,0.034,2453,3448,3411
$GC,2275,-1.58,-165.5,206.7,-7.9,227,2279,0.00,2.38,0.00,0.000,6,0.000,0.023,2453,2041,3411
$GC,2602,-1.58,-165.5,233.4,-8.9,243,2606,0.00,2.42,0.00,0.000,4,0.000,0.035,2452,3443,3411
$GC,2647,-1.64,-165.5,237.6,-9.2,245,2651,0.00,2.38,0.00,0.000,6,0.000,0.025,2453,2032,3411
$GC,2973,-1.68,-165.5,260.8,-5.7,261,2978,0.12,2.45,0.00,0.000,4,0.061,0.035,2420,3445,3411
$GC,3007,-1.68,-165.5,263.5,-7.7,262,3013,0.00,2.38,0.00,0.000,6,0.000,0.025,2420,2037,3411
$GC,3323,-1.68,-165.5,289.5,-8.9,278,3327,0.00,2.42,0.00,0.000,4,0.000,0.038,2420,3438,3410
$GC,3396,-1.68,-165.5,295.9,-8.7,281,3400,0.00,2.38,0.00,0.000,6,0.000,0.026,2420,2033,3409
$GC,3740,-1.68,-165.5,325.9,-8.5,291,3744,0.00,2.45,0.00,0.000,4,0.000,0.038,2420,3437,3408
$GC,3768,-1.68,-165.5,328.3,-9.0,291,3772,0.00,2.38,0.00,0.000,6,0.000,0.028,2420,2042,3408
$GC,4099,-1.68,-165.5,356.4,-9.1,299,4103,0.00,2.45,0.00,0.000,4,0.000,0.040,2420,3441,3406
$GC,4150,-1.72,-165.5,361.3,-9.2,300,4154,0.00,2.40,0.00,0.000,6,0.000,0.029,2420,2035,3406
$GC,4470,-1.72,-165.5,387.0,-7.5,308,4474,0.00,2.47,0.00,0.000,4,0.000,0.041,2420,3446,3403
$GC,4497,-1.72,-165.5,389.0,-6.8,308,4501,0.00,2.42,0.00,0.000,6,0.000,0.029,2420,2033,3403
$GC,4837,-1.72,-165.5,412.9,-7.5,317,4841,0.00,2.47,0.00,0.000,4,0.000,0.041,2420,3436,3400
$GC,4910,-1.77,-165.5,419.0,-8.3,318,4915,0.00,2.40,0.00,0.000,6,0.000,0.031,2420,2043,3399
$GC,5244,-1.77,-165.5,445.8,-8.4,326,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2043,3397
$STATE,5321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5321,begin apogee
$GC,5329,-0.33,0.0,452.8,8.6,328,5463,1.42,0.00,130.35,0.940,6,0.098,0.000,2712,1939,2733
$STATE,5464,end apogee,CONTROL_FINISHED_OK
$STATE,5464,begin climb
$GC,5468,1.06,165.5,459.3,0.0,331,5608,1.38,2.60,131.52,0.919,4,0.051,0.041,3018,3347,2057
$GC,5702,0.54,165.5,450.6,12.6,336,5708,0.57,2.45,0.00,0.000,6,0.138,0.034,2913,1963,2056
$GC,6046,0.24,165.5,419.1,8.9,345,6051,0.32,2.60,0.00,0.000,4,0.121,0.054,2849,536,2055
$GC,6120,0.04,165.5,413.3,7.1,346,6125,0.25,2.45,0.00,0.000,6,0.115,0.031,2802,1943,2055
$GC,6454,0.18,292.8,400.7,3.1,354,6560,0.12,2.58,99.88,0.912,4,0.120,0.047,2828,3350,1539
$GC,6617,0.10,297.0,392.6,6.7,357,6626,0.00,2.50,4.07,0.854,6,0.000,0.035,2827,1943,1522
$GC,6954,-0.01,297.0,367.8,8.1,366,6956,0.20,0.00,0.00,0.000,6,0.107,0.000,2791,1943,1521
$GC,7278,-0.01,297.0,344.6,7.1,374,7282,0.00,2.53,0.00,0.000,4,0.000,0.042,2790,3359,1520
$GC,7318,-0.01,297.0,341.7,7.6,375,7322,0.00,2.50,0.00,0.000,6,0.000,0.033,2790,1938,1520
$GC,7643,0.04,326.0,320.9,6.0,383,7667,0.00,0.00,22.73,0.904,6,0.000,0.000,2791,1938,1404
$GC,7967,0.12,372.6,303.4,5.4,391,8010,0.12,2.62,36.60,0.900,4,0.083,0.041,2818,3352,1214
$GC,8039,0.07,372.6,298.3,7.8,392,8043,0.00,2.47,0.00,0.000,6,0.000,0.031,2818,1949,1214
$GC,8361,0.02,372.6,273.7,7.7,408,8366,0.12,2.50,0.00,0.000,4,0.108,0.039,2795,3352,1214
$GC,8401,0.02,372.6,270.7,7.2,410,8405,0.00,2.47,0.00,0.000,6,0.000,0.031,2795,1939,1214
$GC,8727,0.02,372.6,247.0,7.4,426,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1939,1214
$GC,9038,0.13,439.8,229.6,4.8,441,9101,0.10,2.58,52.88,0.821,4,0.084,0.036,2817,3349,940
$GC,9148,0.15,448.5,223.1,6.6,446,9162,0.00,2.45,7.90,0.802,6,0.000,0.029,2817,1940,904
$GC,9481,0.15,448.5,198.3,7.9,463,9485,0.00,2.50,0.00,0.000,4,0.000,0.036,2817,3361,904
$GC,9521,0.15,448.5,195.0,8.3,466,9525,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,1948,903
$GC,9849,0.15,448.5,167.8,8.0,496,9853,0.00,2.47,0.00,0.000,4,0.000,0.035,2818,3365,904
$GC,9877,0.15,448.5,165.2,8.0,498,9884,0.00,2.42,0.00,0.000,6,0.000,0.027,2817,1947,904
$GC,10206,0.15,448.5,141.2,6.9,529,10210,0.00,2.47,0.00,0.000,4,0.000,0.034,2817,3366,904
$GC,10235,0.15,448.5,138.7,7.7,531,10240,0.00,2.45,0.00,0.000,6,0.000,0.025,2817,1937,905
$GC,10561,0.21,482.7,117.6,5.8,561,10594,0.00,2.50,26.92,0.691,4,0.000,0.031,2818,3357,764
$GC,10642,0.28,482.7,112.3,7.5,568,10647,0.15,2.42,0.00,0.000,6,0.063,0.025,2853,1948,766
$GC,10970,0.23,482.7,83.2,10.1,598,10974,0.00,2.47,0.00,0.000,4,0.000,0.044,2853,547,768
$GC,11003,0.23,482.7,79.4,10.5,600,11010,0.00,2.38,0.00,0.000,6,0.000,0.022,2853,1961,768
$GC,11334,0.24,488.1,55.0,6.7,631,11346,0.00,2.40,6.03,0.630,4,0.000,0.033,2853,3349,742
$GC,11394,0.31,488.1,50.2,7.7,636,11399,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1938,742
$GC,11657,0.32,489.3,33.1,6.8,660,11661,0.00,2.42,0.00,0.000,4,0.000,0.031,2853,3345,743
$GC,11679,0.32,493.7,31.5,6.7,661,11689,0.00,2.38,4.95,0.609,6,0.000,0.024,2853,1939,719
$GC,11962,0.35,509.2,12.7,6.4,709,11980,0.00,2.47,11.95,0.584,4,0.000,0.031,2853,3357,656
$GC,12011,0.39,509.2,9.4,6.9,717,12018,0.10,2.40,0.00,0.000,6,0.069,0.024,2878,1947,657
$STATE,12067,end climb,SURFACE_DEPTH_REACHED
$STATE,12067,begin surface coast
$FINISH,0.9,1.009695
$STATE,12145,end surface coast,CONTROL_FINISHED_OK
$STATE,12145,begin surface
$SM_CCo,12229,0.00,0.000,0,0,658,509.00
$SM_GC,1.69,10.98,0.00,0.00,0.044,0.000,0.000,410,2072,658,-10.90,0.90,509.00
$IRIDIUM_FIX,2057.14,-15746.61,150298,202059
$TT8_MAMPS,0.027612
$HUMID,1781
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.7,60.743
$10V_AH,10.2,36.954
$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,29.500,137.275,535.775,0.000,0.000,25.584,29.572,149.241,11.250,0.000,0.000,10.259,1358.542,8299.889,596.960,1748.165,564.690,33.372,1484.549,0.000,1719.609,0.000,57.439
$DEVICE_MAMPS,155.701,53.690,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.467,487.634,878.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37920,740
$CAP_FILE_SIZE,112965,0
$CFSIZE,260165632,233205760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221108,031637,2103.133,-15748.452,28,1.5,28,9.8