version: 66.03
glider: 114
mission: 3
dive: 268
start: 10 29 108 8 7 27
data:
$ID,114
$MISSION,3
$DIVE,268
$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,-596944.06
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$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,68
$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
$GPS1,080031,2104.227,-15748.667,40,1.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.3
$GPS2,080632,2104.205,-15748.644,13,1.6,30,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.218,-0.081
$KALMAN_X,-83256.7,-491.7,675.4,91584.4,-1658.0
$KALMAN_Y,-66063.4,-97.6,245.1,43000.9,-398.2
$MHEAD_RNG_PITCHd_Wd,100.5,4581,-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,27,-1.06,-165.5,0.0,0.0,0,110,0.00,0.00,-80.43,0.000,2,0.000,0.000,411,2088,2843
$GC,114,-1.06,-165.5,3.5,-4.0,15,144,11.90,2.55,-9.40,0.000,4,0.156,0.048,2538,640,3410
$GC,186,-1.17,-165.5,17.6,-10.0,27,192,0.00,2.30,0.00,0.000,6,0.000,0.021,2538,2021,3410
$GC,463,-1.23,-165.5,40.2,-7.5,65,468,0.12,2.42,0.00,0.000,4,0.062,0.035,2508,3437,3410
$GC,538,-1.31,-165.5,45.4,-6.7,71,542,0.00,2.35,0.00,0.000,6,0.000,0.023,2508,2027,3410
$GC,806,-1.35,-165.5,65.5,-9.8,96,810,0.00,2.45,0.00,0.000,4,0.000,0.035,2508,3446,3410
$GC,873,-1.47,-165.5,72.0,-9.0,101,880,0.22,2.35,0.00,0.000,6,0.048,0.023,2453,2037,3410
$GC,1138,-1.42,-165.5,96.9,-8.9,126,1142,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3446,3410
$GC,1194,-1.42,-165.5,102.3,-9.4,130,1201,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2034,3410
$GC,1520,-1.42,-165.5,134.8,-8.8,161,1524,0.00,2.42,0.00,0.000,4,0.000,0.034,2453,3442,3410
$GC,1605,-1.42,-165.5,141.7,-7.9,168,1609,0.00,2.38,0.00,0.000,6,0.000,0.024,2453,2029,3410
$GC,1930,-1.42,-165.5,171.1,-9.6,198,1935,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3437,3410
$GC,2009,-1.45,-165.5,179.0,-9.8,204,2016,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2033,3410
$GC,2335,-1.45,-165.5,210.1,-9.2,230,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2032,3411
$GC,2641,-1.45,-165.5,235.0,-7.5,245,2645,0.00,2.42,0.00,0.000,4,0.000,0.036,2452,3446,3410
$GC,2734,-1.54,-165.5,243.0,-9.2,249,2738,0.00,2.38,0.00,0.000,6,0.000,0.025,2453,2037,3410
$GC,3063,-1.59,-165.5,270.3,-7.4,265,3067,0.00,2.40,0.00,0.000,4,0.000,0.036,2453,3436,3410
$GC,3136,-1.66,-165.5,276.1,-7.9,268,3141,0.15,2.35,0.00,0.000,6,0.058,0.025,2416,2041,3410
$GC,3477,-1.66,-165.5,307.3,-9.0,283,3481,0.00,2.42,0.00,0.000,4,0.000,0.038,2416,3437,3409
$GC,3566,-1.66,-165.5,314.2,-7.7,285,3570,0.00,2.38,0.00,0.000,6,0.000,0.027,2415,2031,3409
$GC,3891,-1.66,-165.5,341.9,-9.5,293,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2030,3407
$GC,4215,-1.66,-165.5,376.0,-10.6,301,4219,0.00,2.47,0.00,0.000,4,0.000,0.041,2416,3447,3404
$GC,4248,-1.66,-165.5,379.6,-10.2,301,4255,0.00,2.40,0.00,0.000,6,0.000,0.029,2416,2043,3404
$GC,4580,-1.66,-165.5,414.5,-9.9,310,4584,0.00,2.47,0.00,0.000,4,0.000,0.048,2416,631,3401
$GC,4636,-1.71,-165.5,419.7,-9.3,311,4641,0.00,2.40,0.00,0.000,6,0.000,0.029,2416,2037,3401
$GC,4949,-1.71,-165.5,445.7,-8.3,319,4954,0.00,2.50,0.00,0.000,4,0.000,0.048,2416,3453,3399
$STATE,5003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5003,begin apogee
$GC,5014,-0.33,0.0,450.5,8.6,320,5147,1.35,0.00,129.48,0.905,6,0.086,0.000,2700,1951,2732
$STATE,5148,end apogee,CONTROL_FINISHED_OK
$STATE,5148,begin climb
$GC,5151,1.06,165.5,455.9,0.0,323,5291,1.38,2.60,130.12,0.884,4,0.048,0.041,3008,3360,2059
$GC,5391,0.55,165.5,444.6,13.1,328,5396,0.57,2.50,0.00,0.000,6,0.122,0.034,2903,1941,2058
$GC,5728,0.27,165.5,412.0,9.9,337,5733,0.30,2.53,0.00,0.000,4,0.119,0.038,2844,3366,2055
$GC,5769,0.09,165.5,408.4,8.6,338,5774,0.22,2.50,0.00,0.000,6,0.112,0.033,2801,1943,2055
$GC,6094,0.14,236.5,391.0,4.7,346,6154,0.00,2.58,54.45,0.884,4,0.000,0.053,2801,543,1769
$GC,6201,0.18,294.9,386.2,5.1,348,6257,0.00,2.45,46.70,0.869,6,0.000,0.029,2801,1956,1530
$GC,6583,0.12,294.9,361.5,7.0,358,6588,0.00,2.47,0.00,0.000,4,0.000,0.043,2801,3357,1529
$GC,6663,0.08,294.9,355.7,6.8,359,6669,0.00,2.47,0.00,0.000,6,0.000,0.034,2801,1938,1529
$GC,6995,0.02,294.9,330.2,8.1,368,6999,0.00,2.50,0.00,0.000,4,0.000,0.052,2801,541,1527
$GC,7031,-0.03,294.9,327.2,8.4,368,7037,0.15,2.42,0.00,0.000,6,0.110,0.029,2773,1953,1527
$GC,7363,-0.03,294.9,303.7,7.0,377,7367,0.00,2.45,0.00,0.000,4,0.000,0.043,2774,3351,1527
$GC,7408,-0.03,294.9,300.0,8.1,378,7412,0.00,2.45,0.00,0.000,6,0.000,0.033,2773,1940,1526
$GC,7731,0.11,376.2,281.0,4.4,393,7797,0.15,0.00,62.35,0.829,6,0.071,0.000,2811,1940,1199
$GC,8106,0.06,376.2,251.1,9.0,411,8111,0.00,2.50,0.00,0.000,4,0.000,0.038,2811,3361,1199
$GC,8174,0.06,376.2,244.6,9.3,414,8178,0.00,2.47,0.00,0.000,6,0.000,0.032,2811,1938,1199
$GC,8495,0.03,376.2,218.1,8.3,430,8500,0.12,2.50,0.00,0.000,4,0.104,0.048,2788,536,1199
$GC,8529,0.03,376.2,215.1,8.2,431,8535,0.00,2.42,0.00,0.000,6,0.000,0.027,2788,1960,1199
$GC,8847,0.10,417.1,196.2,5.6,450,8884,0.00,2.45,32.12,0.756,4,0.000,0.038,2788,3350,1032
$GC,8920,0.16,418.6,191.9,6.8,456,8925,0.12,2.45,0.00,0.000,6,0.071,0.029,2817,1934,1031
$GC,9246,0.13,418.6,165.8,8.3,486,9250,0.00,2.47,0.00,0.000,4,0.000,0.048,2817,538,1032
$GC,9286,0.13,418.6,162.2,9.1,489,9290,0.00,2.40,0.00,0.000,6,0.000,0.025,2817,1951,1032
$GC,9615,0.20,461.4,139.2,5.6,519,9659,0.00,2.50,34.40,0.693,4,0.000,0.038,2817,3345,852
$GC,9717,0.35,546.2,134.4,4.3,528,9792,0.17,2.40,66.05,0.674,6,0.060,0.028,2857,1951,505
$GC,10111,0.25,546.2,98.5,11.3,565,10116,0.12,2.45,0.00,0.000,4,0.100,0.035,2834,3351,509
$GC,10175,0.29,552.0,93.2,6.6,570,10187,0.00,2.42,5.93,0.641,6,0.000,0.025,2834,1934,482
$GC,10506,0.29,552.0,71.8,7.6,601,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1934,482
$GC,10761,0.38,570.9,55.7,6.3,625,10784,0.12,2.53,12.45,0.598,4,0.061,0.032,2867,3349,419
$GC,10824,0.44,570.9,50.4,8.4,630,10831,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,1953,420
$GC,11091,0.40,570.9,28.5,8.5,656,11098,0.00,2.42,0.00,0.000,4,0.000,0.034,2867,3356,420
$GC,11124,0.36,570.9,25.3,9.1,661,11131,0.00,2.38,0.15,1.309,6,0.000,0.024,2867,1948,420
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11350,begin surface coast
$FINISH,1.1,1.022989
$STATE,11412,end surface coast,CONTROL_FINISHED_OK
$STATE,11412,begin surface
$SM_CCo,11496,0.00,0.000,0,0,420,567.38
$SM_GC,1.52,10.82,0.00,0.00,0.041,0.000,0.000,407,2075,420,-10.87,0.99,567.38
$IRIDIUM_FIX,2057.14,-15753.90,230198,040454
$TT8_MAMPS,0.028379
$HUMID,1731
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,37.542
$10V_AH,10.2,22.943
$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,28.025,127.250,574.200,0.000,0.000,25.512,27.565,153.758,11.500,0.000,0.000,31.825,1281.784,7677.115,615.965,1748.942,532.387,33.372,1501.692,0.000,1699.308,0.000,60.243
$DEVICE_MAMPS,155.701,52.923,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.137,466.877,859.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37981,712
$CAP_FILE_SIZE,107985,0
$CFSIZE,260165632,243040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291008,111951,2103.345,-15747.607,9,1.6,9,9.8