version: 66.03
glider: 114
mission: 3
dive: 281
start: 10 31 108 4 19 41
data:
$ID,114
$MISSION,3
$DIVE,281
$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,-597149.06
$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,36
$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
$GPS1,040808,2107.592,-15748.256,52,1.2,52,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.3
$GPS2,041845,2107.611,-15748.420,12,1.2,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.065,-0.223
$KALMAN_X,-91209.8,-409.8,-966.8,101483.4,47.4
$KALMAN_Y,-77661.6,27.6,-215.1,61242.4,-580.9
$MHEAD_RNG_PITCHd_Wd,153.8,10150,-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,26,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-69.80,0.000,2,0.000,0.000,407,2070,2977
$GC,106,-1.06,-165.5,3.7,-4.5,13,131,11.95,2.50,-6.82,0.000,4,0.156,0.046,2539,633,3409
$GC,207,-1.23,-165.5,21.3,-7.4,30,214,0.12,2.33,0.00,0.000,6,0.058,0.021,2508,2026,3409
$GC,480,-1.23,-165.5,49.4,-10.6,63,485,0.00,2.42,0.00,0.000,4,0.000,0.035,2507,3438,3409
$GC,550,-1.34,-165.5,55.5,-7.6,68,556,0.00,2.35,0.00,0.000,6,0.000,0.023,2507,2034,3409
$GC,812,-1.38,-165.5,79.3,-9.4,93,817,0.12,2.42,0.00,0.000,4,0.058,0.033,2475,3437,3409
$GC,846,-1.35,-165.5,82.9,-11.1,95,852,0.00,2.35,0.00,0.000,6,0.000,0.022,2475,2030,3409
$GC,1174,-1.35,-165.5,111.3,-8.5,126,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2029,3409
$GC,1504,-1.35,-165.5,138.9,-6.9,157,1508,0.00,2.42,0.00,0.000,4,0.000,0.033,2475,3439,3409
$GC,1568,-1.40,-165.5,143.0,-5.7,162,1572,0.00,2.35,0.00,0.000,6,0.000,0.023,2475,2039,3410
$GC,1893,-1.40,-165.5,167.7,-8.1,192,1897,0.00,2.42,0.00,0.000,4,0.000,0.034,2475,3447,3409
$GC,1927,-1.46,-165.5,170.5,-8.1,194,1933,0.00,2.38,0.00,0.000,6,0.000,0.024,2475,2027,3409
$GC,2253,-1.51,-165.5,195.1,-7.3,225,2258,0.12,2.45,0.00,0.000,4,0.061,0.034,2443,3445,3409
$GC,2294,-1.51,-165.5,198.6,-9.3,228,2298,0.00,2.38,0.00,0.000,6,0.000,0.025,2443,2039,3409
$GC,2620,-1.51,-165.5,229.7,-8.2,244,2625,0.00,2.42,0.00,0.000,4,0.000,0.036,2443,3442,3409
$GC,2683,-1.57,-165.5,234.3,-6.8,246,2689,0.00,2.38,0.00,0.000,6,0.000,0.025,2443,2030,3409
$GC,2999,-1.57,-165.5,256.6,-7.0,262,3003,0.00,2.45,0.00,0.000,4,0.000,0.036,2443,3443,3409
$GC,3072,-1.63,-165.5,261.4,-6.3,265,3076,0.00,2.38,0.00,0.000,6,0.000,0.027,2444,2042,3409
$GC,3389,-1.66,-165.5,282.5,-7.0,280,3393,0.12,2.45,0.00,0.000,4,0.064,0.044,2412,635,3408
$GC,3407,-1.66,-165.5,284.0,-7.2,281,3411,0.00,2.38,0.00,0.000,6,0.000,0.028,2412,2031,3407
$GC,3752,-1.66,-165.5,315.5,-9.1,294,3756,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3450,3405
$GC,3859,-1.66,-165.5,325.0,-8.7,296,3863,0.00,2.42,0.00,0.000,6,0.000,0.029,2412,2032,3404
$GC,4203,-1.66,-165.5,354.7,-8.5,305,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2030,3402
$GC,4528,-1.66,-165.5,378.2,-7.4,313,4532,0.00,2.50,0.00,0.000,4,0.000,0.041,2412,3449,3399
$GC,4589,-1.66,-165.5,383.8,-8.5,314,4593,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2040,3399
$GC,4934,-1.66,-165.5,411.1,-7.7,323,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2039,3397
$GC,5257,-1.66,-165.5,436.5,-8.0,331,5261,0.00,2.47,0.00,0.000,4,0.000,0.044,2412,3439,3393
$GC,5346,-1.71,-165.5,444.4,-8.5,333,5351,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2033,3393
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5427,-0.33,0.0,451.0,8.9,335,5560,1.42,0.00,128.68,0.926,6,0.104,0.000,2707,1930,2733
$STATE,5561,end apogee,CONTROL_FINISHED_OK
$STATE,5561,begin climb
$GC,5564,1.06,165.5,458.2,0.0,338,5704,1.35,2.65,130.18,0.904,4,0.047,0.041,3009,3355,2057
$GC,5882,0.55,165.5,442.8,11.1,345,5888,0.57,2.47,0.00,0.000,6,0.135,0.033,2904,1953,2057
$GC,6231,0.26,165.5,417.1,7.3,354,6236,0.32,2.50,0.00,0.000,4,0.122,0.040,2840,3353,2055
$GC,6288,0.16,209.5,413.8,5.5,355,6328,0.12,2.47,34.30,0.904,6,0.128,0.033,2819,1942,1877
$GC,6646,0.10,237.7,393.3,6.0,364,6675,0.00,2.65,22.27,0.898,4,0.000,0.054,2819,539,1763
$GC,6716,-0.02,237.7,388.2,7.9,365,6721,0.22,2.47,0.00,0.000,6,0.113,0.030,2777,1956,1763
$GC,7053,0.09,299.8,370.9,5.0,374,7108,0.10,2.55,49.08,0.897,4,0.087,0.044,2799,3357,1509
$GC,7163,0.11,338.3,364.9,5.7,376,7198,0.00,2.47,30.67,0.885,6,0.000,0.034,2798,1951,1353
$GC,7508,0.08,353.6,344.3,6.4,385,7522,0.00,0.00,12.65,0.874,6,0.000,0.000,2798,1951,1291
$GC,7832,0.04,353.6,316.6,8.9,393,7836,0.00,2.50,0.00,0.000,4,0.000,0.041,2799,3353,1290
$GC,7882,0.00,353.6,312.1,8.8,394,7887,0.00,2.47,0.00,0.000,6,0.000,0.032,2798,1939,1290
$GC,8199,-0.03,353.6,285.9,7.5,406,8204,0.12,2.53,0.00,0.000,4,0.110,0.041,2777,3354,1290
$GC,8250,0.00,353.6,282.5,6.9,408,8254,0.00,2.45,0.00,0.000,6,0.000,0.031,2776,1948,1290
$GC,8566,0.06,386.4,264.0,5.8,423,8597,0.00,2.58,26.12,0.840,4,0.000,0.051,2776,546,1156
$GC,8616,0.12,393.8,260.8,6.6,425,8628,0.12,2.45,6.53,0.825,6,0.076,0.028,2804,1958,1127
$GC,8937,0.12,398.2,239.3,6.7,441,8946,0.00,2.47,4.45,0.803,4,0.000,0.041,2804,3348,1109
$GC,9010,0.12,398.2,234.1,7.3,444,9014,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1941,1108
$GC,9331,0.12,398.2,210.8,7.3,460,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1940,1109
$GC,9646,0.16,417.6,189.5,6.2,482,9668,0.00,2.50,15.73,0.763,4,0.000,0.035,2804,3350,1029
$GC,9732,0.22,433.1,183.8,6.4,489,9752,0.10,2.42,12.70,0.757,6,0.080,0.028,2826,1947,967
$GC,10080,0.18,433.1,156.4,8.8,522,10084,0.00,2.45,0.00,0.000,4,0.000,0.035,2827,3351,967
$GC,10120,0.18,433.1,152.8,8.6,525,10125,0.00,2.42,0.00,0.000,6,0.000,0.028,2827,1946,967
$GC,10449,0.18,433.1,127.0,8.2,555,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1946,967
$GC,10775,0.18,433.1,93.3,9.3,586,10779,0.00,2.42,0.00,0.000,4,0.000,0.033,2827,3351,968
$GC,10837,0.22,433.1,87.0,9.3,591,10843,0.00,2.40,0.00,0.000,6,0.000,0.025,2827,1935,968
$GC,11166,0.43,552.6,67.9,3.3,622,11264,0.17,2.53,91.93,0.604,4,0.056,0.034,2875,3353,480
$GC,11319,0.40,552.6,55.6,8.9,636,11323,0.00,2.40,0.00,0.000,6,0.000,0.025,2874,1954,481
$GC,11584,0.36,552.6,32.1,7.8,660,11588,0.00,2.45,0.00,0.000,4,0.000,0.034,2874,3360,482
$GC,11648,0.36,552.6,26.1,8.7,668,11654,0.00,2.42,0.00,0.000,6,0.000,0.023,2874,1933,483
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,1.0,1.023083
$STATE,11903,end surface coast,CONTROL_FINISHED_OK
$STATE,11903,begin surface
$SM_CCo,11987,0.00,0.000,0,0,485,551.43
$SM_GC,1.63,11.00,0.00,0.00,0.046,0.000,0.000,410,2073,485,-10.85,0.93,551.43
$IRIDIUM_FIX,2101.76,-15747.88,250198,040400
$TT8_MAMPS,0.027612
$HUMID,1765
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.30
$XPDR_PINGS,11
$24V_AH,23.8,39.323
$10V_AH,10.2,24.046
$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,28.100,122.850,565.275,0.000,0.000,47.689,58.959,329.138,11.750,0.000,0.000,13.645,1311.037,8214.820,595.654,1732.529,770.076,33.365,1472.389,0.000,1695.377,0.000,57.447
$DEVICE_MAMPS,156.468,54.457,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.438,464.136,827.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,713
$CAP_FILE_SIZE,113907,0
$CFSIZE,260165632,242262016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311008,074039,2106.186,-15748.003,31,1.9,32,9.8