version: 66.03
glider: 114
mission: 3
dive: 405
start: 11 17 108 21 1 18
data:
$ID,114
$MISSION,3
$DIVE,405
$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,-599534.5
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,205101,2105.664,-15747.730,37,1.1,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.0
$GPS2,210021,2105.679,-15747.731,10,1.7,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.014,0.232
$KALMAN_X,-113973.1,1143.5,-251.0,123157.1,-800.0
$KALMAN_Y,-123588.3,508.7,-79.1,102981.2,-1035.6
$MHEAD_RNG_PITCHd_Wd,346.6,8910,-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,-80.72,0.000,2,0.000,0.000,407,2062,2838
$GC,117,-1.06,-165.5,3.1,-3.1,15,147,11.98,2.40,-9.82,0.000,4,0.154,0.048,2549,3424,3410
$GC,206,-1.18,-165.5,17.1,-7.2,30,212,0.00,2.35,0.00,0.000,6,0.000,0.021,2550,2022,3409
$GC,485,-1.26,-165.5,36.6,-7.2,72,489,0.15,2.42,0.00,0.000,4,0.054,0.031,2508,3425,3409
$GC,570,-1.33,-165.5,44.6,-9.9,79,575,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2030,3409
$GC,833,-1.33,-165.5,70.8,-9.8,103,837,0.00,2.40,0.00,0.000,4,0.000,0.034,2508,3421,3409
$GC,889,-1.40,-165.5,75.7,-7.8,107,895,0.00,2.33,0.00,0.000,6,0.000,0.022,2508,2028,3409
$GC,1152,-1.45,-165.5,98.2,-8.6,132,1153,0.15,0.00,0.00,0.000,6,0.053,0.000,2470,2027,3409
$GC,1469,-1.45,-165.5,127.0,-9.7,162,1473,0.00,2.40,0.00,0.000,4,0.000,0.034,2470,3421,3410
$GC,1594,-1.51,-165.5,139.3,-8.2,172,1601,0.00,2.33,0.00,0.000,6,0.000,0.023,2469,2031,3410
$GC,1920,-1.51,-165.5,166.1,-7.3,203,1924,0.00,2.40,0.00,0.000,4,0.000,0.034,2470,3424,3410
$GC,1978,-1.55,-165.5,170.3,-7.0,207,1984,0.00,2.33,0.00,0.000,6,0.000,0.023,2470,2038,3410
$GC,2303,-1.55,-165.5,195.6,-7.3,238,2307,0.00,2.40,0.00,0.000,4,0.000,0.035,2470,3428,3410
$GC,2389,-1.62,-165.5,201.2,-5.8,245,2394,0.15,2.35,0.00,0.000,6,0.057,0.025,2432,2030,3410
$GC,2717,-1.62,-165.5,226.2,-7.8,261,2721,0.00,2.40,0.00,0.000,4,0.000,0.035,2433,3419,3410
$GC,2750,-1.62,-165.5,229.2,-7.8,262,2756,0.00,2.33,0.00,0.000,6,0.000,0.025,2432,2036,3410
$GC,3067,-1.62,-165.5,256.4,-9.3,278,3071,0.00,2.40,0.00,0.000,4,0.000,0.037,2432,3420,3410
$GC,3118,-1.66,-165.5,261.1,-9.1,280,3122,0.00,2.35,0.00,0.000,6,0.000,0.026,2432,2032,3410
$GC,3435,-1.66,-165.5,289.5,-8.8,295,3439,0.00,2.42,0.00,0.000,4,0.000,0.038,2432,3423,3408
$GC,3485,-1.70,-165.5,294.2,-9.4,297,3489,0.00,2.35,0.00,0.000,6,0.000,0.027,2432,2040,3407
$GC,3803,-1.70,-165.5,320.7,-8.3,307,3807,0.00,2.42,0.00,0.000,4,0.000,0.039,2432,3427,3406
$GC,3855,-1.76,-165.5,325.2,-8.3,308,3860,0.12,2.38,0.00,0.000,6,0.068,0.028,2403,2034,3406
$GC,4168,-1.72,-165.5,355.0,-9.1,316,4172,0.00,2.42,0.00,0.000,4,0.000,0.041,2402,3418,3403
$GC,4254,-1.72,-165.5,362.8,-8.5,318,4258,0.00,2.38,0.00,0.000,6,0.000,0.029,2402,2034,3403
$GC,4579,-1.68,-165.5,388.0,-8.0,326,4584,0.10,2.45,0.00,0.000,4,0.114,0.040,2421,3426,3400
$GC,4602,-1.68,-165.5,390.0,-8.9,326,4606,0.00,2.38,0.00,0.000,6,0.000,0.029,2421,2039,3399
$GC,4940,-1.68,-165.5,422.2,-9.5,335,4944,0.00,2.42,0.00,0.000,4,0.000,0.041,2421,3416,3397
$GC,5019,-1.72,-165.5,429.7,-9.1,336,5024,0.00,2.38,0.00,0.000,6,0.000,0.031,2420,2036,3396
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5321,-0.33,0.0,452.1,7.2,344,5454,1.42,0.00,129.20,0.928,6,0.087,0.000,2716,1932,2733
$STATE,5455,end apogee,CONTROL_FINISHED_OK
$STATE,5455,begin climb
$GC,5459,1.06,165.5,457.1,0.0,347,5599,1.35,2.60,130.55,0.910,4,0.048,0.052,3018,555,2058
$GC,5630,0.50,165.5,454.3,11.4,351,5636,0.65,2.40,0.00,0.000,6,0.137,0.029,2902,1926,2058
$GC,5950,0.21,165.5,426.6,9.0,359,5955,0.30,2.55,0.00,0.000,4,0.118,0.044,2844,3350,2055
$GC,6024,0.05,165.5,420.7,7.3,360,6029,0.22,2.45,0.00,0.000,6,0.130,0.033,2804,1957,2055
$GC,6357,0.03,204.5,401.2,5.7,368,6388,0.00,0.00,30.17,0.910,6,0.000,0.000,2804,1957,1899
$GC,6681,-0.02,215.3,380.7,6.5,376,6695,0.00,2.55,8.90,0.901,4,0.000,0.040,2804,3349,1855
$GC,6713,-0.06,232.2,378.4,6.3,376,6733,0.15,2.47,14.07,0.906,6,0.122,0.032,2778,1943,1786
$GC,7053,0.01,273.0,358.3,5.6,385,7095,0.00,2.62,32.58,0.910,4,0.000,0.054,2778,543,1620
$GC,7135,0.03,286.9,353.6,6.4,386,7153,0.00,2.47,11.80,0.893,6,0.000,0.030,2778,1963,1562
$GC,7469,0.16,362.2,337.8,4.6,395,7534,0.20,2.55,58.78,0.887,4,0.069,0.044,2825,3344,1255
$GC,7575,0.09,362.2,328.8,10.2,397,7579,0.00,2.47,0.00,0.000,6,0.000,0.033,2824,1945,1256
$GC,7898,0.01,362.2,294.9,10.5,406,7903,0.17,2.53,0.00,0.000,4,0.105,0.041,2789,3355,1255
$GC,7926,0.01,362.2,292.4,8.7,407,7930,0.00,2.47,0.00,0.000,6,0.000,0.031,2789,1942,1255
$GC,8242,0.01,362.2,270.5,7.1,422,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1942,1255
$GC,8552,0.11,418.3,251.0,5.2,437,8603,0.10,2.58,44.03,0.833,4,0.083,0.039,2812,3344,1026
$GC,8632,0.11,418.3,244.9,8.5,440,8638,0.00,2.45,0.00,0.000,6,0.000,0.031,2811,1950,1026
$GC,8948,0.19,468.4,221.5,5.3,456,8993,0.00,2.55,39.38,0.800,4,0.000,0.038,2812,3358,823
$GC,9022,0.19,468.4,215.6,8.6,459,9027,0.00,2.47,0.00,0.000,6,0.000,0.029,2812,1945,822
$GC,9344,0.19,468.4,187.1,9.7,480,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1945,822
$GC,9662,0.19,468.4,157.6,8.1,510,9666,0.00,2.47,0.00,0.000,4,0.000,0.035,2811,3362,822
$GC,9718,0.26,468.4,153.3,7.5,514,9725,0.15,2.42,0.00,0.000,6,0.067,0.027,2847,1947,823
$GC,10045,0.21,468.4,122.6,8.8,545,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1947,823
$GC,10365,0.22,477.3,99.7,6.6,575,10378,0.00,2.53,7.78,0.670,4,0.000,0.034,2847,3354,786
$GC,10448,0.28,477.3,93.4,7.6,582,10452,0.00,2.42,0.00,0.000,6,0.000,0.026,2847,1941,787
$GC,10776,0.28,477.3,69.8,7.1,612,10781,0.00,2.45,0.00,0.000,4,0.000,0.044,2847,548,788
$GC,10822,0.36,477.3,66.2,7.4,615,10828,0.00,2.38,0.00,0.000,6,0.000,0.022,2847,1968,788
$GC,11085,0.36,477.3,48.9,6.8,640,11089,0.00,2.35,0.00,0.000,4,0.000,0.033,2847,3343,789
$GC,11137,0.43,477.3,45.4,7.3,644,11142,0.15,2.38,0.00,0.000,6,0.061,0.024,2884,1943,789
$GC,11403,0.39,477.3,25.2,8.3,673,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1937,790
$STATE,11644,end climb,SURFACE_DEPTH_REACHED
$STATE,11644,begin surface coast
$FINISH,1.0,1.018305
$STATE,11719,end surface coast,CONTROL_FINISHED_OK
$STATE,11719,begin surface
$SM_CCo,11803,0.00,0.000,0,0,793,476.13
$SM_GC,1.57,10.95,0.00,0.00,0.044,0.000,0.000,410,2070,793,-10.91,0.85,476.13
$IRIDIUM_FIX,2057.14,-15748.75,110298,212158
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.90
$XPDR_PINGS,13
$24V_AH,23.8,56.788
$10V_AH,10.2,34.486
$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,28.475,121.825,507.225,0.000,0.000,47.241,63.353,241.825,12.250,0.000,0.000,12.047,1326.855,8040.371,574.073,1726.118,696.941,33.370,1433.973,0.000,1698.759,0.000,57.472
$DEVICE_MAMPS,154.167,53.690,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.479,482.312,876.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,729
$CAP_FILE_SIZE,111001,0
$CFSIZE,260165632,234921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181108,001908,2106.866,-15747.596,27,1.0,27,9.8