version: 66.03
glider: 114
mission: 3
dive: 443
start: 11 23 108 3 51 6
data:
$ID,114
$MISSION,3
$DIVE,443
$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,-600378.31
$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,35
$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
$GPS1,034426,2107.988,-15748.734,35,1.5,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.5
$GPS2,035009,2107.999,-15748.753,13,1.1,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.034,0.230
$KALMAN_X,-143303.4,-755.9,-12.0,152385.5,-694.6
$KALMAN_Y,-147356.0,41.1,82.5,131339.0,-1065.5
$MHEAD_RNG_PITCHd_Wd,341.9,4287,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,100,0.00,0.00,-70.45,0.000,2,0.000,0.000,412,2080,2822
$GC,104,-1.06,-165.5,3.3,-3.4,13,134,12.00,2.35,-10.12,0.000,4,0.155,0.047,2554,3416,3410
$GC,246,-1.20,-165.5,21.4,-7.9,37,253,0.12,2.33,0.00,0.000,6,0.061,0.021,2524,2025,3410
$GC,515,-1.20,-165.5,47.1,-9.2,70,519,0.00,2.40,0.00,0.000,4,0.000,0.033,2525,3414,3410
$GC,560,-1.28,-165.5,50.9,-7.2,73,567,0.00,2.30,0.00,0.000,6,0.000,0.022,2524,2040,3410
$GC,823,-1.32,-165.5,67.2,-5.7,98,827,0.00,2.38,0.00,0.000,4,0.000,0.033,2524,3420,3410
$GC,910,-1.44,-165.5,72.1,-5.2,105,914,0.22,2.33,0.00,0.000,6,0.048,0.022,2470,2037,3410
$GC,1172,-1.44,-165.5,96.3,-7.5,129,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2037,3410
$GC,1494,-1.44,-165.5,123.5,-8.7,159,1498,0.00,2.38,0.00,0.000,4,0.000,0.032,2470,3421,3411
$GC,1602,-1.49,-165.5,133.5,-9.1,168,1606,0.00,2.33,0.00,0.000,6,0.000,0.022,2470,2036,3411
$GC,1928,-1.49,-165.5,161.8,-8.5,198,1932,0.00,2.38,0.00,0.000,4,0.000,0.033,2470,3420,3411
$GC,2007,-1.57,-165.5,168.6,-8.7,204,2013,0.00,2.33,0.00,0.000,6,0.000,0.024,2470,2033,3411
$GC,2333,-1.60,-165.5,194.4,-7.6,235,2338,0.12,2.40,0.00,0.000,4,0.058,0.034,2436,3422,3411
$GC,2362,-1.60,-165.5,197.0,-9.6,237,2366,0.00,2.35,0.00,0.000,6,0.000,0.024,2436,2026,3411
$GC,2689,-1.60,-165.5,228.7,-10.0,254,2693,0.00,2.40,0.00,0.000,4,0.000,0.035,2436,3420,3411
$GC,2729,-1.60,-165.5,232.5,-9.8,256,2734,0.00,2.33,0.00,0.000,6,0.000,0.025,2435,2044,3411
$GC,3057,-1.60,-165.5,263.6,-8.5,272,3061,0.00,2.38,0.00,0.000,4,0.000,0.036,2436,3414,3411
$GC,3107,-1.65,-165.5,267.6,-7.3,274,3111,0.00,2.33,0.00,0.000,6,0.000,0.026,2436,2036,3411
$GC,3429,-1.65,-165.5,290.2,-7.0,290,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2035,3411
$GC,3735,-1.65,-165.5,314.4,-7.9,301,3739,0.00,2.40,0.00,0.000,4,0.000,0.038,2436,3414,3409
$GC,3808,-1.71,-165.5,320.6,-8.2,302,3813,0.00,2.35,0.00,0.000,6,0.000,0.028,2436,2035,3408
$GC,4141,-1.74,-165.5,345.1,-7.0,310,4145,0.12,2.42,0.00,0.000,4,0.067,0.038,2407,3421,3406
$GC,4163,-1.74,-165.5,347.1,-8.6,310,4167,0.00,2.35,0.00,0.000,6,0.000,0.028,2406,2040,3406
$GC,4507,-1.74,-165.5,380.5,-10.0,319,4511,0.00,2.42,0.00,0.000,4,0.000,0.041,2407,3421,3403
$GC,4579,-1.74,-165.5,387.8,-9.7,320,4584,0.00,2.38,0.00,0.000,6,0.000,0.030,2406,2037,3402
$GC,4911,-1.74,-165.5,414.3,-7.4,328,4915,0.00,2.42,0.00,0.000,4,0.000,0.041,2406,3417,3400
$GC,4956,-1.74,-165.5,417.9,-7.9,329,4960,0.00,2.38,0.00,0.000,6,0.000,0.030,2406,2037,3400
$GC,5275,-1.74,-165.5,445.4,-8.7,337,5279,0.00,2.40,0.00,0.000,4,0.000,0.042,2406,3410,3398
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5340,-0.33,0.0,450.2,8.4,338,5474,1.48,0.00,129.85,0.934,6,0.090,0.000,2713,1954,2733
$STATE,5475,end apogee,CONTROL_FINISHED_OK
$STATE,5475,begin climb
$GC,5479,1.06,165.5,455.8,0.0,341,5620,1.38,2.65,130.90,0.914,4,0.047,0.053,3019,544,2058
$GC,5874,0.51,165.5,423.9,13.3,350,5880,0.65,2.40,0.00,0.000,6,0.139,0.029,2903,1919,2057
$GC,6200,0.23,165.5,394.9,8.6,358,6202,0.32,0.00,0.00,0.000,6,0.117,0.000,2842,1920,2055
$GC,6526,0.13,196.6,374.0,5.9,366,6552,0.12,0.00,24.02,0.906,6,0.132,0.000,2821,1919,1931
$GC,6850,0.12,246.7,357.5,5.3,374,6897,0.00,2.62,39.90,0.898,4,0.000,0.044,2821,3350,1726
$GC,6910,0.03,257.3,353.5,6.5,375,6925,0.12,2.47,9.32,0.879,6,0.130,0.031,2801,1949,1684
$GC,7259,0.03,287.5,331.0,5.9,384,7288,0.00,2.58,24.45,0.888,4,0.000,0.041,2801,3360,1560
$GC,7353,0.14,354.0,326.1,4.9,386,7412,0.00,2.50,52.40,0.877,6,0.000,0.033,2801,1939,1289
$GC,7755,0.18,394.5,304.6,5.6,396,7797,0.12,2.60,32.30,0.855,4,0.081,0.041,2827,3347,1124
$GC,7815,0.09,394.5,300.2,7.3,397,7819,0.00,2.47,0.00,0.000,6,0.000,0.031,2827,1942,1124
$GC,8148,0.01,394.5,272.9,8.3,413,8153,0.15,2.53,0.00,0.000,4,0.109,0.038,2796,3359,1124
$GC,8193,0.01,394.5,269.3,8.3,415,8197,0.00,2.47,0.00,0.000,6,0.000,0.031,2796,1943,1124
$GC,8515,0.01,394.5,243.1,8.5,431,8520,0.00,2.50,0.00,0.000,4,0.000,0.038,2796,3361,1124
$GC,8543,0.01,394.5,241.1,7.0,432,8548,0.00,2.45,0.00,0.000,6,0.000,0.030,2796,1950,1124
$GC,8861,0.18,489.9,226.8,4.0,447,8942,0.15,2.58,75.20,0.802,4,0.071,0.035,2830,3354,735
$GC,8966,0.12,489.9,219.6,8.1,452,8970,0.00,2.47,0.00,0.000,6,0.000,0.028,2830,1942,734
$GC,9288,0.06,489.9,188.0,8.7,473,9293,0.12,2.50,0.00,0.000,4,0.104,0.034,2807,3366,735
$GC,9333,0.10,489.9,184.0,8.0,476,9339,0.00,2.45,0.00,0.000,6,0.000,0.028,2807,1949,735
$GC,9662,0.10,489.9,159.3,7.3,507,9666,0.00,2.47,0.00,0.000,4,0.000,0.034,2807,3367,735
$GC,9691,0.10,489.9,157.0,7.7,509,9695,0.00,2.45,0.00,0.000,6,0.000,0.026,2807,1943,735
$GC,10021,0.14,512.9,135.2,6.1,539,10046,0.00,2.55,18.55,0.708,4,0.000,0.032,2807,3362,642
$GC,10082,0.22,513.0,131.3,6.8,544,10089,0.15,2.42,0.00,0.000,6,0.062,0.025,2843,1950,645
$GC,10408,0.19,513.0,102.8,10.2,575,10412,0.00,2.45,0.00,0.000,4,0.000,0.033,2843,3363,646
$GC,10448,0.19,513.0,98.7,10.1,578,10454,0.00,2.42,0.00,0.000,6,0.000,0.025,2842,1939,646
$GC,10778,0.19,513.0,72.3,8.0,609,10782,0.00,2.47,0.00,0.000,4,0.000,0.032,2843,3368,646
$GC,10807,0.19,513.0,69.6,8.7,611,10811,0.00,2.42,0.00,0.000,6,0.000,0.025,2842,1942,647
$GC,11070,0.23,513.0,50.3,7.6,635,11074,0.00,2.45,0.00,0.000,4,0.000,0.044,2842,545,647
$GC,11088,0.27,513.0,48.8,7.8,636,11093,0.00,2.38,0.00,0.000,6,0.000,0.021,2842,1968,647
$GC,11354,0.32,513.0,28.3,7.7,661,11361,0.00,2.35,0.00,0.000,4,0.000,0.031,2842,3354,648
$GC,11397,0.38,513.0,24.1,9.0,668,11404,0.12,2.38,0.00,0.000,6,0.064,0.023,2874,1947,649
$STATE,11656,end climb,SURFACE_DEPTH_REACHED
$STATE,11656,begin surface coast
$FINISH,1.0,1.023174
$STATE,11719,end surface coast,CONTROL_FINISHED_OK
$STATE,11719,begin surface
$SM_CCo,11803,0.00,0.000,0,0,652,510.47
$SM_GC,1.59,10.93,0.00,0.00,0.044,0.000,0.000,408,2065,652,-10.91,0.71,510.47
$IRIDIUM_FIX,2059.45,-15746.61,170298,000008
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,7
$24V_AH,23.7,61.947
$10V_AH,10.2,37.640
$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,28.425,131.375,536.900,0.000,0.000,23.535,27.325,148.878,10.750,0.000,0.000,15.031,1339.288,7943.216,594.346,1729.835,539.703,33.376,1458.293,0.000,1693.196,0.000,60.483
$DEVICE_MAMPS,154.934,52.923,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.422,485.347,873.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37930,725
$CAP_FILE_SIZE,109551,0
$CFSIZE,260165632,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231108,070928,2109.618,-15748.902,40,2.9,59,9.8