version: 66.03
glider: 114
mission: 3
dive: 459
start: 11 25 108 6 58 34
data:
$ID,114
$MISSION,3
$DIVE,459
$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,-600656.62
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,065052,2102.671,-15748.955,36,3.5,55,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.8
$GPS2,065735,2102.667,-15748.930,17,0.9,17,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,-0.012
$KALMAN_X,-150585.3,78.4,450.2,158068.8,-1435.0
$KALMAN_Y,-145987.8,-215.5,237.5,120206.9,-157.1
$MHEAD_RNG_PITCHd_Wd,83.2,3494,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.22,0.000,2,0.000,0.000,411,2068,2766
$GC,110,-1.06,-165.5,3.5,-4.4,14,140,11.95,2.50,-10.75,0.000,4,0.154,0.046,2550,639,3409
$GC,193,-1.21,-165.5,18.7,-9.6,28,200,0.10,2.33,0.00,0.000,6,0.065,0.021,2524,2036,3409
$GC,463,-1.21,-165.5,43.7,-10.1,61,467,0.00,2.38,0.00,0.000,4,0.000,0.033,2524,3429,3409
$GC,549,-1.30,-165.5,51.3,-8.0,68,553,0.00,2.35,0.00,0.000,6,0.000,0.023,2525,2031,3409
$GC,811,-1.30,-165.5,73.2,-6.9,92,815,0.00,2.42,0.00,0.000,4,0.000,0.034,2524,3433,3409
$GC,886,-1.43,-165.5,77.9,-5.1,98,891,0.22,2.35,0.00,0.000,6,0.048,0.022,2470,2036,3409
$GC,1151,-1.40,-165.5,97.0,-6.3,122,1156,0.00,2.40,0.00,0.000,4,0.000,0.032,2470,3432,3409
$GC,1207,-1.40,-165.5,101.5,-6.9,126,1214,0.00,2.35,0.00,0.000,6,0.000,0.022,2470,2028,3409
$GC,1533,-1.40,-165.5,129.7,-9.0,157,1538,0.00,2.38,0.00,0.000,4,0.000,0.037,2470,643,3410
$GC,1557,-1.40,-165.5,131.8,-8.8,159,1561,0.00,2.33,0.00,0.000,6,0.000,0.021,2470,2032,3410
$GC,1882,-1.40,-165.5,157.4,-7.9,189,1886,0.00,2.40,0.00,0.000,4,0.000,0.034,2470,3443,3410
$GC,1968,-1.47,-165.5,164.2,-7.7,196,1972,0.00,2.38,0.00,0.000,6,0.000,0.024,2470,2032,3410
$GC,2294,-1.50,-165.5,190.9,-8.0,226,2298,0.00,2.42,0.00,0.000,4,0.000,0.034,2470,3439,3410
$GC,2358,-1.60,-165.5,195.4,-6.5,231,2363,0.12,2.38,0.00,0.000,6,0.060,0.024,2438,2027,3410
$GC,2689,-1.60,-165.5,226.5,-9.7,249,2693,0.00,2.45,0.00,0.000,4,0.000,0.035,2438,3447,3410
$GC,2740,-1.64,-165.5,231.6,-8.9,251,2744,0.00,2.38,0.00,0.000,6,0.000,0.025,2438,2038,3410
$GC,3057,-1.64,-165.5,259.4,-8.5,266,3061,0.00,2.42,0.00,0.000,4,0.000,0.041,2438,641,3410
$GC,3078,-1.64,-165.5,261.3,-8.3,267,3083,0.00,2.38,0.00,0.000,6,0.000,0.025,2438,2049,3409
$GC,3401,-1.64,-165.5,286.2,-7.4,283,3405,0.00,2.40,0.00,0.000,4,0.000,0.038,2438,3438,3408
$GC,3442,-1.70,-165.5,288.9,-6.3,285,3447,0.00,2.40,0.00,0.000,6,0.000,0.028,2438,2032,3408
$GC,3768,-1.70,-165.5,308.2,-6.3,298,3772,0.00,2.45,0.00,0.000,4,0.000,0.038,2438,3437,3406
$GC,3825,-1.77,-165.5,312.2,-6.9,299,3830,0.15,2.40,0.00,0.000,6,0.064,0.028,2403,2031,3405
$GC,4176,-1.74,-165.5,340.1,-7.9,308,4181,0.00,2.45,0.00,0.000,4,0.000,0.046,2403,638,3403
$GC,4221,-1.74,-165.5,344.4,-9.0,309,4226,0.00,2.40,0.00,0.000,6,0.000,0.028,2403,2041,3402
$GC,4542,-1.74,-165.5,372.0,-9.1,317,4546,0.00,2.47,0.00,0.000,4,0.000,0.043,2403,3451,3400
$GC,4604,-1.74,-165.5,379.0,-10.7,318,4608,0.00,2.42,0.00,0.000,6,0.000,0.030,2403,2040,3400
$GC,4954,-1.74,-165.5,418.7,-11.4,327,4958,0.00,2.47,0.00,0.000,4,0.000,0.041,2403,3445,3398
$GC,5005,-1.74,-165.5,424.7,-11.2,328,5009,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,2040,3397
$STATE,5274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5275,begin apogee
$GC,5283,-0.33,0.0,453.5,10.1,335,5416,1.50,0.00,129.88,0.935,6,0.092,0.000,2713,1935,2733
$STATE,5417,end apogee,CONTROL_FINISHED_OK
$STATE,5417,begin climb
$GC,5421,1.06,165.5,459.0,0.0,338,5557,1.38,0.00,131.57,0.917,6,0.050,0.000,3018,1935,2057
$GC,5872,0.56,165.5,420.9,12.8,349,5877,0.52,2.50,0.00,0.000,4,0.123,0.051,2918,560,2055
$GC,5900,0.17,165.5,417.5,10.0,349,5906,0.47,2.45,0.00,0.000,6,0.139,0.031,2832,1957,2055
$GC,6233,0.09,192.2,397.8,6.0,357,6260,0.12,2.53,20.77,0.900,4,0.142,0.043,2812,3353,1949
$GC,6294,0.00,192.2,393.7,7.0,358,6299,0.10,2.45,0.00,0.000,6,0.139,0.034,2795,1966,1949
$GC,6638,0.06,255.2,375.7,5.0,367,6690,0.00,0.00,50.10,0.904,6,0.000,0.000,2795,1965,1692
$GC,7002,0.12,314.3,356.8,5.1,376,7056,0.00,2.60,46.70,0.892,4,0.000,0.041,2795,3364,1450
$GC,7097,0.12,314.3,350.6,7.3,378,7102,0.00,2.50,0.00,0.000,6,0.000,0.034,2795,1950,1450
$GC,7412,0.08,314.3,328.1,7.3,386,7416,0.00,2.58,0.00,0.000,4,0.000,0.053,2795,531,1449
$GC,7440,0.05,314.3,326.0,7.3,386,7444,0.00,2.47,0.00,0.000,6,0.000,0.030,2795,1953,1449
$GC,7771,0.05,314.3,302.6,7.3,394,7776,0.00,2.47,0.00,0.000,4,0.000,0.043,2795,3354,1448
$GC,7828,0.05,314.3,298.5,7.4,395,7834,0.00,2.47,0.00,0.000,6,0.000,0.034,2795,1941,1448
$GC,8145,0.09,338.1,277.8,6.1,411,8169,0.00,2.58,18.88,0.853,4,0.000,0.051,2795,545,1354
$GC,8198,0.09,338.1,274.0,7.2,413,8203,0.00,2.45,0.00,0.000,6,0.000,0.029,2795,1953,1353
$GC,8515,0.19,396.7,254.7,5.1,428,8567,0.17,2.50,46.40,0.831,4,0.073,0.040,2834,3348,1114
$GC,8627,0.14,396.7,245.5,9.3,433,8631,0.00,2.47,0.00,0.000,6,0.000,0.032,2836,1938,1114
$GC,8949,0.07,396.7,215.5,9.6,449,8951,0.15,0.00,0.00,0.000,6,0.103,0.000,2808,1938,1115
$GC,9262,0.07,396.7,190.5,8.4,469,9266,0.00,2.47,0.00,0.000,4,0.000,0.036,2807,3358,1115
$GC,9314,0.12,396.7,186.5,7.2,473,9318,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1944,1115
$GC,9643,0.12,396.7,162.6,6.9,503,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1944,1115
$GC,9972,0.27,465.0,145.0,4.8,534,10035,0.15,2.58,53.00,0.716,4,0.065,0.035,2848,3358,837
$GC,10061,0.23,465.0,138.3,8.5,542,10065,0.00,2.45,0.00,0.000,6,0.000,0.027,2849,1949,837
$GC,10392,0.17,465.0,113.2,8.2,572,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1949,837
$GC,10718,0.17,465.0,88.7,7.3,603,10722,0.00,2.45,0.00,0.000,4,0.000,0.033,2848,3360,837
$GC,10781,0.28,496.9,84.6,5.9,608,10814,0.00,2.40,25.17,0.648,6,0.000,0.025,2848,1946,707
$GC,11134,0.28,496.9,58.2,8.0,641,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1946,709
$GC,11387,0.28,496.9,40.2,7.9,665,11391,0.00,2.42,0.00,0.000,4,0.000,0.031,2848,3354,710
$GC,11434,0.33,496.9,36.3,7.9,668,11440,0.00,2.38,0.00,0.000,6,0.000,0.024,2848,1949,710
$GC,11708,0.42,527.2,18.0,5.9,710,11737,0.15,0.00,24.55,0.565,6,0.061,0.000,2889,1948,582
$STATE,11842,end climb,SURFACE_DEPTH_REACHED
$STATE,11842,begin surface coast
$FINISH,1.0,1.023298
$STATE,11895,end surface coast,CONTROL_FINISHED_OK
$STATE,11895,begin surface
$SM_CCo,11980,0.00,0.000,0,0,585,526.90
$SM_GC,1.72,10.98,0.00,0.00,0.040,0.000,0.000,406,2080,585,-10.92,1.13,526.90
$IRIDIUM_FIX,2054.83,-15748.75,190298,030309
$TT8_MAMPS,0.027612
$HUMID,1767
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.7,63.846
$10V_AH,10.2,38.931
$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,28.250,122.225,547.025,0.000,0.000,25.418,30.646,197.597,12.000,0.000,0.000,18.631,1337.405,8140.811,611.415,1683.442,611.853,33.374,1454.221,0.000,1653.757,0.000,57.454
$DEVICE_MAMPS,154.167,52.923,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.484,509.436,895.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38002,743
$CAP_FILE_SIZE,109311,0
$CFSIZE,260165632,231849984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251108,101931,2102.892,-15747.348,37,1.2,37,9.8