version: 66.03
glider: 114
mission: 3
dive: 467
start: 11 26 108 6 7 3
data:
$ID,114
$MISSION,3
$DIVE,467
$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,-600938.81
$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,38
$R_STBD_OVSHOOT,61
$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
$GPS1,060005,2102.069,-15747.016,9,6.3,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.3
$GPS2,060607,2102.112,-15747.016,42,1.1,42,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.180,0.148
$KALMAN_X,-149510.9,-553.7,56.8,161324.5,854.3
$KALMAN_Y,-139771.1,-675.3,210.1,113451.3,2486.7
$MHEAD_RNG_PITCHd_Wd,299.6,9398,-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,-165.5,0.0,0.0,0,83,0.00,0.00,-53.90,0.000,2,0.000,0.000,408,2058,2731
$GC,87,-1.06,-165.5,3.3,-4.1,10,117,11.98,2.35,-11.98,0.000,4,0.155,0.043,2549,3425,3408
$GC,177,-1.20,-165.5,15.6,-6.5,25,183,0.00,2.35,0.00,0.000,6,0.000,0.024,2550,2034,3408
$GC,450,-1.27,-165.5,37.1,-8.3,66,455,0.15,2.40,0.00,0.000,4,0.055,0.031,2508,3426,3408
$GC,491,-1.27,-165.5,40.9,-10.1,69,495,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2024,3408
$GC,758,-1.27,-165.5,65.5,-7.1,94,762,0.00,2.40,0.00,0.000,4,0.000,0.032,2508,3422,3409
$GC,805,-1.33,-165.5,69.1,-7.8,97,812,0.00,2.30,0.00,0.000,6,0.000,0.022,2509,2041,3409
$GC,1068,-1.38,-165.5,92.2,-9.3,122,1072,0.00,2.38,0.00,0.000,4,0.000,0.032,2508,3427,3410
$GC,1110,-1.47,-165.5,95.8,-8.3,125,1115,0.17,2.33,0.00,0.000,6,0.052,0.021,2465,2037,3410
$GC,1435,-1.47,-165.5,123.4,-6.9,155,1440,0.00,2.38,0.00,0.000,4,0.000,0.032,2465,3424,3410
$GC,1469,-1.47,-165.5,126.2,-8.1,157,1475,0.00,2.30,0.00,0.000,6,0.000,0.021,2465,2041,3410
$GC,1798,-1.47,-165.5,150.4,-8.6,188,1802,0.00,2.38,0.00,0.000,4,0.000,0.033,2465,3426,3410
$GC,1865,-1.53,-165.5,156.4,-8.3,193,1871,0.00,2.33,0.00,0.000,6,0.000,0.023,2466,2032,3410
$GC,2191,-1.53,-165.5,180.8,-6.7,224,2195,0.00,2.38,0.00,0.000,4,0.000,0.032,2465,3420,3410
$GC,2226,-1.58,-165.5,183.0,-6.2,226,2232,0.00,2.30,0.00,0.000,6,0.000,0.024,2465,2042,3410
$GC,2562,-1.62,-165.5,211.2,-8.1,252,2567,0.12,2.38,0.00,0.000,4,0.061,0.033,2434,3423,3410
$GC,2663,-1.62,-165.5,221.3,-9.9,256,2669,0.00,2.33,0.00,0.000,6,0.000,0.024,2433,2033,3410
$GC,2979,-1.62,-165.5,248.6,-7.4,272,2983,0.00,2.40,0.00,0.000,4,0.000,0.035,2433,3425,3411
$GC,3042,-1.62,-165.5,253.5,-7.3,275,3047,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2033,3410
$GC,3370,-1.62,-165.5,277.0,-8.1,291,3374,0.00,2.40,0.00,0.000,4,0.000,0.035,2433,3423,3410
$GC,3398,-1.62,-165.5,279.5,-8.4,292,3402,0.00,2.35,0.00,0.000,6,0.000,0.025,2433,2029,3409
$GC,3714,-1.62,-165.5,304.4,-7.5,306,3718,0.00,2.42,0.00,0.000,4,0.000,0.038,2433,3424,3408
$GC,3764,-1.67,-165.5,308.8,-8.6,307,3768,0.00,2.35,0.00,0.000,6,0.000,0.027,2433,2040,3408
$GC,4078,-1.67,-165.5,332.8,-7.2,315,4082,0.00,2.40,0.00,0.000,4,0.000,0.038,2434,3420,3406
$GC,4129,-1.73,-165.5,336.2,-6.6,316,4133,0.00,2.35,0.00,0.000,6,0.000,0.028,2433,2040,3406
$GC,4443,-1.73,-165.5,355.7,-6.1,324,4447,0.00,2.40,0.00,0.000,4,0.000,0.039,2433,3417,3403
$GC,4477,-1.77,-165.5,357.9,-6.3,324,4484,0.12,2.35,0.00,0.000,6,0.069,0.028,2404,2037,3403
$GC,4811,-1.77,-165.5,384.1,-8.1,333,4815,0.00,2.40,0.00,0.000,4,0.000,0.040,2405,3414,3401
$GC,4917,-1.77,-165.5,393.9,-9.5,335,4921,0.00,2.35,0.00,0.000,6,0.000,0.029,2404,2039,3400
$GC,5260,-1.77,-165.5,426.0,-9.4,344,5264,0.00,2.42,0.00,0.000,4,0.000,0.041,2404,3422,3398
$GC,5345,-1.77,-165.5,434.0,-9.3,346,5349,0.00,2.38,0.00,0.000,6,0.000,0.031,2404,2041,3397
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5554,-0.33,0.0,452.2,9.0,351,5687,1.50,0.00,129.77,0.933,6,0.104,0.000,2715,1933,2733
$STATE,5688,end apogee,CONTROL_FINISHED_OK
$STATE,5688,begin climb
$GC,5692,1.06,165.5,458.1,0.0,354,5832,1.35,2.60,130.95,0.913,4,0.048,0.052,3016,558,2058
$GC,6092,0.52,165.5,424.3,13.0,363,6098,0.60,2.38,0.00,0.000,6,0.130,0.030,2909,1920,2057
$GC,6412,0.23,165.5,397.8,7.9,371,6417,0.32,2.50,0.00,0.000,4,0.140,0.052,2846,555,2054
$GC,6539,0.09,200.8,390.2,5.8,373,6574,0.17,2.45,27.00,0.903,6,0.130,0.031,2815,1961,1914
$GC,6912,0.03,213.5,369.2,6.4,383,6928,0.00,2.60,10.77,0.890,4,0.000,0.053,2815,560,1861
$GC,6953,-0.07,213.5,366.5,7.1,384,6958,0.20,2.45,0.00,0.000,6,0.118,0.031,2778,1952,1861
$GC,7278,-0.03,240.7,347.2,6.0,392,7306,0.00,2.60,21.58,0.895,4,0.000,0.046,2779,3353,1751
$GC,7353,0.01,262.2,342.6,6.2,393,7377,0.00,2.45,18.12,0.886,6,0.000,0.032,2778,1958,1663
$GC,7693,0.11,315.8,324.4,5.2,402,7743,0.15,2.65,42.20,0.877,4,0.074,0.052,2811,545,1445
$GC,7767,0.05,315.8,319.7,7.5,403,7771,0.00,2.47,0.00,0.000,6,0.000,0.030,2811,1955,1444
$GC,8080,-0.01,315.8,297.5,7.0,411,8085,0.12,2.47,0.00,0.000,4,0.109,0.042,2788,3353,1444
$GC,8136,0.01,331.9,293.8,6.3,413,8155,0.00,2.45,13.43,0.855,6,0.000,0.032,2788,1950,1378
$GC,8473,0.05,349.7,274.1,6.3,430,8495,0.00,2.55,14.30,0.842,4,0.000,0.039,2788,3365,1307
$GC,8524,0.05,349.7,270.6,6.9,432,8528,0.00,2.47,0.00,0.000,6,0.000,0.031,2788,1950,1307
$GC,8846,0.10,378.5,248.7,6.0,448,8875,0.10,2.58,23.15,0.823,4,0.084,0.038,2810,3357,1190
$GC,8904,0.10,378.5,244.6,7.4,450,8911,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1941,1190
$GC,9221,0.10,378.5,221.8,7.2,466,9225,0.00,2.50,0.00,0.000,4,0.000,0.037,2810,3360,1190
$GC,9248,0.10,379.7,219.9,6.8,467,9253,0.00,2.45,0.00,0.000,6,0.000,0.029,2811,1946,1190
$GC,9565,0.11,387.0,200.0,6.6,482,9574,0.00,0.00,7.70,0.775,6,0.000,0.000,2810,1946,1155
$GC,9886,0.12,391.2,179.4,6.7,511,9898,0.00,2.50,4.20,0.749,4,0.000,0.035,2810,3358,1138
$GC,9915,0.12,391.2,177.1,7.0,513,9921,0.00,2.45,0.00,0.000,6,0.000,0.028,2811,1938,1138
$GC,10244,0.12,394.5,154.1,6.7,544,10255,0.00,2.53,3.47,0.720,4,0.000,0.034,2811,3357,1124
$GC,10280,0.12,394.6,151.4,6.8,547,10284,0.00,2.42,0.00,0.000,6,0.000,0.027,2810,1949,1124
$GC,10610,0.24,443.1,133.5,5.4,577,10655,0.15,2.53,38.10,0.702,4,0.065,0.045,2851,545,925
$GC,10669,0.19,443.1,129.1,7.3,582,10673,0.00,2.45,0.00,0.000,6,0.000,0.024,2851,1969,925
$GC,10995,0.15,443.1,100.4,9.5,612,11000,0.12,2.40,0.00,0.000,4,0.097,0.035,2826,3355,926
$GC,11047,0.23,443.1,96.0,7.8,616,11051,0.00,2.42,0.00,0.000,6,0.000,0.026,2826,1943,926
$GC,11377,0.41,511.7,77.2,4.8,646,11437,0.20,2.55,52.90,0.630,4,0.054,0.032,2880,3353,646
$GC,11457,0.36,511.7,71.3,7.9,654,11461,0.00,2.42,0.00,0.000,6,0.000,0.025,2880,1945,649
$GC,11722,0.31,511.7,48.4,9.6,678,11729,0.10,0.00,0.00,0.000,6,0.103,0.000,2859,1944,651
$GC,11986,0.31,511.7,28.1,7.0,705,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1944,651
$GC,12264,0.31,511.7,6.3,8.9,754,12270,0.00,2.42,0.00,0.000,4,0.000,0.031,2860,3358,652
$STATE,12280,end climb,SURFACE_DEPTH_REACHED
$STATE,12280,begin surface coast
$FINISH,3.3,1.023118
$STATE,12299,end surface coast,CONTROL_FINISHED_OK
$STATE,12299,begin surface
$SM_CCo,12385,0.00,0.000,0,0,653,510.22
$SM_GC,1.71,11.00,0.00,0.00,0.050,0.000,0.000,412,2019,653,-10.90,-0.62,510.22
$IRIDIUM_FIX,2052.52,-15749.62,200298,030310
$TT8_MAMPS,0.027612
$HUMID,1792
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,8
$24V_AH,23.7,64.660
$10V_AH,10.2,39.544
$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,28.650,145.550,537.650,0.000,0.000,23.596,30.357,148.617,11.000,0.000,0.000,44.174,1402.389,8288.300,601.538,1891.024,568.041,33.366,1535.982,0.000,1830.778,0.000,60.011
$DEVICE_MAMPS,154.934,52.923,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.896,509.223,907.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41078,760
$CAP_FILE_SIZE,118531,0
$CFSIZE,260165632,231428096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,093415,2103.698,-15747.562,7,1.8,7,9.8