version: 66.03
glider: 114
mission: 3
dive: 468
start: 11 26 108 9 48 56
data:
$ID,114
$MISSION,3
$DIVE,468
$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,-600954.94
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,093415,2103.698,-15747.562,7,1.8,7,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.9
$GPS2,094757,2103.748,-15747.595,14,1.8,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.120,0.199
$KALMAN_X,-148763.0,-519.3,685.8,158910.8,201.6
$KALMAN_Y,-139055.7,-364.1,150.4,115519.8,1371.8
$MHEAD_RNG_PITCHd_Wd,319.0,6208,-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,28,-1.06,-165.5,0.0,0.0,0,101,0.00,0.00,-70.15,0.000,2,0.000,0.000,412,2018,2767
$GC,105,-1.06,-165.5,3.1,-3.5,13,135,11.98,2.47,-11.35,0.000,4,0.155,0.044,2550,3447,3409
$GC,195,-1.20,-165.5,16.1,-6.0,28,201,0.00,2.35,0.00,0.000,6,0.000,0.021,2550,2038,3409
$GC,468,-1.27,-165.5,37.5,-6.6,67,472,0.15,2.42,0.00,0.000,4,0.055,0.031,2508,3440,3409
$GC,520,-1.32,-165.5,41.9,-7.8,71,524,0.00,2.35,0.00,0.000,6,0.000,0.021,2508,2037,3409
$GC,782,-1.32,-165.5,64.6,-7.2,95,786,0.00,2.42,0.00,0.000,4,0.000,0.033,2508,3444,3409
$GC,828,-1.36,-165.5,67.7,-6.5,98,834,0.00,2.35,0.00,0.000,6,0.000,0.021,2508,2036,3409
$GC,1091,-1.40,-165.5,85.8,-8.7,123,1095,0.00,2.42,0.00,0.000,4,0.000,0.032,2508,3445,3409
$GC,1143,-1.49,-165.5,90.4,-8.8,127,1148,0.20,2.38,0.00,0.000,6,0.051,0.021,2460,2029,3409
$GC,1468,-1.49,-165.5,123.7,-10.5,157,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2028,3409
$GC,1791,-1.49,-165.5,154.6,-9.1,187,1795,0.00,2.42,0.00,0.000,4,0.000,0.033,2460,3440,3409
$GC,1848,-1.54,-165.5,159.7,-7.7,191,1858,0.00,2.35,0.00,0.000,6,0.000,0.023,2460,2036,3409
$GC,2173,-1.54,-165.5,185.9,-9.3,222,2177,0.00,2.42,0.00,0.000,4,0.000,0.034,2460,3443,3409
$GC,2224,-1.60,-165.5,190.6,-9.5,226,2229,0.00,2.38,0.00,0.000,6,0.000,0.024,2460,2033,3409
$GC,2544,-1.60,-165.5,215.6,-6.4,246,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2032,3409
$GC,2855,-1.64,-165.5,239.6,-8.4,261,2860,0.12,2.45,0.00,0.000,4,0.062,0.035,2427,3445,3409
$GC,2923,-1.64,-165.5,246.1,-9.0,264,2927,0.00,2.38,0.00,0.000,6,0.000,0.025,2427,2036,3409
$GC,3256,-1.64,-165.5,279.2,-10.2,280,3260,0.00,2.45,0.00,0.000,4,0.000,0.036,2427,3448,3408
$GC,3328,-1.64,-165.5,285.7,-8.8,283,3333,0.00,2.40,0.00,0.000,6,0.000,0.026,2427,2033,3408
$GC,3662,-1.64,-165.5,317.0,-10.1,295,3667,0.00,2.45,0.00,0.000,4,0.000,0.038,2427,3437,3406
$GC,3742,-1.69,-165.5,325.0,-9.1,296,3748,0.00,2.38,0.00,0.000,6,0.000,0.027,2427,2042,3405
$GC,4076,-1.69,-165.5,351.6,-7.7,305,4080,0.00,2.45,0.00,0.000,4,0.000,0.039,2427,3443,3403
$GC,4122,-1.74,-165.5,355.6,-8.7,306,4126,0.00,2.40,0.00,0.000,6,0.000,0.028,2427,2037,3403
$GC,4441,-1.74,-165.5,382.1,-8.5,314,4445,0.00,2.47,0.00,0.000,4,0.000,0.048,2427,630,3400
$GC,4470,-1.78,-165.5,384.8,-9.2,314,4475,0.12,2.40,0.00,0.000,6,0.070,0.028,2398,2032,3400
$GC,4809,-1.75,-165.5,416.8,-9.6,323,4813,0.00,2.47,0.00,0.000,4,0.000,0.044,2398,3445,3397
$GC,4927,-1.75,-165.5,428.0,-9.3,325,4931,0.00,2.42,0.00,0.000,6,0.000,0.031,2398,2035,3396
$STATE,5175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5175,begin apogee
$GC,5184,-0.33,0.0,451.1,9.4,331,5317,1.52,0.00,129.48,0.927,6,0.089,0.000,2714,1928,2732
$STATE,5318,end apogee,CONTROL_FINISHED_OK
$STATE,5318,begin climb
$GC,5322,1.06,165.5,455.8,0.0,334,5457,1.38,0.00,130.85,0.907,6,0.048,0.000,3019,1928,2058
$GC,5766,0.56,165.5,415.8,12.9,345,5769,0.57,0.00,0.00,0.000,6,0.123,0.000,2914,1928,2055
$GC,6092,0.26,165.5,383.7,9.8,353,6097,0.32,2.47,0.00,0.000,4,0.119,0.051,2850,561,2054
$GC,6104,-0.02,165.5,382.6,9.4,353,6109,0.32,2.42,0.00,0.000,6,0.115,0.030,2789,1955,2054
$GC,6452,0.17,270.8,367.0,3.7,362,6540,0.17,2.55,82.15,0.890,4,0.074,0.044,2826,3356,1629
$GC,6553,0.05,270.8,361.1,7.4,364,6558,0.12,2.47,0.00,0.000,6,0.109,0.031,2805,1954,1629
$GC,6896,0.01,280.3,339.3,6.5,373,6910,0.00,2.62,8.20,0.857,4,0.000,0.052,2805,545,1590
$GC,6957,0.02,312.9,335.8,5.9,374,6988,0.00,2.45,25.83,0.872,6,0.000,0.030,2804,1952,1457
$GC,7308,-0.02,312.9,311.4,7.5,383,7312,0.00,2.47,0.00,0.000,4,0.000,0.042,2804,3354,1456
$GC,7365,-0.02,312.9,307.0,8.0,384,7370,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1941,1456
$GC,7684,-0.05,324.5,284.1,6.5,397,7699,0.12,2.55,9.60,0.846,4,0.114,0.038,2782,3356,1410
$GC,7727,-0.05,324.5,281.0,7.0,398,7732,0.00,2.47,0.00,0.000,6,0.000,0.030,2782,1938,1410
$GC,8050,0.02,363.3,260.7,5.7,414,8086,0.00,2.58,30.55,0.836,4,0.000,0.038,2782,3360,1252
$GC,8115,0.07,363.3,256.4,7.9,416,8120,0.10,2.47,0.00,0.000,6,0.087,0.031,2803,1948,1252
$GC,8436,0.07,363.3,230.9,7.6,432,8441,0.00,2.47,0.00,0.000,4,0.000,0.038,2803,3352,1252
$GC,8455,0.07,363.3,229.6,7.0,433,8460,0.00,2.45,0.00,0.000,6,0.000,0.029,2803,1942,1252
$GC,8783,0.12,395.6,208.6,5.9,449,8811,0.00,0.00,25.95,0.792,6,0.000,0.000,2803,1942,1120
$GC,9117,0.17,423.1,189.8,6.0,473,9149,0.10,2.58,21.98,0.765,4,0.081,0.035,2826,3353,1008
$GC,9190,0.17,423.1,184.2,8.3,479,9196,0.00,2.45,0.00,0.000,6,0.000,0.028,2826,1942,1008
$GC,9518,0.14,423.1,158.3,7.6,510,9522,0.00,2.47,0.00,0.000,4,0.000,0.035,2826,3357,1008
$GC,9547,0.14,423.1,155.7,8.4,512,9551,0.00,2.42,0.00,0.000,6,0.000,0.027,2826,1951,1009
$GC,9876,0.14,426.1,131.4,6.7,542,9888,0.00,2.50,3.47,0.696,4,0.000,0.034,2826,3354,995
$GC,9901,0.14,426.1,129.5,6.8,544,9905,0.00,2.42,0.00,0.000,6,0.000,0.025,2826,1945,994
$GC,10230,0.14,426.1,106.0,7.4,574,10234,0.00,2.45,0.00,0.000,4,0.000,0.033,2826,3357,995
$GC,10253,0.14,426.1,104.0,7.4,576,10258,0.00,2.40,0.00,0.000,6,0.000,0.025,2826,1943,996
$GC,10589,0.26,475.4,83.1,5.4,607,10636,0.00,2.55,37.95,0.646,4,0.000,0.031,2826,3357,795
$GC,10654,0.42,533.6,79.6,5.1,613,10706,0.25,2.42,45.42,0.637,6,0.054,0.025,2884,1946,556
$GC,10969,0.37,533.6,50.6,9.2,643,10973,0.00,2.45,0.00,0.000,4,0.000,0.033,2885,3354,562
$GC,11009,0.37,533.6,46.7,9.2,646,11014,0.00,2.40,0.00,0.000,6,0.000,0.025,2884,1942,562
$GC,11279,0.31,533.6,20.3,11.2,679,11286,0.12,2.45,0.00,0.000,4,0.094,0.041,2860,547,563
$GC,11299,0.27,533.6,18.2,11.1,682,11306,0.00,2.38,0.00,0.000,6,0.000,0.021,2860,1965,563
$STATE,11439,end climb,SURFACE_DEPTH_REACHED
$STATE,11439,begin surface coast
$FINISH,1.0,1.011493
$STATE,11509,end surface coast,CONTROL_FINISHED_OK
$STATE,11509,begin surface
$SM_CCo,11593,0.00,0.000,0,0,563,532.30
$SM_GC,1.60,10.88,0.00,0.00,0.042,0.000,0.000,408,2079,563,-10.91,1.10,532.30
$IRIDIUM_FIX,2057.14,-15746.61,200298,090953
$TT8_MAMPS,0.027612
$HUMID,1792
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.40
$XPDR_PINGS,13
$24V_AH,23.7,64.822
$10V_AH,10.2,39.631
$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,28.575,127.425,551.425,0.000,0.000,82.849,90.784,369.987,12.250,0.000,0.000,15.512,1308.378,7923.220,615.415,1660.813,908.625,33.379,1445.709,0.000,1631.896,0.000,57.458
$DEVICE_MAMPS,154.934,55.991,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.366,470.932,864.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38053,719
$CAP_FILE_SIZE,112893,0
$CFSIZE,260165632,231374848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,130326,2105.108,-15748.596,37,1.9,37,9.8