version: 66.03
glider: 114
mission: 3
dive: 470
start: 11 26 108 16 9 33
data:
$ID,114
$MISSION,3
$DIVE,470
$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,-601004.5
$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,35
$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
$GPS1,160232,2105.869,-15749.284,47,1.1,47,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.2
$GPS2,160838,2105.901,-15749.296,16,1.1,33,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.020,0.064
$KALMAN_X,-148969.6,434.9,-735.7,156658.0,1150.8
$KALMAN_Y,-139474.5,168.1,-361.3,119909.1,1018.4
$MHEAD_RNG_PITCHd_Wd,333.2,2080,-43.6,-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,-2.93,-14.0,0.0,0.0,0,84,0.00,0.00,-54.08,0.000,2,0.000,0.000,407,2064,2713
$GC,88,-2.95,-23.9,3.2,-3.6,10,107,9.75,2.33,-2.40,0.000,4,0.157,0.041,2141,3423,2832
$GC,235,-3.21,-23.9,40.4,-25.6,31,242,0.22,2.35,0.00,0.000,6,0.063,0.023,2093,2025,2833
$GC,500,-3.46,-23.9,99.6,-18.5,56,505,0.22,2.40,0.00,0.000,4,0.056,0.034,2037,631,2833
$GC,763,-3.59,-23.9,159.6,-22.2,79,768,0.12,2.33,0.00,0.000,6,0.067,0.021,2009,2029,2833
$GC,1090,-3.76,-23.9,225.3,-18.6,104,1095,0.17,2.42,0.00,0.000,4,0.064,0.035,1966,632,2835
$GC,1350,-3.84,-23.9,275.7,-17.7,115,1357,0.00,2.35,0.00,0.000,6,0.000,0.023,1966,2035,2836
$GC,1689,-3.99,-23.9,340.3,-18.7,127,1694,0.17,2.45,0.00,0.000,4,0.064,0.039,1923,638,2835
$GC,1947,-4.03,-23.9,387.8,-17.8,132,1953,0.00,2.38,0.00,0.000,6,0.000,0.027,1923,2032,2835
$GC,2280,-4.13,-23.9,446.6,-18.3,141,2285,0.15,2.47,0.00,0.000,4,0.071,0.041,1891,3453,2832
$STATE,2295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2295,begin apogee
$GC,2305,-0.33,0.0,450.0,17.3,141,2332,4.28,0.00,20.10,0.904,6,0.130,0.000,2711,1958,2733
$STATE,2333,end apogee,CONTROL_FINISHED_OK
$STATE,2333,begin climb
$GC,2336,2.95,23.9,452.9,0.0,142,2366,3.17,2.62,19.25,0.902,4,0.044,0.048,3430,547,2635
$GC,2620,2.81,81.0,475.8,-11.8,148,2671,0.15,2.42,45.17,0.930,6,0.170,0.027,3406,1955,2402
$GC,3012,2.70,81.0,453.8,9.4,158,3017,0.15,2.55,0.00,0.000,4,0.186,0.048,3382,544,2399
$GC,3271,2.55,81.0,427.1,9.7,163,3277,0.22,2.42,0.00,0.000,6,0.177,0.028,3348,1955,2396
$GC,3603,2.51,81.0,399.8,8.2,172,3607,0.00,2.45,0.00,0.000,4,0.000,0.039,3348,3354,2394
$GC,3863,2.46,81.8,381.7,6.6,177,3869,0.12,2.45,0.00,0.000,6,0.179,0.032,3331,1937,2392
$GC,4195,2.47,88.7,364.9,4.6,186,4205,0.00,2.50,4.60,0.894,4,0.000,0.036,3331,3351,2371
$GC,4460,2.47,90.1,349.8,6.3,192,4464,0.00,2.45,0.00,0.000,6,0.000,0.031,3330,1941,2370
$GC,4784,2.49,97.6,334.9,4.4,200,4799,0.00,2.55,7.28,0.904,4,0.000,0.035,3330,3350,2335
$GC,5055,2.49,101.7,319.0,5.5,206,5064,0.00,2.45,4.15,0.875,6,0.000,0.031,3330,1938,2318
$GC,5385,2.51,108.8,304.0,4.5,214,5393,0.00,0.00,6.45,0.883,6,0.000,0.000,3330,1938,2288
$GC,5693,2.51,108.8,285.1,7.5,227,5697,0.00,2.47,0.00,0.000,4,0.000,0.048,3330,550,2287
$GC,5953,2.47,120.0,272.0,3.2,238,5968,0.00,2.40,9.27,0.866,6,0.000,0.027,3330,1959,2242
$GC,6292,2.47,120.0,251.7,7.7,255,6296,0.00,2.55,0.00,0.000,4,0.000,0.047,3330,540,2242
$GC,6551,2.43,126.3,234.1,4.8,266,6561,0.00,2.40,5.45,0.819,6,0.000,0.027,3330,1952,2218
$GC,6884,2.44,131.1,215.1,5.2,283,6894,0.00,2.55,4.60,0.796,4,0.000,0.045,3330,544,2198
$GC,6985,2.40,131.1,208.0,7.8,287,6991,0.00,2.40,0.00,0.000,6,0.000,0.025,3330,1954,2198
$GC,7307,2.44,131.1,187.5,7.7,311,7311,0.00,2.40,0.00,0.000,4,0.000,0.034,3330,3353,2198
$GC,7521,2.45,132.9,173.1,6.2,330,7526,0.00,2.40,0.00,0.000,6,0.000,0.027,3330,1942,2198
$GC,7857,2.51,142.0,157.2,3.9,361,7871,0.00,2.47,9.60,0.732,4,0.000,0.031,3330,3358,2153
$GC,8072,2.55,146.0,144.5,5.5,379,8081,0.00,2.40,4.07,0.711,6,0.000,0.025,3330,1948,2136
$GC,8408,2.61,146.0,122.3,7.3,411,8413,0.12,2.45,0.00,0.000,4,0.084,0.041,3357,550,2137
$GC,8634,2.57,146.0,101.7,9.3,430,8640,0.00,2.35,0.00,0.000,6,0.000,0.022,3356,1962,2138
$GC,8965,2.63,157.3,78.7,3.1,461,8979,0.00,2.40,9.55,0.644,4,0.000,0.030,3356,3354,2090
$GC,9201,2.68,164.8,68.7,4.4,482,9213,0.00,2.38,6.18,0.630,6,0.000,0.025,3356,1947,2060
$GC,9472,2.79,187.9,61.4,-0.7,507,9495,0.15,2.50,17.80,0.613,4,0.076,0.028,3392,3354,1966
$GC,9532,2.81,200.5,60.8,2.7,512,9546,0.00,2.40,9.95,0.616,6,0.000,0.024,3392,1944,1915
$GC,9809,2.85,200.5,35.8,12.5,537,9813,0.00,2.45,0.00,0.000,4,0.000,0.040,3393,541,1915
$STATE,10016,end climb,SURFACE_DEPTH_REACHED
$STATE,10016,begin surface coast
$FINISH,1.0,1.011256
$STATE,10056,end surface coast,CONTROL_FINISHED_OK
$STATE,10056,begin surface
$SM_CCo,10085,102.60,0.557,0,0,1101,400.08
$SM_GC,1.86,0.00,0.00,102.60,0.000,0.000,0.557,411,2033,1101,-10.94,-0.23,400.08
$IRIDIUM_FIX,2057.14,-15746.61,200298,131323
$TT8_MAMPS,0.027612
$HUMID,1746
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.40
$XPDR_PINGS,5
$24V_AH,23.7,64.982
$10V_AH,10.2,39.780
$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,32.575,92.925,183.475,102.600,0.000,23.868,29.990,160.838,10.750,0.000,0.000,34.913,1195.652,6624.453,365.879,1844.700,527.638,33.360,1203.861,0.000,1782.634,0.000,69.134
$DEVICE_MAMPS,185.614,48.321,929.604,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.955,384.614,658.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31710,577
$CAP_FILE_SIZE,99932,0
$CFSIZE,260165632,231284736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,190035,2105.748,-15749.144,10,2.6,29,9.8