version: 66.03
glider: 114
mission: 3
dive: 473
start: 11 27 108 1 37 57
data:
$ID,114
$MISSION,3
$DIVE,473
$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,567.37891
$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,-601079.06
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,011902,2106.903,-15749.206,10,2.0,12,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.4
$GPS2,013701,2107.001,-15749.405,38,1.2,42,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.150,-0.057
$KALMAN_X,-150439.3,-463.1,-473.4,158575.5,-905.5
$KALMAN_Y,-140563.8,-629.6,-132.4,123591.9,589.7
$MHEAD_RNG_PITCHd_Wd,100.9,1100,-19.4,-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,-1.41,-67.3,0.0,0.0,0,89,0.00,0.00,-59.17,0.000,2,0.000,0.000,411,2073,2903
$GC,93,-1.46,-95.1,3.8,-4.9,11,117,11.45,2.35,-3.65,0.000,4,0.154,0.047,2462,3413,3123
$GC,131,-0.66,-95.1,15.3,-27.9,17,139,0.88,2.35,0.00,0.000,6,0.079,0.023,2643,2020,3123
$GC,411,-1.38,-95.1,29.0,-7.8,66,418,0.68,2.40,0.00,0.000,4,0.051,0.039,2487,640,3123
$GC,464,-1.57,-95.1,33.6,-8.6,71,471,0.17,2.30,0.00,0.000,6,0.053,0.021,2444,2023,3123
$GC,729,-1.65,-95.1,66.3,-13.1,96,733,0.00,2.42,0.00,0.000,4,0.000,0.035,2444,3446,3123
$GC,810,-1.76,-95.1,76.7,-11.6,103,815,0.17,2.35,0.00,0.000,6,0.057,0.022,2401,2037,3123
$GC,1075,-1.82,-95.1,106.7,-9.8,127,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2037,3124
$GC,1406,-1.91,-95.1,140.2,-9.9,158,1410,0.12,2.40,0.00,0.000,4,0.061,0.031,2370,3435,3125
$GC,1452,-1.95,-95.1,145.7,-11.0,161,1458,0.00,2.35,0.00,0.000,6,0.000,0.023,2370,2030,3125
$GC,1778,-2.00,-95.1,182.6,-10.9,192,1782,0.00,2.40,0.00,0.000,4,0.000,0.037,2370,634,3125
$GC,1812,-2.06,-95.1,186.7,-11.5,194,1819,0.12,2.35,0.00,0.000,6,0.061,0.022,2338,2048,3125
$GC,2145,-2.06,-95.1,223.8,-11.7,216,2149,0.00,2.38,0.00,0.000,4,0.000,0.035,2338,3442,3125
$GC,2157,-2.06,-95.1,225.7,-11.6,216,2163,0.00,2.35,0.00,0.000,6,0.000,0.024,2338,2040,3125
$GC,2473,-2.06,-95.1,258.9,-10.1,232,2477,0.00,2.42,0.00,0.000,4,0.000,0.039,2338,638,3124
$GC,2536,-2.09,-95.1,265.6,-10.3,235,2540,0.00,2.38,0.00,0.000,6,0.000,0.025,2338,2043,3124
$GC,2864,-2.12,-95.1,298.8,-10.3,251,2868,0.00,2.47,0.00,0.000,4,0.000,0.042,2338,636,3123
$GC,2885,-2.12,-95.1,301.4,-11.1,252,2889,0.00,2.38,0.00,0.000,6,0.000,0.026,2338,2040,3123
$GC,3224,-2.16,-95.1,337.5,-10.6,261,3228,0.00,2.42,0.00,0.000,4,0.000,0.039,2338,3444,3121
$GC,3246,-2.21,-95.1,339.9,-10.0,261,3252,0.12,2.40,0.00,0.000,6,0.071,0.028,2309,2034,3121
$GC,3590,-2.21,-95.1,373.9,-9.9,270,3594,0.00,2.45,0.00,0.000,4,0.000,0.045,2308,639,3119
$GC,3624,-2.21,-95.1,377.4,-9.7,270,3629,0.00,2.40,0.00,0.000,6,0.000,0.028,2308,2045,3119
$GC,3958,-2.21,-95.1,408.4,-9.2,278,3962,0.00,2.50,0.00,0.000,4,0.000,0.047,2309,640,3116
$GC,3975,-2.21,-95.1,410.2,-9.2,278,3979,0.00,2.40,0.00,0.000,6,0.000,0.029,2308,2050,3116
$GC,4325,-2.21,-95.1,442.3,-9.0,287,4329,0.00,2.53,0.00,0.000,4,0.000,0.048,2309,634,3113
$GC,4347,-2.21,-95.1,444.5,-8.7,287,4351,0.00,2.42,0.00,0.000,6,0.000,0.031,2309,2044,3113
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4447,-0.33,0.0,452.4,8.7,290,4526,2.00,0.00,74.47,0.927,6,0.101,0.000,2713,1937,2733
$STATE,4527,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4530,1.46,95.1,453.2,0.0,292,4613,1.80,2.60,75.55,0.917,4,0.049,0.041,3107,3366,2345
$GC,4701,1.00,95.1,450.0,7.8,296,4707,0.52,2.47,0.00,0.000,6,0.137,0.033,3012,1960,2343
$GC,5016,0.75,112.1,430.4,5.6,304,5036,0.30,2.62,13.75,0.905,4,0.131,0.053,2956,540,2275
$GC,5278,0.54,112.1,414.7,7.1,309,5284,0.25,2.45,0.00,0.000,6,0.127,0.030,2912,1955,2273
$GC,5611,0.49,121.6,395.7,6.2,318,5625,0.00,2.53,7.47,0.910,4,0.000,0.043,2912,3344,2237
$GC,5701,0.41,121.6,389.3,7.4,320,5706,0.17,2.45,0.00,0.000,6,0.127,0.033,2881,1950,2236
$GC,6025,0.47,157.3,373.5,4.3,328,6060,0.00,2.62,28.45,0.921,4,0.000,0.053,2881,547,2091
$GC,6091,0.44,163.2,370.3,6.4,329,6101,0.00,2.45,5.57,0.886,6,0.000,0.030,2881,1950,2067
$GC,6433,0.44,163.2,347.4,7.1,338,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1950,2066
$GC,6758,0.47,179.1,326.9,5.7,346,6777,0.00,2.65,12.65,0.894,4,0.000,0.053,2881,540,2003
$GC,6858,0.47,179.1,319.7,7.7,348,6862,0.00,2.45,0.00,0.000,6,0.000,0.030,2881,1950,2003
$GC,7171,0.49,191.8,300.5,5.9,356,7184,0.00,0.00,10.75,0.880,6,0.000,0.000,2882,1950,1950
$GC,7480,0.52,191.8,281.2,7.1,370,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1950,1950
$GC,7790,0.56,191.8,259.6,7.1,385,7795,0.15,2.55,0.00,0.000,4,0.081,0.051,2917,545,1949
$GC,7859,0.50,195.2,254.7,6.6,388,7868,0.00,2.42,3.22,0.816,6,0.000,0.029,2917,1955,1936
$GC,8186,0.50,195.2,234.0,7.0,404,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1955,1936
$GC,8495,0.50,196.2,212.2,6.7,419,8499,0.00,2.55,0.00,0.000,4,0.000,0.050,2917,534,1937
$GC,8591,0.45,196.2,205.3,7.3,423,8596,0.15,2.42,0.00,0.000,6,0.123,0.027,2891,1955,1937
$GC,8918,0.56,221.6,189.0,5.0,449,8944,0.00,2.47,21.05,0.774,4,0.000,0.036,2891,3355,1828
$GC,9030,0.62,221.6,182.0,7.1,458,9037,0.15,2.45,0.00,0.000,6,0.074,0.029,2923,1939,1828
$GC,9356,0.62,221.6,158.0,6.9,489,9360,0.00,2.47,0.00,0.000,4,0.000,0.047,2923,545,1828
$GC,9390,0.59,222.7,155.7,6.7,491,9396,0.00,2.40,0.00,0.000,6,0.000,0.025,2923,1959,1828
$GC,9719,0.59,222.7,131.3,7.6,522,9723,0.00,2.53,0.00,0.000,4,0.000,0.047,2923,547,1829
$GC,9748,0.59,222.7,128.9,8.2,524,9752,0.00,2.40,0.00,0.000,6,0.000,0.025,2923,1958,1829
$GC,10078,0.59,222.7,105.5,7.0,554,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1958,1830
$GC,10407,0.72,264.8,86.3,3.9,585,10451,0.10,2.60,33.97,0.647,4,0.082,0.044,2946,549,1653
$GC,10502,0.72,264.8,80.5,6.9,593,10508,0.00,2.38,0.00,0.000,6,0.000,0.023,2946,1956,1653
$GC,10833,0.76,265.4,60.3,6.8,624,10837,0.00,2.38,0.00,0.000,4,0.000,0.032,2946,3346,1654
$GC,10874,0.80,265.4,56.8,8.0,627,10879,0.00,2.40,0.00,0.000,6,0.000,0.025,2946,1942,1654
$GC,11140,0.91,295.9,39.8,4.7,651,11173,0.15,2.53,24.35,0.589,4,0.066,0.044,2985,552,1525
$GC,11311,0.85,295.9,24.8,11.2,670,11318,0.00,2.38,0.00,0.000,6,0.000,0.023,2984,1966,1526
$STATE,11474,end climb,SURFACE_DEPTH_REACHED
$STATE,11476,begin surface coast
$FINISH,1.0,1.023161
$STATE,11521,end surface coast,CONTROL_FINISHED_OK
$STATE,11521,begin surface
$SM_CCo,11546,120.20,0.554,0,0,420,567.38
$SM_GC,1.69,0.00,0.00,120.20,0.000,0.000,0.554,411,2051,420,-10.94,0.31,567.38
$IRIDIUM_FIX,2101.76,-15748.75,210298,010151
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.40
$XPDR_PINGS,18
$24V_AH,23.7,65.326
$10V_AH,10.2,40.023
$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,31.000,122.475,311.275,120.200,0.000,130.543,270.530,255.609,13.500,0.000,0.000,44.175,1311.513,8201.776,536.317,1683.441,1018.802,33.366,1339.505,0.000,1623.391,0.000,57.467
$DEVICE_MAMPS,154.167,56.758,926.536,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.406,471.226,837.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37915,707
$CAP_FILE_SIZE,112035,0
$CFSIZE,260165632,231092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271108,045408,2106.415,-15749.036,61,1.1,61,9.8