version: 66.03
glider: 114
mission: 3
dive: 474
start: 11 27 108 5 7 57
data:
$ID,114
$MISSION,3
$DIVE,474
$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,-601098.19
$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,32
$R_STBD_OVSHOOT,41
$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
$GPS1,045408,2106.415,-15749.036,61,1.1,61,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.3
$GPS2,050657,2106.399,-15749.070,17,1.5,17,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.121,0.199
$KALMAN_X,-151395.8,-721.5,-691.7,160583.0,862.7
$KALMAN_Y,-141414.2,-149.9,-160.4,122883.5,402.2
$MHEAD_RNG_PITCHd_Wd,318.9,6859,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.32,0.000,2,0.000,0.000,410,2050,2732
$GC,109,-1.06,-165.5,3.3,-3.3,14,139,11.90,2.40,-11.95,0.000,4,0.151,0.045,2551,3440,3409
$GC,215,-1.22,-165.5,16.8,-7.3,32,222,0.12,2.38,0.00,0.000,6,0.061,0.023,2520,2031,3408
$GC,487,-1.22,-165.5,40.0,-8.7,71,491,0.00,2.45,0.00,0.000,4,0.000,0.035,2521,3447,3408
$GC,543,-1.31,-165.5,45.7,-9.5,75,549,0.00,2.38,0.00,0.000,6,0.000,0.022,2521,2028,3408
$GC,806,-1.35,-165.5,64.8,-7.1,100,811,0.12,2.42,0.00,0.000,4,0.061,0.033,2490,3435,3409
$GC,862,-1.39,-165.5,69.9,-9.9,104,868,0.00,2.35,0.00,0.000,6,0.000,0.022,2490,2031,3408
$GC,1124,-1.39,-165.5,93.9,-8.4,129,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2024,3409
$GC,1447,-1.43,-165.5,118.9,-7.0,159,1451,0.00,2.42,0.00,0.000,4,0.000,0.034,2490,3437,3409
$GC,1529,-1.54,-165.5,124.7,-6.5,165,1536,0.17,2.35,0.00,0.000,6,0.054,0.023,2448,2028,3408
$GC,1855,-1.50,-165.5,156.2,-10.0,196,1859,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3437,3408
$GC,1898,-1.50,-165.5,160.2,-9.2,199,1902,0.00,2.35,0.00,0.000,6,0.000,0.023,2447,2038,3409
$GC,2224,-1.50,-165.5,189.8,-9.0,229,2232,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3445,3409
$GC,2263,-1.50,-165.5,193.5,-10.1,232,2267,0.00,2.38,0.00,0.000,6,0.000,0.024,2447,2035,3408
$GC,2581,-1.50,-165.5,225.8,-8.9,250,2585,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3440,3408
$GC,2622,-1.54,-165.5,228.9,-7.5,252,2626,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2034,3408
$GC,2949,-1.54,-165.5,252.2,-8.2,268,2953,0.00,2.45,0.00,0.000,4,0.000,0.036,2447,3448,3408
$GC,2995,-1.59,-165.5,255.9,-7.4,270,2999,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2040,3408
$GC,3316,-1.59,-165.5,282.5,-8.1,286,3320,0.00,2.42,0.00,0.000,4,0.000,0.037,2447,3435,3407
$GC,3362,-1.68,-165.5,286.2,-8.1,288,3366,0.00,2.38,0.00,0.000,6,0.000,0.026,2447,2032,3407
$GC,3684,-1.71,-165.5,311.1,-7.8,301,3686,0.15,0.00,0.00,0.000,6,0.062,0.000,2411,2031,3405
$GC,4007,-1.71,-165.5,339.5,-8.6,309,4011,0.00,2.45,0.00,0.000,4,0.000,0.038,2411,3435,3403
$GC,4062,-1.71,-165.5,344.1,-7.3,310,4067,0.00,2.38,0.00,0.000,6,0.000,0.028,2411,2042,3402
$GC,4413,-1.71,-165.5,373.3,-8.5,319,4418,0.00,2.45,0.00,0.000,4,0.000,0.040,2410,3441,3400
$GC,4481,-1.71,-165.5,379.0,-7.8,320,4486,0.00,2.40,0.00,0.000,6,0.000,0.029,2411,2039,3399
$GC,4820,-1.71,-165.5,404.8,-7.5,329,4824,0.00,2.45,0.00,0.000,4,0.000,0.041,2411,3431,3397
$GC,4871,-1.75,-165.5,409.5,-9.2,330,4876,0.00,2.40,0.00,0.000,6,0.000,0.031,2411,2035,3396
$GC,5191,-1.75,-165.5,438.3,-9.1,338,5195,0.00,2.47,0.00,0.000,4,0.000,0.043,2411,3440,3394
$GC,5242,-1.78,-165.5,443.1,-9.1,339,5246,0.00,2.42,0.00,0.000,6,0.000,0.031,2411,2032,3393
$STATE,5355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5355,begin apogee
$GC,5363,-0.33,0.0,453.4,8.9,342,5497,1.48,0.00,129.62,0.938,6,0.091,0.000,2715,1926,2733
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5501,1.06,165.5,460.0,0.0,345,5642,1.35,2.62,131.23,0.920,4,0.049,0.041,3016,3343,2058
$GC,5860,0.56,165.5,434.6,12.8,353,5865,0.55,2.42,0.00,0.000,6,0.123,0.033,2915,1966,2056
$GC,6174,0.25,165.5,407.6,8.2,361,6179,0.35,2.60,0.00,0.000,4,0.123,0.054,2849,539,2054
$GC,6191,-0.01,165.5,406.4,7.6,361,6196,0.32,2.45,0.00,0.000,6,0.114,0.031,2788,1947,2054
$GC,6535,0.08,242.2,391.2,4.5,370,6600,0.00,2.58,59.60,0.912,4,0.000,0.045,2788,3358,1745
$GC,6652,0.14,277.3,384.8,5.8,372,6687,0.15,2.50,28.65,0.899,6,0.077,0.034,2819,1943,1601
$GC,7028,0.15,336.4,363.3,5.1,382,7077,0.00,0.00,46.72,0.900,6,0.000,0.000,2819,1943,1361
$GC,7390,0.08,341.7,341.2,6.7,391,7400,0.00,2.55,5.15,0.865,4,0.000,0.041,2819,3357,1339
$GC,7440,0.03,341.7,336.9,8.7,392,7445,0.12,2.47,0.00,0.000,6,0.110,0.033,2797,1951,1339
$GC,7754,-0.00,341.7,313.5,7.3,400,7759,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3357,1338
$GC,7777,-0.00,341.7,311.6,8.1,400,7781,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1939,1338
$GC,8095,-0.00,341.7,286.7,7.5,412,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1939,1338
$GC,8406,0.01,352.1,266.6,6.5,427,8420,0.00,2.58,8.73,0.855,4,0.000,0.038,2797,3355,1297
$GC,8456,0.01,352.1,263.1,7.1,429,8460,0.00,2.47,0.00,0.000,6,0.000,0.031,2797,1939,1296
$GC,8778,0.03,360.8,243.0,6.6,445,8792,0.00,2.55,7.60,0.834,4,0.000,0.037,2797,3348,1262
$GC,8811,0.03,360.8,240.6,7.0,446,8815,0.00,2.45,0.00,0.000,6,0.000,0.029,2797,1943,1262
$GC,9127,0.09,398.2,221.4,5.7,461,9162,0.00,2.55,29.92,0.809,4,0.000,0.036,2797,3360,1109
$GC,9192,0.15,408.9,217.4,6.5,463,9209,0.12,2.47,9.15,0.800,6,0.074,0.029,2825,1942,1065
$GC,9523,0.13,411.2,195.3,6.8,482,9535,0.00,2.55,2.70,0.747,4,0.000,0.048,2825,547,1055
$GC,9571,0.13,411.2,191.4,7.3,486,9575,0.00,2.42,0.00,0.000,6,0.000,0.025,2825,1961,1055
$GC,9901,0.13,411.2,166.2,8.5,516,9905,0.00,2.42,0.00,0.000,4,0.000,0.037,2825,3354,1056
$GC,9945,0.13,411.2,162.1,7.9,519,9951,0.00,2.42,0.00,0.000,6,0.000,0.028,2825,1950,1057
$GC,10274,0.13,411.2,137.4,7.8,550,10278,0.00,2.45,0.00,0.000,4,0.000,0.035,2825,3357,1056
$GC,10292,0.13,411.2,135.7,7.8,551,10296,0.00,2.42,0.00,0.000,6,0.000,0.026,2825,1940,1057
$GC,10618,0.25,484.3,114.8,4.7,581,10681,0.00,2.50,57.25,0.678,4,0.000,0.033,2825,3348,758
$GC,10698,0.36,546.2,110.8,5.0,588,10757,0.20,2.40,48.53,0.667,6,0.056,0.025,2871,1953,507
$GC,11077,0.29,546.2,72.7,9.6,624,11081,0.00,2.42,0.00,0.000,4,0.000,0.034,2872,3346,510
$GC,11146,0.29,546.2,65.5,10.0,630,11150,0.00,2.40,0.00,0.000,6,0.000,0.025,2871,1943,511
$GC,11408,0.26,546.2,42.1,8.3,654,11413,0.12,2.45,0.00,0.000,4,0.094,0.031,2847,3354,511
$GC,11438,0.26,546.2,40.1,6.8,656,11442,0.00,2.40,0.00,0.000,6,0.000,0.024,2847,1941,512
$GC,11707,0.29,546.2,21.1,8.8,690,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1941,513
$STATE,11917,end climb,SURFACE_DEPTH_REACHED
$STATE,11917,begin surface coast
$FINISH,1.0,1.009220
$STATE,12029,end surface coast,CONTROL_FINISHED_OK
$STATE,12029,begin surface
$SM_CCo,12113,0.00,0.000,0,0,513,544.57
$SM_GC,1.75,10.75,0.00,0.00,0.041,0.000,0.000,409,2084,513,-10.91,1.24,544.57
$IRIDIUM_FIX,2057.14,-15746.61,210298,050503
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.7,65.497
$10V_AH,10.2,40.114
$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,28.000,132.425,564.850,0.000,0.000,54.953,59.678,442.832,12.250,0.000,0.000,18.525,1360.464,8219.822,625.188,1755.108,926.553,33.377,1508.344,0.000,1722.847,0.000,57.463
$DEVICE_MAMPS,151.099,53.690,938.041,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.474,500.132,895.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,747
$CAP_FILE_SIZE,118985,0
$CFSIZE,260165632,231043072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271108,083132,2107.895,-15749.663,62,1.4,62,9.8