version: 66.03
glider: 114
mission: 3
dive: 476
start: 11 27 108 12 10 46
data:
$ID,114
$MISSION,3
$DIVE,476
$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,-601128.62
$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,33
$R_STBD_OVSHOOT,55
$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
$GPS1,120225,2109.270,-15749.943,37,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-60.0
$GPS2,120950,2109.325,-15750.026,10,1.5,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.122,0.173
$KALMAN_X,-153376.1,35.6,315.3,159147.8,-1565.7
$KALMAN_Y,-142628.7,519.7,103.0,128576.5,-1031.9
$MHEAD_RNG_PITCHd_Wd,25.4,1251,-13.4,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.12,-129.9,0.0,0.0,0,106,0.00,0.00,-75.60,0.000,2,0.000,0.000,406,2068,2953
$GC,111,-1.18,-165.5,4.0,-4.4,14,135,11.85,2.40,-7.28,0.000,4,0.155,0.045,2522,3426,3410
$GC,172,-1.09,-165.5,18.8,-15.4,24,179,0.15,2.35,0.00,0.000,6,0.087,0.022,2552,2026,3410
$GC,445,-1.25,-165.5,38.1,-6.3,63,449,0.15,2.42,0.00,0.000,4,0.054,0.032,2511,3430,3410
$GC,508,-1.38,-165.5,43.4,-8.1,68,512,0.00,2.35,0.00,0.000,6,0.000,0.022,2511,2029,3410
$GC,771,-1.45,-165.5,67.4,-10.0,92,776,0.17,2.40,0.00,0.000,4,0.054,0.032,2469,3423,3410
$GC,845,-1.45,-165.5,76.0,-11.2,98,850,0.00,2.33,0.00,0.000,6,0.000,0.022,2469,2042,3410
$GC,1108,-1.45,-165.5,98.7,-7.4,122,1112,0.00,2.40,0.00,0.000,4,0.000,0.033,2469,3432,3411
$GC,1143,-1.45,-165.5,101.1,-6.6,124,1149,0.00,2.33,0.00,0.000,6,0.000,0.022,2469,2035,3411
$GC,1469,-1.50,-165.5,127.7,-10.2,155,1473,0.00,2.40,0.00,0.000,4,0.000,0.033,2469,3429,3412
$GC,1555,-1.63,-165.5,137.0,-10.1,162,1560,0.15,2.35,0.00,0.000,6,0.057,0.023,2432,2027,3412
$GC,1881,-1.63,-165.5,172.2,-9.7,192,1885,0.00,2.40,0.00,0.000,4,0.000,0.034,2432,3421,3412
$GC,1922,-1.63,-165.5,176.1,-9.4,195,1926,0.00,2.35,0.00,0.000,6,0.000,0.024,2432,2028,3412
$GC,2247,-1.63,-165.5,204.0,-7.9,223,2251,0.00,2.40,0.00,0.000,4,0.000,0.034,2431,3421,3412
$GC,2292,-1.69,-165.5,207.8,-8.0,225,2296,0.00,2.33,0.00,0.000,6,0.000,0.024,2432,2042,3412
$GC,2615,-1.73,-165.5,238.2,-9.8,241,2619,0.00,2.40,0.00,0.000,4,0.000,0.035,2432,3429,3412
$GC,2665,-1.82,-165.5,243.5,-10.5,243,2670,0.17,2.35,0.00,0.000,6,0.057,0.025,2390,2037,3412
$GC,2985,-1.79,-165.5,275.4,-9.0,258,2989,0.00,2.42,0.00,0.000,4,0.000,0.037,2389,3431,3411
$GC,3040,-1.79,-165.5,281.2,-9.7,260,3047,0.00,2.35,0.00,0.000,6,0.000,0.026,2390,2037,3412
$GC,3376,-1.79,-165.5,312.5,-9.0,274,3380,0.00,2.42,0.00,0.000,4,0.000,0.038,2389,3430,3410
$GC,3434,-1.79,-165.5,318.2,-9.5,275,3438,0.00,2.38,0.00,0.000,6,0.000,0.027,2390,2035,3409
$GC,3748,-1.79,-165.5,348.1,-9.3,283,3752,0.00,2.42,0.00,0.000,4,0.000,0.038,2390,3424,3408
$GC,3799,-1.83,-165.5,352.7,-8.5,284,3803,0.00,2.38,0.00,0.000,6,0.000,0.028,2389,2035,3407
$GC,4114,-1.83,-165.5,383.2,-10.1,292,4118,0.00,2.42,0.00,0.000,4,0.000,0.039,2390,3421,3405
$GC,4170,-1.87,-165.5,389.4,-9.6,293,4174,0.00,2.38,0.00,0.000,6,0.000,0.029,2390,2035,3405
$GC,4521,-1.87,-165.5,423.7,-9.8,302,4525,0.00,2.45,0.00,0.000,4,0.000,0.040,2390,3428,3402
$GC,4565,-1.87,-165.5,428.6,-9.4,303,4570,0.00,2.40,0.00,0.000,6,0.000,0.030,2389,2031,3402
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4809,-0.33,0.0,451.4,9.4,309,4944,1.58,0.00,130.90,0.922,6,0.089,0.000,2715,1932,2733
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4948,1.18,165.5,457.3,0.0,312,5088,1.52,2.55,131.27,0.907,4,0.046,0.039,3051,3333,2058
$GC,5187,0.67,165.5,447.2,13.0,318,5193,0.60,2.40,0.00,0.000,6,0.133,0.033,2941,1972,2058
$GC,5536,0.38,165.5,420.6,7.3,327,5541,0.32,2.60,0.00,0.000,4,0.120,0.052,2878,543,2055
$GC,5610,0.17,165.5,415.6,6.9,328,5615,0.25,2.42,0.00,0.000,6,0.231,0.029,2832,1939,2055
$GC,5943,0.17,207.6,398.9,5.3,336,5984,0.00,2.60,32.45,0.906,4,0.000,0.043,2832,3354,1886
$GC,6019,0.13,221.8,394.0,6.3,337,6038,0.00,2.47,11.95,0.894,6,0.000,0.033,2832,1949,1828
$GC,6360,0.11,242.8,372.3,6.0,346,6379,0.00,0.00,17.08,0.896,6,0.000,0.000,2832,1949,1742
$GC,6684,0.11,278.4,353.5,5.5,354,6719,0.00,2.60,28.42,0.895,4,0.000,0.040,2832,3359,1598
$GC,6749,0.06,278.4,349.4,7.4,355,6754,0.15,2.50,0.00,0.000,6,0.114,0.032,2805,1939,1598
$GC,7092,0.14,324.3,331.3,5.1,364,7134,0.00,2.58,36.20,0.882,4,0.000,0.039,2805,3361,1411
$GC,7152,0.15,328.1,327.4,6.7,365,7161,0.00,2.50,3.97,0.836,6,0.000,0.031,2806,1940,1395
$GC,7505,0.15,328.1,302.2,7.1,374,7510,0.00,2.53,0.00,0.000,4,0.000,0.038,2805,3366,1394
$GC,7528,0.15,328.1,300.6,7.3,374,7532,0.00,2.47,0.00,0.000,6,0.000,0.030,2805,1949,1394
$GC,7850,0.15,328.1,274.6,7.7,390,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1949,1394
$GC,8160,0.18,346.8,254.3,6.1,405,8182,0.10,2.53,14.80,0.828,4,0.084,0.037,2827,3354,1319
$GC,8235,0.20,354.6,249.4,6.5,408,8252,0.00,2.47,7.07,0.821,6,0.000,0.030,2828,1938,1287
$GC,8561,0.20,354.6,227.4,7.3,424,8565,0.00,2.50,0.00,0.000,4,0.000,0.037,2827,3359,1287
$GC,8589,0.20,354.6,225.2,8.3,425,8593,0.00,2.45,0.00,0.000,6,0.000,0.028,2827,1948,1287
$GC,8905,0.21,359.3,204.2,6.6,440,8915,0.00,2.53,4.72,0.776,4,0.000,0.048,2828,545,1268
$GC,8932,0.21,359.3,202.2,7.1,441,8937,0.00,2.42,0.00,0.000,6,0.000,0.025,2828,1960,1267
$GC,9265,0.21,364.6,179.7,6.6,470,9277,0.00,2.42,4.93,0.753,4,0.000,0.036,2828,3346,1246
$GC,9313,0.26,364.6,176.1,7.5,474,9317,0.00,2.42,0.00,0.000,6,0.000,0.028,2828,1940,1246
$GC,9648,0.31,370.5,154.7,6.6,505,9660,0.12,2.50,5.53,0.729,4,0.072,0.045,2857,543,1222
$GC,9701,0.31,370.5,150.2,7.8,509,9707,0.00,2.40,0.00,0.000,6,0.000,0.024,2858,1954,1222
$GC,10029,0.31,370.5,125.2,7.9,540,10033,0.00,2.40,0.00,0.000,4,0.000,0.035,2857,3348,1222
$GC,10063,0.31,370.5,121.9,8.9,542,10070,0.00,2.40,0.00,0.000,6,0.000,0.027,2857,1940,1223
$GC,10392,0.31,370.5,96.9,6.9,573,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1940,1224
$GC,10721,0.40,404.1,78.3,5.6,604,10754,0.00,2.47,26.45,0.635,4,0.000,0.031,2858,3348,1084
$GC,10802,0.61,470.9,74.4,4.3,611,10859,0.30,2.40,50.65,0.628,6,0.052,0.025,2926,1946,813
$GC,11122,0.51,470.9,44.9,9.7,641,11124,0.12,0.00,0.00,0.000,6,0.102,0.000,2903,1945,813
$GC,11384,0.47,470.9,21.5,10.1,672,11390,0.00,2.42,0.00,0.000,4,0.000,0.031,2903,3350,813
$GC,11428,0.44,470.9,16.7,11.2,679,11435,0.00,2.38,0.00,0.000,6,0.000,0.024,2902,1949,814
$STATE,11540,end climb,SURFACE_DEPTH_REACHED
$STATE,11540,begin surface coast
$FINISH,1.1,1.023200
$STATE,11589,end surface coast,CONTROL_FINISHED_OK
$STATE,11589,begin surface
$SM_CCo,11674,0.00,0.000,0,0,814,470.49
$SM_GC,1.64,11.10,0.00,0.00,0.044,0.000,0.000,410,2054,814,-10.90,0.40,470.49
$IRIDIUM_FIX,2057.14,-15748.75,210298,080845
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.7,65.785
$10V_AH,10.2,40.285
$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,28.825,131.600,506.400,0.000,0.000,25.860,36.741,234.073,11.750,0.000,0.000,16.812,1297.156,7920.066,577.352,1678.682,645.171,33.370,1420.825,0.000,1642.480,0.000,57.447
$DEVICE_MAMPS,230.867,55.991,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.547,462.538,835.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37975,707
$CAP_FILE_SIZE,110478,0
$CFSIZE,260165632,230932480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271108,152637,2110.603,-15749.569,34,1.5,38,9.8