version: 66.03
glider: 114
mission: 3
dive: 480
start: 11 28 108 0 33 44
data:
$ID,114
$MISSION,3
$DIVE,480
$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,-601238.94
$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,40
$R_STBD_OVSHOOT,67
$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
$GPS1,002007,2109.693,-15749.564,28,1.1,28,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.1
$GPS2,003245,2109.715,-15749.600,14,1.1,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.132,-0.191
$KALMAN_X,-152376.8,248.0,-149.8,159133.1,-1083.7
$KALMAN_Y,-141022.4,-182.7,-186.0,128683.9,535.3
$MHEAD_RNG_PITCHd_Wd,135.5,14469,-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,-165.5,0.0,0.0,0,106,0.00,0.00,-75.78,0.000,2,0.000,0.000,412,2061,2717
$GC,110,-1.06,-165.5,3.2,-3.7,14,141,11.98,2.55,-12.57,0.000,4,0.154,0.048,2551,642,3410
$GC,217,-1.22,-165.5,16.3,-6.5,32,224,0.12,2.30,0.00,0.000,6,0.059,0.021,2519,2022,3410
$GC,489,-1.22,-165.5,39.8,-9.3,71,493,0.00,2.42,0.00,0.000,4,0.000,0.035,2519,3432,3410
$GC,591,-1.31,-165.5,48.7,-9.0,79,597,0.00,2.35,0.00,0.000,6,0.000,0.023,2520,2036,3410
$GC,853,-1.31,-165.5,69.0,-7.5,104,857,0.00,2.42,0.00,0.000,4,0.000,0.037,2519,3430,3410
$GC,895,-1.40,-165.5,72.1,-8.8,107,900,0.15,2.35,0.00,0.000,6,0.057,0.023,2483,2042,3410
$GC,1160,-1.40,-165.5,97.4,-9.0,131,1164,0.00,2.40,0.00,0.000,4,0.000,0.033,2483,3431,3411
$GC,1234,-1.45,-165.5,104.9,-10.0,137,1239,0.00,2.35,0.00,0.000,6,0.000,0.022,2483,2036,3411
$GC,1560,-1.45,-165.5,131.0,-7.7,167,1564,0.00,2.42,0.00,0.000,4,0.000,0.033,2484,3440,3411
$GC,1611,-1.55,-165.5,134.8,-7.2,171,1617,0.15,2.35,0.00,0.000,6,0.057,0.023,2447,2039,3411
$GC,1936,-1.55,-165.5,164.5,-10.1,202,1940,0.00,2.40,0.00,0.000,4,0.000,0.033,2447,3432,3411
$GC,1987,-1.60,-165.5,168.7,-7.6,206,1991,0.00,2.35,0.00,0.000,6,0.000,0.023,2447,2028,3412
$GC,2320,-1.60,-165.5,197.4,-8.5,237,2325,0.00,2.42,0.00,0.000,4,0.000,0.034,2447,3432,3412
$GC,2366,-1.65,-165.5,200.8,-6.6,240,2370,0.00,2.35,0.00,0.000,6,0.000,0.024,2447,2037,3411
$GC,2687,-1.65,-165.5,223.7,-8.1,256,2691,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3436,3411
$GC,2716,-1.65,-165.5,226.2,-8.6,257,2720,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2030,3411
$GC,3032,-1.65,-165.5,251.6,-8.0,272,3036,0.00,2.42,0.00,0.000,4,0.000,0.036,2447,3429,3411
$GC,3122,-1.70,-165.5,258.6,-7.2,276,3127,0.12,2.35,0.00,0.000,6,0.066,0.025,2417,2042,3411
$GC,3447,-1.67,-165.5,287.3,-8.8,292,3451,0.00,2.42,0.00,0.000,4,0.000,0.038,2417,3435,3409
$GC,3480,-1.67,-165.5,291.1,-10.4,293,3487,0.00,2.35,0.00,0.000,6,0.000,0.026,2417,2042,3409
$GC,3796,-1.67,-165.5,321.2,-9.8,304,3800,0.00,2.42,0.00,0.000,4,0.000,0.038,2417,3433,3407
$GC,3837,-1.67,-165.5,325.4,-9.9,305,3841,0.00,2.40,0.00,0.000,6,0.000,0.028,2417,2030,3407
$GC,4163,-1.67,-165.5,350.4,-6.7,313,4166,0.00,2.45,0.00,0.000,4,0.000,0.038,2417,3440,3406
$GC,4214,-1.67,-165.5,353.6,-6.1,314,4218,0.00,2.40,0.00,0.000,6,0.000,0.028,2417,2037,3406
$GC,4539,-1.67,-165.5,376.6,-7.6,322,4543,0.00,2.45,0.00,0.000,4,0.000,0.039,2417,3434,3402
$GC,4589,-1.71,-165.5,380.6,-7.7,323,4594,0.00,2.40,0.00,0.000,6,0.000,0.030,2417,2036,3402
$GC,4905,-1.71,-165.5,403.7,-7.2,331,4909,0.00,2.45,0.00,0.000,4,0.000,0.041,2417,3430,3400
$GC,4950,-1.75,-165.5,407.1,-7.1,332,4954,0.00,2.40,0.00,0.000,6,0.000,0.030,2417,2033,3400
$GC,5269,-1.75,-165.5,430.0,-7.2,340,5276,0.00,2.45,0.00,0.000,4,0.000,0.041,2417,3427,3398
$GC,5329,-1.79,-165.5,434.9,-8.7,341,5333,0.00,2.40,0.00,0.000,6,0.000,0.031,2416,2033,3398
$STATE,5518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5518,begin apogee
$GC,5526,-0.33,0.0,451.7,8.9,346,5660,1.45,0.00,130.32,0.933,6,0.088,0.000,2716,1929,2733
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5665,1.06,165.5,458.8,0.0,349,5806,1.35,2.58,131.60,0.914,4,0.048,0.052,3018,559,2058
$GC,6065,0.51,165.5,427.2,13.1,358,6071,0.62,2.40,0.00,0.000,6,0.137,0.030,2905,1934,2057
$GC,6385,0.23,165.5,401.8,7.7,366,6390,0.32,2.53,0.00,0.000,4,0.132,0.052,2845,556,2055
$GC,6504,0.03,165.5,393.6,6.9,368,6509,0.25,2.45,0.00,0.000,6,0.128,0.031,2800,1959,2054
$GC,6836,0.08,227.2,376.6,5.0,376,6887,0.00,0.00,48.38,0.910,6,0.000,0.000,2800,1959,1806
$GC,7201,0.09,264.8,356.0,5.7,385,7234,0.00,0.00,30.55,0.899,6,0.000,0.000,2800,1959,1653
$GC,7526,0.08,283.0,336.2,6.3,393,7543,0.00,0.00,15.10,0.890,6,0.000,0.000,2800,1959,1579
$GC,7851,0.13,332.4,319.2,5.4,401,7895,0.00,2.62,39.08,0.881,4,0.000,0.052,2800,553,1377
$GC,7924,0.13,332.4,314.3,7.4,402,7928,0.00,2.45,0.00,0.000,6,0.000,0.030,2800,1953,1376
$GC,8238,0.22,382.3,295.1,5.3,411,8283,0.15,2.55,39.72,0.861,4,0.077,0.045,2836,3350,1174
$GC,8320,0.18,402.2,290.2,6.2,415,8342,0.00,2.45,16.38,0.846,6,0.000,0.032,2836,1963,1093
$GC,8653,0.08,402.2,259.7,10.1,431,8657,0.15,2.55,0.00,0.000,4,0.110,0.048,2808,543,1093
$GC,8675,0.02,402.2,257.5,9.2,432,8679,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,1954,1092
$GC,8996,0.08,440.1,237.3,5.7,448,9032,0.00,2.53,30.17,0.812,4,0.000,0.041,2808,3360,938
$GC,9066,0.08,440.1,232.6,7.3,450,9071,0.00,2.47,0.00,0.000,6,0.000,0.031,2808,1948,938
$GC,9383,0.09,447.3,207.2,6.6,465,9396,0.00,2.60,6.55,0.781,4,0.000,0.048,2808,541,909
$GC,9415,0.11,457.4,205.0,6.5,466,9430,0.00,2.45,8.88,0.779,6,0.000,0.027,2809,1958,868
$GC,9755,0.19,499.5,186.1,5.6,494,9798,0.00,2.55,33.30,0.759,4,0.000,0.038,2809,3358,695
$GC,9845,0.32,536.9,181.0,5.7,502,9881,0.22,2.47,29.90,0.747,6,0.061,0.028,2859,1938,544
$GC,10202,0.22,536.9,144.0,10.9,535,10207,0.10,2.50,0.00,0.000,4,0.114,0.036,2840,3355,548
$GC,10243,0.19,536.9,139.9,9.5,538,10248,0.00,2.45,0.00,0.000,6,0.000,0.027,2840,1939,548
$GC,10569,0.16,536.9,111.3,7.4,568,10574,0.00,2.47,0.00,0.000,4,0.000,0.035,2840,3358,549
$GC,10599,0.16,536.9,109.2,6.9,570,10603,0.00,2.42,0.00,0.000,6,0.000,0.025,2840,1943,549
$GC,10925,0.16,536.9,81.9,9.1,600,10929,0.00,2.45,0.00,0.000,4,0.000,0.033,2840,3354,550
$GC,10970,0.23,536.9,77.8,8.9,603,10976,0.00,2.40,0.00,0.000,6,0.000,0.025,2840,1940,551
$GC,11236,0.31,551.8,56.2,6.4,628,11258,0.00,2.53,13.60,0.614,4,0.000,0.044,2840,551,483
$GC,11265,0.37,553.0,53.9,6.8,630,11273,0.15,2.38,0.00,0.000,6,0.063,0.022,2876,1961,483
$GC,11531,0.32,553.0,31.1,9.4,655,11535,0.00,2.38,0.00,0.000,4,0.000,0.034,2876,3343,483
$GC,11572,0.28,553.0,27.1,9.1,660,11580,0.12,2.40,0.00,0.000,6,0.091,0.025,2852,1932,484
$STATE,11843,end climb,SURFACE_DEPTH_REACHED
$STATE,11843,begin surface coast
$FINISH,1.0,1.021862
$STATE,11928,end surface coast,CONTROL_FINISHED_OK
$STATE,11932,begin surface
$SM_CCo,12015,0.00,0.000,0,0,485,551.43
$SM_GC,1.64,10.73,0.00,0.00,0.038,0.000,0.000,409,2072,485,-10.90,0.90,551.43
$IRIDIUM_FIX,2101.76,-15747.88,220298,000019
$TT8_MAMPS,0.027612
$HUMID,1782
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.6,66.219
$10V_AH,10.2,40.590
$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,28.150,136.825,573.525,0.000,0.000,78.255,91.827,321.962,11.250,0.000,0.000,15.746,1341.088,8172.444,639.412,1761.273,865.908,33.374,1524.949,0.000,1728.436,0.000,57.449
$DEVICE_MAMPS,154.167,52.156,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.231,473.008,856.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37928,723
$CAP_FILE_SIZE,117111,0
$CFSIZE,260165632,230719488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281108,035507,2108.304,-15749.831,11,0.9,28,9.8