version: 66.03
glider: 114
mission: 3
dive: 481
start: 11 28 108 4 2 18
data:
$ID,114
$MISSION,3
$DIVE,481
$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,-601255.94
$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,35
$R_STBD_OVSHOOT,66
$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
$GPS1,035507,2108.304,-15749.831,11,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.7
$GPS2,040121,2108.337,-15749.862,14,1.0,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.017,-0.232
$KALMAN_X,-153023.3,-375.3,-1118.0,160928.2,925.9
$KALMAN_Y,-141160.7,-181.3,-100.0,126186.8,500.0
$MHEAD_RNG_PITCHd_Wd,166.0,12255,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-81.32,0.000,2,0.000,0.000,409,2071,2920
$GC,118,-1.06,-165.5,3.5,-3.7,15,143,12.00,2.58,-7.97,0.000,4,0.156,0.047,2549,633,3409
$GC,185,-1.13,-165.5,17.3,-9.4,26,191,0.00,2.33,0.00,0.000,6,0.000,0.022,2550,2013,3409
$GC,464,-1.22,-165.5,36.7,-7.9,68,469,0.12,2.45,0.00,0.000,4,0.060,0.033,2519,3443,3410
$GC,550,-1.31,-165.5,44.0,-8.3,75,554,0.00,2.38,0.00,0.000,6,0.000,0.022,2519,2036,3410
$GC,812,-1.31,-165.5,68.2,-8.1,99,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2036,3410
$GC,1068,-1.37,-165.5,85.9,-7.3,123,1073,0.12,2.42,0.00,0.000,4,0.058,0.031,2488,3449,3410
$GC,1143,-1.44,-165.5,92.0,-7.5,129,1147,0.00,2.38,0.00,0.000,6,0.000,0.022,2488,2037,3410
$GC,1469,-1.44,-165.5,119.5,-8.1,159,1476,0.00,2.42,0.00,0.000,4,0.000,0.032,2487,3445,3410
$GC,1522,-1.54,-165.5,124.1,-8.4,163,1529,0.15,2.35,0.00,0.000,6,0.057,0.023,2450,2040,3411
$GC,1848,-1.50,-165.5,154.6,-8.2,194,1852,0.00,2.42,0.00,0.000,4,0.000,0.033,2451,3446,3411
$GC,1893,-1.50,-165.5,158.4,-7.5,197,1898,0.00,2.38,0.00,0.000,6,0.000,0.022,2450,2030,3411
$GC,2218,-1.50,-165.5,187.9,-10.3,228,2222,0.00,2.42,0.00,0.000,4,0.000,0.034,2450,3441,3411
$GC,2252,-1.50,-165.5,191.3,-9.3,230,2258,0.00,2.35,0.00,0.000,6,0.000,0.024,2451,2039,3411
$GC,2582,-1.50,-165.5,219.4,-8.0,251,2586,0.00,2.42,0.00,0.000,4,0.000,0.035,2450,3445,3411
$GC,2615,-1.50,-165.5,222.7,-10.0,252,2619,0.00,2.38,0.00,0.000,6,0.000,0.024,2450,2037,3411
$GC,2938,-1.50,-165.5,250.4,-7.9,268,2942,0.00,2.42,0.00,0.000,4,0.000,0.035,2450,3439,3411
$GC,3005,-1.57,-165.5,255.3,-6.9,271,3009,0.00,2.38,0.00,0.000,6,0.000,0.025,2450,2034,3411
$GC,3327,-1.57,-165.5,276.4,-6.7,287,3331,0.00,2.45,0.00,0.000,4,0.000,0.037,2450,3446,3410
$GC,3367,-1.64,-165.5,279.2,-7.3,288,3374,0.00,2.40,0.00,0.000,6,0.000,0.026,2450,2035,3409
$GC,3685,-1.69,-165.5,300.2,-6.9,304,3690,0.12,2.45,0.00,0.000,4,0.066,0.037,2420,3440,3408
$GC,3725,-1.69,-165.5,303.2,-7.3,305,3729,0.00,2.40,0.00,0.000,6,0.000,0.027,2420,2033,3408
$GC,4049,-1.69,-165.5,324.6,-6.8,313,4053,0.00,2.45,0.00,0.000,4,0.000,0.038,2419,3438,3407
$GC,4099,-1.72,-165.5,328.3,-7.0,314,4104,0.00,2.40,0.00,0.000,6,0.000,0.028,2420,2032,3406
$GC,4426,-1.72,-165.5,351.4,-7.1,322,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2032,3403
$GC,4749,-1.72,-165.5,377.9,-8.2,330,4753,0.00,2.47,0.00,0.000,4,0.000,0.041,2420,3440,3401
$GC,4812,-1.77,-165.5,382.9,-7.8,331,4816,0.00,2.40,0.00,0.000,6,0.000,0.030,2419,2044,3400
$GC,5161,-1.77,-165.5,411.3,-8.3,340,5165,0.00,2.45,0.00,0.000,4,0.000,0.041,2420,3437,3398
$GC,5201,-1.77,-165.5,414.6,-8.1,341,5205,0.00,2.42,0.00,0.000,6,0.000,0.031,2420,2030,3398
$GC,5526,-1.77,-165.5,438.8,-7.1,349,5530,0.00,2.47,0.00,0.000,4,0.000,0.042,2420,3442,3395
$GC,5560,-1.80,-165.5,441.5,-7.7,349,5564,0.00,2.42,0.00,0.000,6,0.000,0.031,2420,2034,3395
$STATE,5686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5686,begin apogee
$GC,5694,-0.33,0.0,451.4,7.8,352,5828,1.42,0.00,129.93,0.945,6,0.092,0.000,2713,1927,2733
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5833,1.06,165.5,457.5,0.0,355,5973,1.38,2.58,132.02,0.919,4,0.051,0.052,3017,559,2057
$GC,6233,0.51,165.5,426.8,14.2,364,6238,0.65,2.42,0.00,0.000,6,0.143,0.030,2902,1947,2056
$GC,6553,0.22,165.5,401.4,7.1,372,6558,0.30,2.55,0.00,0.000,4,0.140,0.052,2845,558,2054
$GC,6576,0.05,196.7,399.9,5.9,372,6606,0.22,2.42,24.15,0.915,6,0.125,0.031,2804,1950,1930
$GC,6921,0.13,284.2,384.9,4.2,381,6996,0.00,2.58,69.45,0.915,4,0.000,0.047,2805,3354,1574
$GC,7020,0.09,292.8,379.7,6.6,382,7034,0.00,2.47,7.85,0.878,6,0.000,0.033,2804,1956,1538
$GC,7368,0.04,296.1,357.8,6.7,391,7373,0.00,0.00,3.47,0.850,6,0.000,0.000,2804,1956,1524
$GC,7692,0.03,320.1,336.3,6.1,399,7716,0.00,2.58,18.80,0.899,4,0.000,0.041,2804,3366,1428
$GC,7730,0.05,365.6,334.1,5.5,399,7776,0.00,2.50,36.78,0.887,6,0.000,0.031,2804,1948,1242
$GC,8102,0.01,365.6,308.4,6.9,409,8107,0.00,2.50,0.00,0.000,4,0.000,0.041,2804,3349,1241
$GC,8147,0.01,365.6,305.0,8.1,410,8152,0.00,2.47,0.00,0.000,6,0.000,0.031,2804,1937,1241
$GC,8472,-0.02,365.6,281.8,6.8,424,8476,0.00,2.53,0.00,0.000,4,0.000,0.040,2804,3360,1241
$GC,8494,-0.02,365.6,280.0,7.1,425,8498,0.00,2.47,0.00,0.000,6,0.000,0.031,2804,1940,1241
$GC,8815,-0.02,365.6,253.7,8.8,441,8819,0.00,2.50,0.00,0.000,4,0.000,0.038,2805,3359,1241
$GC,8855,-0.02,365.6,250.3,8.7,442,8861,0.00,2.45,0.00,0.000,6,0.000,0.030,2804,1941,1241
$GC,9172,0.05,406.8,230.5,5.6,458,9213,0.00,2.60,32.62,0.822,4,0.000,0.036,2804,3355,1074
$GC,9225,0.11,440.8,227.3,5.8,460,9260,0.00,2.47,27.55,0.807,6,0.000,0.028,2804,1942,935
$GC,9589,0.11,440.8,202.3,7.0,478,9593,0.00,2.50,0.00,0.000,4,0.000,0.035,2804,3362,935
$GC,9635,0.16,440.8,198.9,6.9,480,9641,0.00,2.45,0.00,0.000,6,0.000,0.028,2804,1945,936
$GC,9965,0.16,440.8,176.1,7.0,511,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1945,935
$GC,10290,0.16,440.8,154.1,7.4,542,10295,0.00,2.47,0.00,0.000,4,0.000,0.034,2804,3365,936
$GC,10347,0.23,440.8,150.0,7.8,546,10354,0.17,2.42,0.00,0.000,6,0.063,0.025,2845,1943,936
$GC,10673,0.18,440.8,124.0,7.8,577,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1943,936
$GC,10994,0.23,470.2,101.1,5.9,607,11027,0.00,2.53,23.55,0.659,4,0.000,0.033,2845,3353,816
$GC,11067,0.23,470.2,95.8,7.4,613,11073,0.00,2.42,0.00,0.000,6,0.000,0.025,2844,1940,816
$GC,11396,0.23,470.2,71.1,7.7,644,11399,0.00,2.47,0.00,0.000,4,0.000,0.032,2845,3368,817
$GC,11431,0.23,470.2,68.2,7.7,647,11435,0.00,2.42,0.00,0.000,6,0.000,0.025,2844,1943,818
$GC,11697,0.31,490.0,50.1,6.2,671,11719,0.00,2.50,16.35,0.606,4,0.000,0.043,2844,547,734
$GC,11733,0.44,537.1,47.9,5.4,674,11777,0.17,2.40,36.15,0.594,6,0.058,0.021,2887,1968,543
$GC,12036,0.36,537.1,22.2,9.2,709,12042,0.00,2.38,0.00,0.000,4,0.000,0.032,2887,3353,547
$GC,12089,0.36,537.1,17.0,9.4,718,12096,0.00,2.38,0.00,0.000,6,0.000,0.025,2887,1946,548
$STATE,12218,end climb,SURFACE_DEPTH_REACHED
$STATE,12218,begin surface coast
$FINISH,1.0,1.018309
$STATE,12284,end surface coast,CONTROL_FINISHED_OK
$STATE,12284,begin surface
$SM_CCo,12368,0.00,0.000,0,0,548,535.98
$SM_GC,1.68,10.98,0.00,0.00,0.041,0.000,0.000,411,2060,548,-10.89,0.57,535.98
$IRIDIUM_FIX,2104.07,-15747.88,220298,000054
$TT8_MAMPS,0.027612
$HUMID,1784
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,11
$24V_AH,23.6,66.370
$10V_AH,10.2,40.677
$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,27.825,137.425,558.675,0.000,0.000,23.522,36.049,167.381,11.750,0.000,0.000,16.361,1361.859,8367.975,616.350,1805.681,589.948,33.377,1537.013,0.000,1766.785,0.000,57.457
$DEVICE_MAMPS,156.468,52.156,944.944,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.287,498.449,892.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37977,752
$CAP_FILE_SIZE,114104,0
$CFSIZE,260165632,230662144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281108,072937,2107.025,-15749.548,31,1.2,31,9.8