version: 66.03
glider: 114
mission: 3
dive: 486
start: 11 28 108 21 10 54
data:
$ID,114
$MISSION,3
$DIVE,486
$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,-601347.88
$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,46
$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
$GPS1,210353,2102.456,-15747.322,11,2.4,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.8
$GPS2,210959,2102.489,-15747.285,12,2.4,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.046,0.228
$KALMAN_X,-155490.8,661.3,695.6,164989.6,-1622.3
$KALMAN_Y,-138977.6,40.5,218.2,112626.3,232.5
$MHEAD_RNG_PITCHd_Wd,1.6,8590,-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,-165.5,0.0,0.0,0,90,0.00,0.00,-59.45,0.000,2,0.000,0.000,410,2050,2872
$GC,94,-1.06,-165.5,3.4,-3.4,11,124,11.95,2.53,-8.95,0.000,4,0.154,0.048,2552,632,3411
$GC,172,-1.22,-165.5,17.6,-8.1,24,179,0.12,2.35,0.00,0.000,6,0.057,0.021,2519,2045,3411
$GC,448,-1.22,-165.5,42.2,-8.1,61,451,0.00,2.38,0.00,0.000,4,0.000,0.035,2519,3441,3412
$GC,517,-1.32,-165.5,48.2,-8.2,67,521,0.00,2.38,0.00,0.000,6,0.000,0.023,2519,2033,3412
$GC,780,-1.32,-165.5,70.9,-7.8,91,784,0.00,2.42,0.00,0.000,4,0.000,0.033,2519,3439,3412
$GC,825,-1.38,-165.5,75.0,-8.6,94,832,0.15,2.35,0.00,0.000,6,0.057,0.022,2484,2032,3412
$GC,1087,-1.38,-165.5,99.7,-9.0,119,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3412
$GC,1408,-1.38,-165.5,128.8,-10.2,149,1413,0.00,2.42,0.00,0.000,4,0.000,0.033,2483,3442,3412
$GC,1473,-1.45,-165.5,134.6,-8.2,154,1477,0.00,2.35,0.00,0.000,6,0.000,0.023,2483,2038,3413
$GC,1799,-1.45,-165.5,160.4,-8.7,184,1803,0.00,2.40,0.00,0.000,4,0.000,0.034,2483,3432,3413
$GC,1833,-1.53,-165.5,163.5,-8.4,186,1840,0.12,2.33,0.00,0.000,6,0.061,0.023,2453,2041,3413
$GC,2159,-1.53,-165.5,194.0,-8.0,217,2163,0.00,2.40,0.00,0.000,4,0.000,0.034,2453,3435,3413
$GC,2176,-1.53,-165.5,195.7,-8.5,218,2181,0.00,2.35,0.00,0.000,6,0.000,0.022,2453,2034,3414
$GC,2505,-1.53,-165.5,222.7,-8.3,236,2509,0.00,2.42,0.00,0.000,4,0.000,0.034,2453,3442,3413
$GC,2555,-1.57,-165.5,226.9,-7.7,238,2560,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2041,3413
$GC,2873,-1.57,-165.5,250.0,-6.1,253,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2039,3413
$GC,3181,-1.57,-165.5,273.6,-7.5,268,3185,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3442,3413
$GC,3226,-1.65,-165.5,276.5,-6.0,270,3231,0.00,2.38,0.00,0.000,6,0.000,0.025,2453,2033,3413
$GC,3549,-1.69,-165.5,291.3,-4.5,286,3554,0.12,2.42,0.00,0.000,4,0.064,0.036,2421,3430,3413
$GC,3583,-1.69,-165.5,293.6,-6.9,287,3589,0.00,2.35,0.00,0.000,6,0.000,0.025,2421,2042,3412
$GC,3897,-1.69,-165.5,321.3,-9.7,298,3901,0.00,2.42,0.00,0.000,4,0.000,0.038,2421,3434,3412
$GC,3948,-1.73,-165.5,326.6,-10.0,299,3952,0.00,2.38,0.00,0.000,6,0.000,0.028,2421,2039,3411
$GC,4261,-1.73,-165.5,355.9,-8.9,307,4265,0.00,2.45,0.00,0.000,4,0.000,0.039,2421,3436,3410
$GC,4290,-1.73,-165.5,358.0,-8.3,307,4294,0.00,2.40,0.00,0.000,6,0.000,0.028,2421,2030,3409
$GC,4622,-1.73,-165.5,385.0,-7.7,315,4626,0.00,2.45,0.00,0.000,4,0.000,0.041,2421,3428,3407
$GC,4663,-1.77,-165.5,387.9,-6.7,316,4668,0.00,2.40,0.00,0.000,6,0.000,0.029,2421,2031,3406
$GC,4990,-1.77,-165.5,413.4,-8.0,324,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2030,3404
$GC,5315,-1.77,-165.5,437.7,-7.9,332,5319,0.00,2.47,0.00,0.000,4,0.000,0.043,2421,3433,3401
$GC,5403,-1.82,-165.5,445.2,-8.3,334,5408,0.12,2.40,0.00,0.000,6,0.077,0.031,2394,2043,3400
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5490,-0.33,0.0,453.1,9.9,336,5625,1.55,0.00,131.38,0.930,6,0.091,0.000,2714,1937,2733
$STATE,5626,end apogee,CONTROL_FINISHED_OK
$STATE,5626,begin climb
$GC,5629,1.06,165.5,458.8,0.0,339,5770,1.38,2.58,131.57,0.908,4,0.049,0.051,3019,562,2058
$GC,6030,0.51,165.5,426.3,13.7,348,6035,0.65,2.40,0.00,0.000,6,0.156,0.030,2903,1937,2057
$GC,6350,0.23,165.5,400.3,7.5,356,6355,0.30,2.53,0.00,0.000,4,0.121,0.051,2844,557,2055
$GC,6424,0.07,180.2,395.5,6.4,357,6443,0.20,2.45,11.68,0.892,6,0.120,0.031,2809,1962,1998
$GC,6764,0.15,271.6,379.2,4.1,366,6846,0.00,2.60,72.12,0.904,4,0.000,0.047,2809,3353,1625
$GC,6881,0.17,310.8,373.9,5.7,368,6920,0.00,2.47,31.50,0.885,6,0.000,0.034,2808,1958,1466
$GC,7259,0.11,310.8,349.2,6.8,378,7263,0.00,2.50,0.00,0.000,4,0.000,0.042,2808,3350,1466
$GC,7287,0.06,310.8,347.1,7.0,378,7292,0.00,2.47,0.00,0.000,6,0.000,0.033,2808,1943,1465
$GC,7620,0.00,310.8,320.8,8.4,386,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1942,1465
$GC,7926,-0.01,324.8,297.6,6.4,394,7948,0.00,2.55,11.32,0.861,4,0.000,0.039,2809,3359,1409
$GC,7976,0.06,366.2,294.7,5.6,396,8016,0.00,2.47,33.20,0.862,6,0.000,0.032,2808,1949,1240
$GC,8345,0.06,366.2,265.9,10.4,414,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1949,1239
$GC,8654,0.06,366.2,243.6,6.9,429,8659,0.00,2.50,0.00,0.000,4,0.000,0.038,2808,3361,1240
$GC,8696,0.06,366.2,240.5,7.8,431,8700,0.00,2.47,0.00,0.000,6,0.000,0.030,2808,1938,1239
$GC,9023,0.06,368.4,218.6,6.8,447,9028,0.00,0.00,2.75,0.765,6,0.000,0.000,2809,1938,1231
$GC,9332,0.12,401.0,201.7,5.9,462,9363,0.00,2.53,26.25,0.775,4,0.000,0.034,2808,3354,1097
$GC,9409,0.18,401.0,196.4,7.8,467,9415,0.00,2.45,0.00,0.000,6,0.000,0.027,2808,1939,1097
$GC,9737,0.18,402.5,173.0,6.8,498,9742,0.10,2.47,0.00,0.000,4,0.077,0.045,2832,548,1098
$GC,9760,0.18,402.5,171.1,7.2,499,9766,0.00,2.40,0.00,0.000,6,0.000,0.025,2832,1958,1098
$GC,10088,0.25,441.6,150.2,5.7,530,10127,0.00,2.45,32.33,0.707,4,0.000,0.035,2832,3346,931
$GC,10152,0.25,441.6,145.7,7.1,536,10156,0.00,2.42,0.00,0.000,6,0.000,0.027,2832,1949,931
$GC,10483,0.25,441.6,124.5,7.8,566,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1949,932
$GC,10812,0.34,475.0,101.0,5.8,597,10846,0.15,2.47,26.10,0.644,4,0.062,0.033,2872,3348,795
$GC,10871,0.31,475.0,96.6,8.0,602,10875,0.00,2.42,0.00,0.000,6,0.000,0.026,2872,1946,795
$GC,11202,0.25,475.0,71.7,8.0,632,11206,0.15,2.47,0.00,0.000,4,0.093,0.042,2838,542,797
$GC,11220,0.25,475.0,70.0,7.4,633,11224,0.00,2.40,0.00,0.000,6,0.000,0.022,2838,1965,796
$GC,11491,0.40,528.8,54.1,5.2,658,11538,0.17,2.40,41.80,0.585,4,0.059,0.032,2880,3347,576
$GC,11586,0.40,528.8,46.8,8.2,666,11590,0.00,2.40,0.00,0.000,6,0.000,0.025,2880,1943,577
$GC,11856,0.35,528.8,21.4,8.4,698,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1942,582
$STATE,12060,end climb,SURFACE_DEPTH_REACHED
$STATE,12060,begin surface coast
$FINISH,1.0,1.022921
$STATE,12127,end surface coast,CONTROL_FINISHED_OK
$STATE,12127,begin surface
$SM_CCo,12211,0.00,0.000,0,0,583,527.40
$SM_GC,1.65,10.90,0.00,0.00,0.041,0.000,0.000,410,2064,583,-10.89,0.68,527.40
$IRIDIUM_FIX,2054.83,-15749.62,220298,181850
$TT8_MAMPS,0.027612
$HUMID,1781
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,15
$24V_AH,23.7,67.073
$10V_AH,10.2,41.096
$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,28.150,121.975,552.000,0.000,0.000,25.219,30.356,158.621,12.750,0.000,0.000,34.088,1357.134,8282.771,587.761,1784.105,566.068,33.373,1474.273,0.000,1738.039,0.000,57.449
$DEVICE_MAMPS,156.468,51.389,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.033,500.809,888.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37880,746
$CAP_FILE_SIZE,110256,0
$CFSIZE,260165632,230371328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291108,003537,2103.680,-15746.900,32,1.4,32,9.8