version: 66.03
glider: 114
mission: 3
dive: 491
start: 11 29 108 15 2 42
data:
$ID,114
$MISSION,3
$DIVE,491
$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,-601426.06
$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,73
$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
$GPS1,145531,2108.361,-15749.334,34,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.2
$GPS2,150145,2108.395,-15749.344,15,1.3,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.100,0.197
$KALMAN_X,-152492.9,364.5,-388.1,159817.1,192.2
$KALMAN_Y,-139285.2,369.9,-335.6,124097.5,376.8
$MHEAD_RNG_PITCHd_Wd,323.2,3181,-12.6,-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,-1.09,-145.0,0.0,0.0,0,113,0.00,0.00,-80.57,0.000,2,0.000,0.000,409,2087,2857
$GC,117,-1.13,-165.5,3.5,-3.7,15,147,11.93,2.33,-9.43,0.000,4,0.155,0.046,2535,3405,3409
$GC,217,-1.24,-165.5,19.3,-8.6,32,223,0.00,2.33,0.00,0.000,6,0.000,0.022,2536,2020,3409
$GC,488,-1.32,-165.5,39.2,-7.0,69,493,0.15,2.40,0.00,0.000,4,0.057,0.033,2495,3405,3409
$GC,535,-1.36,-165.5,43.3,-9.3,72,541,0.00,2.30,0.00,0.000,6,0.000,0.022,2495,2034,3409
$GC,797,-1.36,-165.5,70.2,-10.9,97,801,0.00,2.38,0.00,0.000,4,0.000,0.034,2495,3410,3409
$GC,849,-1.46,-165.5,75.7,-9.8,101,854,0.12,2.33,0.00,0.000,6,0.059,0.022,2464,2027,3409
$GC,1115,-1.46,-165.5,101.1,-9.8,125,1119,0.00,2.38,0.00,0.000,4,0.000,0.033,2464,3409,3409
$GC,1144,-1.46,-165.5,104.4,-10.1,127,1148,0.00,2.30,0.00,0.000,6,0.000,0.023,2464,2042,3409
$GC,1470,-1.46,-165.5,136.8,-10.8,157,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2041,3409
$GC,1791,-1.46,-165.5,167.4,-7.3,187,1795,0.00,2.35,0.00,0.000,4,0.000,0.033,2464,3408,3410
$GC,1871,-1.54,-165.5,173.1,-7.0,193,1877,0.00,2.30,0.00,0.000,6,0.000,0.023,2464,2037,3410
$GC,2199,-1.59,-165.5,199.7,-7.5,224,2203,0.00,2.38,0.00,0.000,4,0.000,0.035,2464,3413,3410
$GC,2238,-1.69,-165.5,202.7,-7.4,226,2245,0.17,2.30,0.00,0.000,6,0.054,0.024,2422,2041,3410
$GC,2557,-1.69,-165.5,231.6,-8.5,242,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2041,3409
$GC,2865,-1.69,-165.5,255.2,-7.8,257,2869,0.00,2.38,0.00,0.000,4,0.000,0.037,2422,3411,3409
$GC,2910,-1.69,-165.5,259.5,-9.5,259,2914,0.00,2.33,0.00,0.000,6,0.000,0.025,2421,2036,3409
$GC,3233,-1.69,-165.5,291.2,-9.6,275,3237,0.00,2.38,0.00,0.000,4,0.000,0.037,2421,3402,3409
$GC,3296,-1.73,-165.5,296.4,-7.7,278,3300,0.00,2.33,0.00,0.000,6,0.000,0.026,2421,2034,3409
$GC,3642,-1.73,-165.5,321.7,-7.1,288,3646,0.00,2.40,0.00,0.000,4,0.000,0.038,2421,3411,3407
$GC,3704,-1.80,-165.5,327.2,-8.6,289,3709,0.00,2.35,0.00,0.000,6,0.000,0.028,2421,2033,3406
$GC,4050,-1.80,-165.5,352.6,-7.3,298,4054,0.00,2.40,0.00,0.000,4,0.000,0.039,2421,3405,3405
$GC,4096,-1.85,-165.5,356.1,-7.1,299,4100,0.15,2.35,0.00,0.000,6,0.066,0.029,2387,2031,3404
$GC,4415,-1.81,-165.5,384.3,-9.5,307,4419,0.00,2.40,0.00,0.000,4,0.000,0.039,2387,3409,3402
$GC,4499,-1.81,-165.5,392.2,-8.5,308,4505,0.00,2.35,0.00,0.000,6,0.000,0.030,2387,2040,3401
$GC,4832,-1.78,-165.5,420.2,-8.3,317,4836,0.00,2.40,0.00,0.000,4,0.000,0.041,2387,3412,3399
$GC,4900,-1.78,-165.5,425.9,-7.9,318,4904,0.00,2.38,0.00,0.000,6,0.000,0.030,2387,2030,3399
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5249,-0.33,0.0,453.5,8.6,327,5383,1.60,0.00,130.32,0.928,6,0.093,0.000,2715,1934,2733
$STATE,5384,end apogee,CONTROL_FINISHED_OK
$STATE,5384,begin climb
$GC,5387,1.13,165.5,459.3,0.0,330,5528,1.42,2.58,131.68,0.908,4,0.050,0.051,3031,564,2058
$GC,5788,0.59,165.5,422.7,14.6,339,5793,0.60,2.35,0.00,0.000,6,0.143,0.029,2923,1913,2057
$GC,6108,0.31,165.5,395.2,7.5,347,6113,0.30,2.47,0.00,0.000,4,0.124,0.051,2865,563,2055
$GC,6142,0.14,182.3,393.1,6.3,347,6162,0.22,2.42,13.43,0.887,6,0.120,0.030,2824,1955,1988
$GC,6477,0.16,237.7,377.8,5.0,356,6523,0.00,0.00,43.72,0.896,6,0.000,0.000,2823,1955,1764
$GC,6841,0.10,237.7,354.2,6.9,365,6846,0.00,2.50,0.00,0.000,4,0.000,0.044,2823,3358,1763
$GC,6870,0.03,237.7,352.0,7.8,365,6875,0.15,2.45,0.00,0.000,6,0.120,0.033,2797,1964,1763
$GC,7203,0.08,267.3,331.8,5.8,373,7232,0.00,2.62,23.88,0.882,4,0.000,0.053,2798,542,1642
$GC,7261,0.08,267.3,328.2,7.0,374,7266,0.00,2.47,0.00,0.000,6,0.000,0.030,2798,1959,1642
$GC,7610,0.14,299.9,308.3,5.7,383,7642,0.10,2.53,26.17,0.865,4,0.089,0.043,2818,3360,1509
$GC,7666,0.09,299.9,304.6,7.1,384,7670,0.00,2.50,0.00,0.000,6,0.000,0.032,2818,1943,1509
$GC,7998,0.06,299.9,281.2,7.1,398,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1943,1509
$GC,8307,0.06,299.9,259.6,7.6,413,8311,0.00,2.50,0.00,0.000,4,0.000,0.039,2818,3355,1509
$GC,8341,0.06,299.9,256.7,7.8,414,8348,0.00,2.45,0.00,0.000,6,0.000,0.031,2818,1949,1509
$GC,8658,0.06,303.8,236.9,6.7,430,8667,0.00,2.53,3.67,0.797,4,0.000,0.038,2818,3350,1494
$GC,8682,0.07,304.9,235.4,6.8,431,8686,0.00,2.45,0.00,0.000,6,0.000,0.030,2818,1945,1494
$GC,9009,0.12,333.3,217.7,5.9,447,9039,0.00,2.55,23.30,0.797,4,0.000,0.036,2818,3345,1374
$GC,9063,0.12,333.3,213.9,7.7,449,9067,0.00,2.45,0.00,0.000,6,0.000,0.028,2819,1939,1374
$GC,9383,0.21,386.9,194.0,5.0,469,9435,0.00,2.60,42.17,0.765,4,0.000,0.047,2819,541,1155
$GC,9453,0.24,406.0,190.2,6.2,475,9474,0.10,2.45,15.62,0.759,6,0.081,0.026,2841,1961,1076
$GC,9794,0.24,406.0,166.9,6.9,507,9798,0.00,2.42,0.00,0.000,4,0.000,0.037,2841,3349,1077
$GC,9841,0.24,406.0,163.7,6.8,511,9845,0.00,2.45,0.00,0.000,6,0.000,0.028,2841,1937,1077
$GC,10169,0.26,414.7,141.7,6.5,541,10181,0.00,0.00,7.20,0.700,6,0.000,0.000,2841,1936,1042
$GC,10505,0.30,441.1,118.9,5.9,572,10533,0.00,2.50,21.58,0.681,4,0.000,0.045,2841,545,932
$GC,10546,0.37,478.1,116.3,5.6,576,10582,0.12,2.42,28.55,0.673,6,0.067,0.023,2871,1962,783
$GC,10909,0.34,479.9,87.3,6.8,610,10913,0.00,2.40,0.00,0.000,4,0.000,0.035,2872,3349,784
$GC,10966,0.37,479.9,83.0,7.3,614,10973,0.00,2.40,2.33,0.642,6,0.000,0.026,2871,1946,776
$GC,11292,0.41,500.4,60.9,6.1,645,11315,0.00,2.47,16.55,0.613,4,0.000,0.032,2871,3352,691
$GC,11340,0.51,540.2,57.9,5.5,649,11377,0.12,2.42,31.23,0.608,6,0.065,0.025,2901,1943,530
$GC,11634,0.44,540.2,31.3,10.2,676,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1942,535
$STATE,11882,end climb,SURFACE_DEPTH_REACHED
$STATE,11882,begin surface coast
$FINISH,1.0,1.020685
$STATE,11934,end surface coast,CONTROL_FINISHED_OK
$STATE,11934,begin surface
$SM_CCo,12019,0.00,0.000,0,0,536,538.92
$SM_GC,1.68,11.10,0.00,0.00,0.044,0.000,0.000,407,2086,536,-10.92,1.33,538.92
$IRIDIUM_FIX,2059.45,-15750.89,230298,111119
$TT8_MAMPS,0.027612
$HUMID,1780
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.60
$XPDR_PINGS,14
$24V_AH,23.6,67.821
$10V_AH,10.2,41.530
$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,28.375,121.150,561.400,0.000,0.000,27.563,27.503,170.785,12.500,0.000,0.000,16.693,1324.823,8172.865,609.668,1706.098,579.626,33.368,1472.531,0.000,1673.081,0.000,57.447
$DEVICE_MAMPS,154.934,55.224,928.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.106,487.144,852.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37988,729
$CAP_FILE_SIZE,109180,0
$CFSIZE,260165632,230064128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291108,182407,2109.800,-15749.966,26,1.7,26,9.8