version: 66.03
glider: 114
mission: 3
dive: 493
start: 11 29 108 22 10 44
data:
$ID,114
$MISSION,3
$DIVE,493
$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,-601455.44
$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,36
$R_STBD_OVSHOOT,72
$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
$GPS1,220302,2108.280,-15749.784,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.5
$GPS2,220945,2108.242,-15749.747,15,1.2,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.141,-0.185
$KALMAN_X,-151945.5,-23.3,565.5,158011.4,-417.4
$KALMAN_Y,-139585.9,132.4,345.3,123674.0,-840.9
$MHEAD_RNG_PITCHd_Wd,132.9,12013,-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,27,-1.06,-165.5,0.0,0.0,0,100,0.00,0.00,-70.53,0.000,2,0.000,0.000,410,2080,2741
$GC,105,-1.06,-165.5,3.1,-3.1,13,135,11.98,2.53,-12.12,0.000,4,0.155,0.049,2551,640,3409
$GC,189,-1.24,-165.5,14.6,-6.1,27,196,0.15,2.30,0.00,0.000,6,0.054,0.021,2514,2021,3409
$GC,463,-1.24,-165.5,38.2,-9.2,68,467,0.00,2.42,0.00,0.000,4,0.000,0.035,2514,3432,3409
$GC,575,-1.33,-165.5,48.0,-8.3,77,582,0.00,2.35,0.00,0.000,6,0.000,0.022,2514,2031,3409
$GC,838,-1.37,-165.5,70.7,-9.1,102,841,0.00,2.42,0.00,0.000,4,0.000,0.033,2514,3440,3409
$GC,878,-1.45,-165.5,74.4,-8.8,105,885,0.17,2.35,0.00,0.000,6,0.051,0.022,2471,2032,3409
$GC,1140,-1.45,-165.5,99.3,-10.6,130,1145,0.00,2.42,0.00,0.000,4,0.000,0.034,2471,3442,3410
$GC,1164,-1.42,-165.5,101.8,-10.5,132,1168,0.00,2.38,0.00,0.000,6,0.000,0.022,2470,2028,3409
$GC,1490,-1.42,-165.5,134.0,-9.8,162,1494,0.00,2.42,0.00,0.000,4,0.000,0.034,2471,3432,3410
$GC,1581,-1.42,-165.5,142.6,-9.1,169,1587,0.00,2.35,0.00,0.000,6,0.000,0.023,2471,2028,3410
$GC,1906,-1.42,-165.5,169.3,-8.2,200,1910,0.00,2.42,0.00,0.000,4,0.000,0.035,2471,3432,3410
$GC,1974,-1.49,-165.5,175.8,-10.2,205,1980,0.00,2.35,0.00,0.000,6,0.000,0.024,2471,2033,3410
$GC,2299,-1.53,-165.5,203.6,-8.3,234,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2032,3410
$GC,2608,-1.59,-165.5,226.1,-7.5,249,2613,0.12,2.42,0.00,0.000,4,0.059,0.035,2437,3431,3410
$GC,2665,-1.63,-165.5,231.0,-8.7,251,2671,0.00,2.35,0.00,0.000,6,0.000,0.025,2436,2039,3410
$GC,2982,-1.63,-165.5,254.2,-7.0,267,2986,0.00,2.42,0.00,0.000,4,0.000,0.036,2436,3437,3410
$GC,3027,-1.69,-165.5,258.0,-8.5,269,3031,0.00,2.38,0.00,0.000,6,0.000,0.025,2436,2035,3410
$GC,3355,-1.69,-165.5,287.1,-8.7,285,3359,0.00,2.42,0.00,0.000,4,0.000,0.038,2436,3431,3409
$GC,3383,-1.69,-165.5,289.7,-9.2,286,3391,0.00,2.38,0.00,0.000,6,0.000,0.026,2436,2030,3409
$GC,3731,-1.69,-165.5,316.1,-7.4,298,3735,0.00,2.45,0.00,0.000,4,0.000,0.039,2436,3429,3407
$GC,3788,-1.76,-165.5,320.3,-6.9,299,3793,0.15,2.35,0.00,0.000,6,0.063,0.028,2401,2044,3407
$GC,4136,-1.71,-165.5,347.6,-7.8,308,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2044,3403
$GC,4462,-1.66,-165.5,375.3,-8.7,316,4467,0.12,2.45,0.00,0.000,4,0.110,0.041,2424,3436,3401
$GC,4525,-1.71,-165.5,380.8,-8.2,317,4529,0.00,2.40,0.00,0.000,6,0.000,0.030,2424,2036,3400
$GC,4869,-1.71,-165.5,410.8,-8.6,326,4873,0.00,2.45,0.00,0.000,4,0.000,0.042,2424,3426,3398
$GC,4919,-1.76,-165.5,415.0,-7.7,327,4923,0.00,2.40,0.00,0.000,6,0.000,0.031,2424,2031,3398
$GC,5235,-1.76,-165.5,436.4,-6.6,335,5239,0.00,2.47,0.00,0.000,4,0.000,0.044,2424,3431,3395
$GC,5257,-1.76,-165.5,438.1,-7.0,335,5261,0.00,2.40,0.00,0.000,6,0.000,0.031,2424,2036,3395
$STATE,5470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5470,begin apogee
$GC,5478,-0.33,0.0,451.8,6.4,341,5612,1.40,0.00,129.93,0.938,6,0.090,0.000,2713,1929,2733
$STATE,5613,end apogee,CONTROL_FINISHED_OK
$STATE,5613,begin climb
$GC,5616,1.06,165.5,455.8,0.0,344,5756,1.42,2.60,131.43,0.919,4,0.051,0.041,3023,3335,2058
$GC,5970,0.54,165.5,425.6,14.8,352,5977,0.60,2.42,0.00,0.000,6,0.124,0.033,2914,1960,2057
$GC,6302,0.24,165.5,396.7,8.2,361,6307,0.32,2.58,0.00,0.000,4,0.120,0.054,2850,533,2055
$GC,6389,0.04,165.5,390.8,7.0,363,6394,0.25,2.45,0.00,0.000,6,0.224,0.031,2804,1937,2055
$GC,6714,0.11,243.9,375.6,4.5,371,6782,0.00,2.58,61.22,0.901,4,0.000,0.043,2804,3357,1737
$GC,6851,0.06,243.9,367.6,7.6,374,6855,0.00,2.50,0.00,0.000,6,0.000,0.034,2804,1944,1737
$GC,7170,0.00,243.9,344.1,7.2,382,7174,0.00,2.55,0.00,0.000,4,0.000,0.054,2804,540,1736
$GC,7195,-0.06,245.7,342.6,6.8,382,7200,0.15,2.47,0.00,0.000,6,0.117,0.031,2777,1961,1736
$GC,7532,0.10,338.3,326.7,4.1,391,7614,0.15,2.53,74.15,0.879,4,0.079,0.044,2808,3347,1353
$GC,7635,0.10,372.2,321.6,5.8,393,7669,0.00,2.47,27.48,0.861,6,0.000,0.033,2809,1948,1214
$GC,7992,0.05,372.2,296.7,7.2,403,7996,0.00,2.53,0.00,0.000,4,0.000,0.042,2808,3358,1214
$GC,8020,0.03,387.5,294.7,6.4,404,8039,0.00,2.47,12.85,0.851,6,0.000,0.032,2808,1938,1153
$GC,8367,0.02,403.9,274.0,6.3,421,8388,0.00,2.60,13.55,0.844,4,0.000,0.041,2808,3348,1086
$GC,8406,-0.02,403.9,270.8,7.0,422,8412,0.00,2.47,0.00,0.000,6,0.000,0.031,2808,1940,1086
$GC,8722,-0.06,403.9,248.7,6.9,438,8727,0.15,2.53,0.00,0.000,4,0.104,0.039,2776,3359,1086
$GC,8764,0.08,443.4,246.3,5.6,440,8805,0.15,2.47,31.83,0.828,6,0.074,0.031,2809,1942,925
$GC,9118,0.08,443.4,221.4,7.8,457,9122,0.00,2.50,0.00,0.000,4,0.000,0.038,2808,3359,925
$GC,9164,0.11,443.4,217.7,7.9,459,9168,0.00,2.45,0.00,0.000,6,0.000,0.029,2809,1950,925
$GC,9487,0.11,443.4,194.2,7.0,478,9491,0.00,2.47,0.00,0.000,4,0.000,0.037,2809,3357,925
$GC,9510,0.11,443.4,192.4,7.9,479,9516,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,1938,925
$GC,9839,0.11,443.4,165.3,7.3,510,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1938,925
$GC,10168,0.16,450.4,141.8,6.6,541,10180,0.00,2.50,6.47,0.721,4,0.000,0.034,2809,3361,896
$GC,10228,0.25,450.4,137.9,6.9,546,10233,0.17,2.42,0.00,0.000,6,0.063,0.025,2850,1949,896
$GC,10554,0.20,450.4,112.3,8.0,576,10558,0.00,2.45,0.00,0.000,4,0.000,0.035,2849,3354,896
$GC,10595,0.20,450.4,109.0,8.2,579,10599,0.00,2.42,0.00,0.000,6,0.000,0.027,2849,1942,897
$GC,10924,0.23,463.4,87.3,6.4,609,10941,0.00,2.47,11.05,0.659,4,0.000,0.033,2849,3355,842
$GC,10966,0.23,463.4,84.0,7.7,613,10970,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1946,842
$GC,11296,0.23,463.4,58.3,7.3,643,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1946,843
$GC,11558,0.26,485.5,41.4,6.2,668,11581,0.00,2.55,17.40,0.606,4,0.000,0.033,2849,3365,752
$GC,11622,0.37,485.5,37.0,7.1,673,11628,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1943,754
$GC,11891,0.40,502.6,22.5,6.3,708,11915,0.12,2.53,14.07,0.587,4,0.065,0.038,2880,545,684
$GC,11929,0.40,502.6,19.1,8.9,714,11935,0.00,2.38,0.00,0.000,6,0.000,0.022,2880,1960,684
$STATE,12063,end climb,SURFACE_DEPTH_REACHED
$STATE,12063,begin surface coast
$FINISH,1.1,1.023317
$STATE,12110,end surface coast,CONTROL_FINISHED_OK
$STATE,12110,begin surface
$SM_CCo,12194,0.00,0.000,0,0,685,502.62
$SM_GC,1.75,10.93,0.00,0.00,0.041,0.000,0.000,411,2069,685,-10.90,0.82,502.62
$IRIDIUM_FIX,2104.07,-15750.02,230298,181815
$TT8_MAMPS,0.027612
$HUMID,1790
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,23.6,68.116
$10V_AH,10.2,41.707
$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,28.525,137.400,531.425,0.000,0.000,23.118,30.022,202.196,11.000,0.000,0.000,16.654,1366.456,8220.736,603.641,1787.799,620.088,33.376,1505.492,0.000,1747.690,0.000,57.460
$DEVICE_MAMPS,223.964,54.457,938.041,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.199,491.936,885.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37974,746
$CAP_FILE_SIZE,114846,0
$CFSIZE,260165632,229933056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301108,013525,2106.780,-15749.575,31,1.0,47,9.8