version: 66.03
glider: 114
mission: 3
dive: 501
start: 12 1 108 2 12 59
data:
$ID,114
$MISSION,3
$DIVE,501
$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,-601628.5
$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,40
$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
$GPS1,020225,2104.774,-15746.264,38,1.6,55,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.6
$GPS2,021202,2104.823,-15746.210,14,1.8,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.010,0.232
$KALMAN_X,-158598.9,376.0,537.2,170380.2,-2259.6
$KALMAN_Y,-143014.1,-64.8,6.6,121305.3,-962.1
$MHEAD_RNG_PITCHd_Wd,347.6,5886,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,105,0.00,0.00,-75.50,0.000,2,0.000,0.000,410,2014,2918
$GC,109,-1.06,-165.5,3.9,-4.9,14,139,12.05,2.53,-7.90,0.000,4,0.156,0.047,2552,3435,3410
$GC,209,-1.21,-165.5,20.0,-6.5,31,216,0.12,2.35,0.00,0.000,6,0.060,0.033,2520,2038,3410
$GC,479,-1.21,-165.5,43.4,-8.9,66,483,0.00,2.42,0.00,0.000,4,0.000,0.034,2521,3440,3410
$GC,531,-1.29,-165.5,48.0,-8.5,70,535,0.00,2.35,0.00,0.000,6,0.000,0.021,2521,2039,3410
$GC,794,-1.29,-165.5,70.6,-9.0,94,798,0.00,2.42,0.00,0.000,4,0.000,0.034,2521,3443,3410
$GC,846,-1.38,-165.5,75.1,-8.2,98,851,0.15,2.35,0.00,0.000,6,0.057,0.021,2485,2038,3410
$GC,1113,-1.35,-165.5,102.9,-10.9,122,1117,0.00,2.42,0.00,0.000,4,0.000,0.034,2484,3445,3409
$GC,1158,-1.35,-165.5,108.3,-10.0,125,1165,0.00,2.35,0.00,0.000,6,0.000,0.021,2484,2039,3410
$GC,1484,-1.35,-165.5,139.6,-10.2,156,1491,0.00,2.42,0.00,0.000,4,0.000,0.034,2485,3445,3411
$GC,1534,-1.42,-165.5,144.5,-9.8,160,1538,0.00,2.38,0.00,0.000,6,0.000,0.022,2484,2032,3410
$GC,1860,-1.46,-165.5,168.0,-6.5,190,1864,0.00,2.42,0.00,0.000,4,0.000,0.034,2484,3438,3411
$GC,1902,-1.56,-165.5,170.5,-6.1,193,1907,0.15,2.35,0.00,0.000,6,0.058,0.023,2448,2041,3411
$GC,2228,-1.56,-165.5,197.1,-8.7,223,2232,0.00,2.42,0.00,0.000,4,0.000,0.035,2448,3444,3410
$GC,2279,-1.61,-165.5,201.5,-8.7,226,2283,0.00,2.38,0.00,0.000,6,0.000,0.024,2448,2031,3411
$GC,2595,-1.61,-165.5,228.2,-9.0,241,2599,0.00,2.45,0.00,0.000,4,0.000,0.035,2448,3444,3410
$GC,2618,-1.61,-165.5,230.3,-9.0,242,2623,0.00,2.38,0.00,0.000,6,0.000,0.024,2448,2035,3410
$GC,2941,-1.61,-165.5,255.6,-7.3,258,2945,0.00,2.45,0.00,0.000,4,0.000,0.036,2448,3442,3410
$GC,2981,-1.65,-165.5,258.8,-7.8,260,2985,0.00,2.38,0.00,0.000,6,0.000,0.025,2448,2042,3411
$GC,3311,-1.68,-165.5,286.7,-8.5,276,3312,0.10,0.00,0.00,0.000,6,0.071,0.000,2423,2041,3409
$GC,3615,-1.68,-165.5,313.9,-8.5,287,3619,0.00,2.45,0.00,0.000,4,0.000,0.038,2422,3445,3408
$GC,3701,-1.68,-165.5,320.2,-7.3,289,3705,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2039,3407
$GC,4027,-1.68,-165.5,345.0,-8.0,297,4032,0.00,2.45,0.00,0.000,4,0.000,0.041,2423,3435,3405
$GC,4073,-1.72,-165.5,349.1,-8.3,298,4078,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2031,3404
$GC,4392,-1.72,-165.5,377.1,-8.8,306,4397,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3444,3402
$GC,4421,-1.72,-165.5,379.7,-9.1,306,4429,0.00,2.40,0.00,0.000,6,0.000,0.029,2423,2041,3402
$GC,4761,-1.72,-165.5,409.2,-9.1,315,4765,0.00,2.45,0.00,0.000,4,0.000,0.041,2423,3433,3399
$GC,4840,-1.76,-165.5,416.7,-9.1,316,4846,0.00,2.40,0.00,0.000,6,0.000,0.031,2423,2038,3398
$GC,5173,-1.76,-165.5,447.3,-9.2,325,5178,0.00,2.47,0.00,0.000,4,0.000,0.042,2422,3440,3395
$STATE,5201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5201,begin apogee
$GC,5211,-0.33,0.0,450.3,9.7,325,5344,1.38,0.00,129.32,0.946,6,0.090,0.000,2709,1954,2733
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5349,1.06,165.5,458.8,0.0,329,5489,1.40,2.60,130.90,0.923,4,0.049,0.041,3018,3351,2058
$GC,5662,0.55,165.5,441.3,11.1,336,5667,0.57,2.47,0.00,0.000,6,0.133,0.034,2915,1949,2057
$GC,5976,0.25,165.5,419.2,6.9,344,5978,0.35,0.00,0.00,0.000,6,0.118,0.000,2849,1949,2055
$GC,6301,0.15,203.6,401.2,5.7,352,6337,0.12,2.55,29.60,0.917,4,0.130,0.041,2827,3347,1902
$GC,6408,0.03,203.6,394.5,7.0,353,6413,0.15,2.47,0.00,0.000,6,0.301,0.033,2801,1942,1901
$GC,6752,-0.02,203.6,369.0,8.1,362,6756,0.00,2.53,0.00,0.000,4,0.000,0.052,2801,545,1900
$GC,6792,-0.10,203.6,365.4,9.1,363,6797,0.17,2.45,0.00,0.000,6,0.111,0.029,2769,1955,1899
$GC,7117,0.04,282.8,347.6,4.5,371,7187,0.15,2.58,62.00,0.907,4,0.077,0.043,2805,3347,1579
$GC,7231,0.07,316.7,342.2,5.8,373,7264,0.00,2.47,27.15,0.884,6,0.000,0.032,2806,1945,1441
$GC,7575,0.07,348.2,322.7,5.9,382,7606,0.00,2.55,25.17,0.877,4,0.000,0.040,2805,3350,1312
$GC,7635,0.03,348.2,318.4,7.3,383,7639,0.00,2.47,0.00,0.000,6,0.000,0.031,2806,1943,1313
$GC,7959,-0.00,351.9,294.9,6.7,393,7968,0.00,2.55,3.65,0.825,4,0.000,0.041,2806,3344,1298
$GC,7993,0.00,355.1,292.6,6.7,394,8005,0.00,2.45,3.67,0.830,6,0.000,0.031,2805,1946,1284
$GC,8314,0.00,355.1,269.6,8.0,410,8319,0.00,2.50,0.00,0.000,4,0.000,0.040,2806,3354,1284
$GC,8333,0.00,355.1,268.1,7.7,411,8337,0.00,2.45,0.00,0.000,6,0.000,0.029,2805,1948,1284
$GC,8661,0.01,360.9,243.2,6.6,427,8671,0.00,2.50,5.53,0.826,4,0.000,0.037,2806,3351,1260
$GC,8683,0.05,381.6,241.7,6.2,428,8707,0.00,2.45,16.73,0.833,6,0.000,0.028,2805,1943,1177
$GC,9030,0.05,381.6,217.9,7.5,445,9034,0.00,2.47,0.00,0.000,4,0.000,0.036,2806,3352,1176
$GC,9064,0.05,381.6,215.0,8.0,446,9069,0.00,2.45,0.00,0.000,6,0.000,0.028,2805,1938,1177
$GC,9384,0.05,381.8,191.1,6.8,466,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1938,1176
$GC,9703,0.10,409.1,173.1,6.0,496,9734,0.00,2.58,21.73,0.755,4,0.000,0.033,2806,3355,1065
$GC,9752,0.14,409.1,169.7,7.1,500,9759,0.00,2.45,0.00,0.000,6,0.000,0.027,2806,1937,1065
$GC,10081,0.27,467.0,149.9,5.1,531,10136,0.17,2.58,45.33,0.723,4,0.060,0.035,2852,3357,829
$GC,10172,0.27,467.0,142.9,8.6,539,10176,0.00,2.45,0.00,0.000,6,0.000,0.026,2852,1943,829
$GC,10501,0.23,467.0,116.0,7.6,569,10505,0.00,2.47,0.00,0.000,4,0.000,0.044,2852,547,829
$GC,10524,0.18,467.0,113.9,7.6,570,10531,0.10,2.40,0.00,0.000,6,0.105,0.023,2832,1963,829
$GC,10850,0.22,485.6,94.0,6.3,601,10871,0.00,0.00,15.38,0.663,6,0.000,0.000,2832,1964,752
$GC,11196,0.26,485.6,72.8,6.9,633,11200,0.00,2.40,0.00,0.000,4,0.000,0.035,2832,3354,757
$GC,11237,0.34,485.6,69.6,7.4,636,11241,0.15,2.40,0.00,0.000,6,0.062,0.025,2868,1946,757
$GC,11502,0.34,485.6,50.1,7.0,660,11506,0.00,2.45,0.00,0.000,4,0.000,0.042,2868,547,757
$GC,11542,0.34,485.6,47.0,7.3,663,11546,0.00,2.38,0.00,0.000,6,0.000,0.022,2867,1962,757
$GC,11805,0.34,485.6,29.7,7.2,687,11811,0.00,2.35,0.00,0.000,4,0.000,0.033,2867,3348,758
$GC,11852,0.34,485.6,26.0,7.4,695,11859,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,1934,757
$GC,12131,0.34,485.6,5.1,7.4,744,12137,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,547,759
$STATE,12142,end climb,SURFACE_DEPTH_REACHED
$STATE,12142,begin surface coast
$FINISH,1.0,1.016796
$STATE,12221,end surface coast,CONTROL_FINISHED_OK
$STATE,12221,begin surface
$SM_CCo,12308,0.00,0.000,0,0,759,484.22
$SM_GC,1.77,10.90,0.00,0.00,0.044,0.000,0.000,410,2052,759,-10.90,0.34,484.22
$IRIDIUM_FIX,2057.14,-15743.60,250298,020222
$TT8_MAMPS,0.027612
$HUMID,1786
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,7
$24V_AH,23.6,69.299
$10V_AH,10.2,42.393
$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,28.200,146.975,516.150,0.000,0.000,53.805,58.846,251.753,10.750,0.000,0.000,15.954,1389.833,8372.945,590.411,1798.824,732.880,33.377,1501.643,0.000,1759.894,0.000,57.461
$DEVICE_MAMPS,301.431,52.156,945.711,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.786,502.698,900.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38123,760
$CAP_FILE_SIZE,117723,0
$CFSIZE,260165632,229457920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,053924,2105.909,-15746.638,37,1.5,38,9.8