version: 66.03
glider: 114
mission: 3
dive: 502
start: 12 1 108 5 47 2
data:
$ID,114
$MISSION,3
$DIVE,502
$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,-601661.62
$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,49
$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
$GPS1,053924,2105.909,-15746.638,37,1.5,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.0
$GPS2,054607,2105.949,-15746.579,14,1.1,30,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.213,0.093
$KALMAN_X,-157564.8,-112.1,-485.1,170218.4,567.3
$KALMAN_Y,-143714.2,-10.6,-326.8,124370.0,-169.7
$MHEAD_RNG_PITCHd_Wd,283.9,4194,-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,30,-1.06,-165.5,0.0,0.0,0,103,0.00,0.00,-70.00,0.000,2,0.000,0.000,411,2051,2841
$GC,107,-1.06,-165.5,3.4,-3.8,13,137,11.95,2.42,-9.55,0.000,4,0.153,0.048,2551,3427,3409
$GC,243,-1.20,-165.5,21.3,-7.4,36,250,0.12,2.35,0.00,0.000,6,0.061,0.022,2521,2026,3409
$GC,517,-1.20,-165.5,46.1,-8.9,70,522,0.00,2.42,0.00,0.000,4,0.000,0.035,2521,3428,3409
$GC,559,-1.25,-165.5,49.6,-8.7,73,563,0.00,2.33,0.00,0.000,6,0.000,0.022,2521,2038,3409
$GC,827,-1.31,-165.5,70.5,-7.0,98,831,0.00,2.42,0.00,0.000,4,0.000,0.036,2521,3434,3409
$GC,896,-1.44,-165.5,76.0,-7.5,103,902,0.20,2.35,0.00,0.000,6,0.052,0.022,2473,2028,3409
$GC,1161,-1.41,-165.5,98.4,-7.7,128,1165,0.00,2.40,0.00,0.000,4,0.000,0.037,2473,633,3409
$GC,1213,-1.45,-165.5,103.1,-9.3,132,1217,0.00,2.35,0.00,0.000,6,0.000,0.021,2473,2040,3410
$GC,1538,-1.45,-165.5,135.5,-9.9,162,1542,0.00,2.38,0.00,0.000,4,0.000,0.035,2473,3433,3410
$GC,1573,-1.49,-165.5,139.1,-10.1,164,1579,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2029,3410
$GC,1898,-1.49,-165.5,164.9,-7.7,195,1902,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3434,3410
$GC,1955,-1.59,-165.5,169.2,-7.3,199,1962,0.12,2.35,0.00,0.000,6,0.061,0.024,2442,2035,3410
$GC,2280,-1.59,-165.5,198.9,-9.3,230,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2034,3410
$GC,2590,-1.59,-165.5,224.1,-8.3,246,2594,0.00,2.42,0.00,0.000,4,0.000,0.035,2442,3435,3410
$GC,2648,-1.62,-165.5,228.6,-7.8,248,2655,0.00,2.35,0.00,0.000,6,0.000,0.025,2442,2040,3410
$GC,2965,-1.62,-165.5,250.9,-6.7,264,2969,0.00,2.42,0.00,0.000,4,0.000,0.037,2442,3438,3410
$GC,3012,-1.69,-165.5,254.2,-7.1,266,3016,0.00,2.38,0.00,0.000,6,0.000,0.026,2442,2037,3410
$GC,3339,-1.69,-165.5,278.8,-7.9,282,3343,0.00,2.45,0.00,0.000,4,0.000,0.038,2442,3443,3409
$GC,3403,-1.76,-165.5,284.2,-8.4,285,3408,0.17,2.40,0.00,0.000,6,0.058,0.027,2400,2033,3409
$GC,3728,-1.70,-165.5,315.7,-9.4,297,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2032,3407
$GC,4053,-1.66,-165.5,344.7,-8.7,305,4058,0.12,2.47,0.00,0.000,4,0.107,0.039,2424,3443,3405
$GC,4103,-1.71,-165.5,348.6,-7.2,306,4108,0.00,2.40,0.00,0.000,6,0.000,0.028,2424,2039,3404
$GC,4420,-1.71,-165.5,370.1,-6.9,314,4424,0.00,2.45,0.00,0.000,4,0.000,0.041,2424,3430,3402
$GC,4465,-1.76,-165.5,373.7,-7.3,315,4469,0.00,2.40,0.00,0.000,6,0.000,0.030,2424,2031,3401
$GC,4783,-1.76,-165.5,399.9,-8.5,323,4788,0.00,2.47,0.00,0.000,4,0.000,0.042,2424,3436,3399
$GC,4823,-1.80,-165.5,403.1,-8.0,323,4830,0.12,2.40,0.00,0.000,6,0.073,0.031,2396,2041,3399
$GC,5156,-1.76,-165.5,432.9,-8.9,332,5160,0.00,2.45,0.00,0.000,4,0.000,0.043,2396,3433,3396
$GC,5218,-1.76,-165.5,438.5,-9.2,333,5222,0.00,2.40,0.00,0.000,6,0.000,0.031,2397,2042,3395
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5369,-0.33,0.0,450.5,8.3,337,5503,1.55,0.00,130.15,0.939,6,0.091,0.000,2715,1934,2733
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5507,1.06,165.5,454.9,0.0,340,5648,1.35,2.60,131.43,0.917,4,0.048,0.042,3016,3336,2057
$GC,5815,0.55,165.5,433.3,12.0,347,5820,0.57,2.42,0.00,0.000,6,0.136,0.033,2912,1962,2056
$GC,6135,0.26,165.5,408.5,7.3,355,6140,0.32,2.47,0.00,0.000,4,0.118,0.040,2850,3347,2054
$GC,6164,0.13,207.0,406.9,5.6,355,6204,0.15,2.47,32.35,0.910,6,0.123,0.033,2822,1938,1889
$GC,6545,0.14,278.1,388.8,4.7,365,6609,0.00,2.65,56.50,0.910,4,0.000,0.053,2822,538,1599
$GC,6645,0.07,288.3,382.9,6.5,367,6660,0.00,2.47,9.25,0.884,6,0.000,0.030,2822,1953,1556
$GC,6999,-0.03,288.3,358.4,7.1,376,7004,0.15,2.50,0.00,0.000,4,0.120,0.044,2791,3351,1555
$GC,7050,-0.01,294.4,354.9,6.6,377,7060,0.00,2.47,5.38,0.874,6,0.000,0.034,2791,1945,1531
$GC,7404,-0.01,295.1,331.7,6.8,386,7408,0.00,2.50,0.00,0.000,4,0.000,0.041,2791,3350,1531
$GC,7437,-0.00,300.6,329.3,6.7,386,7447,0.00,2.47,5.47,0.881,6,0.000,0.033,2790,1938,1506
$GC,7768,0.03,317.5,307.9,6.3,395,7787,0.00,2.60,13.68,0.887,4,0.000,0.054,2790,549,1438
$GC,7799,0.06,334.4,305.8,6.3,395,7819,0.00,2.45,14.10,0.878,6,0.000,0.030,2791,1952,1369
$GC,8143,0.10,357.5,283.5,6.1,410,8168,0.00,2.55,18.98,0.870,4,0.000,0.042,2790,3346,1275
$GC,8192,0.14,384.3,280.5,6.0,412,8220,0.15,2.47,21.77,0.857,6,0.077,0.031,2822,1938,1166
$GC,8542,0.08,385.1,255.1,6.8,429,8546,0.00,2.53,0.00,0.000,4,0.000,0.041,2822,3354,1166
$GC,8583,0.04,385.1,251.9,7.2,431,8588,0.12,2.47,0.00,0.000,6,0.110,0.031,2801,1941,1166
$GC,8911,0.15,446.0,235.3,5.0,447,8970,0.10,2.60,49.17,0.820,4,0.084,0.037,2822,3353,913
$GC,8987,0.12,446.0,229.8,7.9,450,8994,0.00,2.45,0.00,0.000,6,0.000,0.029,2822,1949,913
$GC,9304,0.07,446.0,202.0,7.7,466,9308,0.00,2.47,0.00,0.000,4,0.000,0.036,2822,3352,914
$GC,9358,0.07,446.0,198.4,6.9,469,9362,0.00,2.45,0.00,0.000,6,0.000,0.029,2822,1944,914
$GC,9687,0.07,446.0,173.3,7.8,499,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1944,914
$GC,10013,0.07,446.0,149.2,7.3,530,10017,0.00,2.45,0.00,0.000,4,0.000,0.035,2823,3349,914
$GC,10081,0.12,446.0,144.3,7.0,535,10087,0.00,2.40,0.00,0.000,6,0.000,0.027,2822,1949,914
$GC,10411,0.12,446.0,120.6,7.1,566,10415,0.00,2.47,0.00,0.000,4,0.000,0.045,2822,547,914
$GC,10433,0.15,446.0,118.4,7.6,567,10440,0.00,2.38,0.00,0.000,6,0.000,0.024,2822,1955,913
$GC,10762,0.15,446.0,95.4,7.7,598,10767,0.00,2.40,0.00,0.000,4,0.000,0.035,2823,3353,914
$GC,10815,0.24,446.0,91.0,8.5,602,10819,0.00,2.40,0.00,0.000,6,0.000,0.025,2822,1946,915
$GC,11141,0.32,465.2,68.2,6.2,632,11164,0.15,2.50,16.05,0.637,4,0.061,0.043,2864,547,835
$GC,11204,0.32,465.2,63.5,7.4,637,11210,0.00,2.38,0.00,0.000,6,0.000,0.023,2864,1951,835
$GC,11467,0.35,485.8,45.9,6.2,662,11489,0.00,2.42,16.17,0.621,4,0.000,0.032,2864,3346,752
$GC,11541,0.41,485.8,40.0,8.9,668,11547,0.00,2.38,0.00,0.000,6,0.000,0.024,2863,1948,753
$GC,11812,0.41,485.8,16.2,8.4,707,11819,0.00,2.45,0.00,0.000,4,0.000,0.042,2864,544,756
$GC,11838,0.41,485.8,14.4,7.3,711,11844,0.00,2.38,0.00,0.000,6,0.000,0.021,2864,1954,756
$STATE,11966,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FINISH,0.9,1.002187
$STATE,12047,end surface coast,CONTROL_FINISHED_OK
$STATE,12047,begin surface
$SM_CCo,12131,0.00,0.000,0,0,757,484.71
$SM_GC,1.63,10.90,0.00,0.00,0.043,0.000,0.000,408,2066,757,-10.91,0.74,484.71
$IRIDIUM_FIX,2054.83,-15744.48,250298,020251
$TT8_MAMPS,0.027612
$HUMID,1805
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.40
$XPDR_PINGS,6
$24V_AH,23.6,69.443
$10V_AH,10.2,42.480
$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,28.350,141.775,520.450,0.000,0.000,31.142,34.591,171.381,10.500,0.000,0.000,32.470,1378.099,8143.210,593.829,1803.761,612.763,33.379,1492.860,0.000,1756.805,0.000,60.560
$DEVICE_MAMPS,153.400,55.991,938.808,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.861,494.356,893.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,748
$CAP_FILE_SIZE,116144,0
$CFSIZE,260165632,229396480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,091032,2106.462,-15747.344,40,1.3,40,9.8