version: 66.03
glider: 114
mission: 3
dive: 503
start: 12 1 108 9 22 0
data:
$ID,114
$MISSION,3
$DIVE,503
$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,-601676.19
$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,67
$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
$GPS1,091032,2106.462,-15747.344,40,1.3,40,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.4
$GPS2,092103,2106.440,-15747.168,11,1.5,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.214,0.091
$KALMAN_X,-156431.3,-198.5,275.8,167398.0,1113.8
$KALMAN_Y,-144534.1,20.0,141.5,125601.9,-665.8
$MHEAD_RNG_PITCHd_Wd,283.4,2913,-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,-165.5,0.0,0.0,0,100,0.00,0.00,-70.25,0.000,2,0.000,0.000,408,2064,2830
$GC,104,-1.06,-165.5,3.0,-2.9,13,134,12.00,2.53,-10.00,0.000,4,0.155,0.048,2551,625,3410
$GC,209,-1.21,-165.5,18.0,-7.3,31,216,0.12,2.35,0.00,0.000,6,0.058,0.021,2519,2029,3410
$GC,486,-1.21,-165.5,42.2,-9.7,69,490,0.00,2.40,0.00,0.000,4,0.000,0.035,2519,3430,3409
$GC,572,-1.34,-165.5,49.5,-8.0,76,576,0.00,2.38,0.00,0.000,6,0.000,0.022,2519,2021,3410
$GC,835,-1.40,-165.5,69.2,-7.6,100,839,0.15,2.45,0.00,0.000,4,0.055,0.032,2478,3436,3410
$GC,864,-1.40,-165.5,72.0,-9.7,102,868,0.00,2.35,0.00,0.000,6,0.000,0.022,2478,2041,3410
$GC,1128,-1.40,-165.5,95.1,-7.9,126,1132,0.00,2.40,0.00,0.000,4,0.000,0.034,2478,3430,3410
$GC,1180,-1.45,-165.5,99.3,-7.6,130,1184,0.00,2.35,0.00,0.000,6,0.000,0.023,2478,2037,3410
$GC,1506,-1.45,-165.5,125.8,-8.1,160,1510,0.00,2.40,0.00,0.000,4,0.000,0.034,2478,3430,3410
$GC,1547,-1.48,-165.5,129.0,-7.9,163,1551,0.00,2.35,0.00,0.000,6,0.000,0.023,2478,2036,3410
$GC,1873,-1.52,-165.5,152.0,-7.0,193,1877,0.00,2.40,0.00,0.000,4,0.000,0.034,2478,3430,3410
$GC,1918,-1.59,-165.5,155.7,-8.1,196,1925,0.15,2.35,0.00,0.000,6,0.058,0.024,2441,2026,3410
$GC,2244,-1.59,-165.5,188.1,-9.2,227,2248,0.00,2.42,0.00,0.000,4,0.000,0.035,2441,3430,3410
$GC,2272,-1.59,-165.5,190.9,-9.3,229,2278,0.00,2.35,0.00,0.000,6,0.000,0.023,2440,2030,3410
$GC,2601,-1.59,-165.5,218.9,-8.4,250,2605,0.00,2.42,0.00,0.000,4,0.000,0.035,2441,3432,3410
$GC,2653,-1.59,-165.5,223.1,-8.4,252,2657,0.00,2.35,0.00,0.000,6,0.000,0.024,2440,2037,3410
$GC,2969,-1.59,-165.5,248.5,-8.0,267,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2036,3410
$GC,3278,-1.59,-165.5,273.2,-7.7,282,3282,0.00,2.42,0.00,0.000,4,0.000,0.037,2441,3430,3410
$GC,3312,-1.59,-165.5,276.0,-8.5,283,3316,0.00,2.35,0.00,0.000,6,0.000,0.025,2441,2043,3409
$GC,3654,-1.59,-165.5,303.5,-8.3,299,3658,0.00,2.42,0.00,0.000,4,0.000,0.038,2440,3432,3408
$GC,3734,-1.66,-165.5,310.2,-8.5,300,3740,0.00,2.38,0.00,0.000,6,0.000,0.028,2441,2035,3408
$GC,4067,-1.66,-165.5,334.5,-6.8,309,4071,0.00,2.45,0.00,0.000,4,0.000,0.039,2441,3435,3406
$GC,4090,-1.70,-165.5,336.1,-6.8,309,4094,0.00,2.38,0.00,0.000,6,0.000,0.028,2441,2040,3405
$GC,4429,-1.74,-165.5,359.0,-7.0,318,4433,0.12,2.45,0.00,0.000,4,0.071,0.040,2411,3432,3402
$GC,4490,-1.74,-165.5,364.3,-8.3,319,4494,0.00,2.40,0.00,0.000,6,0.000,0.033,2411,2035,3403
$GC,4832,-1.74,-165.5,395.8,-9.3,328,4837,0.00,2.45,0.00,0.000,4,0.000,0.041,2411,3427,3400
$GC,4906,-1.74,-165.5,402.2,-8.5,329,4910,0.00,2.40,0.00,0.000,6,0.000,0.031,2411,2028,3399
$GC,5244,-1.74,-165.5,431.1,-8.8,338,5248,0.00,2.47,0.00,0.000,4,0.000,0.042,2411,3430,3397
$GC,5306,-1.78,-165.5,437.0,-9.6,339,5310,0.00,2.40,0.00,0.000,6,0.000,0.031,2411,2035,3396
$STATE,5485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5485,begin apogee
$GC,5494,-0.33,0.0,453.3,9.1,344,5628,1.48,0.00,130.32,0.940,6,0.092,0.000,2714,1928,2733
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5632,1.06,165.5,460.1,0.0,347,5773,1.38,2.55,131.93,0.920,4,0.048,0.051,3020,564,2058
$GC,6032,0.50,165.5,430.2,13.4,356,6038,0.65,2.40,0.00,0.000,6,0.140,0.029,2904,1940,2056
$GC,6353,0.23,165.5,404.0,7.7,364,6358,0.30,2.53,0.00,0.000,4,0.118,0.051,2844,560,2054
$GC,6410,0.07,179.5,400.3,6.4,365,6426,0.20,2.42,10.98,0.902,6,0.117,0.030,2808,1952,2001
$GC,6759,0.15,271.9,386.2,4.1,374,6841,0.00,2.58,73.28,0.910,4,0.000,0.045,2808,3347,1624
$GC,6865,0.09,271.9,379.8,7.8,376,6869,0.00,2.45,0.00,0.000,6,0.000,0.033,2808,1961,1624
$GC,7207,0.02,271.9,354.1,7.5,385,7212,0.00,2.50,0.00,0.000,4,0.000,0.042,2808,3358,1623
$GC,7242,-0.03,271.9,351.6,7.6,385,7248,0.12,2.47,0.00,0.000,6,0.114,0.033,2786,1947,1623
$GC,7574,0.03,307.6,332.1,5.8,394,7604,0.00,0.00,28.23,0.890,6,0.000,0.000,2786,1947,1478
$GC,7937,0.16,379.9,314.6,4.7,403,8002,0.15,2.62,57.10,0.874,4,0.074,0.041,2823,3359,1184
$GC,8026,0.08,379.9,308.1,8.1,405,8030,0.00,2.50,0.00,0.000,6,0.000,0.031,2823,1938,1183
$GC,8349,0.00,379.9,279.9,8.4,418,8354,0.15,2.53,0.00,0.000,4,0.110,0.038,2791,3361,1183
$GC,8376,0.00,379.9,277.7,7.2,419,8381,0.00,2.47,0.00,0.000,6,0.000,0.030,2791,1942,1183
$GC,8693,0.00,379.9,256.7,7.1,434,8697,0.00,2.50,0.00,0.000,4,0.000,0.037,2791,3359,1183
$GC,8743,0.01,386.7,253.1,6.6,436,8755,0.00,2.45,6.07,0.829,6,0.000,0.030,2791,1949,1155
$GC,9065,0.06,411.3,234.7,6.1,452,9089,0.00,2.58,19.67,0.822,4,0.000,0.051,2791,546,1056
$GC,9120,0.11,419.1,231.3,6.6,454,9133,0.00,2.45,7.03,0.824,6,0.000,0.026,2791,1970,1024
$GC,9442,0.12,428.1,209.6,6.6,470,9457,0.12,2.47,8.05,0.792,4,0.078,0.038,2819,3339,986
$GC,9497,0.12,428.1,205.1,8.2,472,9502,0.00,2.42,0.00,0.000,6,0.000,0.029,2819,1944,986
$GC,9829,0.12,428.1,179.5,7.8,500,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1943,986
$GC,10158,0.16,446.4,157.9,6.3,531,10180,0.00,2.47,15.07,0.745,4,0.000,0.033,2819,3342,912
$GC,10215,0.20,446.4,153.9,7.4,536,10220,0.00,2.42,0.00,0.000,6,0.000,0.028,2819,1937,912
$GC,10547,0.21,454.6,129.9,6.6,567,10556,0.00,0.00,7.25,0.713,6,0.000,0.000,2819,1936,878
$GC,10880,0.21,454.6,107.4,7.2,598,10884,0.00,2.45,0.00,0.000,4,0.000,0.033,2819,3347,879
$GC,10920,0.27,454.6,103.9,8.2,601,10925,0.12,2.40,0.00,0.000,6,0.069,0.025,2848,1944,879
$GC,11246,0.27,454.6,77.5,8.5,631,11251,0.00,2.47,0.00,0.000,4,0.000,0.044,2848,540,880
$GC,11276,0.27,454.6,75.1,8.1,633,11280,0.00,2.38,0.00,0.000,6,0.000,0.022,2848,1951,880
$GC,11542,0.33,466.6,56.5,6.5,657,11557,0.00,2.42,10.45,0.628,4,0.000,0.033,2849,3351,829
$GC,11597,0.41,466.6,52.5,7.1,661,11604,0.12,2.40,0.00,0.000,6,0.067,0.025,2878,1940,829
$GC,11863,0.36,466.6,35.0,6.8,686,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1940,829
$GC,12137,0.31,466.6,15.2,7.6,728,12143,0.00,2.42,0.00,0.000,4,0.000,0.032,2878,3351,831
$GC,12175,0.31,466.6,12.2,8.2,734,12181,0.00,2.38,0.00,0.000,6,0.000,0.025,2879,1942,831
$STATE,12270,end climb,SURFACE_DEPTH_REACHED
$STATE,12270,begin surface coast
$FINISH,0.9,1.010842
$STATE,12350,end surface coast,CONTROL_FINISHED_OK
$STATE,12350,begin surface
$SM_CCo,12435,0.00,0.000,0,0,831,466.56
$SM_GC,1.71,10.90,0.00,0.00,0.042,0.000,0.000,411,2080,831,-10.89,1.22,466.56
$IRIDIUM_FIX,2057.14,-15748.75,250298,090935
$TT8_MAMPS,0.027612
$HUMID,1785
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,23.6,69.595
$10V_AH,10.2,42.571
$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,28.250,136.675,505.425,0.000,0.000,52.021,74.294,291.918,11.500,0.000,0.000,13.919,1403.166,8489.355,567.756,1808.368,797.075,33.376,1473.790,0.000,1782.326,0.000,57.440
$DEVICE_MAMPS,154.934,51.389,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.240,514.505,919.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41042,765
$CAP_FILE_SIZE,118783,0
$CFSIZE,260165632,229335040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,125051,2107.200,-15748.024,36,2.1,55,9.8