version: 66.03
glider: 114
mission: 3
dive: 509
start: 12 2 108 5 26 0
data:
$ID,114
$MISSION,3
$DIVE,509
$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,-601780.75
$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,34
$R_STBD_OVSHOOT,69
$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
$GPS1,051856,2106.997,-15750.033,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.3
$GPS2,052503,2107.058,-15750.022,10,1.3,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.071,-0.221
$KALMAN_X,-155295.6,-896.6,-845.5,163174.5,858.3
$KALMAN_Y,-144555.4,-144.0,-48.6,127117.4,-56.7
$MHEAD_RNG_PITCHd_Wd,152.4,10283,-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,-70.70,0.000,2,0.000,0.000,411,2085,2875
$GC,107,-1.06,-165.5,3.3,-3.3,13,137,11.98,2.58,-9.00,0.000,4,0.154,0.048,2551,638,3410
$GC,168,-1.00,-165.5,15.6,-11.6,23,174,0.00,2.35,0.00,0.000,6,0.000,0.021,2552,2034,3410
$GC,447,-1.09,-165.5,36.4,-7.2,65,451,0.00,2.42,0.00,0.000,4,0.000,0.035,2552,3447,3410
$GC,526,-1.23,-165.5,42.1,-7.1,71,533,0.15,2.38,0.00,0.000,6,0.056,0.022,2515,2030,3410
$GC,788,-1.23,-165.5,65.9,-10.0,96,792,0.00,2.45,0.00,0.000,4,0.000,0.034,2515,3444,3410
$GC,862,-1.34,-165.5,72.7,-8.7,102,868,0.00,2.35,0.00,0.000,6,0.000,0.022,2515,2039,3410
$GC,1124,-1.40,-165.5,92.8,-8.4,127,1129,0.15,2.42,0.00,0.000,4,0.054,0.032,2473,3447,3411
$GC,1177,-1.43,-165.5,97.8,-10.0,131,1181,0.00,2.38,0.00,0.000,6,0.000,0.022,2473,2035,3411
$GC,1503,-1.43,-165.5,126.3,-7.8,161,1507,0.00,2.42,0.00,0.000,4,0.000,0.033,2473,3440,3411
$GC,1549,-1.49,-165.5,130.0,-7.6,164,1555,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2035,3411
$GC,1875,-1.49,-165.5,156.6,-8.6,195,1879,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3443,3411
$GC,1920,-1.56,-165.5,160.5,-7.4,198,1926,0.10,2.35,0.00,0.000,6,0.066,0.023,2447,2039,3411
$GC,2245,-1.56,-165.5,189.2,-9.2,229,2249,0.00,2.42,0.00,0.000,4,0.000,0.038,2447,634,3411
$GC,2263,-1.56,-165.5,191.0,-9.3,230,2267,0.00,2.38,0.00,0.000,6,0.000,0.023,2447,2046,3411
$GC,2593,-1.56,-165.5,219.0,-7.9,250,2597,0.00,2.40,0.00,0.000,4,0.000,0.035,2447,3448,3411
$GC,2701,-1.60,-165.5,227.4,-7.2,255,2705,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2043,3410
$GC,3029,-1.60,-165.5,252.1,-6.7,271,3033,0.00,2.42,0.00,0.000,4,0.000,0.036,2447,3441,3411
$GC,3063,-1.65,-165.5,254.4,-6.4,272,3069,0.00,2.38,0.00,0.000,6,0.000,0.026,2447,2034,3411
$GC,3380,-1.68,-165.5,275.7,-7.6,288,3384,0.10,2.45,0.00,0.000,4,0.072,0.037,2423,3440,3411
$GC,3447,-1.68,-165.5,282.3,-9.4,291,3451,0.00,2.38,0.00,0.000,6,0.000,0.027,2423,2042,3411
$GC,3766,-1.68,-165.5,314.1,-10.2,304,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2041,3409
$GC,4091,-1.68,-165.5,338.6,-7.6,312,4095,0.00,2.45,0.00,0.000,4,0.000,0.041,2423,3434,3407
$GC,4137,-1.71,-165.5,342.4,-8.2,313,4141,0.00,2.40,0.00,0.000,6,0.000,0.029,2423,2030,3407
$GC,4456,-1.71,-165.5,369.4,-8.2,321,4460,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3440,3404
$GC,4500,-1.71,-165.5,372.8,-7.0,322,4504,0.00,2.40,0.00,0.000,6,0.000,0.029,2423,2036,3404
$GC,4819,-1.71,-165.5,399.6,-9.2,330,4827,0.00,2.47,0.00,0.000,4,0.000,0.041,2423,3443,3402
$GC,4879,-1.75,-165.5,405.0,-8.7,331,4883,0.00,2.40,0.00,0.000,6,0.000,0.030,2423,2042,3402
$GC,5193,-1.75,-165.5,430.2,-8.1,339,5197,0.00,2.45,0.00,0.000,4,0.000,0.042,2423,3433,3399
$GC,5250,-1.80,-165.5,435.0,-8.2,340,5254,0.12,2.40,0.00,0.000,6,0.077,0.031,2395,2036,3399
$STATE,5433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5433,begin apogee
$GC,5441,-0.33,0.0,451.5,9.1,345,5576,1.55,0.00,130.93,0.932,6,0.089,0.000,2715,1926,2732
$STATE,5576,end apogee,CONTROL_FINISHED_OK
$STATE,5577,begin climb
$GC,5580,1.06,165.5,457.8,0.0,348,5721,1.35,2.55,131.68,0.914,4,0.047,0.052,3016,567,2058
$GC,5888,0.51,165.5,442.2,11.5,355,5893,0.62,2.40,0.00,0.000,6,0.141,0.030,2904,1941,2056
$GC,6208,0.23,165.5,419.5,7.0,363,6213,0.30,2.50,0.00,0.000,4,0.120,0.051,2846,565,2055
$GC,6270,0.08,187.6,415.3,6.2,364,6294,0.20,2.42,17.55,0.907,6,0.118,0.031,2810,1958,1967
$GC,6624,0.05,216.6,395.2,6.0,373,6649,0.00,0.00,23.52,0.913,6,0.000,0.000,2810,1958,1848
$GC,6946,0.01,234.4,374.2,6.3,381,6965,0.00,2.62,14.32,0.905,4,0.000,0.053,2809,555,1777
$GC,7006,-0.06,244.7,370.5,6.5,382,7021,0.17,2.45,9.10,0.897,6,0.117,0.031,2778,1949,1735
$GC,7360,0.04,303.0,352.7,5.1,391,7413,0.00,2.62,46.58,0.900,4,0.000,0.046,2778,3359,1496
$GC,7449,0.09,327.7,347.9,6.1,393,7475,0.15,2.45,20.12,0.883,6,0.077,0.032,2809,1969,1397
$GC,7808,0.09,358.4,326.2,5.9,402,7839,0.00,2.62,25.05,0.876,4,0.000,0.052,2809,545,1270
$GC,7868,0.04,358.4,322.2,7.2,403,7872,0.00,2.47,0.00,0.000,6,0.000,0.031,2809,1954,1270
$GC,8212,0.03,384.7,301.0,6.0,412,8240,0.00,2.60,21.42,0.865,4,0.000,0.044,2809,3358,1163
$GC,8292,0.03,384.7,295.4,7.5,414,8298,0.00,2.47,0.00,0.000,6,0.000,0.032,2809,1948,1164
$GC,8608,0.02,397.5,275.1,6.4,430,8621,0.00,0.00,10.88,0.847,6,0.000,0.000,2809,1948,1112
$GC,8918,-0.01,397.5,252.8,7.7,445,8923,0.10,2.50,0.00,0.000,4,0.113,0.039,2791,3357,1112
$GC,8974,0.04,397.5,248.4,7.6,447,8980,0.00,2.45,0.00,0.000,6,0.000,0.030,2791,1948,1112
$GC,9291,0.13,452.2,230.2,5.2,463,9338,0.12,0.00,43.67,0.810,6,0.075,0.000,2819,1948,889
$GC,9646,0.15,479.4,209.3,6.0,480,9675,0.00,2.60,22.05,0.782,4,0.000,0.037,2819,3365,778
$GC,9712,0.15,479.4,204.6,7.0,483,9716,0.00,2.47,0.00,0.000,6,0.000,0.029,2819,1947,778
$GC,10040,0.18,497.9,182.1,6.3,510,10057,0.00,0.00,15.18,0.757,6,0.000,0.000,2819,1947,703
$GC,10375,0.18,497.9,155.8,7.9,542,10379,0.00,2.47,0.00,0.000,4,0.000,0.035,2820,3366,704
$GC,10426,0.24,497.9,151.9,7.8,546,10433,0.10,2.45,0.00,0.000,6,0.077,0.028,2842,1940,704
$GC,10752,0.20,497.9,126.2,7.8,577,10756,0.00,2.47,0.00,0.000,4,0.000,0.035,2842,3358,705
$GC,10797,0.20,497.9,122.6,7.3,580,10803,0.00,2.42,0.00,0.000,6,0.000,0.027,2842,1940,704
$GC,11126,0.16,497.9,97.9,7.9,611,11130,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3356,706
$GC,11185,0.20,497.9,93.1,7.5,616,11189,0.00,2.42,0.00,0.000,6,0.000,0.026,2842,1939,706
$GC,11514,0.24,522.4,68.7,6.1,646,11541,0.00,2.50,20.35,0.637,4,0.000,0.033,2843,3362,602
$GC,11566,0.38,568.8,65.7,5.4,651,11610,0.12,2.42,36.12,0.631,6,0.065,0.025,2873,1948,419
$GC,11865,0.34,568.8,41.4,8.9,679,11869,0.00,2.45,0.00,0.000,4,0.000,0.033,2873,3366,420
$GC,11889,0.31,568.8,39.1,9.7,681,11894,0.00,2.42,0.00,0.000,6,0.000,0.025,2872,1946,420
$GC,12162,0.28,568.8,14.2,8.9,720,12168,0.12,2.45,0.00,0.000,4,0.093,0.031,2848,3360,421
$GC,12200,0.28,568.8,11.2,8.2,726,12207,0.00,2.42,0.00,0.000,6,0.000,0.024,2848,1933,422
$STATE,12289,end climb,SURFACE_DEPTH_REACHED
$STATE,12289,begin surface coast
$FINISH,1.0,1.010186
$STATE,12376,end surface coast,CONTROL_FINISHED_OK
$STATE,12376,begin surface
$SM_CCo,12460,0.00,0.000,0,0,422,566.89
$SM_GC,1.75,10.77,0.00,0.00,0.041,0.000,0.000,411,2092,422,-10.90,1.47,566.89
$IRIDIUM_FIX,2101.76,-15755.17,260298,020241
$TT8_MAMPS,0.027612
$HUMID,1811
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,5
$24V_AH,23.6,70.411
$10V_AH,10.2,43.074
$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,28.300,137.475,588.525,0.000,0.000,24.717,30.538,169.672,10.250,0.000,0.000,12.062,1389.937,8385.174,640.133,1821.309,590.091,33.368,1560.679,0.000,1786.135,0.000,57.456
$DEVICE_MAMPS,154.167,52.923,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.104,493.920,895.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37975,757
$CAP_FILE_SIZE,117525,0
$CFSIZE,260165632,228986880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,085501,2105.331,-15749.742,37,1.4,42,9.8