version: 66.03
glider: 114
mission: 3
dive: 510
start: 12 2 108 9 2 50
data:
$ID,114
$MISSION,3
$DIVE,510
$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,-601794.19
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,085501,2105.331,-15749.742,37,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.0
$GPS2,090151,2105.315,-15749.659,11,1.5,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.070,-0.222
$KALMAN_X,-156330.1,-686.2,-355.2,164135.1,1251.6
$KALMAN_Y,-144740.8,-127.4,-187.5,124201.3,326.5
$MHEAD_RNG_PITCHd_Wd,152.6,7284,-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,28,-1.06,-165.5,0.0,0.0,0,112,0.00,0.00,-81.35,0.000,2,0.000,0.000,411,2091,2825
$GC,116,-1.06,-165.5,3.2,-3.2,15,146,11.93,2.58,-10.25,0.000,4,0.153,0.051,2551,633,3409
$GC,165,-0.57,-165.5,13.8,-18.5,23,172,0.52,2.40,0.00,0.000,6,0.062,0.022,2665,2060,3409
$GC,447,-1.03,-165.5,38.4,-10.7,66,452,0.43,2.38,0.00,0.000,4,0.056,0.031,2568,3453,3409
$GC,476,-1.39,-165.5,41.6,-10.9,68,482,0.38,2.40,0.00,0.000,6,0.062,0.021,2487,2022,3409
$GC,738,-1.39,-165.5,67.5,-10.5,92,742,0.00,2.45,0.00,0.000,4,0.000,0.033,2486,3438,3409
$GC,825,-1.47,-165.5,75.4,-8.8,99,829,0.00,2.35,0.00,0.000,6,0.000,0.022,2486,2040,3409
$GC,1087,-1.47,-165.5,98.4,-9.2,123,1091,0.00,2.40,0.00,0.000,4,0.000,0.032,2486,3440,3409
$GC,1121,-1.47,-165.5,101.9,-9.9,126,1125,0.00,2.38,0.00,0.000,6,0.000,0.022,2486,2029,3409
$GC,1447,-1.47,-165.5,133.6,-8.6,156,1451,0.00,2.45,0.00,0.000,4,0.000,0.033,2486,3448,3409
$GC,1520,-1.56,-165.5,139.9,-7.8,162,1531,0.15,2.38,0.00,0.000,6,0.058,0.023,2449,2031,3409
$GC,1847,-1.56,-165.5,171.2,-8.6,193,1851,0.00,2.42,0.00,0.000,4,0.000,0.034,2449,3440,3409
$GC,1921,-1.60,-165.5,177.6,-8.4,199,1926,0.00,2.38,0.00,0.000,6,0.000,0.024,2449,2031,3409
$GC,2245,-1.60,-165.5,207.8,-9.3,225,2249,0.00,2.42,0.00,0.000,4,0.000,0.034,2449,3438,3409
$GC,2301,-1.63,-165.5,213.1,-9.1,227,2307,0.00,2.35,0.00,0.000,6,0.000,0.024,2449,2042,3409
$GC,2618,-1.63,-165.5,238.6,-7.6,243,2623,0.00,2.42,0.00,0.000,4,0.000,0.035,2449,3444,3409
$GC,2682,-1.70,-165.5,243.1,-6.3,246,2687,0.12,2.38,0.00,0.000,6,0.066,0.025,2419,2035,3409
$GC,3013,-1.67,-165.5,266.0,-7.5,262,3017,0.00,2.45,0.00,0.000,4,0.000,0.035,2419,3446,3409
$GC,3069,-1.67,-165.5,271.5,-9.1,264,3075,0.00,2.40,0.00,0.000,6,0.000,0.026,2419,2026,3409
$GC,3405,-1.67,-165.5,304.9,-10.2,280,3409,0.00,2.45,0.00,0.000,4,0.000,0.036,2418,3442,3408
$GC,3456,-1.67,-165.5,309.9,-9.4,281,3461,0.00,2.40,0.00,0.000,6,0.000,0.027,2419,2030,3408
$GC,3780,-1.67,-165.5,335.9,-7.4,289,3785,0.00,2.47,0.00,0.000,4,0.000,0.040,2419,3442,3407
$GC,3855,-1.71,-165.5,341.0,-6.7,290,3859,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2035,3406
$GC,4187,-1.71,-165.5,367.2,-8.6,298,4191,0.00,2.47,0.00,0.000,4,0.000,0.046,2419,630,3404
$GC,4209,-1.71,-165.5,369.3,-9.1,298,4213,0.00,2.40,0.00,0.000,6,0.000,0.028,2418,2029,3404
$GC,4546,-1.71,-165.5,398.7,-8.5,307,4550,0.00,2.50,0.00,0.000,4,0.000,0.044,2419,3449,3401
$GC,4614,-1.75,-165.5,404.2,-7.5,308,4618,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2043,3400
$GC,4953,-1.75,-165.5,431.5,-8.2,317,4957,0.00,2.47,0.00,0.000,4,0.000,0.042,2419,3445,3397
$GC,5010,-1.80,-165.5,436.4,-8.1,318,5014,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2038,3397
$STATE,5195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5195,begin apogee
$GC,5203,-0.33,0.0,453.3,9.1,323,5337,1.42,0.00,130.65,0.940,6,0.087,0.000,2714,1929,2733
$STATE,5338,end apogee,CONTROL_FINISHED_OK
$STATE,5338,begin climb
$GC,5342,1.06,165.5,460.7,0.0,326,5482,1.38,2.58,131.75,0.923,4,0.051,0.052,3018,556,2057
$GC,5725,0.51,165.5,435.6,12.7,334,5730,0.62,2.45,0.00,0.000,6,0.140,0.031,2906,1955,2056
$GC,6058,0.23,165.5,408.4,7.9,342,6063,0.30,2.55,0.00,0.000,4,0.120,0.051,2848,559,2054
$GC,6131,0.04,165.5,403.0,7.4,343,6136,0.25,2.45,0.00,0.000,6,0.116,0.031,2801,1962,2054
$GC,6463,0.06,221.3,385.9,5.2,351,6513,0.00,2.65,43.28,0.911,4,0.000,0.054,2801,565,1830
$GC,6543,-0.00,228.3,381.4,6.6,352,6554,0.00,2.45,6.25,0.880,6,0.000,0.031,2801,1956,1802
$GC,6875,-0.01,253.5,361.0,6.1,361,6900,0.00,2.55,20.55,0.900,4,0.000,0.045,2801,3360,1699
$GC,6924,-0.01,284.5,358.0,5.9,362,6956,0.00,2.47,25.50,0.891,6,0.000,0.033,2801,1958,1572
$GC,7282,0.04,337.7,337.0,5.2,371,7331,0.00,2.67,41.95,0.884,4,0.000,0.053,2801,544,1356
$GC,7378,0.10,374.6,332.3,5.7,373,7413,0.00,2.47,29.83,0.874,6,0.000,0.030,2801,1956,1205
$GC,7733,0.06,374.6,308.5,7.6,382,7737,0.00,2.47,0.00,0.000,4,0.000,0.044,2801,3350,1205
$GC,7777,0.06,374.6,304.6,8.7,383,7782,0.00,2.45,0.00,0.000,6,0.000,0.032,2801,1940,1205
$GC,8101,0.03,374.6,280.6,7.2,397,8105,0.00,2.50,0.00,0.000,4,0.000,0.040,2800,3355,1204
$GC,8151,0.03,374.6,276.6,7.6,399,8155,0.00,2.45,0.00,0.000,6,0.000,0.031,2802,1948,1204
$GC,8467,0.07,399.3,256.9,6.1,414,8493,0.00,2.60,19.77,0.844,4,0.000,0.051,2801,550,1105
$GC,8512,0.07,399.3,253.8,7.3,416,8517,0.00,2.45,0.00,0.000,6,0.000,0.028,2802,1957,1105
$GC,8840,0.11,421.1,230.4,6.2,432,8863,0.00,2.55,17.80,0.820,4,0.000,0.041,2801,3349,1015
$GC,8921,0.21,449.2,225.2,6.0,435,8953,0.15,2.45,23.00,0.811,6,0.075,0.031,2834,1947,900
$GC,9265,0.15,449.2,198.4,9.1,452,9269,0.00,2.47,0.00,0.000,4,0.000,0.038,2834,3349,900
$GC,9307,0.15,449.2,194.4,8.7,455,9311,0.00,2.45,0.00,0.000,6,0.000,0.030,2834,1942,900
$GC,9636,0.10,449.2,166.0,10.0,485,9642,0.10,0.00,0.00,0.000,6,0.110,0.000,2816,1942,900
$GC,9965,0.16,481.4,141.8,5.9,516,9998,0.00,2.53,25.40,0.720,4,0.000,0.035,2816,3359,770
$GC,10035,0.30,513.8,137.8,5.9,522,10069,0.17,2.45,25.90,0.716,6,0.061,0.026,2856,1941,638
$GC,10388,0.23,513.8,110.1,8.7,555,10392,0.00,2.47,0.00,0.000,4,0.000,0.035,2857,3357,643
$GC,10438,0.23,513.8,105.9,8.1,559,10445,0.00,2.42,0.00,0.000,6,0.000,0.027,2856,1947,644
$GC,10767,0.23,513.8,82.5,7.9,590,10771,0.00,2.45,0.00,0.000,4,0.000,0.033,2856,3359,643
$GC,10801,0.23,513.8,79.3,8.3,592,10807,0.00,2.40,0.00,0.000,6,0.000,0.025,2856,1948,644
$GC,11063,0.23,513.8,59.9,7.1,617,11067,0.00,2.45,0.00,0.000,4,0.000,0.032,2857,3364,645
$GC,11087,0.23,513.8,58.1,7.7,619,11091,0.00,2.42,0.00,0.000,6,0.000,0.025,2857,1941,645
$GC,11355,0.23,513.8,36.7,7.8,644,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1940,646
$GC,11618,0.23,513.8,18.9,7.3,682,11626,0.00,2.50,2.92,0.594,4,0.000,0.030,2856,3358,638
$GC,11662,0.27,513.8,15.7,7.4,689,11669,0.00,2.40,0.00,0.000,6,0.000,0.023,2856,1940,638
$STATE,11807,end climb,SURFACE_DEPTH_REACHED
$STATE,11807,begin surface coast
$FINISH,1.0,1.010087
$STATE,11893,end surface coast,CONTROL_FINISHED_OK
$STATE,11893,begin surface
$SM_CCo,11978,0.00,0.000,0,0,638,513.90
$SM_GC,1.64,10.82,0.00,0.00,0.043,0.000,0.000,411,2081,638,-10.89,1.16,513.90
$IRIDIUM_FIX,2101.76,-15750.89,260298,050558
$TT8_MAMPS,0.026845
$HUMID,1781
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,25.00
$XPDR_PINGS,9
$24V_AH,23.6,70.564
$10V_AH,10.2,43.160
$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,28.750,142.775,544.550,0.000,0.000,25.945,30.092,208.217,11.250,0.000,0.000,12.828,1351.258,8006.307,601.865,1803.624,626.893,33.369,1521.734,0.000,1764.124,0.000,57.457
$DEVICE_MAMPS,152.633,53.690,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.479,483.097,878.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38056,730
$CAP_FILE_SIZE,115512,0
$CFSIZE,260165632,228925440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,122337,2103.811,-15749.054,30,1.0,30,9.8