version: 66.03
glider: 114
mission: 3
dive: 511
start: 12 2 108 12 30 42
data:
$ID,114
$MISSION,3
$DIVE,511
$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,-601811
$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,71
$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
$GPS1,122337,2103.811,-15749.054,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.8
$GPS2,122945,2103.786,-15748.995,14,1.3,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209,-0.102
$KALMAN_X,-157615.6,-156.8,593.4,165086.8,-1010.1
$KALMAN_Y,-144991.3,-30.3,52.0,121282.7,-4.0
$MHEAD_RNG_PITCHd_Wd,106.3,4479,-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,-165.5,0.0,0.0,0,108,0.00,0.00,-75.95,0.000,2,0.000,0.000,410,2081,2887
$GC,112,-1.06,-165.5,3.4,-3.3,14,136,12.00,0.00,-8.75,0.000,6,0.156,0.000,2550,2081,3410
$GC,406,-1.13,-165.5,34.0,-7.0,61,410,0.00,2.28,0.00,0.000,4,0.000,0.034,2550,3405,3410
$GC,474,-1.28,-165.5,38.9,-6.8,66,481,0.17,2.30,0.00,0.000,6,0.053,0.022,2508,2033,3410
$GC,736,-1.28,-165.5,64.5,-10.3,91,740,0.00,2.38,0.00,0.000,4,0.000,0.033,2508,3412,3410
$GC,793,-1.34,-165.5,70.5,-9.9,95,799,0.00,2.30,0.00,0.000,6,0.000,0.022,2508,2036,3410
$GC,1055,-1.34,-165.5,95.8,-9.1,120,1059,0.00,2.38,0.00,0.000,4,0.000,0.033,2508,3414,3410
$GC,1108,-1.41,-165.5,100.8,-9.8,124,1114,0.12,2.30,0.00,0.000,6,0.060,0.022,2477,2040,3410
$GC,1433,-1.41,-165.5,129.3,-8.2,155,1437,0.00,2.35,0.00,0.000,4,0.000,0.032,2476,3407,3411
$GC,1474,-1.41,-165.5,132.8,-8.8,158,1478,0.00,2.30,0.00,0.000,6,0.000,0.022,2477,2032,3411
$GC,1800,-1.41,-165.5,163.9,-10.0,188,1804,0.00,2.38,0.00,0.000,4,0.000,0.032,2476,3419,3411
$GC,1879,-1.47,-165.5,170.9,-7.7,194,1885,0.00,2.33,0.00,0.000,6,0.000,0.023,2476,2030,3411
$GC,2206,-1.50,-165.5,195.7,-8.4,225,2210,0.00,2.38,0.00,0.000,4,0.000,0.033,2476,3412,3412
$GC,2263,-1.59,-165.5,200.6,-8.9,229,2269,0.15,2.30,0.00,0.000,6,0.058,0.023,2440,2041,3411
$GC,2579,-1.59,-165.5,228.2,-7.8,245,2583,0.00,2.35,0.00,0.000,4,0.000,0.035,2440,3407,3411
$GC,2621,-1.59,-165.5,231.2,-7.3,247,2625,0.00,2.33,0.00,0.000,6,0.000,0.025,2440,2030,3411
$GC,2954,-1.59,-165.5,256.9,-8.9,263,2958,0.00,2.38,0.00,0.000,4,0.000,0.035,2440,3406,3411
$GC,3017,-1.65,-165.5,262.8,-9.5,266,3021,0.00,2.33,0.00,0.000,6,0.000,0.026,2439,2035,3411
$GC,3347,-1.65,-165.5,290.7,-7.8,282,3351,0.00,2.40,0.00,0.000,4,0.000,0.038,2439,3417,3411
$GC,3403,-1.72,-165.5,295.3,-7.2,284,3410,0.12,2.35,0.00,0.000,6,0.066,0.028,2410,2031,3411
$GC,3718,-1.72,-165.5,322.6,-9.2,294,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2030,3409
$GC,4041,-1.72,-165.5,351.8,-9.2,302,4045,0.00,2.42,0.00,0.000,4,0.000,0.040,2410,3413,3407
$GC,4086,-1.72,-165.5,356.2,-9.2,303,4091,0.00,2.35,0.00,0.000,6,0.000,0.030,2410,2041,3406
$GC,4406,-1.72,-165.5,384.7,-9.2,311,4410,0.00,2.40,0.00,0.000,4,0.000,0.041,2410,3410,3404
$GC,4456,-1.72,-165.5,389.5,-8.5,312,4460,0.00,2.35,0.00,0.000,6,0.000,0.030,2410,2039,3403
$GC,4780,-1.72,-165.5,417.3,-8.6,320,4784,0.00,2.40,0.00,0.000,4,0.000,0.041,2410,3405,3401
$GC,4831,-1.72,-165.5,421.7,-8.3,321,4836,0.00,2.35,0.00,0.000,6,0.000,0.031,2410,2039,3400
$GC,5147,-1.72,-165.5,443.7,-6.5,329,5151,0.00,2.40,0.00,0.000,4,0.000,0.042,2410,3402,3398
$GC,5197,-1.72,-165.5,447.6,-6.7,330,5202,0.00,2.35,0.00,0.000,6,0.000,0.031,2410,2035,3397
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5274,-0.33,0.0,452.4,6.9,332,5407,1.48,0.00,130.00,0.953,6,0.089,0.000,2715,1926,2732
$STATE,5408,end apogee,CONTROL_FINISHED_OK
$STATE,5408,begin climb
$GC,5412,1.06,165.5,457.0,0.0,335,5552,1.35,2.58,130.93,0.929,4,0.048,0.051,3016,562,2058
$GC,5812,0.50,165.5,421.0,14.7,344,5818,0.62,2.35,0.00,0.000,6,0.130,0.030,2904,1912,2056
$GC,6132,0.23,165.5,391.0,9.0,352,6134,0.32,0.00,0.00,0.000,6,0.128,0.000,2845,1912,2053
$GC,6457,0.10,175.7,368.3,6.5,360,6472,0.15,2.55,7.85,0.886,4,0.140,0.053,2815,560,2016
$GC,6496,0.04,211.5,365.9,5.8,360,6530,0.00,2.45,28.52,0.904,6,0.000,0.032,2815,1957,1869
$GC,6870,0.03,256.1,346.4,5.5,370,6912,0.00,2.53,35.42,0.899,4,0.000,0.044,2815,3350,1688
$GC,6941,-0.04,256.1,341.4,7.6,371,6946,0.17,2.45,0.00,0.000,6,0.151,0.034,2785,1963,1688
$GC,7278,0.04,300.5,321.3,5.5,380,7320,0.00,2.62,35.38,0.883,4,0.000,0.053,2784,545,1506
$GC,7371,0.04,300.5,315.2,7.6,382,7376,0.00,2.47,0.00,0.000,6,0.000,0.030,2784,1960,1506
$GC,7692,0.07,318.8,294.6,6.3,392,7714,0.00,2.53,14.60,0.867,4,0.000,0.044,2784,3355,1432
$GC,7732,0.10,333.7,292.0,6.4,393,7752,0.12,2.47,12.60,0.864,6,0.083,0.031,2811,1950,1371
$GC,8072,0.14,383.8,271.8,5.3,410,8114,0.00,0.00,39.90,0.848,6,0.000,0.000,2811,1950,1168
$GC,8418,0.18,408.3,250.4,6.1,427,8443,0.00,2.55,19.73,0.828,4,0.000,0.040,2810,3354,1068
$GC,8489,0.18,408.3,245.4,7.1,430,8493,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,1942,1068
$GC,8806,0.18,409.4,223.3,6.8,445,8809,0.00,2.47,0.00,0.000,4,0.000,0.037,2811,3351,1068
$GC,8839,0.18,409.4,220.7,7.9,446,8844,0.00,2.45,0.00,0.000,6,0.000,0.029,2811,1937,1067
$GC,9157,0.24,441.9,199.4,5.9,461,9190,0.15,2.60,27.15,0.779,4,0.070,0.035,2845,3359,931
$GC,9219,0.17,441.9,194.5,8.2,466,9226,0.00,2.45,0.00,0.000,6,0.000,0.028,2845,1941,931
$GC,9548,0.11,441.9,164.7,10.0,497,9553,0.15,2.47,0.00,0.000,4,0.100,0.035,2812,3353,931
$GC,9578,0.11,441.9,161.6,9.1,499,9582,0.00,2.42,0.00,0.000,6,0.000,0.027,2812,1949,931
$GC,9907,0.20,469.5,141.7,6.0,529,9934,0.00,2.47,21.80,0.717,4,0.000,0.033,2812,3352,819
$GC,9964,0.30,486.0,137.7,6.3,533,9985,0.20,2.42,13.73,0.711,6,0.060,0.026,2858,1942,750
$GC,10312,0.23,486.0,111.8,8.1,566,10316,0.00,2.47,0.00,0.000,4,0.000,0.034,2858,3358,754
$GC,10375,0.23,486.0,106.6,8.6,571,10379,0.00,2.42,0.00,0.000,6,0.000,0.026,2858,1949,755
$GC,10701,0.23,486.0,82.0,7.2,601,10705,0.00,2.47,0.00,0.000,4,0.000,0.044,2858,547,756
$GC,10742,0.27,486.0,78.9,8.1,604,10747,0.00,2.40,0.00,0.000,6,0.000,0.022,2858,1968,756
$GC,11004,0.27,486.0,60.0,7.1,628,11008,0.00,2.35,0.00,0.000,4,0.000,0.033,2858,3344,757
$GC,11034,0.27,486.0,57.9,7.0,630,11040,0.00,2.38,0.00,0.000,6,0.000,0.025,2858,1942,758
$GC,11297,0.29,495.2,40.7,6.5,655,11311,0.00,2.53,9.30,0.601,4,0.000,0.043,2858,544,713
$GC,11325,0.31,510.2,38.7,6.4,657,11342,0.00,2.38,11.62,0.604,6,0.000,0.021,2858,1958,652
$GC,11606,0.31,510.2,20.2,7.0,695,11612,0.00,2.38,0.00,0.000,4,0.000,0.031,2858,3349,654
$GC,11648,0.41,534.5,17.7,6.1,702,11677,0.00,2.38,19.88,0.578,6,0.000,0.025,2858,1946,553
$STATE,11833,end climb,SURFACE_DEPTH_REACHED
$STATE,11834,begin surface coast
$FINISH,0.9,1.012626
$STATE,11908,end surface coast,CONTROL_FINISHED_OK
$STATE,11908,begin surface
$SM_CCo,11992,0.00,0.000,0,0,553,534.75
$SM_GC,1.69,10.82,0.00,0.00,0.040,0.000,0.000,409,2070,553,-10.90,0.82,534.75
$IRIDIUM_FIX,2059.45,-15748.75,260298,090903
$TT8_MAMPS,0.027612
$HUMID,1785
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,10
$24V_AH,23.6,70.714
$10V_AH,10.2,43.247
$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,28.125,135.350,558.400,0.000,0.000,23.031,27.231,168.515,11.500,0.000,0.000,16.180,1363.314,8005.008,610.600,1788.176,592.334,33.368,1518.111,0.000,1756.161,0.000,57.440
$DEVICE_MAMPS,155.701,52.923,953.381,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.810,507.662,907.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37930,748
$CAP_FILE_SIZE,114015,0
$CFSIZE,260165632,228864000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,155144,2102.568,-15748.102,23,1.8,30,9.8