version: 66.03
glider: 114
mission: 3
dive: 516
start: 12 3 108 6 15 18
data:
$ID,114
$MISSION,3
$DIVE,516
$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,-601919.69
$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,75
$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
$GPS1,060807,2106.669,-15748.378,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.2
$GPS2,061421,2106.729,-15748.348,9,1.7,9,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.087,0.215
$KALMAN_X,-160384.1,-299.2,-524.2,170221.6,-80.2
$KALMAN_Y,-147329.5,126.7,-257.3,129221.2,-229.9
$MHEAD_RNG_PITCHd_Wd,328.2,6697,-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,-165.5,0.0,0.0,0,113,0.00,0.00,-80.88,0.000,2,0.000,0.000,409,2074,2865
$GC,118,-1.06,-165.5,3.7,-4.6,15,147,11.98,2.35,-9.02,0.000,4,0.154,0.048,2552,3401,3409
$GC,235,-1.22,-165.5,20.8,-7.4,35,242,0.12,2.30,0.00,0.000,6,0.061,0.021,2520,2030,3409
$GC,504,-1.22,-165.5,45.0,-8.9,69,508,0.00,2.40,0.00,0.000,4,0.000,0.035,2521,3413,3409
$GC,545,-1.25,-165.5,48.5,-8.8,72,549,0.00,2.30,0.00,0.000,6,0.000,0.022,2521,2039,3409
$GC,812,-1.25,-165.5,72.6,-10.3,97,816,0.00,2.35,0.00,0.000,4,0.000,0.033,2521,3401,3409
$GC,898,-1.36,-165.5,81.3,-10.4,104,903,0.12,2.30,0.00,0.000,6,0.061,0.022,2490,2035,3409
$GC,1224,-1.36,-165.5,108.9,-7.3,134,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2034,3409
$GC,1546,-1.39,-165.5,135.5,-9.0,164,1550,0.00,2.38,0.00,0.000,4,0.000,0.033,2491,3412,3409
$GC,1633,-1.47,-165.5,142.4,-7.3,171,1637,0.00,2.33,0.00,0.000,6,0.000,0.023,2491,2030,3409
$GC,1959,-1.52,-165.5,164.0,-6.7,201,1964,0.15,2.38,0.00,0.000,4,0.054,0.033,2452,3407,3410
$GC,2044,-1.52,-165.5,171.6,-9.6,208,2049,0.00,2.30,0.00,0.000,6,0.000,0.023,2452,2042,3409
$GC,2370,-1.52,-165.5,200.0,-8.3,238,2375,0.00,2.35,0.00,0.000,4,0.000,0.034,2452,3408,3410
$GC,2416,-1.57,-165.5,203.6,-7.5,240,2420,0.00,2.30,0.00,0.000,6,0.000,0.024,2452,2034,3409
$GC,2744,-1.57,-165.5,229.6,-7.8,256,2751,0.00,2.38,0.00,0.000,4,0.000,0.035,2452,3410,3409
$GC,2797,-1.63,-165.5,234.1,-8.0,258,2801,0.00,2.33,0.00,0.000,6,0.000,0.024,2452,2029,3409
$GC,3119,-1.63,-165.5,258.4,-6.7,274,3123,0.00,2.38,0.00,0.000,4,0.000,0.035,2452,3400,3409
$GC,3166,-1.70,-165.5,261.8,-6.6,276,3171,0.15,2.30,0.00,0.000,6,0.058,0.025,2415,2037,3409
$GC,3488,-1.65,-165.5,289.2,-8.1,292,3492,0.00,2.38,0.00,0.000,4,0.000,0.037,2415,3408,3408
$GC,3510,-1.65,-165.5,291.0,-7.4,293,3514,0.00,2.33,0.00,0.000,6,0.000,0.025,2415,2034,3408
$GC,3829,-1.65,-165.5,319.7,-9.5,304,3836,0.00,2.40,0.00,0.000,4,0.000,0.038,2415,3410,3407
$GC,3865,-1.65,-165.5,323.1,-9.1,304,3869,0.00,2.33,0.00,0.000,6,0.000,0.027,2415,2044,3407
$GC,4197,-1.65,-165.5,352.8,-8.9,312,4201,0.00,2.38,0.00,0.000,4,0.000,0.039,2415,3401,3404
$GC,4265,-1.65,-165.5,358.7,-8.0,313,4269,0.00,2.33,0.00,0.000,6,0.000,0.029,2415,2041,3404
$GC,4608,-1.65,-165.5,386.5,-8.4,322,4612,0.00,2.40,0.00,0.000,4,0.000,0.041,2415,3406,3401
$GC,4675,-1.65,-165.5,392.7,-8.9,323,4679,0.00,2.35,0.00,0.000,6,0.000,0.030,2415,2035,3400
$GC,5013,-1.65,-165.5,419.2,-7.6,332,5017,0.00,2.40,0.00,0.000,4,0.000,0.041,2415,3401,3398
$GC,5047,-1.65,-165.5,421.9,-7.0,332,5053,0.00,2.35,0.00,0.000,6,0.000,0.030,2415,2034,3398
$GC,5379,-1.65,-165.5,445.1,-7.8,341,5383,0.00,2.40,0.00,0.000,4,0.000,0.041,2415,3398,3395
$STATE,5432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5433,begin apogee
$GC,5444,-0.33,0.0,450.1,8.6,342,5578,1.42,0.00,130.18,0.936,6,0.089,0.000,2712,1954,2733
$STATE,5578,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5582,1.06,165.5,456.4,0.0,345,5722,1.40,2.65,131.30,0.917,4,0.051,0.052,3020,541,2058
$GC,5867,0.50,165.5,442.2,12.9,351,5873,0.65,2.40,0.00,0.000,6,0.142,0.030,2904,1914,2057
$GC,6205,0.21,165.5,416.3,7.1,360,6210,0.32,2.58,0.00,0.000,4,0.121,0.044,2842,3355,2055
$GC,6223,-0.00,177.0,415.3,6.5,360,6238,0.28,2.47,9.27,0.894,6,0.127,0.033,2791,1939,2011
$GC,6566,0.13,281.1,402.8,3.7,368,6651,0.12,0.00,82.75,0.913,6,0.082,0.000,2818,1939,1587
$GC,6971,0.04,281.1,375.9,7.6,378,6975,0.00,2.53,0.00,0.000,4,0.000,0.041,2818,3351,1585
$GC,7004,-0.03,281.1,373.1,7.9,378,7011,0.17,2.47,0.00,0.000,6,0.107,0.032,2786,1941,1585
$GC,7336,0.04,319.6,353.5,5.7,387,7369,0.00,0.00,30.50,0.899,6,0.000,0.000,2786,1941,1430
$GC,7661,0.14,377.4,336.4,5.1,395,7715,0.15,2.62,46.28,0.887,4,0.076,0.040,2818,3354,1193
$GC,7746,0.07,377.4,330.7,7.5,397,7751,0.00,2.47,0.00,0.000,6,0.000,0.031,2818,1952,1193
$GC,8072,0.01,378.1,307.2,6.8,405,8077,0.12,2.50,0.00,0.000,4,0.110,0.039,2795,3352,1193
$GC,8106,0.12,443.0,305.4,4.9,405,8165,0.00,2.45,52.20,0.863,6,0.000,0.031,2795,1948,927
$GC,8487,0.12,443.0,279.2,8.8,421,8491,0.00,2.50,0.00,0.000,4,0.000,0.039,2795,3353,927
$GC,8527,0.12,443.0,275.2,9.0,423,8532,0.00,2.47,0.00,0.000,6,0.000,0.030,2795,1938,927
$GC,8856,0.13,446.4,250.6,6.7,439,8865,0.10,2.53,3.95,0.797,4,0.086,0.038,2816,3352,912
$GC,8894,0.13,446.4,247.5,8.3,440,8900,0.00,2.45,0.00,0.000,6,0.000,0.029,2817,1940,912
$GC,9211,0.09,446.4,224.6,8.0,456,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1939,912
$GC,9521,0.09,446.4,199.0,8.5,471,9525,0.00,2.50,0.00,0.000,4,0.000,0.036,2817,3362,912
$GC,9573,0.12,446.4,194.4,8.1,475,9577,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,1943,912
$GC,9902,0.20,493.4,172.1,5.4,505,9944,0.00,0.00,37.20,0.750,6,0.000,0.000,2817,1943,720
$GC,10265,0.20,493.4,149.3,7.0,539,10269,0.00,2.47,0.00,0.000,4,0.000,0.034,2817,3360,723
$GC,10322,0.32,511.5,145.3,6.3,543,10343,0.20,2.42,15.38,0.715,6,0.059,0.025,2863,1938,647
$GC,10664,0.26,511.5,115.3,7.8,575,10668,0.00,2.47,0.00,0.000,4,0.000,0.045,2863,545,649
$GC,10689,0.20,511.5,113.2,8.6,577,10694,0.15,2.42,0.00,0.000,6,0.091,0.023,2833,1968,649
$GC,11015,0.24,511.5,87.6,7.4,607,11019,0.00,2.38,0.00,0.000,4,0.000,0.034,2833,3349,650
$GC,11080,0.33,511.5,83.1,7.7,612,11085,0.12,2.40,0.00,0.000,6,0.067,0.024,2863,1938,651
$GC,11406,0.61,511.5,58.4,8.8,642,11411,0.22,2.45,0.00,0.000,4,0.061,0.030,2919,3359,652
$GC,11436,0.75,511.5,55.4,10.0,644,11441,0.15,2.40,0.00,0.000,6,0.063,0.024,2954,1939,653
$GC,11703,0.52,511.5,19.0,14.4,675,11710,0.22,2.45,0.00,0.000,4,0.103,0.042,2909,543,653
$GC,11758,0.44,511.5,13.1,9.7,684,11765,0.12,2.38,0.00,0.000,6,0.104,0.029,2886,1959,653
$STATE,11854,end climb,SURFACE_DEPTH_REACHED
$STATE,11854,begin surface coast
$FINISH,1.0,0.998893
$STATE,11923,end surface coast,CONTROL_FINISHED_OK
$STATE,11923,begin surface
$SM_CCo,12008,0.00,0.000,0,0,654,510.22
$SM_GC,1.79,10.98,0.00,0.00,0.044,0.000,0.000,411,2076,654,-10.89,1.02,510.22
$IRIDIUM_FIX,2057.14,-15748.75,270298,020252
$TT8_MAMPS,0.027612
$HUMID,1814
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.40
$XPDR_PINGS,9
$24V_AH,23.6,71.468
$10V_AH,10.2,43.677
$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,29.450,130.375,539.000,0.000,0.000,22.275,39.805,171.050,11.500,0.000,0.000,10.646,1309.338,8200.433,619.168,1667.133,586.320,33.377,1454.233,0.000,1637.261,0.000,60.314
$DEVICE_MAMPS,154.167,53.690,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.078,464.220,823.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,713
$CAP_FILE_SIZE,110353,0
$CFSIZE,260165632,228560896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,093615,2108.034,-15749.035,9,1.9,9,9.8