version: 66.03
glider: 114
mission: 3
dive: 517
start: 12 3 108 9 44 3
data:
$ID,114
$MISSION,3
$DIVE,517
$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,-601953.62
$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,73
$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
$GPS1,093615,2108.034,-15749.035,9,1.9,9,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.5
$GPS2,094308,2108.018,-15748.943,31,1.2,31,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.134,0.190
$KALMAN_X,-160677.3,-246.6,-158.2,169070.6,649.6
$KALMAN_Y,-147897.9,73.8,-93.3,132068.6,-256.1
$MHEAD_RNG_PITCHd_Wd,315.0,4099,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.06,-165.5,0.0,0.0,0,104,0.00,0.00,-70.82,0.000,2,0.000,0.000,411,2075,2753
$GC,108,-1.06,-165.5,3.2,-3.1,13,138,11.95,2.30,-11.75,0.000,4,0.153,0.046,2550,3402,3409
$GC,256,-1.20,-165.5,20.1,-7.3,38,263,0.10,2.33,0.00,0.000,6,0.067,0.021,2526,2035,3409
$GC,527,-1.20,-165.5,42.0,-9.0,74,531,0.00,2.38,0.00,0.000,4,0.000,0.033,2526,3406,3409
$GC,550,-1.20,-165.5,44.4,-10.0,75,556,0.00,2.30,0.00,0.000,6,0.000,0.021,2526,2029,3409
$GC,812,-1.24,-165.5,66.0,-7.9,100,816,0.00,2.38,0.00,0.000,4,0.000,0.034,2526,3402,3409
$GC,864,-1.34,-165.5,69.9,-7.6,104,870,0.12,2.30,0.00,0.000,6,0.061,0.022,2496,2028,3409
$GC,1126,-1.34,-165.5,93.4,-8.0,129,1130,0.00,2.38,0.00,0.000,4,0.000,0.033,2496,3403,3409
$GC,1178,-1.38,-165.5,97.5,-7.8,133,1182,0.00,2.30,0.00,0.000,6,0.000,0.022,2496,2035,3409
$GC,1504,-1.38,-165.5,121.4,-7.7,163,1508,0.00,2.35,0.00,0.000,4,0.000,0.033,2496,3406,3410
$GC,1554,-1.47,-165.5,125.3,-7.6,167,1561,0.12,2.30,0.00,0.000,6,0.060,0.022,2464,2029,3410
$GC,1880,-1.47,-165.5,148.1,-7.8,198,1884,0.00,2.38,0.00,0.000,4,0.000,0.034,2464,3410,3410
$GC,1944,-1.51,-165.5,153.3,-8.2,203,1948,0.00,2.30,0.00,0.000,6,0.000,0.022,2464,2041,3410
$GC,2270,-1.51,-165.5,182.7,-8.2,233,2274,0.00,2.35,0.00,0.000,4,0.000,0.034,2464,3403,3410
$GC,2323,-1.58,-165.5,187.2,-8.0,237,2327,0.00,2.30,0.00,0.000,6,0.000,0.024,2464,2040,3410
$GC,2657,-1.58,-165.5,214.7,-8.3,260,2661,0.00,2.35,0.00,0.000,4,0.000,0.035,2464,3404,3410
$GC,2715,-1.66,-165.5,219.2,-7.1,262,2722,0.15,2.30,0.00,0.000,6,0.058,0.025,2427,2036,3410
$GC,3032,-1.62,-165.5,243.3,-8.6,278,3036,0.00,2.38,0.00,0.000,4,0.000,0.036,2427,3413,3410
$GC,3065,-1.62,-165.5,246.6,-9.0,279,3069,0.00,2.33,0.00,0.000,6,0.000,0.025,2427,2038,3410
$GC,3387,-1.62,-165.5,274.6,-8.5,295,3391,0.00,2.38,0.00,0.000,4,0.000,0.037,2427,3407,3410
$GC,3432,-1.62,-165.5,278.6,-8.5,297,3435,0.00,2.33,0.00,0.000,6,0.000,0.027,2427,2030,3410
$GC,3779,-1.62,-165.5,307.1,-7.9,312,3783,0.00,2.40,0.00,0.000,4,0.000,0.038,2427,3408,3409
$GC,3840,-1.66,-165.5,312.2,-8.5,313,3845,0.00,2.33,0.00,0.000,6,0.000,0.028,2427,2043,3408
$GC,4186,-1.66,-165.5,340.1,-7.8,322,4190,0.00,2.38,0.00,0.000,4,0.000,0.038,2427,3405,3406
$GC,4232,-1.71,-165.5,343.3,-6.5,323,4236,0.00,2.35,0.00,0.000,6,0.000,0.028,2427,2027,3406
$GC,4551,-1.71,-165.5,366.4,-7.6,331,4555,0.00,2.42,0.00,0.000,4,0.000,0.039,2427,3411,3403
$GC,4608,-1.75,-165.5,370.9,-7.5,332,4612,0.00,2.35,0.00,0.000,6,0.000,0.029,2427,2039,3402
$GC,4921,-1.75,-165.5,395.4,-8.7,340,4925,0.00,2.40,0.00,0.000,4,0.000,0.039,2427,3410,3400
$GC,5028,-1.80,-165.5,405.4,-8.4,342,5033,0.15,2.35,0.00,0.000,6,0.071,0.030,2393,2040,3399
$GC,5373,-1.76,-165.5,438.0,-9.3,351,5377,0.00,2.40,0.00,0.000,4,0.000,0.040,2393,3407,3398
$GC,5434,-1.76,-165.5,443.6,-9.0,352,5439,0.00,2.35,0.00,0.000,6,0.000,0.030,2394,2039,3397
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5540,-0.33,0.0,452.3,8.8,355,5675,1.55,0.00,130.77,0.932,6,0.093,0.000,2713,1929,2733
$STATE,5675,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5679,1.06,165.5,457.3,0.0,358,5820,1.38,2.58,131.55,0.915,4,0.047,0.051,3019,560,2058
$GC,6076,0.52,165.5,427.0,11.4,367,6082,0.62,2.38,0.00,0.000,6,0.129,0.029,2907,1919,2057
$GC,6402,0.24,169.8,405.4,6.7,375,6412,0.30,2.58,3.58,0.842,4,0.131,0.044,2850,3350,2040
$GC,6441,0.16,212.6,403.0,5.6,375,6481,0.12,2.45,34.00,0.906,6,0.143,0.033,2829,1957,1866
$GC,6817,0.09,234.5,380.2,6.2,385,6841,0.00,2.58,17.65,0.894,4,0.000,0.040,2829,3354,1777
$GC,6862,-0.01,240.8,377.0,6.6,386,6874,0.22,2.50,5.97,0.881,6,0.122,0.033,2789,1940,1751
$GC,7188,0.10,305.3,360.5,4.9,394,7247,0.10,2.62,51.38,0.893,4,0.087,0.038,2810,3359,1488
$GC,7266,0.03,305.3,355.1,8.5,395,7272,0.00,2.50,0.00,0.000,6,0.000,0.031,2810,1941,1487
$GC,7598,-0.02,309.2,331.9,6.7,404,7608,0.12,2.58,3.75,0.828,4,0.111,0.051,2788,536,1472
$GC,7626,0.02,327.9,329.9,6.3,404,7647,0.00,2.47,15.48,0.873,6,0.000,0.029,2788,1955,1396
$GC,7967,0.07,358.4,309.3,5.9,413,7997,0.00,2.53,24.80,0.865,4,0.000,0.043,2788,3349,1271
$GC,8038,0.15,386.5,305.4,6.0,414,8067,0.15,2.47,22.73,0.858,6,0.075,0.031,2820,1940,1157
$GC,8384,0.09,386.5,278.2,8.4,429,8388,0.00,2.53,0.00,0.000,4,0.000,0.051,2820,541,1157
$GC,8406,0.02,386.5,275.8,8.8,430,8411,0.12,2.45,0.00,0.000,6,0.109,0.028,2798,1953,1157
$GC,8728,0.07,412.8,253.4,6.0,446,8754,0.00,2.53,21.25,0.825,4,0.000,0.041,2796,3358,1050
$GC,8813,0.16,438.3,248.6,6.1,450,8840,0.12,2.47,20.95,0.821,6,0.078,0.030,2824,1941,945
$GC,9167,0.11,438.3,220.7,9.1,467,9171,0.00,2.50,0.00,0.000,4,0.000,0.038,2824,3352,945
$GC,9213,0.11,438.3,216.1,9.0,469,9217,0.00,2.45,0.00,0.000,6,0.000,0.029,2825,1942,945
$GC,9537,0.06,438.3,192.4,7.0,490,9542,0.00,2.50,0.00,0.000,4,0.000,0.048,2824,539,945
$GC,9560,0.03,438.3,190.7,7.2,491,9566,0.15,2.42,0.00,0.000,6,0.099,0.026,2796,1954,945
$GC,9887,0.15,480.3,170.2,5.6,522,9930,0.12,2.50,33.08,0.746,4,0.073,0.037,2824,3342,775
$GC,9989,0.23,502.3,163.8,6.2,531,10014,0.00,2.42,18.05,0.736,6,0.000,0.028,2824,1948,684
$GC,10342,0.26,519.6,143.4,6.3,564,10362,0.10,2.55,14.60,0.712,4,0.075,0.035,2849,3349,614
$GC,10376,0.20,519.6,140.9,7.4,567,10381,0.00,2.45,0.00,0.000,6,0.000,0.026,2849,1934,615
$GC,10702,0.14,519.6,114.3,8.6,597,10707,0.12,2.47,0.00,0.000,4,0.100,0.034,2824,3354,618
$GC,10748,0.21,521.7,110.9,6.8,600,10758,0.00,2.40,3.62,0.676,6,0.000,0.025,2824,1950,605
$GC,11085,0.28,542.8,86.6,6.2,632,11108,0.12,2.47,17.35,0.655,4,0.066,0.032,2855,3354,519
$GC,11137,0.28,542.8,82.3,8.8,636,11144,0.00,2.42,0.00,0.000,6,0.000,0.025,2855,1939,519
$GC,11466,0.30,552.0,55.2,6.5,667,11479,0.00,2.53,7.80,0.624,4,0.000,0.032,2854,3348,481
$GC,11519,0.38,553.9,51.3,6.8,671,11526,0.00,2.40,0.00,0.000,6,0.000,0.025,2855,1938,481
$GC,11782,0.38,553.9,32.4,7.7,696,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1938,482
$GC,12050,0.38,553.9,11.5,7.7,741,12057,0.00,2.50,2.40,0.584,4,0.000,0.031,2855,3352,473
$GC,12088,0.43,553.9,8.6,7.7,747,12095,0.12,2.38,0.00,0.000,6,0.067,0.025,2885,1953,473
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,1.0,1.008068
$STATE,12209,end surface coast,CONTROL_FINISHED_OK
$STATE,12209,begin surface
$SM_CCo,12294,0.00,0.000,0,0,473,554.38
$SM_GC,1.76,10.95,0.00,0.00,0.041,0.000,0.000,411,2080,473,-10.90,1.10,554.38
$IRIDIUM_FIX,2101.76,-15748.75,270298,060611
$TT8_MAMPS,0.027612
$HUMID,1790
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,10
$24V_AH,23.6,71.625
$10V_AH,10.2,43.767
$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,29.125,150.275,580.750,0.000,0.000,26.118,32.968,189.644,11.500,0.000,0.000,33.299,1427.421,8109.536,628.731,1902.951,637.087,33.374,1583.052,0.000,1846.012,0.000,57.437
$DEVICE_MAMPS,153.400,51.389,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.111,506.071,923.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41211,768
$CAP_FILE_SIZE,123756,0
$CFSIZE,260165632,228478976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,131008,2109.491,-15749.310,32,1.4,32,9.8