version: 66.03
glider: 114
mission: 3
dive: 519
start: 12 3 108 15 57 30
data:
$ID,114
$MISSION,3
$DIVE,519
$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,-602001.31
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,155107,2110.336,-15749.436,32,1.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.0
$GPS2,155633,2110.344,-15749.429,11,1.1,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.106,-0.207
$KALMAN_X,-160146.4,485.0,82.8,166723.9,-446.1
$KALMAN_Y,-148013.4,10.6,107.7,136348.6,-583.8
$MHEAD_RNG_PITCHd_Wd,143.0,15494,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,89,0.00,0.00,-59.17,0.000,2,0.000,0.000,412,2065,2860
$GC,93,-1.06,-165.5,3.5,-4.1,11,123,11.95,2.55,-9.15,0.000,4,0.153,0.048,2549,634,3409
$GC,136,-0.33,-165.5,15.0,-25.5,18,144,0.77,2.33,0.00,0.000,6,0.061,0.021,2717,2019,3409
$GC,417,-0.81,-165.5,38.5,-9.6,60,422,0.45,2.42,0.00,0.000,4,0.058,0.030,2614,3441,3409
$GC,487,-1.29,-165.5,44.9,-9.3,65,494,0.47,2.38,0.00,0.000,6,0.060,0.021,2510,2021,3410
$GC,752,-1.42,-165.5,64.0,-7.4,90,757,0.15,2.38,0.00,0.000,4,0.054,0.038,2468,646,3410
$GC,774,-1.47,-165.5,66.3,-8.6,91,781,0.00,2.35,0.00,0.000,6,0.000,0.021,2468,2055,3410
$GC,1038,-1.41,-165.5,93.6,-10.6,116,1042,0.00,2.38,0.00,0.000,4,0.000,0.034,2468,3442,3411
$GC,1150,-1.46,-165.5,103.9,-8.1,125,1157,0.00,2.35,0.00,0.000,6,0.000,0.022,2468,2036,3411
$GC,1476,-1.46,-165.5,132.7,-8.7,156,1480,0.00,2.42,0.00,0.000,4,0.000,0.033,2468,3444,3411
$GC,1539,-1.53,-165.5,138.1,-8.2,161,1543,0.00,2.35,0.00,0.000,6,0.000,0.023,2468,2041,3412
$GC,1869,-1.53,-165.5,166.0,-8.2,192,1873,0.00,2.42,0.00,0.000,4,0.000,0.033,2468,3447,3412
$GC,1921,-1.62,-165.5,169.9,-7.4,196,1927,0.15,2.38,0.00,0.000,6,0.058,0.023,2431,2036,3412
$GC,2256,-1.57,-165.5,200.0,-8.7,227,2260,0.00,2.42,0.00,0.000,4,0.000,0.034,2431,3445,3411
$GC,2296,-1.57,-165.5,203.7,-8.2,229,2300,0.00,2.38,0.00,0.000,6,0.000,0.023,2431,2035,3411
$GC,2627,-1.57,-165.5,231.5,-8.8,245,2631,0.00,2.42,0.00,0.000,4,0.000,0.035,2431,3439,3411
$GC,2722,-1.60,-165.5,240.0,-7.8,249,2727,0.00,2.35,0.00,0.000,6,0.000,0.025,2431,2041,3412
$GC,3044,-1.60,-165.5,262.5,-6.6,265,3048,0.00,2.42,0.00,0.000,4,0.000,0.036,2431,3442,3411
$GC,3079,-1.60,-165.5,265.4,-8.3,266,3085,0.00,2.38,0.00,0.000,6,0.000,0.025,2431,2030,3411
$GC,3395,-1.60,-165.5,292.1,-7.5,282,3398,0.00,2.45,0.00,0.000,4,0.000,0.038,2431,3443,3411
$GC,3446,-1.64,-165.5,296.0,-7.0,284,3450,0.00,2.38,0.00,0.000,6,0.000,0.027,2431,2044,3410
$GC,3764,-1.64,-165.5,317.6,-6.5,294,3768,0.00,2.45,0.00,0.000,4,0.000,0.039,2431,3446,3409
$GC,3820,-1.71,-165.5,321.9,-7.6,295,3824,0.00,2.42,0.00,0.000,6,0.000,0.028,2431,2030,3408
$GC,4134,-1.71,-165.5,346.3,-8.3,303,4138,0.00,2.47,0.00,0.000,4,0.000,0.040,2431,3438,3407
$GC,4185,-1.76,-165.5,350.7,-8.4,304,4190,0.12,2.38,0.00,0.000,6,0.071,0.029,2402,2044,3406
$GC,4499,-1.72,-165.5,380.4,-9.5,312,4503,0.00,2.45,0.00,0.000,4,0.000,0.041,2402,3437,3405
$GC,4522,-1.68,-165.5,382.6,-8.8,312,4527,0.10,2.40,0.00,0.000,6,0.117,0.029,2420,2033,3404
$GC,4864,-1.68,-165.5,410.0,-8.4,321,4869,0.00,2.47,0.00,0.000,4,0.000,0.041,2420,3438,3402
$GC,4915,-1.73,-165.5,414.3,-8.5,322,4919,0.00,2.40,0.00,0.000,6,0.000,0.030,2420,2038,3401
$GC,5234,-1.73,-165.5,439.9,-7.7,330,5239,0.00,2.47,0.00,0.000,4,0.000,0.042,2420,3439,3399
$GC,5290,-1.78,-165.5,444.1,-6.9,331,5295,0.00,2.40,0.00,0.000,6,0.000,0.031,2420,2042,3399
$STATE,5398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5398,begin apogee
$GC,5407,-0.33,0.0,451.4,6.6,334,5541,1.42,0.00,130.85,0.937,6,0.091,0.000,2714,1932,2732
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5546,1.06,165.5,455.6,0.0,337,5687,1.38,2.58,131.12,0.915,4,0.050,0.051,3019,561,2058
$GC,5730,0.49,165.5,450.3,12.6,341,5735,0.65,2.42,0.00,0.000,6,0.143,0.030,2903,1942,2058
$GC,6079,0.21,165.5,422.5,7.5,350,6085,0.32,2.53,0.00,0.000,4,0.117,0.044,2840,3354,2056
$GC,6102,0.04,186.2,421.0,6.2,350,6127,0.20,2.45,16.65,0.900,6,0.119,0.034,2804,1963,1973
$GC,6451,0.20,315.4,408.4,3.0,359,6560,0.12,2.70,101.35,0.913,4,0.289,0.053,2830,536,1447
$GC,6601,0.09,315.4,400.9,7.9,362,6605,0.00,2.50,0.00,0.000,6,0.000,0.031,2830,1952,1447
$GC,6939,-0.02,315.4,373.9,8.9,371,6944,0.20,2.53,0.00,0.000,4,0.111,0.046,2789,3359,1446
$GC,6983,-0.02,315.4,370.2,7.6,372,6988,0.00,2.50,0.00,0.000,6,0.000,0.034,2789,1938,1446
$GC,7303,-0.02,317.5,347.6,6.8,380,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1938,1445
$GC,7628,0.05,353.6,327.9,5.8,388,7663,0.00,2.58,30.20,0.890,4,0.000,0.041,2789,3354,1290
$GC,7692,0.06,360.2,324.0,6.6,388,7703,0.00,2.47,6.12,0.864,6,0.000,0.032,2789,1948,1264
$GC,8029,0.06,360.2,298.8,7.6,396,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1948,1264
$GC,8340,0.16,420.1,281.4,5.0,411,8395,0.15,2.62,47.25,0.857,4,0.074,0.041,2826,3363,1020
$GC,8426,0.11,420.1,274.8,8.8,415,8430,0.00,2.50,0.00,0.000,6,0.000,0.032,2826,1948,1020
$GC,8754,0.04,420.1,245.2,9.6,431,8759,0.15,2.55,0.00,0.000,4,0.107,0.050,2794,535,1020
$GC,8788,0.04,420.1,242.2,8.0,432,8795,0.00,2.47,0.00,0.000,6,0.000,0.028,2795,1967,1020
$GC,9104,0.04,420.1,218.9,7.4,448,9109,0.00,2.45,0.00,0.000,4,0.000,0.041,2794,3362,1020
$GC,9174,0.12,425.5,214.2,6.7,451,9184,0.00,2.45,5.28,0.788,6,0.000,0.029,2794,1946,997
$GC,9499,0.12,426.6,195.5,6.8,469,9503,0.00,2.47,0.00,0.000,4,0.000,0.037,2795,3354,997
$GC,9533,0.17,429.5,193.1,6.7,471,9543,0.15,2.45,4.12,0.776,6,0.071,0.029,2828,1938,981
$GC,9869,0.17,429.5,160.9,8.8,503,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1938,981
$GC,10187,0.17,429.5,138.6,7.1,533,10191,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3364,982
$GC,10239,0.20,429.5,135.1,7.0,537,10245,0.00,2.45,0.00,0.000,6,0.000,0.028,2828,1937,982
$GC,10567,0.20,429.5,110.7,6.9,568,10572,0.00,2.47,0.00,0.000,4,0.000,0.034,2828,3362,982
$GC,10601,0.20,429.5,108.0,7.1,570,10608,0.00,2.40,0.00,0.000,6,0.000,0.027,2828,1950,983
$GC,10931,0.33,478.0,87.9,5.4,601,10975,0.15,2.60,37.85,0.652,4,0.064,0.044,2864,540,783
$GC,11000,0.33,478.0,82.4,8.6,607,11004,0.00,2.42,0.00,0.000,6,0.000,0.023,2864,1959,783
$GC,11331,0.33,478.0,55.9,8.6,637,11335,0.00,2.40,0.00,0.000,4,0.000,0.033,2864,3353,784
$GC,11364,0.33,478.0,52.3,8.6,639,11371,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,1949,785
$GC,11627,0.33,478.0,32.2,6.8,664,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1949,785
$GC,11894,0.33,478.0,12.7,7.5,709,11900,0.00,2.40,0.00,0.000,4,0.000,0.031,2864,3346,787
$GC,11932,0.33,478.0,10.1,7.5,715,11939,0.00,2.38,0.00,0.000,6,0.000,0.024,2864,1936,787
$STATE,11999,end climb,SURFACE_DEPTH_REACHED
$STATE,11999,begin surface coast
$FINISH,1.0,1.009995
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12171,0.00,0.000,0,0,787,477.35
$SM_GC,1.69,10.90,0.00,0.00,0.044,0.000,0.000,406,2082,787,-10.92,1.16,477.35
$IRIDIUM_FIX,2101.76,-15750.89,270298,131307
$TT8_MAMPS,0.027612
$HUMID,1798
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,30
$24V_AH,23.6,71.856
$10V_AH,10.2,43.922
$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,29.975,142.175,510.800,0.000,0.000,24.615,30.086,142.152,16.500,0.000,0.000,13.400,1372.248,8245.794,562.416,1763.815,557.959,33.370,1458.719,0.000,1735.588,0.000,57.475
$DEVICE_MAMPS,289.159,52.923,936.507,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.883,492.169,887.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38080,742
$CAP_FILE_SIZE,114417,0
$CFSIZE,260165632,228388864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,192137,2109.066,-15749.343,36,1.1,36,9.8