version: 66.03
glider: 114
mission: 3
dive: 520
start: 12 3 108 19 28 54
data:
$ID,114
$MISSION,3
$DIVE,520
$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,-602014.31
$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,36
$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
$GPS1,192137,2109.066,-15749.343,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.0
$GPS2,192757,2109.073,-15749.331,10,1.1,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.057,-0.225
$KALMAN_X,-160715.1,536.7,-648.0,168152.3,101.4
$KALMAN_Y,-147486.0,98.6,-103.7,133586.7,359.2
$MHEAD_RNG_PITCHd_Wd,155.9,13193,-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,29,-1.06,-165.5,0.0,0.0,0,102,0.00,0.00,-70.00,0.000,2,0.000,0.000,407,2080,2878
$GC,106,-1.06,-165.5,3.4,-3.8,13,136,12.00,2.58,-8.88,0.000,4,0.154,0.048,2551,634,3409
$GC,195,-1.24,-165.5,18.3,-8.0,28,202,0.15,2.30,0.00,0.000,6,0.054,0.021,2514,2008,3410
$GC,470,-1.24,-165.5,44.3,-9.5,64,475,0.00,2.45,0.00,0.000,4,0.000,0.035,2514,3433,3410
$GC,580,-1.32,-165.5,53.4,-7.1,73,584,0.00,2.35,0.00,0.000,6,0.000,0.023,2514,2036,3410
$GC,842,-1.36,-165.5,76.2,-7.7,97,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2035,3411
$GC,1097,-1.44,-165.5,96.2,-8.4,121,1102,0.15,2.42,0.00,0.000,4,0.055,0.032,2472,3437,3411
$GC,1143,-1.50,-165.5,100.6,-9.8,124,1150,0.00,2.38,0.00,0.000,6,0.000,0.023,2472,2021,3411
$GC,1469,-1.50,-165.5,130.0,-9.1,155,1473,0.00,2.45,0.00,0.000,4,0.000,0.034,2472,3441,3411
$GC,1542,-1.56,-165.5,136.4,-7.3,161,1548,0.10,2.35,0.00,0.000,6,0.067,0.023,2447,2040,3411
$GC,1867,-1.56,-165.5,166.5,-9.2,192,1871,0.00,2.42,0.00,0.000,4,0.000,0.034,2446,3445,3411
$GC,1941,-1.63,-165.5,173.1,-8.6,198,1945,0.00,2.38,0.00,0.000,6,0.000,0.024,2446,2033,3411
$GC,2281,-1.63,-165.5,204.1,-9.0,228,2285,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3433,3411
$GC,2348,-1.69,-165.5,209.7,-8.0,231,2354,0.10,2.35,0.00,0.000,6,0.071,0.024,2422,2037,3411
$GC,2676,-1.69,-165.5,238.6,-10.4,247,2680,0.00,2.42,0.00,0.000,4,0.000,0.036,2422,3435,3411
$GC,2727,-1.69,-165.5,244.4,-10.7,249,2731,0.00,2.35,0.00,0.000,6,0.000,0.025,2422,2039,3411
$GC,3049,-1.69,-165.5,276.6,-9.0,265,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2038,3411
$GC,3358,-1.69,-165.5,299.4,-7.5,280,3362,0.00,2.45,0.00,0.000,4,0.000,0.039,2422,3441,3410
$GC,3443,-1.69,-165.5,306.4,-8.6,283,3447,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2036,3410
$GC,3767,-1.69,-165.5,336.6,-9.9,291,3771,0.00,2.45,0.00,0.000,4,0.000,0.041,2422,3430,3407
$GC,3830,-1.73,-165.5,343.1,-9.7,292,3834,0.00,2.38,0.00,0.000,6,0.000,0.029,2422,2041,3407
$GC,4172,-1.73,-165.5,375.4,-9.1,301,4177,0.00,2.45,0.00,0.000,4,0.000,0.041,2422,3432,3404
$GC,4202,-1.73,-165.5,377.9,-8.9,301,4206,0.00,2.40,0.00,0.000,6,0.000,0.029,2422,2030,3404
$GC,4535,-1.73,-165.5,399.1,-5.9,309,4539,0.00,2.47,0.00,0.000,4,0.000,0.041,2422,3434,3401
$GC,4580,-1.77,-165.5,401.9,-6.4,310,4584,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2037,3401
$GC,4900,-1.77,-165.5,422.9,-6.8,318,4904,0.00,2.45,0.00,0.000,4,0.000,0.042,2423,3431,3399
$GC,4962,-1.81,-165.5,428.0,-7.9,319,4967,0.12,2.40,0.00,0.000,6,0.077,0.031,2395,2038,3398
$STATE,5227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5227,begin apogee
$GC,5235,-0.33,0.0,452.4,9.3,326,5370,1.55,0.00,130.85,0.943,6,0.109,0.000,2713,1928,2732
$STATE,5371,end apogee,CONTROL_FINISHED_OK
$STATE,5371,begin climb
$GC,5375,1.06,165.5,457.4,0.0,329,5515,1.38,2.58,131.48,0.921,4,0.050,0.052,3018,561,2057
$GC,5775,0.51,165.5,423.6,13.9,338,5781,0.62,2.42,0.00,0.000,6,0.142,0.031,2905,1947,2056
$GC,6095,0.23,165.5,397.6,7.3,346,6100,0.32,2.55,0.00,0.000,4,0.123,0.051,2843,554,2055
$GC,6129,0.12,209.5,395.6,5.5,346,6169,0.15,2.45,34.17,0.905,6,0.126,0.032,2817,1952,1879
$GC,6505,0.11,259.9,376.4,5.3,356,6551,0.00,2.60,40.58,0.907,4,0.000,0.053,2817,563,1672
$GC,6564,0.07,292.3,372.8,5.9,357,6597,0.00,2.47,26.27,0.892,6,0.000,0.032,2817,1961,1540
$GC,6913,-0.02,292.3,347.9,7.0,366,6918,0.15,2.50,0.00,0.000,4,0.123,0.048,2787,3351,1539
$GC,6975,0.03,318.8,344.2,6.0,367,7001,0.00,2.45,21.05,0.889,6,0.000,0.035,2787,1960,1433
$GC,7321,0.10,360.0,325.1,5.6,376,7360,0.10,0.00,33.53,0.879,6,0.088,0.000,2809,1960,1264
$GC,7666,0.05,360.0,297.7,8.3,385,7671,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3358,1264
$GC,7695,0.01,360.0,295.3,8.0,386,7699,0.00,2.47,0.00,0.000,6,0.000,0.032,2808,1947,1264
$GC,8013,-0.02,371.2,273.5,6.5,401,8028,0.12,2.55,9.60,0.849,4,0.110,0.041,2786,3358,1219
$GC,8052,0.04,405.6,270.9,5.8,402,8087,0.00,2.50,27.92,0.848,6,0.000,0.031,2786,1936,1078
$GC,8407,0.10,439.2,249.8,5.8,419,8441,0.12,2.62,27.02,0.826,4,0.077,0.039,2813,3354,942
$GC,8464,0.10,439.2,245.6,7.5,421,8470,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1945,942
$GC,8781,0.10,439.2,222.9,7.1,437,8785,0.00,2.50,0.00,0.000,4,0.000,0.051,2814,547,942
$GC,8804,0.10,439.2,221.2,7.3,438,8809,0.00,2.45,0.00,0.000,6,0.000,0.028,2814,1961,942
$GC,9123,0.10,439.2,196.9,8.2,455,9127,0.00,2.42,0.00,0.000,4,0.000,0.039,2814,3348,942
$GC,9175,0.15,439.2,192.8,7.9,459,9179,0.00,2.42,0.00,0.000,6,0.000,0.029,2814,1937,942
$GC,9508,0.15,439.2,170.6,7.9,490,9513,0.00,2.47,0.00,0.000,4,0.000,0.035,2814,3352,942
$GC,9550,0.21,439.2,166.9,8.9,493,9554,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,1948,943
$GC,9879,0.24,458.4,146.3,6.2,523,9902,0.12,2.50,16.23,0.713,4,0.069,0.034,2844,3358,863
$GC,9939,0.24,458.4,141.9,7.5,528,9943,0.00,2.45,0.00,0.000,6,0.000,0.027,2844,1945,863
$GC,10268,0.20,458.4,113.4,9.3,558,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,864
$GC,10594,0.20,458.4,85.5,8.5,589,10598,0.00,2.42,0.00,0.000,4,0.000,0.034,2844,3348,865
$GC,10640,0.20,458.4,81.9,7.8,593,10644,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,1948,865
$GC,10971,0.37,533.6,62.7,4.6,623,11036,0.12,2.55,58.33,0.620,4,0.064,0.033,2875,3356,556
$GC,11049,0.37,533.6,56.8,8.0,630,11054,0.00,2.45,0.00,0.000,6,0.000,0.025,2875,1937,559
$GC,11315,0.33,533.6,34.7,8.4,654,11319,0.00,2.47,0.00,0.000,4,0.000,0.032,2875,3362,562
$GC,11345,0.30,533.6,32.0,8.0,656,11349,0.00,2.42,0.00,0.000,6,0.000,0.025,2875,1944,562
$GC,11622,0.26,533.6,8.8,8.4,702,11628,0.15,0.00,0.00,0.000,6,0.091,0.000,2841,1943,562
$STATE,11671,end climb,SURFACE_DEPTH_REACHED
$STATE,11671,begin surface coast
$FINISH,1.0,1.010441
$STATE,11760,end surface coast,CONTROL_FINISHED_OK
$STATE,11760,begin surface
$SM_CCo,11844,0.00,0.000,0,0,562,532.55
$SM_GC,1.68,10.75,0.00,0.00,0.041,0.000,0.000,410,2080,562,-10.90,1.13,532.55
$IRIDIUM_FIX,2104.07,-15745.74,270298,161648
$TT8_MAMPS,0.027612
$HUMID,1812
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,23.6,72.008
$10V_AH,10.2,44.007
$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,28.300,127.725,557.025,0.000,0.000,30.540,30.084,175.730,10.750,0.000,0.000,12.398,1332.000,7942.469,596.745,1757.472,594.712,33.382,1484.455,0.000,1725.949,0.000,57.452
$DEVICE_MAMPS,154.167,52.923,943.410,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.060,485.010,868.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,726
$CAP_FILE_SIZE,111422,0
$CFSIZE,260165632,228327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,224737,2107.549,-15749.059,39,1.1,39,9.8