version: 66.03
glider: 114
mission: 3
dive: 521
start: 12 3 108 22 54 47
data:
$ID,114
$MISSION,3
$DIVE,521
$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,-602031.75
$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,63
$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
$GPS1,224737,2107.549,-15749.059,39,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.6
$GPS2,225350,2107.521,-15749.034,10,1.3,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101,-0.209
$KALMAN_X,-161211.0,184.2,-53.6,168916.5,-317.9
$KALMAN_Y,-147576.9,185.7,2.9,130619.3,53.0
$MHEAD_RNG_PITCHd_Wd,144.5,10311,-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,-165.5,0.0,0.0,0,107,0.00,0.00,-75.35,0.000,2,0.000,0.000,410,2078,2806
$GC,111,-1.06,-165.5,3.3,-3.4,14,141,12.00,2.55,-10.75,0.000,4,0.155,0.048,2551,627,3408
$GC,195,-1.23,-165.5,15.6,-7.4,28,202,0.12,2.35,0.00,0.000,6,0.058,0.021,2519,2034,3408
$GC,474,-1.23,-165.5,41.4,-10.1,67,478,0.00,2.40,0.00,0.000,4,0.000,0.035,2519,3430,3408
$GC,564,-1.31,-165.5,50.5,-8.9,74,571,0.00,2.35,0.00,0.000,6,0.000,0.022,2518,2031,3408
$GC,827,-1.34,-165.5,72.4,-8.5,99,830,0.00,2.42,0.00,0.000,4,0.000,0.034,2519,3430,3408
$GC,867,-1.41,-165.5,76.2,-8.7,102,874,0.17,2.35,0.00,0.000,6,0.053,0.022,2477,2028,3408
$GC,1131,-1.41,-165.5,99.1,-8.8,127,1135,0.00,2.45,0.00,0.000,4,0.000,0.034,2477,3441,3408
$GC,1164,-1.41,-165.5,103.0,-10.7,129,1171,0.00,2.35,0.00,0.000,6,0.000,0.022,2477,2036,3409
$GC,1490,-1.41,-165.5,133.9,-9.4,160,1494,0.00,2.42,0.00,0.000,4,0.000,0.033,2477,3442,3409
$GC,1535,-1.47,-165.5,138.2,-9.0,163,1541,0.00,2.35,0.00,0.000,6,0.000,0.022,2477,2038,3409
$GC,1860,-1.47,-165.5,163.9,-7.7,194,1864,0.00,2.40,0.00,0.000,4,0.000,0.035,2477,3433,3409
$GC,1945,-1.54,-165.5,170.1,-7.6,201,1951,0.00,2.35,0.00,0.000,6,0.000,0.023,2477,2036,3409
$GC,2271,-1.58,-165.5,194.8,-7.2,232,2276,0.15,2.42,0.00,0.000,4,0.056,0.033,2434,3439,3409
$GC,2343,-1.58,-165.5,201.7,-9.1,237,2348,0.00,2.38,0.00,0.000,6,0.000,0.024,2434,2029,3409
$GC,2660,-1.58,-165.5,231.9,-9.3,252,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2027,3409
$GC,2970,-1.58,-165.5,261.4,-9.8,267,2974,0.00,2.45,0.00,0.000,4,0.000,0.036,2434,3440,3409
$GC,3043,-1.63,-165.5,267.6,-7.6,270,3047,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2036,3408
$GC,3361,-1.63,-165.5,290.3,-7.9,285,3365,0.00,2.45,0.00,0.000,4,0.000,0.038,2434,3441,3409
$GC,3417,-1.69,-165.5,295.1,-8.2,287,3422,0.00,2.38,0.00,0.000,6,0.000,0.027,2434,2043,3408
$GC,3730,-1.69,-165.5,318.7,-7.7,296,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2042,3407
$GC,4055,-1.69,-165.5,344.1,-8.0,304,4059,0.00,2.45,0.00,0.000,4,0.000,0.039,2434,3440,3404
$GC,4135,-1.75,-165.5,350.2,-7.0,305,4142,0.12,2.40,0.00,0.000,6,0.069,0.029,2405,2041,3403
$GC,4467,-1.75,-165.5,375.8,-7.7,314,4472,0.00,2.45,0.00,0.000,4,0.000,0.041,2406,3433,3401
$GC,4508,-1.75,-165.5,379.2,-7.7,315,4512,0.00,2.40,0.00,0.000,6,0.000,0.029,2406,2040,3401
$GC,4835,-1.75,-165.5,402.7,-6.9,323,4839,0.00,2.45,0.00,0.000,4,0.000,0.041,2405,3429,3399
$GC,4886,-1.75,-165.5,406.2,-6.2,324,4890,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,2036,3398
$GC,5199,-1.75,-165.5,428.1,-7.4,332,5203,0.00,2.47,0.00,0.000,4,0.000,0.043,2405,3437,3395
$GC,5239,-1.75,-165.5,431.3,-7.8,333,5243,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2035,3395
$STATE,5479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5479,begin apogee
$GC,5488,-0.33,0.0,451.9,8.6,339,5622,1.50,0.00,130.20,0.942,6,0.089,0.000,2715,1926,2733
$STATE,5623,end apogee,CONTROL_FINISHED_OK
$STATE,5623,begin climb
$GC,5627,1.06,165.5,457.4,0.0,342,5767,1.35,2.60,131.82,0.920,4,0.048,0.041,3017,3333,2058
$GC,5799,0.55,165.5,457.2,9.4,346,5805,0.57,2.42,0.00,0.000,6,0.138,0.034,2914,1963,2058
$GC,6119,0.24,165.5,433.4,7.3,354,6124,0.35,2.60,0.00,0.000,4,0.119,0.052,2846,536,2055
$GC,6142,0.02,177.5,431.8,6.5,354,6160,0.25,2.45,9.85,0.900,6,0.113,0.031,2800,1937,2009
$GC,6486,0.05,229.8,414.7,5.3,363,6534,0.00,2.58,41.30,0.920,4,0.000,0.045,2800,3350,1796
$GC,6597,-0.01,229.8,407.1,7.5,365,6602,0.00,2.47,0.00,0.000,6,0.000,0.035,2799,1942,1796
$GC,6936,-0.01,265.3,386.3,5.8,374,6970,0.00,2.62,28.73,0.917,4,0.000,0.054,2799,547,1651
$GC,6994,-0.05,277.1,382.6,6.5,375,7009,0.00,2.47,10.20,0.902,6,0.000,0.031,2799,1953,1603
$GC,7342,-0.03,311.6,361.8,5.8,384,7376,0.00,2.60,27.48,0.906,4,0.000,0.046,2800,3357,1462
$GC,7431,0.01,338.1,356.6,6.0,386,7459,0.00,2.50,21.83,0.897,6,0.000,0.035,2800,1948,1354
$GC,7799,0.01,358.5,333.5,6.2,395,7822,0.00,2.62,16.67,0.887,4,0.000,0.041,2799,3359,1271
$GC,7847,0.01,358.5,330.3,6.8,396,7851,0.00,2.50,0.00,0.000,6,0.000,0.032,2799,1942,1271
$GC,8166,0.03,370.4,309.2,6.5,404,8181,0.00,2.55,10.35,0.874,4,0.000,0.039,2799,3358,1221
$GC,8216,0.03,370.4,305.8,7.2,405,8220,0.00,2.47,0.00,0.000,6,0.000,0.032,2799,1950,1221
$GC,8533,0.07,389.2,283.5,6.3,418,8555,0.00,0.00,15.48,0.861,6,0.000,0.000,2799,1950,1145
$GC,8865,0.07,389.2,262.5,7.2,434,8869,0.00,2.50,0.00,0.000,4,0.000,0.039,2798,3359,1146
$GC,8922,0.07,389.2,257.9,8.3,436,8929,0.00,2.45,0.00,0.000,6,0.000,0.031,2800,1950,1146
$GC,9239,0.09,400.4,233.8,6.5,452,9254,0.00,2.53,9.62,0.818,4,0.000,0.038,2800,3355,1099
$GC,9282,0.09,400.4,230.7,7.0,453,9287,0.00,2.47,0.00,0.000,6,0.000,0.029,2800,1934,1100
$GC,9605,0.17,449.1,211.6,5.4,469,9646,0.12,0.00,38.80,0.795,6,0.074,0.000,2827,1934,902
$GC,9963,0.17,466.1,186.8,6.3,495,9985,0.00,2.58,14.07,0.762,4,0.000,0.035,2827,3357,832
$GC,10034,0.22,479.7,181.6,6.4,501,10050,0.00,2.45,11.35,0.768,6,0.000,0.028,2827,1950,777
$GC,10371,0.22,479.7,157.5,7.5,532,10375,0.00,2.47,0.00,0.000,4,0.000,0.035,2827,3363,777
$GC,10412,0.22,479.7,154.3,7.4,535,10416,0.00,2.45,0.00,0.000,6,0.000,0.027,2827,1945,777
$GC,10741,0.22,479.7,128.7,8.0,565,10745,0.00,2.47,0.00,0.000,4,0.000,0.034,2827,3364,778
$GC,10793,0.29,479.7,124.0,8.9,569,10798,0.12,2.45,0.00,0.000,6,0.070,0.025,2856,1936,778
$GC,11119,0.29,479.7,96.2,7.3,599,11123,0.00,2.47,0.00,0.000,4,0.000,0.033,2857,3363,778
$GC,11148,0.29,479.7,94.0,7.1,601,11152,0.00,2.42,0.00,0.000,6,0.000,0.025,2856,1946,779
$GC,11478,0.35,510.8,73.9,5.9,631,11511,0.00,2.53,24.83,0.635,4,0.000,0.032,2856,3356,650
$GC,11529,0.38,530.1,70.5,6.2,635,11550,0.00,2.42,16.50,0.632,6,0.000,0.025,2857,1938,571
$GC,11811,0.38,530.1,51.6,7.6,661,11815,0.00,2.47,0.00,0.000,4,0.000,0.031,2856,3367,573
$GC,11841,0.38,530.1,49.2,7.3,663,11845,0.00,2.42,0.00,0.000,6,0.000,0.024,2856,1941,574
$GC,12103,0.39,535.0,29.8,6.7,687,12116,0.00,2.50,5.07,0.594,4,0.000,0.031,2857,3358,550
$GC,12135,0.39,535.0,27.5,7.1,692,12141,0.00,2.40,0.00,0.000,6,0.000,0.023,2856,1941,551
$GC,12413,0.39,535.0,6.6,6.9,741,12419,0.00,2.45,0.00,0.000,4,0.000,0.031,2856,3365,552
$GC,12432,0.39,535.0,5.1,7.2,744,12439,0.00,2.40,0.00,0.000,6,0.000,0.022,2856,1939,552
$STATE,12443,end climb,SURFACE_DEPTH_REACHED
$STATE,12443,begin surface coast
$FINISH,1.0,1.023305
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12607,0.00,0.000,0,0,552,535.00
$SM_GC,1.64,10.80,0.00,0.00,0.041,0.000,0.000,410,2099,552,-10.90,1.67,535.00
$IRIDIUM_FIX,2101.76,-15750.89,270298,191943
$TT8_MAMPS,0.027612
$HUMID,1768
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,8
$24V_AH,23.6,72.161
$10V_AH,10.2,44.094
$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,27.650,147.800,564.150,0.000,0.000,25.304,27.861,171.797,11.000,0.000,0.000,16.843,1391.057,8573.565,641.690,1770.462,603.495,33.376,1548.819,0.000,1738.960,0.000,60.571
$DEVICE_MAMPS,154.934,54.457,941.876,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.002,511.737,892.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,760
$CAP_FILE_SIZE,116884,0
$CFSIZE,260165632,228261888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,022607,2105.793,-15748.587,33,1.5,33,9.8