version: 66.03
glider: 114
mission: 3
dive: 526
start: 12 4 108 16 3 59
data:
$ID,114
$MISSION,3
$DIVE,526
$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,-602155.75
$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,32
$R_STBD_OVSHOOT,74
$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
$GPS1,155639,2103.697,-15747.551,10,1.8,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.4
$GPS2,160302,2103.701,-15747.594,9,1.7,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.078,0.219
$KALMAN_X,-165820.2,442.2,441.9,175253.1,-1923.5
$KALMAN_Y,-149197.6,-6.6,-80.9,125443.4,-276.0
$MHEAD_RNG_PITCHd_Wd,9.8,6291,-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,-165.5,0.0,0.0,0,103,0.00,0.00,-70.47,0.000,2,0.000,0.000,409,2067,2911
$GC,107,-1.06,-165.5,3.7,-4.6,13,132,11.98,2.38,-8.02,0.000,4,0.154,0.047,2551,3405,3410
$GC,196,-1.18,-165.5,20.5,-10.1,28,203,0.00,2.35,0.00,0.000,6,0.000,0.022,2551,2025,3410
$GC,473,-1.26,-165.5,39.4,-7.5,66,478,0.15,2.40,0.00,0.000,4,0.054,0.032,2508,3413,3411
$GC,530,-1.32,-165.5,44.3,-8.4,70,536,0.00,2.30,0.00,0.000,6,0.000,0.022,2508,2040,3411
$GC,792,-1.32,-165.5,69.7,-10.4,95,796,0.00,2.35,0.00,0.000,4,0.000,0.033,2508,3407,3411
$GC,851,-1.40,-165.5,75.6,-9.7,100,856,0.10,2.30,0.00,0.000,6,0.067,0.022,2484,2040,3411
$GC,1116,-1.40,-165.5,103.5,-10.5,124,1120,0.00,2.35,0.00,0.000,4,0.000,0.033,2483,3404,3411
$GC,1173,-1.43,-165.5,109.8,-9.8,128,1183,0.00,2.30,0.00,0.000,6,0.000,0.022,2483,2026,3411
$GC,1499,-1.43,-165.5,141.4,-9.5,159,1503,0.00,2.38,0.00,0.000,4,0.000,0.033,2483,3408,3411
$GC,1568,-1.50,-165.5,147.9,-9.1,164,1574,0.00,2.30,0.00,0.000,6,0.000,0.023,2483,2031,3412
$GC,1894,-1.50,-165.5,171.2,-7.2,195,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3412
$GC,2215,-1.56,-165.5,197.3,-7.6,225,2220,0.15,2.38,0.00,0.000,4,0.057,0.033,2442,3410,3412
$GC,2353,-1.56,-165.5,208.4,-7.2,232,2357,0.00,2.30,0.00,0.000,6,0.000,0.024,2441,2036,3412
$GC,2680,-1.56,-165.5,233.6,-9.1,248,2684,0.00,2.38,0.00,0.000,4,0.000,0.034,2441,3415,3411
$GC,2708,-1.56,-165.5,236.2,-9.1,249,2712,0.00,2.33,0.00,0.000,6,0.000,0.024,2441,2032,3412
$GC,3024,-1.56,-165.5,263.2,-8.1,264,3028,0.00,2.38,0.00,0.000,4,0.000,0.035,2441,3407,3411
$GC,3080,-1.60,-165.5,267.5,-7.4,266,3086,0.00,2.30,0.00,0.000,6,0.000,0.025,2441,2041,3411
$GC,3397,-1.60,-165.5,289.3,-6.4,282,3401,0.00,2.35,0.00,0.000,4,0.000,0.037,2441,3401,3412
$GC,3432,-1.64,-165.5,291.5,-7.0,283,3436,0.00,2.33,0.00,0.000,6,0.000,0.026,2441,2031,3411
$GC,3766,-1.64,-165.5,315.7,-8.0,294,3770,0.00,2.40,0.00,0.000,4,0.000,0.038,2441,3407,3409
$GC,3829,-1.70,-165.5,321.4,-8.6,295,3833,0.00,2.33,0.00,0.000,6,0.000,0.028,2441,2036,3409
$GC,4177,-1.70,-165.5,347.7,-7.3,304,4181,0.00,2.40,0.00,0.000,4,0.000,0.038,2441,3413,3406
$GC,4206,-1.74,-165.5,349.9,-8.1,304,4211,0.15,2.35,0.00,0.000,6,0.064,0.028,2406,2036,3407
$GC,4544,-1.71,-165.5,379.2,-8.7,313,4548,0.00,2.40,0.00,0.000,4,0.000,0.038,2406,3412,3404
$GC,4584,-1.71,-165.5,382.5,-8.2,314,4588,0.00,2.35,0.00,0.000,6,0.000,0.028,2406,2040,3403
$GC,4909,-1.71,-165.5,408.2,-8.1,322,4913,0.00,2.40,0.00,0.000,4,0.000,0.040,2406,3409,3401
$GC,4949,-1.71,-165.5,411.2,-7.2,323,4953,0.00,2.35,0.00,0.000,6,0.000,0.029,2406,2042,3401
$GC,5273,-1.71,-165.5,435.7,-7.4,331,5277,0.00,2.40,0.00,0.000,4,0.000,0.041,2406,3411,3399
$GC,5343,-1.71,-165.5,440.2,-6.6,332,5347,0.00,2.38,0.00,0.000,6,0.000,0.030,2406,2029,3398
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5516,begin apogee
$GC,5524,-0.33,0.0,452.1,6.8,337,5658,1.50,0.00,130.43,0.938,6,0.090,0.000,2715,1932,2733
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5662,1.06,165.5,455.4,0.0,340,5803,1.35,2.53,131.27,0.916,4,0.048,0.040,3017,3304,2058
$GC,5813,0.54,165.5,453.2,9.3,343,5818,0.57,2.38,0.00,0.000,6,0.123,0.033,2912,1961,2058
$GC,6151,0.24,165.5,422.6,8.9,352,6156,0.32,2.58,0.00,0.000,4,0.117,0.052,2847,547,2056
$GC,6174,0.00,165.5,420.7,7.8,352,6179,0.30,2.38,0.00,0.000,6,0.112,0.030,2791,1915,2056
$GC,6512,0.13,269.5,407.2,3.7,361,6602,0.12,2.67,81.72,0.913,4,0.081,0.044,2817,3357,1634
$GC,6657,0.05,269.5,398.7,7.2,364,6661,0.00,2.47,0.00,0.000,6,0.000,0.034,2818,1952,1634
$GC,7005,-0.04,269.5,373.2,7.5,373,7010,0.15,2.58,0.00,0.000,4,0.110,0.054,2786,537,1633
$GC,7034,-0.03,290.3,371.2,6.2,373,7058,0.00,2.47,17.05,0.897,6,0.000,0.031,2786,1955,1548
$GC,7374,0.16,399.4,356.8,3.6,382,7468,0.17,2.55,86.18,0.893,4,0.074,0.044,2827,3357,1103
$GC,7501,0.08,399.4,349.4,7.7,385,7505,0.00,2.50,0.00,0.000,6,0.000,0.033,2827,1949,1103
$GC,7826,-0.00,399.4,325.1,7.3,393,7828,0.20,0.00,0.00,0.000,6,0.104,0.000,2790,1949,1103
$GC,8151,-0.00,401.1,305.7,6.8,401,8155,0.00,2.50,0.00,0.000,4,0.000,0.040,2789,3354,1103
$GC,8195,-0.00,401.1,302.4,7.3,402,8199,0.00,2.47,0.00,0.000,6,0.000,0.032,2789,1937,1103
$GC,8518,-0.00,401.1,281.3,7.1,416,8522,0.00,2.50,0.00,0.000,4,0.000,0.039,2789,3354,1103
$GC,8568,0.04,401.1,277.4,7.6,418,8573,0.00,2.45,0.00,0.000,6,0.000,0.031,2790,1949,1103
$GC,8885,0.08,423.2,257.1,6.2,433,8909,0.00,2.55,19.38,0.833,4,0.000,0.038,2789,3360,1006
$GC,8946,0.13,423.2,252.9,7.4,435,8952,0.12,2.47,0.00,0.000,6,0.079,0.031,2817,1946,1007
$GC,9262,0.09,423.2,228.2,7.2,451,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1945,1006
$GC,9571,0.09,423.2,203.7,7.5,466,9575,0.00,2.47,0.00,0.000,4,0.000,0.036,2817,3357,1007
$GC,9621,0.09,423.2,199.9,7.4,468,9626,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,1935,1006
$GC,9951,0.13,444.9,179.4,6.2,498,9974,0.00,2.58,17.67,0.756,4,0.000,0.048,2817,549,918
$GC,9992,0.16,459.9,176.3,6.4,501,10009,0.00,2.42,12.55,0.753,6,0.000,0.025,2817,1962,857
$GC,10328,0.17,464.2,154.0,6.7,533,10339,0.00,2.42,4.82,0.722,4,0.000,0.035,2817,3346,839
$GC,10364,0.21,464.2,151.5,6.9,536,10368,0.00,2.42,0.00,0.000,6,0.000,0.027,2817,1945,840
$GC,10693,0.21,464.2,129.4,6.9,566,10696,0.00,2.47,0.00,0.000,4,0.000,0.046,2817,544,841
$GC,10723,0.26,464.2,127.0,7.4,568,10730,0.12,2.40,0.00,0.000,6,0.067,0.024,2848,1962,840
$GC,11048,0.26,464.2,100.5,7.9,599,11053,0.00,2.38,0.00,0.000,4,0.000,0.034,2848,3342,842
$GC,11094,0.31,464.2,97.0,8.5,602,11100,0.00,2.38,0.00,0.000,6,0.000,0.026,2847,1951,842
$GC,11423,0.31,464.2,73.6,7.1,633,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1950,843
$GC,11686,0.38,483.5,56.6,6.2,658,11708,0.10,2.45,15.65,0.611,4,0.072,0.031,2872,3348,762
$GC,11745,0.38,483.5,52.2,8.3,663,11749,0.00,2.40,0.00,0.000,6,0.000,0.025,2872,1941,762
$GC,12010,0.34,483.5,30.8,8.2,687,12014,0.00,2.45,0.00,0.000,4,0.000,0.043,2872,548,763
$GC,12033,0.34,483.5,28.3,8.4,690,12040,0.00,2.38,0.00,0.000,6,0.000,0.021,2872,1961,763
$GC,12312,0.34,483.5,5.1,8.5,739,12319,0.00,2.35,0.00,0.000,4,0.000,0.033,2872,3340,765
$STATE,12323,end climb,SURFACE_DEPTH_REACHED
$STATE,12323,begin surface coast
$FINISH,1.1,1.023191
$STATE,12375,end surface coast,CONTROL_FINISHED_OK
$STATE,12375,begin surface
$SM_CCo,12462,0.00,0.000,0,0,765,482.75
$SM_GC,1.73,10.90,0.00,0.00,0.043,0.000,0.000,410,2029,765,-10.89,-0.31,482.75
$IRIDIUM_FIX,2054.83,-15749.62,280298,121228
$TT8_MAMPS,0.027612
$HUMID,1792
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,20
$24V_AH,23.6,72.825
$10V_AH,10.2,44.516
$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,28.475,144.725,516.725,0.000,0.000,23.699,34.498,178.188,14.500,0.000,0.000,15.650,1376.425,8499.688,581.180,1776.632,610.867,33.382,1480.835,0.000,1735.944,0.000,63.103
$DEVICE_MAMPS,154.167,55.224,938.041,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.371,490.924,871.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38074,750
$CAP_FILE_SIZE,115724,0
$CFSIZE,260165632,227966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,193256,2104.663,-15747.495,35,1.4,35,9.8