version: 66.03
glider: 114
mission: 3
dive: 527
start: 12 4 108 19 40 12
data:
$ID,114
$MISSION,3
$DIVE,527
$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,-602171.44
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,193256,2104.663,-15747.495,35,1.4,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.5
$GPS2,193915,2104.654,-15747.501,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.036,0.230
$KALMAN_X,-166213.9,712.5,-291.4,176263.6,-955.5
$KALMAN_Y,-150243.6,134.1,-311.6,128347.5,-306.3
$MHEAD_RNG_PITCHd_Wd,341.3,4729,-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,-70.12,0.000,2,0.000,0.000,411,2021,2864
$GC,107,-1.06,-165.5,3.6,-3.9,13,137,12.00,2.50,-9.05,0.000,4,0.155,0.047,2551,3435,3410
$GC,213,-1.21,-165.5,20.2,-8.1,31,220,0.12,2.35,0.00,0.000,6,0.060,0.022,2520,2036,3410
$GC,487,-1.21,-165.5,46.4,-9.6,65,491,0.00,2.42,0.00,0.000,4,0.000,0.033,2521,3438,3410
$GC,532,-1.29,-165.5,50.8,-8.6,68,539,0.00,2.35,0.00,0.000,6,0.000,0.022,2520,2035,3410
$GC,795,-1.29,-165.5,73.7,-7.8,93,799,0.00,2.42,0.00,0.000,4,0.000,0.033,2520,3441,3410
$GC,852,-1.40,-165.5,77.8,-5.9,97,858,0.15,2.35,0.00,0.000,6,0.056,0.022,2483,2037,3410
$GC,1115,-1.40,-165.5,101.3,-10.3,122,1119,0.00,2.42,0.00,0.000,4,0.000,0.034,2484,3440,3411
$GC,1167,-1.44,-165.5,106.6,-9.4,126,1171,0.00,2.35,0.00,0.000,6,0.000,0.022,2484,2037,3411
$GC,1493,-1.44,-165.5,135.2,-7.5,156,1497,0.00,2.42,0.00,0.000,4,0.000,0.033,2484,3444,3411
$GC,1534,-1.53,-165.5,138.3,-7.4,159,1539,0.12,2.35,0.00,0.000,6,0.061,0.022,2453,2041,3411
$GC,1860,-1.53,-165.5,165.3,-7.9,189,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2035,3411
$GC,2182,-1.53,-165.5,189.8,-7.4,219,2187,0.00,2.40,0.00,0.000,4,0.000,0.034,2453,3431,3411
$GC,2229,-1.57,-165.5,193.7,-7.5,223,2234,0.00,2.35,0.00,0.000,6,0.000,0.024,2453,2041,3411
$GC,2549,-1.57,-165.5,218.0,-7.9,242,2554,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3438,3411
$GC,2606,-1.63,-165.5,222.7,-7.9,244,2613,0.00,2.40,0.00,0.000,6,0.000,0.025,2453,2035,3411
$GC,2923,-1.63,-165.5,246.8,-7.6,260,2927,0.00,2.42,0.00,0.000,4,0.000,0.036,2452,3432,3411
$GC,2973,-1.72,-165.5,250.7,-7.3,262,2978,0.17,2.38,0.00,0.000,6,0.057,0.025,2410,2031,3411
$GC,3295,-1.67,-165.5,280.7,-9.9,277,3299,0.00,2.45,0.00,0.000,4,0.000,0.038,2410,3437,3411
$GC,3351,-1.67,-165.5,286.6,-9.7,279,3357,0.00,2.38,0.00,0.000,6,0.000,0.027,2410,2041,3410
$GC,3665,-1.63,-165.5,319.1,-10.9,291,3670,0.12,2.45,0.00,0.000,4,0.103,0.038,2433,3440,3409
$GC,3710,-1.67,-165.5,323.8,-10.2,292,3714,0.00,2.40,0.00,0.000,6,0.000,0.028,2433,2032,3408
$GC,4029,-1.67,-165.5,350.0,-8.0,300,4034,0.00,2.45,0.00,0.000,4,0.000,0.039,2433,3431,3407
$GC,4058,-1.70,-165.5,352.2,-7.7,300,4063,0.00,2.38,0.00,0.000,6,0.000,0.028,2433,2041,3406
$GC,4396,-1.70,-165.5,377.5,-7.7,309,4401,0.00,2.45,0.00,0.000,4,0.000,0.041,2433,3435,3404
$GC,4453,-1.78,-165.5,382.5,-8.7,310,4458,0.15,2.40,0.00,0.000,6,0.262,0.030,2399,2034,3403
$GC,4802,-1.74,-165.5,417.0,-10.0,319,4807,0.00,2.45,0.00,0.000,4,0.000,0.041,2399,3427,3401
$GC,4853,-1.74,-165.5,422.0,-9.4,320,4857,0.00,2.40,0.00,0.000,6,0.000,0.030,2399,2030,3400
$STATE,5165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5165,begin apogee
$GC,5173,-0.33,0.0,451.0,9.5,328,5308,1.52,0.00,130.95,0.937,6,0.089,0.000,2714,1933,2733
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5313,1.06,165.5,457.3,0.0,331,5454,1.35,2.60,131.75,0.914,4,0.047,0.041,3016,3338,2058
$GC,5697,0.57,165.5,433.2,11.0,339,5702,0.55,2.42,0.00,0.000,6,0.122,0.034,2917,1963,2056
$GC,6029,0.27,165.5,409.9,7.0,347,6034,0.32,2.58,0.00,0.000,4,0.120,0.053,2854,543,2054
$GC,6070,0.06,168.2,407.1,6.7,348,6076,0.25,2.45,0.00,0.000,6,0.118,0.031,2808,1942,2054
$GC,6396,0.05,207.7,389.0,5.6,356,6438,0.00,2.60,32.45,0.918,4,0.000,0.044,2808,3354,1886
$GC,6473,0.01,225.5,384.6,6.3,357,6493,0.00,2.50,14.77,0.904,6,0.000,0.033,2808,1937,1813
$GC,6808,0.05,284.5,366.1,5.1,366,6863,0.00,2.62,47.40,0.901,4,0.000,0.041,2808,3356,1573
$GC,6894,0.01,295.5,361.4,6.5,368,6909,0.00,2.50,9.68,0.877,6,0.000,0.032,2808,1945,1528
$GC,7225,-0.04,295.5,338.8,6.8,376,7230,0.12,2.55,0.00,0.000,4,0.119,0.052,2785,541,1527
$GC,7253,-0.02,309.1,336.6,6.4,376,7269,0.00,2.47,10.93,0.880,6,0.000,0.030,2785,1961,1473
$GC,7589,0.07,360.7,318.5,5.3,385,7637,0.00,2.53,41.28,0.877,4,0.000,0.044,2784,3353,1262
$GC,7674,0.12,371.3,313.7,6.5,387,7689,0.15,2.50,9.18,0.858,6,0.077,0.033,2817,1941,1218
$GC,8005,0.06,371.3,287.5,8.7,398,8010,0.00,2.53,0.00,0.000,4,0.000,0.041,2816,3354,1218
$GC,8035,0.01,371.3,284.9,8.7,399,8040,0.12,2.47,0.00,0.000,6,0.107,0.031,2794,1943,1218
$GC,8351,0.01,371.3,260.9,7.1,414,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1943,1218
$GC,8661,0.07,404.6,242.0,5.8,429,8694,0.00,2.60,26.70,0.827,4,0.000,0.038,2793,3352,1083
$GC,8737,0.17,433.7,237.3,6.0,432,8769,0.15,2.45,23.58,0.815,6,0.074,0.030,2827,1944,964
$GC,9082,0.14,445.9,213.3,6.5,449,9097,0.00,2.53,10.55,0.791,4,0.000,0.038,2826,3351,914
$GC,9132,0.14,445.9,209.7,7.2,450,9136,0.00,2.45,0.00,0.000,6,0.000,0.030,2827,1950,914
$GC,9454,0.09,445.9,184.6,8.0,473,9458,0.00,2.53,0.00,0.000,4,0.000,0.049,2827,544,915
$GC,9487,0.09,445.9,181.8,7.7,475,9493,0.00,2.42,0.00,0.000,6,0.000,0.026,2827,1956,914
$GC,9818,0.06,445.9,157.7,8.7,506,9823,0.12,2.42,0.00,0.000,4,0.105,0.038,2804,3347,915
$GC,9882,0.14,445.9,152.7,7.3,511,9886,0.00,2.42,0.00,0.000,6,0.000,0.028,2804,1944,915
$GC,10212,0.23,470.8,132.1,6.1,541,10239,0.15,0.00,20.17,0.708,6,0.065,0.000,2844,1944,812
$GC,10560,0.23,470.8,103.7,7.1,574,10564,0.00,2.45,0.00,0.000,4,0.000,0.034,2844,3349,813
$GC,10590,0.26,470.8,101.6,6.9,576,10595,0.00,2.42,0.00,0.000,6,0.000,0.026,2844,1938,813
$GC,10919,0.27,476.4,79.0,6.7,606,10926,0.00,0.00,5.25,0.647,6,0.000,0.000,2844,1938,789
$GC,11182,0.31,476.4,61.0,6.9,631,11186,0.00,2.42,0.00,0.000,4,0.000,0.033,2844,3349,790
$GC,11229,0.40,476.4,57.6,7.1,635,11234,0.15,2.40,0.00,0.000,6,0.061,0.024,2881,1939,791
$GC,11496,0.35,476.4,35.4,9.3,659,11501,0.00,2.45,0.00,0.000,4,0.000,0.033,2880,3356,792
$GC,11515,0.30,476.4,33.0,9.6,660,11520,0.12,2.38,0.00,0.000,6,0.092,0.024,2855,1949,792
$GC,11790,0.30,476.4,13.1,6.9,705,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1949,793
$STATE,11901,end climb,SURFACE_DEPTH_REACHED
$STATE,11901,begin surface coast
$FINISH,1.0,0.999739
$STATE,11993,end surface coast,CONTROL_FINISHED_OK
$STATE,11993,begin surface
$SM_CCo,12077,0.00,0.000,0,0,794,475.64
$SM_GC,1.67,10.82,0.00,0.00,0.043,0.000,0.000,409,2087,794,-10.90,1.33,475.64
$IRIDIUM_FIX,2054.83,-15746.61,280298,161645
$TT8_MAMPS,0.027612
$HUMID,1787
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.70
$XPDR_PINGS,25
$24V_AH,23.6,72.969
$10V_AH,10.2,44.602
$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,28.775,132.500,514.625,0.000,0.000,25.735,29.993,176.952,15.250,0.000,0.000,15.058,1377.552,8121.697,569.830,1770.160,616.905,33.376,1465.648,0.000,1745.746,0.000,57.456
$DEVICE_MAMPS,261.547,55.991,937.274,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.143,505.679,888.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37958,741
$CAP_FILE_SIZE,115227,0
$CFSIZE,260165632,227905536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,230237,2105.816,-15748.069,28,0.9,28,9.8