version: 66.03
glider: 114
mission: 3
dive: 528
start: 12 4 108 23 10 0
data:
$ID,114
$MISSION,3
$DIVE,528
$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,-602186.88
$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,33
$R_STBD_OVSHOOT,72
$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
$GPS1,230237,2105.816,-15748.069,28,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.2
$GPS2,230903,2105.787,-15748.069,13,1.5,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.026,0.226
$KALMAN_X,-166744.8,494.8,-41.5,175785.5,-870.9
$KALMAN_Y,-151388.1,40.2,-14.2,131384.9,-898.0
$MHEAD_RNG_PITCHd_Wd,343.6,2417,-12.0,-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,-1.07,-156.1,0.0,0.0,0,103,0.00,0.00,-70.57,0.000,2,0.000,0.000,408,2091,2886
$GC,107,-1.09,-165.5,3.4,-3.5,13,137,11.95,2.33,-8.80,0.000,4,0.154,0.048,2542,3403,3409
$GC,207,-1.23,-165.5,18.9,-7.6,30,214,0.00,2.33,0.00,0.000,6,0.000,0.022,2542,2025,3409
$GC,484,-1.31,-165.5,39.3,-7.4,68,488,0.15,2.40,0.00,0.000,4,0.054,0.032,2501,3413,3410
$GC,540,-1.36,-165.5,44.0,-8.0,72,546,0.00,2.30,0.00,0.000,6,0.000,0.022,2501,2040,3410
$GC,802,-1.36,-165.5,69.3,-9.4,97,806,0.00,2.35,0.00,0.000,4,0.000,0.033,2500,3408,3410
$GC,854,-1.42,-165.5,74.1,-8.8,101,860,0.00,2.30,0.00,0.000,6,0.000,0.022,2501,2031,3410
$GC,1116,-1.42,-165.5,97.4,-9.3,126,1120,0.00,2.38,0.00,0.000,4,0.000,0.032,2500,3412,3410
$GC,1194,-1.49,-165.5,104.9,-9.3,132,1201,0.15,2.30,0.00,0.000,6,0.058,0.022,2464,2036,3411
$GC,1520,-1.49,-165.5,138.4,-8.1,163,1524,0.00,2.38,0.00,0.000,4,0.000,0.033,2463,3416,3411
$GC,1584,-1.53,-165.5,142.5,-5.8,168,1588,0.00,2.30,0.00,0.000,6,0.000,0.022,2464,2038,3411
$GC,1916,-1.53,-165.5,166.6,-8.6,199,1920,0.00,2.35,0.00,0.000,4,0.000,0.033,2464,3404,3411
$GC,1946,-1.56,-165.5,169.3,-9.5,201,1950,0.00,2.30,0.00,0.000,6,0.000,0.023,2464,2038,3411
$GC,2274,-1.60,-165.5,195.5,-7.1,231,2278,0.10,2.38,0.00,0.000,4,0.067,0.033,2437,3414,3411
$GC,2307,-1.60,-165.5,198.5,-8.7,233,2313,0.00,2.33,0.00,0.000,6,0.000,0.024,2437,2031,3411
$GC,2624,-1.60,-165.5,224.3,-7.9,250,2628,0.00,2.38,0.00,0.000,4,0.000,0.035,2437,3405,3411
$GC,2668,-1.60,-165.5,227.9,-7.5,252,2673,0.00,2.30,0.00,0.000,6,0.000,0.025,2437,2042,3411
$GC,2990,-1.60,-165.5,255.3,-7.9,268,2994,0.00,2.38,0.00,0.000,4,0.000,0.036,2437,3413,3411
$GC,3058,-1.66,-165.5,261.1,-8.0,271,3062,0.00,2.33,0.00,0.000,6,0.000,0.025,2437,2038,3411
$GC,3380,-1.66,-165.5,287.5,-8.3,287,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2037,3411
$GC,3708,-1.66,-165.5,313.2,-7.9,299,3712,0.00,2.38,0.00,0.000,4,0.000,0.038,2437,3402,3410
$GC,3764,-1.74,-165.5,317.8,-8.1,300,3769,0.12,2.33,0.00,0.000,6,0.068,0.028,2408,2037,3409
$GC,4113,-1.74,-165.5,353.0,-10.4,309,4118,0.00,2.40,0.00,0.000,4,0.000,0.039,2408,3409,3407
$GC,4165,-1.74,-165.5,358.9,-10.6,310,4169,0.00,2.35,0.00,0.000,6,0.000,0.028,2408,2032,3406
$GC,4480,-1.74,-165.5,388.6,-9.3,318,4484,0.00,2.40,0.00,0.000,4,0.000,0.040,2409,3401,3404
$GC,4530,-1.77,-165.5,393.2,-8.6,319,4535,0.00,2.35,0.00,0.000,6,0.000,0.029,2408,2031,3404
$GC,4844,-1.77,-165.5,418.1,-7.5,327,4848,0.00,2.42,0.00,0.000,4,0.000,0.041,2409,3414,3401
$GC,4896,-1.80,-165.5,421.6,-6.6,328,4900,0.00,2.35,0.00,0.000,6,0.000,0.029,2408,2040,3401
$GC,5218,-1.80,-165.5,440.7,-5.8,336,5222,0.00,2.40,0.00,0.000,4,0.000,0.041,2408,3403,3399
$GC,5269,-1.80,-165.5,444.2,-6.2,337,5273,0.00,2.35,0.00,0.000,6,0.000,0.031,2408,2036,3398
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5385,-0.33,0.0,451.6,6.9,340,5520,1.48,0.00,131.23,0.935,6,0.091,0.000,2712,1929,2733
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5525,1.09,165.5,455.8,0.0,343,5664,1.42,2.55,131.73,0.913,4,0.048,0.052,3026,551,2057
$GC,5775,0.54,165.5,441.5,14.3,349,5781,0.65,2.40,0.00,0.000,6,0.140,0.030,2910,1918,2057
$GC,6114,0.26,165.5,409.8,9.3,358,6116,0.32,0.00,0.00,0.000,6,0.117,0.000,2850,1918,2055
$GC,6438,0.13,176.3,387.5,6.5,366,6449,0.15,0.00,8.43,0.890,6,0.126,0.000,2819,1918,2014
$GC,6764,0.16,243.4,371.3,4.7,374,6819,0.00,0.00,53.15,0.905,6,0.000,0.000,2819,1918,1740
$GC,7132,0.15,273.9,350.7,5.9,383,7163,0.00,2.62,24.90,0.890,4,0.000,0.044,2818,3362,1616
$GC,7197,0.10,273.9,346.2,7.2,384,7201,0.00,2.47,0.00,0.000,6,0.000,0.033,2819,1961,1615
$GC,7534,0.04,273.9,322.3,7.4,393,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1961,1614
$GC,7860,0.02,289.9,300.7,6.3,401,7880,0.12,2.55,13.02,0.862,4,0.126,0.040,2797,3350,1551
$GC,7914,0.05,308.7,297.1,6.2,402,7935,0.00,2.47,15.35,0.862,6,0.000,0.031,2798,1940,1474
$GC,8255,0.09,334.3,277.6,6.0,419,8278,0.00,0.00,20.85,0.846,6,0.000,0.000,2798,1940,1370
$GC,8581,0.10,337.0,255.7,6.7,435,8590,0.00,2.58,3.03,0.792,4,0.000,0.039,2798,3358,1359
$GC,8615,0.10,337.0,253.3,6.9,436,8619,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1943,1359
$GC,8932,0.15,367.0,236.0,5.9,451,8962,0.10,2.55,24.12,0.817,4,0.084,0.039,2820,3353,1236
$GC,8975,0.16,374.5,233.2,6.6,453,8988,0.00,2.47,6.70,0.804,6,0.000,0.030,2821,1945,1206
$GC,9307,0.16,374.5,210.1,6.9,469,9311,0.00,2.50,0.00,0.000,4,0.000,0.038,2820,3357,1206
$GC,9329,0.16,374.5,208.4,7.4,470,9333,0.00,2.45,0.00,0.000,6,0.000,0.028,2820,1942,1206
$GC,9656,0.20,396.4,187.9,6.1,495,9679,0.00,2.60,17.62,0.762,4,0.000,0.048,2821,544,1117
$GC,9720,0.24,396.4,183.5,7.9,500,9726,0.00,2.45,0.00,0.000,6,0.000,0.026,2821,1966,1117
$GC,10048,0.24,396.4,158.3,7.7,531,10052,0.00,2.42,0.00,0.000,4,0.000,0.038,2821,3359,1117
$GC,10111,0.29,396.4,153.6,7.0,536,10116,0.15,2.45,0.00,0.000,6,0.070,0.028,2854,1943,1118
$GC,10437,0.29,423.8,130.9,6.0,566,10464,0.00,2.50,22.12,0.701,4,0.000,0.035,2855,3350,1004
$GC,10493,0.29,424.1,127.3,6.8,570,10500,0.00,2.42,0.00,0.000,6,0.000,0.028,2855,1948,1004
$GC,10823,0.36,460.8,106.4,5.7,601,10858,0.00,0.00,29.42,0.670,6,0.000,0.000,2855,1948,853
$GC,11179,0.41,491.8,82.0,5.8,635,11212,0.10,2.53,24.45,0.640,4,0.072,0.034,2880,3349,727
$GC,11277,0.50,519.0,75.8,6.0,643,11305,0.00,2.40,21.83,0.633,6,0.000,0.025,2880,1949,616
$GC,11566,0.47,519.0,54.8,7.6,670,11570,0.00,2.45,0.00,0.000,4,0.000,0.033,2879,3357,619
$GC,11588,0.47,519.0,52.6,7.6,671,11594,0.00,2.40,0.00,0.000,6,0.000,0.025,2880,1948,620
$GC,11851,0.43,519.0,30.7,8.7,696,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1947,621
$GC,12119,0.43,519.0,7.0,9.0,743,12126,0.00,2.42,0.00,0.000,4,0.000,0.033,2880,3352,622
$STATE,12141,end climb,SURFACE_DEPTH_REACHED
$STATE,12141,begin surface coast
$FINISH,2.0,1.023195
$STATE,12171,end surface coast,CONTROL_FINISHED_OK
$STATE,12171,begin surface
$SM_CCo,12258,0.00,0.000,0,0,623,517.83
$SM_GC,1.63,10.98,0.00,0.00,0.044,0.000,0.000,411,2014,623,-10.90,-0.74,517.83
$IRIDIUM_FIX,2057.14,-15748.75,280298,191957
$TT8_MAMPS,0.027612
$HUMID,1791
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,11
$24V_AH,23.6,73.116
$10V_AH,10.2,44.688
$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,27.950,125.375,547.950,0.000,0.000,26.201,45.329,167.774,11.750,0.000,0.000,14.791,1356.226,8363.752,606.563,1718.471,598.089,33.369,1467.743,0.000,1694.453,0.000,57.444
$DEVICE_MAMPS,154.167,52.156,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.542,501.511,892.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,752
$CAP_FILE_SIZE,111499,0
$CFSIZE,260165632,227848192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,023537,2107.054,-15748.161,39,1.4,39,9.8