version: 66.03
glider: 114
mission: 3
dive: 530
start: 12 5 108 5 40 30
data:
$ID,114
$MISSION,3
$DIVE,530
$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,-602233.88
$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,37
$R_STBD_OVSHOOT,73
$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
$GPS1,053337,2106.945,-15748.670,29,1.9,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.4
$GPS2,053935,2106.963,-15748.666,9,2.1,28,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.021,0.231
$KALMAN_X,-167005.6,-329.9,-35.4,175838.2,-1080.2
$KALMAN_Y,-152898.2,-196.4,-57.4,135347.5,-1092.6
$MHEAD_RNG_PITCHd_Wd,355.4,6078,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.06,-165.5,0.0,0.0,0,89,0.00,0.00,-59.25,0.000,2,0.000,0.000,409,2069,2875
$GC,94,-1.06,-165.5,3.5,-4.0,11,123,11.98,2.35,-8.93,0.000,4,0.154,0.046,2550,3404,3409
$GC,154,-0.96,-165.5,16.3,-13.2,21,162,0.15,2.35,0.00,0.000,6,0.083,0.022,2580,2007,3409
$GC,436,-1.11,-165.5,34.4,-6.1,65,441,0.15,2.42,0.00,0.000,4,0.054,0.031,2539,3409,3409
$GC,493,-1.24,-165.5,38.9,-8.1,69,499,0.00,2.30,0.00,0.000,6,0.000,0.021,2539,2035,3410
$GC,755,-1.30,-165.5,59.3,-8.1,94,760,0.15,2.35,0.00,0.000,4,0.057,0.031,2499,3404,3410
$GC,807,-1.30,-165.5,64.4,-10.3,98,811,0.00,2.30,0.00,0.000,6,0.000,0.021,2498,2036,3410
$GC,1069,-1.30,-165.5,89.6,-8.0,122,1073,0.00,2.35,0.00,0.000,4,0.000,0.032,2498,3405,3411
$GC,1117,-1.37,-165.5,93.6,-9.2,126,1121,0.00,2.30,0.00,0.000,6,0.000,0.022,2498,2040,3411
$GC,1444,-1.43,-165.5,120.1,-7.6,156,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2039,3411
$GC,1764,-1.50,-165.5,142.0,-6.9,186,1769,0.15,2.35,0.00,0.000,4,0.054,0.031,2460,3408,3411
$GC,1833,-1.53,-165.5,148.1,-8.7,191,1840,0.00,2.30,0.00,0.000,6,0.000,0.023,2460,2032,3411
$GC,2159,-1.53,-165.5,173.3,-6.8,222,2163,0.00,2.38,0.00,0.000,4,0.000,0.033,2460,3414,3412
$GC,2189,-1.53,-165.5,175.3,-6.8,224,2193,0.00,2.33,0.00,0.000,6,0.000,0.023,2460,2031,3412
$GC,2514,-1.53,-165.5,197.9,-7.0,254,2518,0.00,2.38,0.00,0.000,4,0.000,0.034,2460,3413,3411
$GC,2570,-1.60,-165.5,202.0,-7.0,257,2576,0.00,2.33,0.00,0.000,6,0.000,0.025,2460,2028,3411
$GC,2887,-1.60,-165.5,223.1,-6.3,273,2891,0.00,2.38,0.00,0.000,4,0.000,0.035,2460,3405,3411
$GC,2936,-1.66,-165.5,225.9,-5.7,275,2941,0.15,2.33,0.00,0.000,6,0.059,0.025,2423,2027,3411
$GC,3267,-1.62,-165.5,252.6,-8.6,291,3271,0.00,2.38,0.00,0.000,4,0.000,0.035,2423,3409,3411
$GC,3315,-1.62,-165.5,256.8,-7.5,293,3319,0.00,2.33,0.00,0.000,6,0.000,0.025,2423,2033,3412
$GC,3642,-1.62,-165.5,282.7,-8.6,309,3646,0.00,2.38,0.00,0.000,4,0.000,0.036,2423,3405,3411
$GC,3676,-1.62,-165.5,285.8,-9.5,310,3680,0.00,2.33,0.00,0.000,6,0.000,0.026,2423,2032,3411
$GC,4010,-1.62,-165.5,315.3,-8.4,322,4014,0.00,2.40,0.00,0.000,4,0.000,0.037,2423,3414,3409
$GC,4060,-1.66,-165.5,319.3,-7.6,323,4065,0.00,2.35,0.00,0.000,6,0.000,0.028,2423,2032,3409
$GC,4377,-1.66,-165.5,342.8,-7.6,331,4381,0.00,2.40,0.00,0.000,4,0.000,0.038,2423,3407,3407
$GC,4439,-1.69,-165.5,347.9,-7.8,332,4443,0.00,2.35,0.00,0.000,6,0.000,0.028,2423,2029,3406
$GC,4784,-1.69,-165.5,374.3,-7.7,341,4788,0.00,2.40,0.00,0.000,4,0.000,0.039,2423,3402,3405
$GC,4835,-1.73,-165.5,378.1,-6.6,342,4839,0.00,2.33,0.00,0.000,6,0.000,0.029,2423,2043,3403
$GC,5148,-1.73,-165.5,398.1,-5.9,350,5152,0.00,2.38,0.00,0.000,4,0.000,0.039,2423,3400,3401
$GC,5200,-1.79,-165.5,401.5,-7.0,351,5204,0.10,2.33,0.00,0.000,6,0.081,0.029,2401,2039,3401
$GC,5519,-1.75,-165.5,427.1,-8.3,359,5523,0.00,2.40,0.00,0.000,4,0.000,0.041,2400,3403,3399
$GC,5563,-1.75,-165.5,431.1,-8.4,360,5567,0.00,2.35,0.00,0.000,6,0.000,0.030,2400,2035,3399
$STATE,5799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5799,begin apogee
$GC,5808,-0.33,0.0,450.6,8.4,366,5942,1.52,0.00,130.80,0.935,6,0.093,0.000,2714,1926,2733
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5946,1.06,165.5,456.2,0.0,369,6087,1.38,2.55,131.57,0.913,4,0.048,0.051,3019,563,2058
$GC,6347,0.51,165.5,424.7,14.4,378,6352,0.65,2.35,0.00,0.000,6,0.141,0.029,2903,1910,2057
$GC,6667,0.23,165.5,393.2,10.0,386,6672,0.30,2.47,0.00,0.000,4,0.120,0.051,2845,558,2055
$GC,6769,0.05,165.5,383.7,8.6,388,6774,0.22,2.42,0.00,0.000,6,0.119,0.031,2804,1947,2054
$GC,7118,0.15,268.5,366.5,3.8,397,7204,0.00,2.55,80.45,0.901,4,0.000,0.044,2804,3353,1637
$GC,7228,0.14,290.7,361.1,6.2,399,7252,0.00,2.45,18.27,0.878,6,0.000,0.032,2804,1968,1547
$GC,7567,0.09,290.7,338.4,6.9,408,7571,0.00,2.60,0.00,0.000,4,0.000,0.053,2804,535,1546
$GC,7608,0.05,290.7,335.2,8.2,409,7612,0.00,2.50,0.00,0.000,6,0.000,0.031,2804,1961,1546
$GC,7933,0.02,296.6,313.7,6.6,417,7943,0.00,2.50,5.30,0.851,4,0.000,0.043,2803,3359,1522
$GC,7988,0.02,296.6,309.8,7.1,418,7993,0.00,2.47,0.00,0.000,6,0.000,0.033,2804,1949,1522
$GC,8320,-0.01,302.2,287.6,6.7,430,8329,0.00,0.00,4.78,0.838,6,0.000,0.000,2804,1949,1501
$GC,8653,0.03,323.4,266.2,6.2,446,8675,0.00,2.65,17.25,0.853,4,0.000,0.051,2804,536,1414
$GC,8693,0.08,351.3,263.7,6.0,447,8721,0.00,2.47,22.35,0.844,6,0.000,0.029,2804,1953,1300
$GC,9030,0.10,364.6,242.2,6.4,464,9051,0.00,2.58,11.43,0.821,4,0.000,0.041,2797,3359,1246
$GC,9091,0.13,364.6,237.8,7.2,466,9098,0.00,2.47,0.00,0.000,6,0.000,0.031,2804,1944,1245
$GC,9408,0.14,368.2,217.8,6.7,482,9417,0.00,2.55,3.75,0.782,4,0.000,0.038,2803,3353,1231
$GC,9440,0.14,368.2,215.3,7.5,483,9445,0.00,2.45,0.00,0.000,6,0.000,0.029,2804,1944,1231
$GC,9759,0.17,384.2,194.1,6.3,502,9782,0.10,2.55,13.20,0.777,4,0.083,0.037,2826,3351,1166
$GC,9797,0.18,390.5,191.7,6.6,505,9808,0.00,2.45,5.53,0.767,6,0.000,0.028,2826,1950,1141
$GC,10129,0.19,394.6,172.2,6.7,536,10140,0.00,2.53,4.15,0.746,4,0.000,0.036,2826,3353,1123
$GC,10176,0.19,394.6,168.4,8.2,540,10180,0.00,2.45,0.00,0.000,6,0.000,0.028,2826,1942,1124
$GC,10512,0.25,428.6,145.7,5.8,571,10541,0.00,0.00,27.10,0.716,6,0.000,0.000,2826,1941,985
$GC,10858,0.25,428.6,125.6,7.4,604,10863,0.00,2.47,0.00,0.000,4,0.000,0.034,2826,3358,985
$GC,10892,0.25,428.6,122.9,7.7,606,10898,0.00,2.42,0.00,0.000,6,0.000,0.028,2826,1947,986
$GC,11223,0.27,440.1,98.7,6.5,637,11238,0.10,2.53,9.95,0.663,4,0.073,0.044,2851,538,938
$GC,11267,0.27,440.1,95.3,7.5,640,11273,0.00,2.42,0.00,0.000,6,0.000,0.023,2851,1966,938
$GC,11596,0.37,497.2,75.2,5.1,671,11650,0.00,2.47,43.67,0.630,4,0.000,0.033,2851,3347,706
$GC,11686,0.44,497.2,69.9,6.9,679,11691,0.15,2.42,0.00,0.000,6,0.061,0.025,2887,1936,707
$GC,11952,0.38,497.2,46.8,9.2,703,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1935,710
$GC,12221,0.31,497.2,22.9,8.8,734,12228,0.15,2.45,0.00,0.000,4,0.092,0.030,2854,3352,711
$GC,12263,0.31,497.2,19.1,8.1,741,12270,0.00,2.40,0.00,0.000,6,0.000,0.023,2853,1942,711
$STATE,12471,end climb,SURFACE_DEPTH_REACHED
$STATE,12471,begin surface coast
$FINISH,1.1,1.011187
$STATE,12551,end surface coast,CONTROL_FINISHED_OK
$STATE,12551,begin surface
$SM_CCo,12635,0.00,0.000,0,0,711,496.00
$SM_GC,1.64,10.77,0.00,0.00,0.040,0.000,0.000,410,2079,711,-10.90,1.10,496.00
$IRIDIUM_FIX,2059.45,-15748.75,010398,020248
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.60
$XPDR_PINGS,7
$24V_AH,23.4,73.336
$10V_AH,10.2,44.856
$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,28.175,140.500,529.550,0.000,0.000,28.822,33.235,147.375,10.750,0.000,0.000,31.263,1454.344,8461.513,585.785,1912.576,581.052,33.372,1531.546,0.000,1862.908,0.000,57.441
$DEVICE_MAMPS,154.167,52.923,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.458,533.680,952.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41167,792
$CAP_FILE_SIZE,118868,0
$CFSIZE,260165632,227725312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,091225,2108.127,-15748.713,23,0.9,40,9.8