version: 66.03
glider: 114
mission: 3
dive: 531
start: 12 5 108 9 19 47
data:
$ID,114
$MISSION,3
$DIVE,531
$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,-602251.31
$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,35
$R_STBD_OVSHOOT,64
$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
$GPS1,091225,2108.127,-15748.713,23,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.8
$GPS2,091851,2108.111,-15748.703,15,1.1,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.151,0.177
$KALMAN_X,-166901.2,-376.6,-413.6,176089.8,787.7
$KALMAN_Y,-153801.0,-90.4,-184.4,138396.7,-440.5
$MHEAD_RNG_PITCHd_Wd,309.7,4153,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,104,0.00,0.00,-70.55,0.000,2,0.000,0.000,410,2078,2815
$GC,108,-1.06,-165.5,3.4,-3.7,13,138,11.98,2.33,-10.35,0.000,4,0.155,0.048,2550,3413,3410
$GC,191,-1.20,-165.5,17.2,-9.6,27,197,0.00,2.33,0.00,0.000,6,0.000,0.022,2550,2029,3411
$GC,464,-1.28,-165.5,36.8,-7.1,67,469,0.15,2.40,0.00,0.000,4,0.056,0.032,2508,3413,3411
$GC,520,-1.33,-165.5,41.8,-9.0,71,527,0.00,2.30,0.00,0.000,6,0.000,0.022,2508,2042,3411
$GC,782,-1.33,-165.5,68.3,-10.2,96,786,0.00,2.38,0.00,0.000,4,0.000,0.034,2508,3419,3410
$GC,833,-1.40,-165.5,73.3,-8.6,100,840,0.00,2.35,0.00,0.000,6,0.000,0.021,2508,2015,3410
$GC,1097,-1.43,-165.5,92.1,-6.4,125,1102,0.15,2.42,0.00,0.000,4,0.055,0.032,2471,3419,3411
$GC,1187,-1.47,-165.5,99.1,-7.0,132,1193,0.00,2.33,0.00,0.000,6,0.000,0.022,2471,2030,3411
$GC,1513,-1.47,-165.5,127.3,-10.3,163,1517,0.00,2.40,0.00,0.000,4,0.000,0.034,2471,3422,3411
$GC,1565,-1.54,-165.5,132.9,-10.3,167,1569,0.00,2.33,0.00,0.000,6,0.000,0.022,2471,2040,3411
$GC,1891,-1.54,-165.5,163.6,-7.9,197,1895,0.00,2.38,0.00,0.000,4,0.000,0.033,2471,3420,3411
$GC,1925,-1.58,-165.5,166.4,-8.1,199,1931,0.12,2.33,0.00,0.000,6,0.061,0.022,2439,2033,3411
$GC,2250,-1.58,-165.5,195.9,-8.2,230,2254,0.00,2.38,0.00,0.000,4,0.000,0.034,2439,3413,3411
$GC,2304,-1.58,-165.5,200.2,-8.1,234,2308,0.00,2.33,0.00,0.000,6,0.000,0.023,2439,2028,3411
$GC,2621,-1.58,-165.5,228.3,-8.1,249,2625,0.00,2.40,0.00,0.000,4,0.000,0.035,2438,3417,3411
$GC,2677,-1.62,-165.5,232.9,-8.4,251,2683,0.00,2.33,0.00,0.000,6,0.000,0.025,2438,2039,3411
$GC,2994,-1.62,-165.5,254.9,-7.7,267,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2039,3411
$GC,3303,-1.62,-165.5,279.9,-8.4,282,3308,0.00,2.38,0.00,0.000,4,0.000,0.038,2438,3412,3411
$GC,3365,-1.68,-165.5,285.3,-9.0,284,3371,0.00,2.33,0.00,0.000,6,0.000,0.027,2439,2040,3410
$GC,3682,-1.72,-165.5,310.5,-8.1,297,3687,0.00,2.40,0.00,0.000,4,0.000,0.038,2439,3416,3409
$GC,3745,-1.79,-165.5,315.7,-7.2,298,3750,0.17,2.35,0.00,0.000,6,0.062,0.028,2398,2040,3408
$GC,4089,-1.74,-165.5,347.4,-9.5,307,4093,0.00,2.40,0.00,0.000,4,0.000,0.040,2399,3410,3406
$GC,4146,-1.74,-165.5,353.2,-9.9,308,4150,0.00,2.35,0.00,0.000,6,0.000,0.028,2399,2035,3405
$GC,4495,-1.70,-165.5,386.2,-9.4,317,4499,0.10,2.42,0.00,0.000,4,0.111,0.040,2416,3414,3403
$GC,4551,-1.73,-165.5,391.2,-8.3,318,4555,0.00,2.38,0.00,0.000,6,0.000,0.029,2416,2028,3402
$GC,4902,-1.73,-165.5,423.7,-9.6,327,4906,0.00,2.45,0.00,0.000,4,0.000,0.041,2416,3421,3399
$GC,4992,-1.77,-165.5,432.5,-9.3,329,4996,0.00,2.38,0.00,0.000,6,0.000,0.031,2416,2041,3399
$STATE,5188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5188,begin apogee
$GC,5196,-0.33,0.0,450.7,9.3,334,5331,1.45,0.00,130.65,0.933,6,0.091,0.000,2714,1933,2733
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5332,begin climb
$GC,5335,1.06,165.5,457.1,0.0,337,5476,1.35,2.60,131.18,0.915,4,0.048,0.051,3015,551,2058
$GC,5736,0.52,165.5,422.8,14.1,346,5741,0.60,2.40,0.00,0.000,6,0.131,0.030,2908,1922,2056
$GC,6056,0.23,165.5,395.2,8.2,354,6061,0.32,2.50,0.00,0.000,4,0.120,0.051,2845,560,2055
$GC,6146,0.05,165.5,388.3,6.9,356,6151,0.22,2.45,0.00,0.000,6,0.118,0.031,2804,1962,2054
$GC,6466,0.08,224.4,372.0,5.1,364,6516,0.00,2.62,45.35,0.909,4,0.000,0.052,2804,554,1817
$GC,6541,0.02,236.6,367.7,6.5,365,6556,0.00,2.47,10.55,0.884,6,0.000,0.031,2804,1961,1768
$GC,6871,0.11,321.1,352.8,4.3,374,6945,0.00,2.55,66.72,0.888,4,0.000,0.045,2804,3359,1423
$GC,6970,0.12,348.4,347.8,6.0,376,6999,0.00,2.47,22.25,0.873,6,0.000,0.033,2804,1960,1312
$GC,7326,0.08,349.1,325.0,6.8,385,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1960,1311
$GC,7650,0.04,349.1,301.5,7.3,393,7655,0.00,2.50,0.00,0.000,4,0.000,0.041,2803,3361,1311
$GC,7679,0.04,349.1,299.3,7.2,393,7683,0.00,2.47,0.00,0.000,6,0.000,0.032,2804,1946,1310
$GC,7996,0.01,349.1,278.3,7.1,408,8000,0.00,2.50,0.00,0.000,4,0.000,0.041,2804,3354,1310
$GC,8029,0.01,349.1,275.5,7.3,409,8035,0.00,2.45,0.00,0.000,6,0.000,0.031,2804,1947,1310
$GC,8347,-0.03,349.1,252.2,6.9,425,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1947,1310
$GC,8655,-0.03,349.1,230.6,7.1,440,8659,0.00,2.50,0.00,0.000,4,0.000,0.039,2803,3365,1310
$GC,8677,-0.01,357.0,229.0,6.6,441,8693,0.00,2.45,7.50,0.815,6,0.000,0.030,2804,1951,1276
$GC,9005,0.13,437.9,210.3,4.4,457,9074,0.00,2.53,63.62,0.796,4,0.000,0.038,2803,3361,946
$GC,9091,0.21,482.3,205.9,5.5,461,9132,0.15,2.47,35.28,0.777,6,0.072,0.029,2836,1948,765
$GC,9457,0.16,482.3,173.7,8.5,492,9461,0.00,2.50,0.00,0.000,4,0.000,0.038,2836,3362,765
$GC,9490,0.16,482.3,170.9,7.9,494,9497,0.00,2.45,0.00,0.000,6,0.000,0.029,2837,1941,766
$GC,9820,0.13,482.3,146.2,8.9,525,9824,0.00,2.50,0.00,0.000,4,0.000,0.037,2836,3361,766
$GC,9860,0.13,482.3,142.0,10.4,528,9865,0.00,2.45,0.00,0.000,6,0.000,0.027,2836,1943,767
$GC,10189,0.13,482.3,113.0,8.1,558,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1942,767
$GC,10515,0.13,482.3,87.5,8.1,589,10519,0.00,2.45,0.00,0.000,4,0.000,0.033,2836,3360,768
$GC,10589,0.21,482.3,81.3,8.4,595,10595,0.00,2.40,0.00,0.000,6,0.000,0.025,2836,1947,768
$GC,10920,0.59,482.3,53.5,9.0,626,10925,0.35,2.47,0.00,0.000,4,0.071,0.044,2915,545,768
$GC,10954,0.79,482.3,50.0,8.5,628,10961,0.20,2.38,0.00,0.000,6,0.062,0.022,2963,1981,768
$GC,11222,0.56,482.3,17.4,13.9,661,11229,0.22,2.33,0.00,0.000,4,0.108,0.034,2917,3334,770
$GC,11277,0.43,482.3,11.0,11.0,670,11284,0.17,2.38,0.00,0.000,6,0.108,0.025,2886,1936,771
$STATE,11344,end climb,SURFACE_DEPTH_REACHED
$STATE,11344,begin surface coast
$FINISH,1.0,1.023287
$STATE,11420,end surface coast,CONTROL_FINISHED_OK
$STATE,11420,begin surface
$SM_CCo,11504,0.00,0.000,0,0,770,481.28
$SM_GC,1.73,11.02,0.00,0.00,0.046,0.000,0.000,411,2040,770,-10.89,0.00,481.28
$IRIDIUM_FIX,2059.45,-15743.60,010398,050528
$TT8_MAMPS,0.027612
$HUMID,1851
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.00
$XPDR_PINGS,6
$24V_AH,23.6,73.479
$10V_AH,10.2,44.938
$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,28.750,126.025,513.100,0.000,0.000,23.777,26.753,186.185,10.500,0.000,0.000,16.835,1289.593,7735.734,578.634,1698.989,584.705,33.374,1435.138,0.000,1666.303,0.000,57.446
$DEVICE_MAMPS,154.934,52.156,932.672,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.692,466.490,818.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,695
$CAP_FILE_SIZE,109010,0
$CFSIZE,260165632,227684352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,123238,2109.104,-15749.035,28,0.9,28,9.8