version: 66.03
glider: 114
mission: 3
dive: 534
start: 12 5 108 19 50 42
data:
$ID,114
$MISSION,3
$DIVE,534
$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,-602299.94
$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,76
$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
$GPS1,194301,2108.532,-15748.970,32,1.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.8
$GPS2,194945,2108.543,-15749.012,11,1.4,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.078,-0.219
$KALMAN_X,-166049.3,633.7,-668.7,173959.9,150.5
$KALMAN_Y,-155899.7,329.2,48.0,140637.5,-918.7
$MHEAD_RNG_PITCHd_Wd,150.7,12092,-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,29,-1.06,-165.5,0.0,0.0,0,96,0.00,0.00,-64.07,0.000,2,0.000,0.000,408,2072,2699
$GC,100,-1.06,-165.5,3.1,-3.7,12,131,11.98,2.60,-13.25,0.000,4,0.154,0.050,2549,631,3409
$GC,172,-1.19,-165.5,13.4,-7.7,24,179,0.00,2.33,0.00,0.000,6,0.000,0.021,2550,2020,3409
$GC,455,-1.27,-165.5,32.8,-6.6,70,459,0.15,2.42,0.00,0.000,4,0.058,0.032,2510,3434,3409
$GC,552,-1.35,-165.5,41.6,-9.5,78,557,0.00,2.38,0.00,0.000,6,0.000,0.022,2509,2022,3409
$GC,814,-1.35,-165.5,66.4,-9.9,102,819,0.00,2.45,0.00,0.000,4,0.000,0.033,2509,3439,3410
$GC,862,-1.41,-165.5,71.1,-9.6,105,869,0.12,2.35,0.00,0.000,6,0.061,0.022,2479,2035,3410
$GC,1124,-1.41,-165.5,95.6,-10.6,130,1128,0.00,2.42,0.00,0.000,4,0.000,0.034,2480,3436,3410
$GC,1210,-1.47,-165.5,103.6,-8.5,137,1214,0.00,2.35,0.00,0.000,6,0.000,0.022,2479,2034,3410
$GC,1541,-1.47,-165.5,129.4,-7.6,168,1545,0.00,2.42,0.00,0.000,4,0.000,0.033,2479,3443,3410
$GC,1591,-1.55,-165.5,133.8,-8.4,172,1598,0.12,2.35,0.00,0.000,6,0.060,0.022,2447,2039,3410
$GC,1917,-1.55,-165.5,165.3,-9.3,203,1921,0.00,2.40,0.00,0.000,4,0.000,0.034,2447,3433,3411
$GC,1961,-1.55,-165.5,169.5,-9.1,206,1968,0.00,2.35,0.00,0.000,6,0.000,0.023,2447,2026,3411
$GC,2287,-1.55,-165.5,195.2,-7.9,237,2291,0.00,2.42,0.00,0.000,4,0.000,0.034,2447,3431,3411
$GC,2344,-1.55,-165.5,200.2,-9.0,241,2350,0.00,2.35,0.00,0.000,6,0.000,0.024,2448,2035,3411
$GC,2661,-1.55,-165.5,228.6,-8.2,257,2665,0.00,2.42,0.00,0.000,4,0.000,0.035,2447,3442,3411
$GC,2708,-1.60,-165.5,232.1,-6.9,259,2713,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2037,3411
$GC,3036,-1.60,-165.5,256.4,-7.5,275,3040,0.00,2.42,0.00,0.000,4,0.000,0.036,2447,3440,3410
$GC,3093,-1.67,-165.5,260.9,-7.6,277,3098,0.00,2.38,0.00,0.000,6,0.000,0.025,2447,2036,3410
$GC,3409,-1.67,-165.5,283.4,-7.3,292,3414,0.00,2.42,0.00,0.000,4,0.000,0.038,2447,3429,3410
$GC,3438,-1.71,-165.5,285.9,-8.2,293,3443,0.15,2.38,0.00,0.000,6,0.064,0.026,2412,2030,3410
$GC,3753,-1.67,-165.5,313.8,-8.4,304,3757,0.00,2.45,0.00,0.000,4,0.000,0.038,2412,3437,3408
$GC,3786,-1.67,-165.5,316.6,-7.7,304,3791,0.00,2.38,0.00,0.000,6,0.000,0.028,2412,2043,3408
$GC,4120,-1.67,-165.5,345.8,-9.3,312,4124,0.00,2.45,0.00,0.000,4,0.000,0.039,2412,3441,3406
$GC,4193,-1.67,-165.5,352.4,-8.2,313,4197,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2040,3405
$GC,4524,-1.67,-165.5,377.9,-7.9,321,4528,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3432,3403
$GC,4565,-1.67,-165.5,381.6,-8.8,322,4569,0.00,2.40,0.00,0.000,6,0.000,0.029,2412,2036,3402
$GC,4890,-1.67,-165.5,408.9,-8.5,330,4894,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3429,3400
$GC,4946,-1.71,-165.5,413.6,-8.3,331,4950,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2033,3400
$GC,5297,-1.71,-165.5,443.4,-8.9,340,5301,0.00,2.47,0.00,0.000,4,0.000,0.041,2412,3434,3397
$STATE,5367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5367,begin apogee
$GC,5378,-0.33,0.0,450.3,8.5,341,5513,1.45,0.00,131.07,0.930,6,0.090,0.000,2713,1947,2733
$STATE,5513,end apogee,CONTROL_FINISHED_OK
$STATE,5513,begin climb
$GC,5517,1.06,165.5,457.6,0.0,345,5658,1.38,2.62,131.32,0.929,4,0.049,0.052,3017,552,2057
$GC,5918,0.51,165.5,422.8,13.2,354,5923,0.62,2.42,0.00,0.000,6,0.139,0.030,2905,1938,2056
$GC,6238,0.23,165.5,395.5,7.3,362,6243,0.30,2.55,0.00,0.000,4,0.120,0.051,2847,547,2054
$GC,6312,0.11,205.4,391.4,5.6,363,6348,0.17,2.45,30.88,0.927,6,0.120,0.030,2816,1954,1895
$GC,6690,0.11,252.7,372.7,5.4,373,6731,0.00,0.00,37.55,0.910,6,0.000,0.000,2815,1954,1702
$GC,7058,0.04,255.0,346.8,6.8,382,7062,0.00,2.50,0.00,0.000,4,0.000,0.043,2815,3363,1701
$GC,7086,-0.01,269.4,345.0,6.4,382,7106,0.15,2.47,14.18,0.890,6,0.112,0.031,2789,1951,1633
$GC,7426,0.07,318.5,326.9,5.4,391,7471,0.00,2.62,38.55,0.887,4,0.000,0.052,2789,548,1434
$GC,7484,0.08,323.1,323.2,6.7,392,7493,0.00,2.47,4.53,0.859,6,0.000,0.029,2788,1959,1415
$GC,7832,0.11,339.0,300.5,6.3,401,7851,0.10,2.55,13.05,0.869,4,0.087,0.043,2810,3350,1351
$GC,7904,0.11,339.0,294.7,8.3,403,7908,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1939,1350
$GC,8227,0.07,342.4,273.5,6.7,419,8233,0.00,0.00,3.67,0.823,6,0.000,0.000,2811,1939,1337
$GC,8535,0.09,371.5,253.5,6.0,434,8565,0.00,2.60,23.20,0.846,4,0.000,0.038,2810,3356,1218
$GC,8606,0.09,371.5,249.1,7.0,437,8610,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1938,1218
$GC,8928,0.16,414.3,230.8,5.6,453,8970,0.00,2.58,33.83,0.816,4,0.000,0.038,2810,3348,1044
$GC,9017,0.16,414.3,224.4,8.1,457,9021,0.00,2.45,0.00,0.000,6,0.000,0.030,2811,1944,1044
$GC,9351,0.17,417.5,199.9,6.7,473,9359,0.00,0.00,3.72,0.767,6,0.000,0.000,2811,1944,1030
$GC,9682,0.18,424.1,176.2,6.6,504,9694,0.00,2.50,6.28,0.758,4,0.000,0.035,2810,3354,1002
$GC,9742,0.25,438.8,172.3,6.4,509,9764,0.15,2.45,11.95,0.758,6,0.070,0.028,2844,1942,943
$GC,10083,0.20,438.8,142.9,8.9,541,10087,0.00,2.47,0.00,0.000,4,0.000,0.035,2844,3356,944
$GC,10116,0.20,438.8,140.0,8.8,543,10122,0.00,2.42,0.00,0.000,6,0.000,0.027,2844,1948,944
$GC,10447,0.18,447.0,115.6,6.6,574,10459,0.00,2.55,7.28,0.698,4,0.000,0.034,2844,3364,910
$GC,10507,0.21,447.0,111.0,7.3,579,10511,0.00,2.45,0.00,0.000,6,0.000,0.026,2844,1943,910
$GC,10836,0.21,447.0,88.5,8.2,609,10840,0.00,2.47,0.00,0.000,4,0.000,0.045,2844,541,910
$GC,10867,0.25,447.0,85.9,8.5,611,10871,0.00,2.40,0.00,0.000,6,0.000,0.022,2844,1961,911
$GC,11198,0.41,515.8,65.0,4.8,641,11256,0.15,2.42,52.92,0.627,4,0.063,0.033,2884,3342,630
$GC,11323,0.41,515.8,55.3,8.1,651,11329,0.00,2.40,0.00,0.000,6,0.000,0.025,2884,1942,635
$GC,11586,0.35,515.8,33.4,8.5,676,11590,0.00,2.47,0.00,0.000,4,0.000,0.043,2884,541,635
$GC,11608,0.30,515.8,31.5,8.3,677,11615,0.15,2.38,0.00,0.000,6,0.087,0.022,2854,1953,635
$GC,11885,0.30,515.8,12.5,6.8,724,11891,0.00,2.40,0.00,0.000,4,0.000,0.032,2854,3354,636
$GC,11933,0.35,515.8,8.7,7.7,732,11939,0.00,2.40,0.00,0.000,6,0.000,0.025,2854,1938,637
$STATE,11988,end climb,SURFACE_DEPTH_REACHED
$STATE,11988,begin surface coast
$FINISH,0.9,1.010011
$STATE,12088,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12172,0.00,0.000,0,0,637,514.15
$SM_GC,1.66,10.82,0.00,0.00,0.041,0.000,0.000,406,2069,637,-10.91,0.82,514.15
$IRIDIUM_FIX,2104.07,-15747.88,010398,161633
$TT8_MAMPS,0.027612
$HUMID,1799
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,23.6,73.925
$10V_AH,10.2,45.201
$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,27.975,142.100,543.975,0.000,0.000,25.257,45.138,188.856,10.500,0.000,0.000,13.391,1395.171,8112.030,591.608,1855.089,622.051,33.377,1519.108,0.000,1813.532,0.000,57.440
$DEVICE_MAMPS,154.167,52.156,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.283,501.456,919.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,759
$CAP_FILE_SIZE,116457,0
$CFSIZE,260165632,227500032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,231456,2106.833,-15749.115,43,1.7,43,9.8