version: 66.03
glider: 114
mission: 3
dive: 537
start: 12 6 108 6 20 36
data:
$ID,114
$MISSION,3
$DIVE,537
$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,-602345.75
$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,31
$R_STBD_OVSHOOT,65
$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
$GPS1,061337,2103.900,-15748.514,26,0.9,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-59.1
$GPS2,061939,2103.935,-15748.573,14,1.4,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209,-0.102
$KALMAN_X,-169504.9,-1194.8,-57.4,179389.3,-925.7
$KALMAN_Y,-157198.8,-155.8,-96.8,134039.7,-631.2
$MHEAD_RNG_PITCHd_Wd,106.1,4125,-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,-165.5,0.0,0.0,0,107,0.00,0.00,-75.12,0.000,2,0.000,0.000,408,2073,2802
$GC,111,-1.06,-165.5,3.2,-3.1,14,141,11.93,2.55,-10.48,0.000,4,0.153,0.050,2549,625,3409
$GC,178,-1.14,-165.5,15.7,-10.3,25,184,0.00,2.35,0.00,0.000,6,0.000,0.021,2549,2025,3409
$GC,456,-1.22,-165.5,37.8,-8.7,66,461,0.12,2.45,0.00,0.000,4,0.061,0.037,2519,3441,3409
$GC,554,-1.29,-165.5,46.3,-10.0,74,558,0.00,2.38,0.00,0.000,6,0.000,0.024,2518,2034,3409
$GC,816,-1.29,-165.5,67.4,-9.3,98,820,0.00,2.42,0.00,0.000,4,0.000,0.033,2518,3438,3409
$GC,880,-1.36,-165.5,73.1,-9.1,103,885,0.12,2.35,0.00,0.000,6,0.061,0.022,2488,2035,3409
$GC,1147,-1.36,-165.5,100.6,-10.6,127,1151,0.00,2.42,0.00,0.000,4,0.000,0.034,2488,3437,3409
$GC,1233,-1.44,-165.5,109.0,-7.6,134,1237,0.00,2.35,0.00,0.000,6,0.000,0.022,2488,2040,3409
$GC,1560,-1.47,-165.5,132.2,-6.3,164,1564,0.00,2.42,0.00,0.000,4,0.000,0.033,2488,3445,3410
$GC,1646,-1.56,-165.5,138.4,-7.0,171,1651,0.17,2.38,0.00,0.000,6,0.052,0.022,2445,2031,3410
$GC,1972,-1.52,-165.5,168.2,-11.0,201,1977,0.00,2.42,0.00,0.000,4,0.000,0.034,2445,3439,3410
$GC,2040,-1.52,-165.5,175.8,-9.6,206,2047,0.00,2.38,0.00,0.000,6,0.000,0.024,2445,2041,3410
$GC,2375,-1.52,-165.5,205.1,-7.9,235,2379,0.00,2.42,0.00,0.000,4,0.000,0.035,2445,3446,3410
$GC,2426,-1.52,-165.5,209.3,-7.6,237,2430,0.00,2.38,0.00,0.000,6,0.000,0.024,2445,2034,3410
$GC,2743,-1.52,-165.5,232.1,-6.7,252,2747,0.00,2.42,0.00,0.000,4,0.000,0.034,2445,3445,3410
$GC,2839,-1.57,-165.5,238.4,-6.1,256,2843,0.00,2.38,0.00,0.000,6,0.000,0.024,2445,2035,3410
$GC,3162,-1.57,-165.5,262.0,-8.5,272,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2035,3410
$GC,3471,-1.57,-165.5,286.1,-7.4,287,3475,0.00,2.45,0.00,0.000,4,0.000,0.037,2445,3445,3410
$GC,3505,-1.62,-165.5,288.6,-7.2,288,3511,0.00,2.38,0.00,0.000,6,0.000,0.027,2445,2044,3409
$GC,3841,-1.66,-165.5,310.5,-6.4,301,3845,0.00,2.42,0.00,0.000,4,0.000,0.038,2445,3435,3408
$GC,3903,-1.73,-165.5,314.8,-6.3,302,3908,0.15,2.38,0.00,0.000,6,0.063,0.027,2410,2035,3408
$GC,4247,-1.69,-165.5,344.0,-8.9,311,4251,0.00,2.45,0.00,0.000,4,0.000,0.038,2410,3438,3405
$GC,4275,-1.69,-165.5,346.9,-9.5,311,4279,0.00,2.40,0.00,0.000,6,0.000,0.028,2410,2034,3404
$GC,4607,-1.66,-165.5,375.6,-8.4,319,4611,0.00,2.47,0.00,0.000,4,0.000,0.040,2410,3441,3402
$GC,4674,-1.66,-165.5,381.1,-8.0,320,4679,0.00,2.40,0.00,0.000,6,0.000,0.028,2410,2041,3401
$GC,5012,-1.66,-165.5,407.8,-8.1,329,5016,0.00,2.45,0.00,0.000,4,0.000,0.041,2410,3439,3399
$GC,5068,-1.66,-165.5,412.6,-8.1,330,5072,0.00,2.40,0.00,0.000,6,0.000,0.029,2410,2039,3399
$GC,5382,-1.66,-165.5,440.1,-8.9,338,5387,0.00,2.45,0.00,0.000,4,0.000,0.041,2409,3433,3396
$GC,5411,-1.66,-165.5,442.9,-9.5,338,5415,0.00,2.40,0.00,0.000,6,0.000,0.030,2410,2038,3396
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5504,-0.33,0.0,450.7,9.0,340,5639,1.48,0.00,130.85,0.933,6,0.091,0.000,2713,1931,2733
$STATE,5640,end apogee,CONTROL_FINISHED_OK
$STATE,5640,begin climb
$GC,5644,1.06,165.5,457.3,0.0,343,5784,1.38,2.58,131.98,0.912,4,0.048,0.052,3019,562,2058
$GC,6044,0.51,165.5,428.7,11.9,352,6050,0.65,2.42,0.00,0.000,6,0.137,0.030,2903,1950,2056
$GC,6364,0.23,165.5,405.9,7.2,360,6369,0.30,2.55,0.00,0.000,4,0.120,0.051,2845,558,2054
$GC,6439,0.09,189.8,400.8,6.1,361,6464,0.17,2.42,19.15,0.902,6,0.122,0.030,2814,1950,1958
$GC,6778,0.05,220.7,381.4,5.9,370,6805,0.00,0.00,24.75,0.907,6,0.000,0.000,2814,1950,1833
$GC,7103,-0.03,220.7,358.9,7.2,378,7108,0.15,2.55,0.00,0.000,4,0.127,0.051,2788,558,1831
$GC,7132,-0.07,220.7,356.6,8.3,378,7136,0.00,2.45,0.00,0.000,6,0.000,0.031,2788,1957,1831
$GC,7464,0.02,271.8,337.2,5.3,386,7510,0.00,2.55,40.95,0.891,4,0.000,0.044,2788,3362,1624
$GC,7545,0.09,309.9,332.7,5.7,388,7581,0.00,2.47,30.58,0.877,6,0.000,0.032,2788,1962,1469
$GC,7908,0.19,370.0,314.4,5.0,396,7959,0.20,0.00,48.35,0.864,6,0.099,0.000,2831,1961,1224
$GC,8255,0.10,370.0,286.4,8.4,408,8259,0.00,2.50,0.00,0.000,4,0.000,0.041,2831,3362,1224
$GC,8300,0.03,370.0,282.9,8.1,410,8305,0.17,2.47,0.00,0.000,6,0.104,0.031,2798,1948,1224
$GC,8622,0.03,370.0,258.0,8.3,426,8625,0.00,2.53,0.00,0.000,4,0.000,0.051,2798,541,1224
$GC,8655,0.03,370.0,255.2,8.8,427,8660,0.00,2.45,0.00,0.000,6,0.000,0.028,2798,1962,1224
$GC,8972,0.03,370.0,231.3,6.9,442,8976,0.00,2.45,0.00,0.000,4,0.000,0.042,2795,3353,1224
$GC,9023,0.09,379.0,227.7,6.6,444,9035,0.00,2.45,7.65,0.806,6,0.000,0.031,2798,1936,1188
$GC,9344,0.21,444.7,211.7,4.9,460,9399,0.15,0.00,52.03,0.793,6,0.071,0.000,2836,1936,919
$GC,9702,0.15,444.7,181.5,8.7,486,9706,0.00,2.50,0.00,0.000,4,0.000,0.036,2836,3353,920
$GC,9747,0.15,444.7,177.5,8.2,489,9753,0.00,2.45,0.00,0.000,6,0.000,0.028,2837,1940,920
$GC,10076,0.11,444.7,152.4,6.8,520,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1940,920
$GC,10402,0.11,444.7,124.7,8.5,551,10406,0.00,2.47,0.00,0.000,4,0.000,0.034,2836,3361,920
$GC,10446,0.11,444.7,120.9,8.1,554,10453,0.00,2.42,0.00,0.000,6,0.000,0.026,2836,1942,921
$GC,10775,0.29,548.3,101.1,3.8,585,10863,0.00,2.55,81.65,0.658,4,0.000,0.034,2836,3355,497
$GC,10899,0.37,548.3,93.8,6.9,596,10906,0.15,2.42,0.00,0.000,6,0.064,0.025,2871,1942,499
$GC,11225,0.33,548.3,65.6,7.6,627,11229,0.00,2.47,0.00,0.000,4,0.000,0.033,2871,3363,501
$GC,11266,0.33,548.3,62.6,8.0,630,11270,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,1949,501
$GC,11531,0.29,548.3,41.5,8.1,654,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1949,503
$GC,11806,0.24,548.3,16.3,10.0,691,11813,0.15,2.45,0.00,0.000,4,0.094,0.031,2837,3366,504
$GC,11849,0.32,564.0,13.2,6.4,698,11870,0.10,2.40,13.82,0.578,6,0.071,0.022,2862,1940,432
$STATE,11952,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.9,0.999144
$STATE,12039,end surface coast,CONTROL_FINISHED_OK
$STATE,12039,begin surface
$SM_CCo,12123,0.00,0.000,0,0,433,564.19
$SM_GC,1.61,10.90,0.00,0.00,0.042,0.000,0.000,409,2082,433,-10.90,1.19,564.19
$IRIDIUM_FIX,2054.83,-15749.62,020398,020241
$TT8_MAMPS,0.027612
$HUMID,1806
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.50
$XPDR_PINGS,12
$24V_AH,23.6,74.392
$10V_AH,10.2,45.461
$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,28.450,127.275,581.750,0.000,0.000,22.547,26.238,167.204,12.000,0.000,0.000,15.998,1340.332,8173.318,630.971,1760.358,579.661,33.373,1512.856,0.000,1725.679,0.000,57.442
$DEVICE_MAMPS,152.633,52.156,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.396,481.494,875.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37917,731
$CAP_FILE_SIZE,112087,0
$CFSIZE,260165632,227315712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,094347,2102.683,-15748.244,8,2.1,27,9.8