version: 66.03
glider: 114
mission: 3
dive: 550
start: 12 8 108 3 35 6
data:
$ID,114
$MISSION,3
$DIVE,550
$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,-602606.75
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,032738,2107.307,-15748.930,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.3
$GPS2,033409,2107.302,-15748.923,15,1.0,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.158,-0.170
$KALMAN_X,-182033.0,-271.2,37.1,190293.1,-1027.2
$KALMAN_Y,-168296.1,36.9,179.1,150900.9,-625.8
$MHEAD_RNG_PITCHd_Wd,127.3,9865,-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,30,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-81.20,0.000,2,0.000,0.000,408,2067,2925
$GC,118,-1.06,-165.5,3.7,-4.0,15,143,11.98,2.58,-7.93,0.000,4,0.153,0.049,2551,636,3410
$GC,162,-0.31,-165.5,15.5,-25.2,22,169,0.77,2.35,0.00,0.000,6,0.061,0.022,2720,2029,3410
$GC,441,-0.85,-165.5,39.5,-9.4,63,447,0.50,2.42,0.00,0.000,4,0.066,0.031,2609,3450,3410
$GC,521,-1.31,-165.5,47.1,-9.1,69,528,0.47,2.38,0.00,0.000,6,0.061,0.021,2505,2030,3410
$GC,786,-1.43,-165.5,69.1,-8.2,94,791,0.12,2.40,0.00,0.000,4,0.060,0.039,2473,644,3410
$GC,861,-1.43,-165.5,76.4,-9.8,100,865,0.00,2.35,0.00,0.000,6,0.000,0.021,2472,2044,3410
$GC,1126,-1.39,-165.5,101.6,-9.0,124,1130,0.00,2.38,0.00,0.000,4,0.000,0.034,2473,3441,3410
$GC,1241,-1.42,-165.5,111.2,-7.8,134,1245,0.00,2.35,0.00,0.000,6,0.000,0.022,2473,2045,3411
$GC,1568,-1.42,-165.5,139.7,-8.5,164,1573,0.00,2.40,0.00,0.000,4,0.000,0.034,2473,3437,3411
$GC,1619,-1.49,-165.5,144.2,-7.7,168,1625,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2033,3411
$GC,1945,-1.49,-165.5,172.1,-8.3,199,1949,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3438,3412
$GC,2015,-1.56,-165.5,177.5,-7.3,204,2021,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2036,3411
$GC,2342,-1.59,-165.5,199.2,-7.5,235,2347,0.12,2.42,0.00,0.000,4,0.059,0.034,2440,3437,3411
$GC,2416,-1.59,-165.5,206.4,-10.0,238,2420,0.00,2.35,0.00,0.000,6,0.000,0.024,2439,2034,3411
$GC,2737,-1.59,-165.5,238.4,-8.9,254,2741,0.00,2.42,0.00,0.000,4,0.000,0.035,2439,3436,3411
$GC,2778,-1.59,-165.5,242.0,-8.4,256,2782,0.00,2.35,0.00,0.000,6,0.000,0.024,2439,2045,3411
$GC,3111,-1.59,-165.5,266.1,-7.2,272,3115,0.00,2.42,0.00,0.000,4,0.000,0.036,2440,3442,3411
$GC,3171,-1.65,-165.5,270.1,-6.8,274,3177,0.00,2.38,0.00,0.000,6,0.000,0.026,2440,2036,3411
$GC,3487,-1.65,-165.5,292.8,-7.1,290,3491,0.00,2.45,0.00,0.000,4,0.000,0.038,2439,3442,3410
$GC,3528,-1.70,-165.5,295.8,-8.0,292,3532,0.00,2.38,0.00,0.000,6,0.000,0.025,2439,2046,3410
$GC,3852,-1.70,-165.5,320.4,-7.9,302,3856,0.00,2.42,0.00,0.000,4,0.000,0.040,2439,3439,3408
$GC,3910,-1.77,-165.5,325.2,-8.1,303,3915,0.15,2.38,0.00,0.000,6,0.064,0.028,2404,2046,3408
$GC,4225,-1.73,-165.5,353.3,-8.7,311,4229,0.00,2.45,0.00,0.000,4,0.000,0.041,2404,3444,3406
$GC,4253,-1.69,-165.5,355.8,-8.5,311,4257,0.00,2.40,0.00,0.000,6,0.000,0.028,2404,2040,3407
$GC,4593,-1.65,-165.5,384.2,-8.6,320,4598,0.12,2.47,0.00,0.000,4,0.104,0.041,2427,3442,3404
$GC,4634,-1.70,-165.5,388.1,-9.0,321,4638,0.00,2.40,0.00,0.000,6,0.000,0.029,2427,2046,3403
$GC,4958,-1.70,-165.5,416.3,-8.5,329,4962,0.00,2.45,0.00,0.000,4,0.000,0.042,2427,3442,3400
$GC,5007,-1.76,-165.5,420.1,-8.2,330,5011,0.00,2.42,0.00,0.000,6,0.000,0.030,2427,2035,3400
$GC,5331,-1.76,-165.5,445.8,-7.9,338,5335,0.00,2.47,0.00,0.000,4,0.000,0.043,2427,3435,3398
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5391,-0.33,0.0,450.2,8.7,339,5526,1.35,0.00,131.05,0.927,6,0.088,0.000,2709,1948,2733
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5530,1.06,165.5,456.2,0.0,342,5671,1.40,2.62,132.00,0.913,4,0.051,0.051,3019,548,2058
$GC,5930,0.51,165.5,420.7,14.6,351,5936,0.62,2.45,0.00,0.000,6,0.146,0.029,2905,1952,2056
$GC,6251,0.24,172.9,395.7,6.6,359,6265,0.30,2.60,6.07,0.869,4,0.123,0.051,2847,542,2027
$GC,6323,0.21,262.9,392.5,4.2,360,6401,0.00,2.45,71.80,0.899,6,0.000,0.030,2847,1952,1660
$GC,6749,0.07,262.9,363.9,8.1,371,6754,0.20,2.50,0.00,0.000,4,0.130,0.045,2809,3360,1659
$GC,6784,0.00,262.9,361.1,7.0,371,6790,0.00,2.47,0.00,0.000,6,0.000,0.033,2809,1949,1659
$GC,7116,-0.05,262.9,337.0,7.2,380,7121,0.15,2.53,0.00,0.000,4,0.118,0.041,2782,3361,1657
$GC,7144,-0.05,262.9,335.0,6.8,380,7148,0.00,2.47,0.00,0.000,6,0.000,0.032,2782,1945,1657
$GC,7476,0.04,316.2,316.8,5.2,388,7525,0.00,2.65,41.50,0.877,4,0.000,0.052,2781,538,1442
$GC,7543,0.10,348.7,312.9,5.9,389,7575,0.15,2.47,26.10,0.865,6,0.073,0.029,2814,1953,1311
$GC,7889,0.04,348.7,287.7,7.7,401,7894,0.00,2.47,0.00,0.000,4,0.000,0.044,2811,3349,1311
$GC,7952,0.04,348.7,282.9,7.2,404,7957,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1936,1310
$GC,8280,0.01,354.0,262.1,6.7,420,8291,0.12,2.53,5.25,0.818,4,0.110,0.041,2790,3349,1288
$GC,8321,0.01,354.0,258.8,8.0,422,8326,0.00,2.45,0.00,0.000,6,0.000,0.030,2791,1949,1288
$GC,8649,0.03,369.3,236.0,6.4,438,8671,0.00,2.55,12.60,0.817,4,0.000,0.038,2791,3345,1227
$GC,8689,0.13,403.0,233.5,5.8,439,8724,0.12,2.45,27.33,0.811,6,0.075,0.030,2818,1942,1088
$GC,9051,0.13,403.0,205.5,7.4,457,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1942,1088
$GC,9362,0.21,451.5,186.5,5.4,482,9407,0.00,2.58,38.30,0.759,4,0.000,0.036,2818,3354,892
$GC,9431,0.24,464.4,182.4,6.4,488,9449,0.10,2.45,10.88,0.752,6,0.078,0.028,2841,1937,839
$GC,9768,0.18,464.4,158.1,7.0,520,9772,0.00,2.47,0.00,0.000,4,0.000,0.035,2841,3352,839
$GC,9814,0.18,464.4,154.7,7.7,524,9818,0.00,2.42,0.00,0.000,6,0.000,0.028,2841,1952,839
$GC,10143,0.18,464.4,128.7,8.1,554,10147,0.00,2.50,0.00,0.000,4,0.000,0.045,2841,542,840
$GC,10184,0.21,464.4,125.2,7.8,557,10188,0.00,2.42,0.00,0.000,6,0.000,0.025,2842,1965,840
$GC,10510,0.21,464.4,103.1,7.2,587,10514,0.00,2.38,0.00,0.000,4,0.000,0.035,2841,3345,841
$GC,10539,0.21,464.4,100.9,7.5,589,10543,0.00,2.40,0.00,0.000,6,0.000,0.026,2841,1944,841
$GC,10865,0.26,470.2,78.6,6.6,619,10874,0.00,0.00,5.62,0.640,6,0.000,0.000,2841,1943,815
$GC,11130,0.36,496.2,60.9,6.0,644,11156,0.12,2.47,20.38,0.621,4,0.062,0.033,2873,3352,710
$GC,11191,0.36,496.2,56.4,7.4,649,11197,0.00,2.40,0.00,0.000,6,0.000,0.025,2873,1947,710
$GC,11453,0.32,496.2,36.7,7.7,674,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1947,711
$GC,11718,0.28,496.2,15.2,8.8,713,11725,0.00,2.40,0.00,0.000,4,0.000,0.030,2873,3348,712
$GC,11756,0.28,496.2,12.3,8.1,719,11763,0.00,2.40,0.00,0.000,6,0.000,0.025,2873,1935,712
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,1.0,1.010702
$STATE,11922,end surface coast,CONTROL_FINISHED_OK
$STATE,11922,begin surface
$SM_CCo,12005,0.00,0.000,0,0,712,495.51
$SM_GC,1.67,10.88,0.00,0.00,0.041,0.000,0.000,408,2077,712,-10.90,1.05,495.51
$IRIDIUM_FIX,2101.76,-15747.88,040398,000039
$TT8_MAMPS,0.027612
$HUMID,1811
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,4
$24V_AH,23.6,76.268
$10V_AH,10.2,46.570
$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,29.775,142.025,528.875,0.000,0.000,22.835,30.445,187.343,10.000,0.000,0.000,16.648,1384.440,7979.205,579.808,1828.002,623.467,33.374,1507.635,0.000,1792.815,0.000,57.453
$DEVICE_MAMPS,153.400,52.156,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.729,503.607,895.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,748
$CAP_FILE_SIZE,116753,0
$CFSIZE,260165632,226541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,065632,2106.107,-15748.812,42,1.1,42,9.8