version: 66.03
glider: 114
mission: 3
dive: 551
start: 12 8 108 7 3 48
data:
$ID,114
$MISSION,3
$DIVE,551
$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,-602622.12
$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,74
$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
$GPS1,065632,2106.107,-15748.812,42,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.5
$GPS2,070251,2106.104,-15748.846,13,1.1,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210,-0.100
$KALMAN_X,-183777.9,-721.7,273.1,192390.9,-1902.8
$KALMAN_Y,-168232.2,16.3,171.3,148645.2,-536.9
$MHEAD_RNG_PITCHd_Wd,105.7,7764,-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,-165.5,0.0,0.0,0,108,0.00,0.00,-75.85,0.000,2,0.000,0.000,408,2076,2985
$GC,112,-1.06,-165.5,3.9,-4.6,14,137,12.00,2.53,-6.62,0.000,4,0.156,0.046,2549,631,3408
$GC,185,-1.19,-165.5,19.4,-9.0,26,192,0.00,2.35,0.00,0.000,6,0.000,0.021,2549,2010,3408
$GC,457,-1.27,-165.5,39.2,-6.8,63,462,0.15,2.45,0.00,0.000,4,0.058,0.033,2509,3437,3408
$GC,548,-1.34,-165.5,47.0,-8.1,70,554,0.00,2.35,0.00,0.000,6,0.000,0.023,2509,2035,3408
$GC,810,-1.34,-165.5,70.2,-9.4,95,814,0.00,2.42,0.00,0.000,4,0.000,0.034,2509,3443,3408
$GC,869,-1.44,-165.5,75.6,-8.6,100,874,0.15,2.35,0.00,0.000,6,0.058,0.022,2473,2040,3408
$GC,1135,-1.40,-165.5,101.5,-9.6,124,1139,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3442,3409
$GC,1175,-1.40,-165.5,105.7,-9.2,127,1180,0.00,2.38,0.00,0.000,6,0.000,0.022,2472,2028,3409
$GC,1501,-1.40,-165.5,134.9,-9.1,157,1505,0.00,2.45,0.00,0.000,4,0.000,0.034,2473,3446,3409
$GC,1546,-1.45,-165.5,139.0,-8.6,160,1552,0.00,2.35,0.00,0.000,6,0.000,0.022,2473,2040,3409
$GC,1872,-1.45,-165.5,165.6,-8.2,191,1876,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3445,3410
$GC,1939,-1.54,-165.5,171.2,-7.8,196,1945,0.00,2.35,0.00,0.000,6,0.000,0.023,2473,2040,3410
$GC,2265,-1.58,-165.5,198.6,-7.8,227,2270,0.12,2.42,0.00,0.000,4,0.061,0.034,2441,3442,3410
$GC,2309,-1.58,-165.5,202.9,-9.2,229,2314,0.00,2.38,0.00,0.000,6,0.000,0.024,2441,2030,3410
$GC,2633,-1.58,-165.5,230.7,-7.5,245,2637,0.00,2.45,0.00,0.000,4,0.000,0.035,2441,3444,3410
$GC,2696,-1.62,-165.5,235.4,-7.0,248,2700,0.00,2.38,0.00,0.000,6,0.000,0.024,2441,2036,3410
$GC,3023,-1.62,-165.5,262.1,-8.9,264,3027,0.00,2.42,0.00,0.000,4,0.000,0.038,2441,3439,3410
$GC,3069,-1.69,-165.5,266.2,-8.8,266,3074,0.00,2.38,0.00,0.000,6,0.000,0.025,2441,2038,3410
$GC,3397,-1.69,-165.5,292.5,-7.5,282,3401,0.00,2.45,0.00,0.000,4,0.000,0.038,2441,3445,3409
$GC,3443,-1.74,-165.5,295.8,-6.5,284,3447,0.15,2.40,0.00,0.000,6,0.062,0.026,2405,2030,3409
$GC,3760,-1.70,-165.5,323.9,-9.1,294,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2029,3407
$GC,4085,-1.66,-165.5,354.7,-9.4,302,4090,0.12,2.47,0.00,0.000,4,0.103,0.039,2429,3440,3404
$GC,4142,-1.71,-165.5,359.4,-7.4,303,4147,0.00,2.40,0.00,0.000,6,0.000,0.028,2428,2035,3404
$GC,4491,-1.71,-165.5,384.3,-6.8,312,4495,0.00,2.47,0.00,0.000,4,0.000,0.041,2429,3443,3401
$GC,4547,-1.76,-165.5,388.1,-7.0,313,4551,0.00,2.40,0.00,0.000,6,0.000,0.028,2428,2042,3400
$GC,4898,-1.76,-165.5,412.5,-7.1,322,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2041,3399
$GC,5220,-1.76,-165.5,435.9,-7.3,330,5225,0.10,2.47,0.00,0.000,4,0.081,0.041,2406,3442,3396
$GC,5265,-1.76,-165.5,440.0,-9.6,331,5270,0.00,2.42,0.00,0.000,6,0.000,0.030,2405,2029,3395
$STATE,5378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5378,begin apogee
$GC,5387,-0.33,0.0,450.5,9.2,334,5522,1.50,0.00,131.25,0.934,6,0.088,0.000,2716,1934,2733
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5523,begin climb
$GC,5526,1.06,165.5,457.6,0.0,337,5667,1.35,2.55,132.50,0.917,4,0.048,0.051,3017,560,2058
$GC,5927,0.51,165.5,426.9,15.2,346,5932,0.62,2.42,0.00,0.000,6,0.130,0.030,2905,1947,2056
$GC,6247,0.23,165.5,402.0,7.1,354,6252,0.32,2.53,0.00,0.000,4,0.120,0.051,2842,565,2055
$GC,6360,0.13,206.8,395.3,5.6,356,6400,0.12,2.42,32.22,0.907,6,0.133,0.031,2822,1954,1890
$GC,6748,0.11,255.1,375.6,5.4,366,6792,0.00,2.58,38.78,0.904,4,0.000,0.046,2821,3351,1693
$GC,6816,0.07,283.3,371.6,6.0,367,6846,0.00,2.45,23.45,0.894,6,0.000,0.033,2821,1965,1578
$GC,7162,0.04,315.0,350.5,5.9,376,7193,0.12,2.62,25.58,0.887,4,0.123,0.051,2800,542,1447
$GC,7223,0.07,354.3,347.3,5.7,377,7261,0.00,2.47,31.70,0.877,6,0.000,0.030,2800,1953,1288
$GC,7572,0.07,372.6,326.1,6.3,386,7592,0.00,2.55,14.95,0.867,4,0.000,0.044,2799,3364,1214
$GC,7656,0.12,400.4,320.7,6.0,388,7685,0.00,2.50,23.27,0.864,6,0.000,0.032,2800,1938,1099
$GC,8004,0.12,400.4,294.0,9.0,398,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1938,1099
$GC,8314,0.12,400.4,267.1,8.7,413,8318,0.00,2.53,0.00,0.000,4,0.000,0.040,2799,3355,1099
$GC,8384,0.12,400.4,261.5,8.2,416,8388,0.00,2.45,0.00,0.000,6,0.000,0.030,2800,1948,1099
$GC,8711,0.12,405.0,239.2,6.7,432,8717,0.00,0.00,4.12,0.802,6,0.000,0.000,2800,1948,1082
$GC,9021,0.12,405.0,215.4,8.2,447,9025,0.00,2.50,0.00,0.000,4,0.000,0.038,2796,3366,1082
$GC,9077,0.18,405.0,210.6,8.4,449,9082,0.12,2.45,0.00,0.000,6,0.077,0.029,2827,1949,1082
$GC,9402,0.18,430.6,187.8,6.1,472,9428,0.00,2.55,20.98,0.772,4,0.000,0.048,2827,548,976
$GC,9452,0.18,430.6,184.3,7.1,476,9457,0.00,2.45,0.00,0.000,6,0.000,0.026,2827,1962,976
$GC,9782,0.18,430.6,161.8,7.4,506,9786,0.00,2.42,0.00,0.000,4,0.000,0.038,2827,3350,976
$GC,9804,0.18,430.6,159.8,7.4,507,9810,0.00,2.42,0.00,0.000,6,0.000,0.028,2826,1944,976
$GC,10133,0.21,447.1,139.5,6.3,538,10155,0.00,2.53,13.65,0.718,4,0.000,0.035,2827,3342,910
$GC,10193,0.27,467.8,135.6,6.2,543,10216,0.10,2.42,16.70,0.715,6,0.077,0.027,2851,1940,825
$GC,10535,0.22,467.8,104.5,9.2,575,10539,0.00,2.47,0.00,0.000,4,0.000,0.035,2850,3356,827
$GC,10568,0.22,467.8,101.5,8.3,577,10574,0.00,2.42,0.00,0.000,6,0.000,0.026,2850,1940,827
$GC,10899,0.37,553.2,82.1,4.3,608,10972,0.00,2.50,68.10,0.644,4,0.000,0.033,2851,3354,476
$GC,11002,0.47,577.7,76.4,6.1,617,11020,0.20,2.42,11.57,0.644,6,0.055,0.025,2897,1943,420
$GC,11275,0.37,577.7,50.8,10.6,643,11278,0.12,0.00,0.30,1.065,6,0.099,0.000,2873,1944,420
$GC,11535,0.33,577.7,27.1,9.2,669,11541,0.00,2.45,0.00,0.000,4,0.000,0.032,2874,3358,421
$GC,11577,0.33,577.7,23.1,8.9,676,11583,0.00,2.40,0.30,0.935,6,0.000,0.024,2873,1948,420
$STATE,11779,end climb,SURFACE_DEPTH_REACHED
$STATE,11779,begin surface coast
$FINISH,1.0,1.010297
$STATE,11848,end surface coast,CONTROL_FINISHED_OK
$STATE,11848,begin surface
$SM_CCo,11933,0.00,0.000,0,0,420,567.38
$SM_GC,1.70,10.95,0.00,0.00,0.042,0.000,0.000,407,2073,420,-10.91,0.93,567.38
$IRIDIUM_FIX,2057.14,-15748.75,040398,030339
$TT8_MAMPS,0.027612
$HUMID,1805
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,23.6,76.424
$10V_AH,10.2,46.655
$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,28.350,127.525,589.425,0.000,0.000,29.958,32.627,167.583,10.750,0.000,0.000,14.769,1336.572,7992.882,614.901,1767.555,599.604,33.372,1517.636,0.000,1734.175,0.000,60.564
$DEVICE_MAMPS,155.701,53.690,1064.596,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.813,483.197,852.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,724
$CAP_FILE_SIZE,112822,0
$CFSIZE,260165632,226480128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,102355,2104.711,-15749.105,34,2.0,34,9.8