version: 66.03
glider: 114
mission: 3
dive: 553
start: 12 8 108 13 56 54
data:
$ID,114
$MISSION,3
$DIVE,553
$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,-602656.12
$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,33
$R_STBD_OVSHOOT,67
$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
$GPS1,134937,2103.244,-15749.086,34,1.2,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-59.0
$GPS2,135557,2103.229,-15749.046,15,1.2,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.227,-0.051
$KALMAN_X,-189116.2,-440.1,-504.5,197884.6,-940.6
$KALMAN_Y,-170090.3,-179.4,-310.3,145868.5,-299.6
$MHEAD_RNG_PITCHd_Wd,92.9,4013,-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,-165.5,0.0,0.0,0,112,0.00,0.00,-80.43,0.000,2,0.000,0.000,407,2086,2817
$GC,117,-1.06,-165.5,3.2,-3.2,15,147,11.95,2.58,-10.52,0.000,4,0.153,0.050,2549,629,3409
$GC,178,-1.02,-165.5,14.6,-11.8,25,185,0.00,2.38,0.00,0.000,6,0.000,0.022,2549,2041,3410
$GC,453,-1.11,-165.5,35.1,-7.2,68,457,0.00,2.40,0.00,0.000,4,0.000,0.035,2549,3440,3409
$GC,540,-1.25,-165.5,41.4,-6.9,75,547,0.15,2.38,0.00,0.000,6,0.058,0.022,2514,2023,3409
$GC,802,-1.25,-165.5,67.4,-10.5,100,806,0.00,2.45,0.00,0.000,4,0.000,0.034,2514,3441,3409
$GC,848,-1.33,-165.5,72.1,-9.2,103,855,0.00,2.35,0.00,0.000,6,0.000,0.022,2514,2039,3409
$GC,1110,-1.33,-165.5,96.6,-9.0,128,1114,0.00,2.42,0.00,0.000,4,0.000,0.034,2513,3441,3409
$GC,1174,-1.43,-165.5,102.2,-8.9,133,1179,0.17,2.38,0.00,0.000,6,0.051,0.022,2471,2029,3410
$GC,1499,-1.43,-165.5,137.0,-7.9,163,1504,0.00,2.45,0.00,0.000,4,0.000,0.033,2471,3446,3410
$GC,1552,-1.50,-165.5,140.3,-6.5,167,1557,0.00,2.38,0.00,0.000,6,0.000,0.022,2471,2035,3409
$GC,1879,-1.53,-165.5,164.9,-7.5,197,1883,0.00,2.42,0.00,0.000,4,0.000,0.034,2471,3440,3410
$GC,1980,-1.63,-165.5,174.2,-9.1,205,1987,0.15,2.35,0.00,0.000,6,0.056,0.023,2433,2040,3410
$GC,2316,-1.59,-165.5,203.7,-7.9,235,2320,0.00,2.42,0.00,0.000,4,0.000,0.035,2433,3440,3410
$GC,2343,-1.59,-165.5,206.4,-9.5,236,2347,0.00,2.38,0.00,0.000,6,0.000,0.024,2433,2028,3410
$GC,2660,-1.59,-165.5,235.5,-9.1,251,2664,0.00,2.45,0.00,0.000,4,0.000,0.035,2433,3446,3410
$GC,2712,-1.63,-165.5,240.0,-7.9,253,2717,0.00,2.38,0.00,0.000,6,0.000,0.024,2433,2042,3410
$GC,3035,-1.63,-165.5,266.6,-9.2,269,3039,0.00,2.42,0.00,0.000,4,0.000,0.037,2433,3442,3410
$GC,3109,-1.67,-165.5,274.4,-10.3,272,3113,0.00,2.38,0.00,0.000,6,0.000,0.025,2433,2041,3410
$GC,3450,-1.67,-165.5,309.1,-9.8,287,3454,0.00,2.45,0.00,0.000,4,0.000,0.039,2433,3443,3408
$GC,3479,-1.67,-165.5,311.7,-9.3,287,3484,0.00,2.40,0.00,0.000,6,0.000,0.028,2433,2036,3408
$GC,3811,-1.67,-165.5,337.6,-7.7,295,3815,0.00,2.47,0.00,0.000,4,0.000,0.041,2433,3445,3407
$GC,3872,-1.74,-165.5,343.0,-8.5,296,3876,0.00,2.40,0.00,0.000,6,0.000,0.028,2433,2041,3406
$GC,4218,-1.74,-165.5,370.2,-7.5,305,4222,0.00,2.45,0.00,0.000,4,0.000,0.041,2433,3435,3403
$GC,4286,-1.81,-165.5,374.9,-6.2,306,4291,0.17,2.40,0.00,0.000,6,0.063,0.029,2393,2033,3403
$GC,4625,-1.75,-165.5,401.1,-8.2,315,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2033,3400
$GC,4949,-1.69,-165.5,431.3,-9.6,323,4954,0.15,2.47,0.00,0.000,4,0.107,0.041,2425,3434,3398
$GC,5006,-1.75,-165.5,436.5,-8.9,324,5010,0.00,2.40,0.00,0.000,6,0.000,0.030,2425,2038,3397
$STATE,5189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5189,begin apogee
$GC,5198,-0.33,0.0,452.0,8.4,329,5334,1.40,0.00,131.62,0.932,6,0.088,0.000,2714,1930,2733
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5338,1.06,165.5,458.0,0.0,332,5479,1.38,2.55,133.07,0.914,4,0.048,0.051,3020,554,2058
$GC,5739,0.51,165.5,426.7,13.6,341,5744,0.62,2.45,0.00,0.000,6,0.147,0.031,2907,1954,2056
$GC,6059,0.23,165.5,397.4,8.7,349,6064,0.32,2.55,0.00,0.000,4,0.120,0.051,2844,560,2054
$GC,6166,0.05,165.5,389.5,7.0,351,6171,0.22,2.42,0.00,0.000,6,0.238,0.031,2803,1951,2054
$GC,6510,0.11,241.6,372.5,4.6,360,6572,0.00,0.00,60.05,0.895,6,0.000,0.000,2803,1951,1747
$GC,6911,0.23,338.5,353.6,4.0,370,6995,0.17,2.55,77.82,0.882,4,0.075,0.044,2839,3352,1352
$GC,7013,0.10,338.5,346.9,8.1,372,7018,0.12,2.45,0.00,0.000,6,0.114,0.031,2816,1966,1352
$GC,7350,0.03,338.5,323.1,7.2,381,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1966,1351
$GC,7677,-0.03,341.8,300.8,6.7,389,7687,0.15,2.53,3.25,0.813,4,0.110,0.040,2789,3354,1339
$GC,7723,-0.03,342.0,297.5,6.8,390,7727,0.00,2.47,0.00,0.000,6,0.000,0.031,2789,1937,1339
$GC,8050,0.02,368.5,273.9,6.0,406,8079,0.00,2.62,21.83,0.847,4,0.000,0.051,2789,539,1229
$GC,8109,0.21,458.7,271.3,4.2,408,8188,0.22,2.45,71.95,0.833,6,0.065,0.028,2838,1960,863
$GC,8505,0.12,458.7,241.7,9.0,428,8509,0.00,2.45,0.00,0.000,4,0.000,0.042,2835,3342,862
$GC,8568,0.12,458.7,236.2,8.4,431,8572,0.00,2.45,0.00,0.000,6,0.000,0.031,2838,1946,862
$GC,8902,0.04,458.7,205.2,8.9,447,8907,0.15,2.53,0.00,0.000,4,0.104,0.048,2806,538,862
$GC,8936,0.08,478.8,202.8,6.2,448,8957,0.00,2.42,16.27,0.784,6,0.000,0.027,2806,1951,781
$GC,9276,0.18,533.6,187.0,5.2,477,9329,0.10,2.53,44.17,0.758,4,0.082,0.038,2828,3345,557
$GC,9370,0.22,533.6,179.5,7.9,485,9376,0.00,2.45,0.00,0.000,6,0.000,0.028,2828,1934,560
$GC,9698,0.22,533.6,150.0,8.7,516,9702,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3349,562
$GC,9740,0.25,533.6,146.1,9.5,519,9744,0.00,2.42,0.00,0.000,6,0.000,0.027,2828,1943,563
$GC,10070,0.25,533.6,119.7,7.6,549,10074,0.00,2.45,0.00,0.000,4,0.000,0.034,2828,3352,564
$GC,10115,0.32,533.6,115.6,8.5,552,10122,0.12,2.40,0.00,0.000,6,0.071,0.026,2858,1940,565
$GC,10441,0.32,533.6,86.2,8.9,583,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1940,565
$GC,10759,0.32,533.6,56.2,9.8,613,10771,0.00,2.47,3.00,0.630,4,0.000,0.032,2858,3345,557
$GC,10800,0.37,533.6,52.5,9.4,616,10807,0.00,2.38,0.00,0.000,6,0.000,0.024,2858,1943,557
$GC,11063,0.37,533.6,30.9,8.3,641,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1942,558
$GC,11331,0.37,533.6,9.0,8.6,687,11338,0.00,2.42,0.00,0.000,4,0.000,0.032,2858,3353,558
$GC,11379,0.41,533.6,5.3,8.2,695,11386,0.00,2.38,0.00,0.000,6,0.000,0.025,2858,1948,559
$STATE,11390,end climb,SURFACE_DEPTH_REACHED
$STATE,11390,begin surface coast
$FINISH,1.0,1.006854
$STATE,11475,end surface coast,CONTROL_FINISHED_OK
$STATE,11475,begin surface
$SM_CCo,11560,0.00,0.000,0,0,559,533.28
$SM_GC,1.65,10.82,0.00,0.00,0.042,0.000,0.000,410,2065,559,-10.90,0.71,533.28
$IRIDIUM_FIX,2059.45,-15748.75,040398,101000
$TT8_MAMPS,0.027612
$HUMID,1803
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,6
$24V_AH,23.6,76.736
$10V_AH,10.2,46.823
$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,28.575,122.375,563.050,0.000,0.000,24.393,30.803,173.549,10.500,0.000,0.000,16.910,1306.531,7727.727,632.985,1697.686,574.548,33.375,1477.035,0.000,1659.705,0.000,57.440
$DEVICE_MAMPS,237.770,51.389,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.428,472.200,844.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,712
$CAP_FILE_SIZE,107859,0
$CFSIZE,260165632,226361344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,171038,2102.333,-15748.544,25,1.5,25,9.8