version: 66.03
glider: 114
mission: 3
dive: 559
start: 12 9 108 10 26 6
data:
$ID,114
$MISSION,3
$DIVE,559
$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,-602762.75
$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,32
$R_STBD_OVSHOOT,63
$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
$GPS1,101638,2103.433,-15745.234,39,1.1,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,102509,2103.419,-15745.256,13,1.1,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.056,0.226
$KALMAN_X,-198345.4,721.2,315.6,211640.7,-1766.3
$KALMAN_Y,-176804.7,719.8,190.4,151511.5,-1439.8
$MHEAD_RNG_PITCHd_Wd,4.1,14686,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,83,0.00,0.00,-53.58,0.000,2,0.000,0.000,409,2062,2672
$GC,87,-1.06,-165.5,3.0,-3.3,10,123,11.95,2.38,-13.98,0.000,4,0.153,0.045,2552,3414,3410
$GC,142,-0.83,-165.5,12.0,-12.7,19,149,0.28,2.35,0.00,0.000,6,0.074,0.023,2609,2021,3410
$GC,422,-1.05,-165.5,24.5,-4.4,68,429,0.20,2.42,0.00,0.000,4,0.051,0.032,2556,3424,3410
$GC,477,-1.20,-165.5,27.5,-5.8,77,485,0.12,2.35,0.00,0.000,6,0.061,0.022,2525,2013,3410
$GC,751,-1.24,-165.5,48.4,-7.8,105,755,0.00,2.42,0.00,0.000,4,0.000,0.033,2525,3419,3411
$GC,803,-1.36,-165.5,52.6,-7.5,109,810,0.15,2.33,0.00,0.000,6,0.055,0.022,2488,2030,3411
$GC,1065,-1.36,-165.5,77.8,-9.1,134,1069,0.00,2.40,0.00,0.000,4,0.000,0.033,2488,3423,3411
$GC,1094,-1.36,-165.5,80.6,-9.4,136,1098,0.00,2.33,0.00,0.000,6,0.000,0.022,2488,2034,3411
$GC,1423,-1.36,-165.5,109.0,-7.9,166,1427,0.00,2.38,0.00,0.000,4,0.000,0.032,2488,3420,3411
$GC,1503,-1.47,-165.5,115.7,-7.8,173,1507,0.00,2.30,0.00,0.000,6,0.000,0.022,2488,2041,3411
$GC,1834,-1.51,-165.5,141.5,-7.3,204,1839,0.12,2.38,0.00,0.000,4,0.060,0.031,2455,3426,3412
$GC,1879,-1.51,-165.5,145.6,-9.9,207,1885,0.00,2.33,0.00,0.000,6,0.000,0.023,2455,2035,3411
$GC,2204,-1.51,-165.5,175.5,-9.0,238,2208,0.00,2.38,0.00,0.000,4,0.000,0.033,2455,3418,3412
$GC,2271,-1.55,-165.5,181.9,-8.6,243,2277,0.00,2.33,0.00,0.000,6,0.000,0.024,2455,2034,3411
$GC,2599,-1.55,-165.5,210.6,-8.3,268,2603,0.00,2.38,0.00,0.000,4,0.000,0.034,2455,3414,3411
$GC,2644,-1.62,-165.5,214.8,-7.8,270,2648,0.00,2.33,0.00,0.000,6,0.000,0.025,2455,2036,3412
$GC,2965,-1.62,-165.5,235.9,-6.2,286,2969,0.00,2.38,0.00,0.000,4,0.000,0.035,2455,3421,3412
$GC,3013,-1.69,-165.5,239.3,-6.4,288,3018,0.15,2.35,0.00,0.000,6,0.059,0.025,2418,2031,3411
$GC,3343,-1.64,-165.5,272.2,-10.0,304,3347,0.00,2.40,0.00,0.000,4,0.000,0.035,2418,3419,3411
$GC,3388,-1.64,-165.5,277.0,-9.4,306,3392,0.00,2.35,0.00,0.000,6,0.000,0.026,2419,2032,3412
$GC,3729,-1.64,-165.5,304.3,-7.3,322,3733,0.00,2.40,0.00,0.000,4,0.000,0.037,2418,3414,3411
$GC,3769,-1.64,-165.5,307.0,-6.8,323,3773,0.00,2.35,0.00,0.000,6,0.000,0.026,2418,2030,3411
$GC,4096,-1.64,-165.5,332.4,-8.8,331,4100,0.00,2.42,0.00,0.000,4,0.000,0.038,2418,3421,3408
$GC,4137,-1.64,-165.5,336.5,-9.3,332,4141,0.00,2.38,0.00,0.000,6,0.000,0.028,2419,2031,3408
$GC,4461,-1.64,-165.5,365.3,-9.1,340,4465,0.00,2.42,0.00,0.000,4,0.000,0.038,2418,3421,3406
$GC,4502,-1.64,-165.5,368.8,-8.7,341,4506,0.00,2.38,0.00,0.000,6,0.000,0.028,2419,2033,3406
$GC,4827,-1.64,-165.5,395.5,-8.1,349,4831,0.00,2.42,0.00,0.000,4,0.000,0.040,2418,3420,3404
$GC,4883,-1.69,-165.5,399.8,-7.4,350,4888,0.00,2.38,0.00,0.000,6,0.000,0.029,2418,2033,3403
$GC,5199,-1.69,-165.5,423.7,-7.7,358,5203,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,3413,3401
$GC,5245,-1.72,-165.5,427.4,-7.7,359,5249,0.00,2.35,0.00,0.000,6,0.000,0.030,2418,2044,3400
$GC,5564,-1.72,-165.5,448.9,-6.5,367,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2043,3399
$STATE,5603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5603,begin apogee
$GC,5612,-0.33,0.0,451.2,6.2,368,5747,1.42,0.00,131.60,0.941,6,0.091,0.000,2713,1935,2733
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5752,1.06,165.5,454.6,0.0,371,5889,1.38,0.00,132.30,0.917,6,0.050,0.000,3018,1935,2058
$GC,6200,0.56,165.5,417.2,11.4,382,6205,0.52,2.50,0.00,0.000,4,0.125,0.051,2920,564,2057
$GC,6302,0.21,165.5,407.6,9.3,384,6307,0.45,2.38,0.00,0.000,6,0.146,0.031,2838,1917,2056
$GC,6651,0.18,225.6,389.1,5.0,393,6706,0.00,2.67,47.03,0.908,4,0.000,0.044,2838,3360,1813
$GC,6742,0.11,256.8,384.4,5.9,395,6774,0.12,2.47,25.98,0.893,6,0.133,0.033,2818,1961,1684
$GC,7099,0.03,256.8,360.5,7.1,403,7101,0.12,0.00,0.00,0.000,6,0.125,0.000,2796,1961,1683
$GC,7425,0.11,324.6,343.2,4.8,411,7484,0.00,2.58,53.47,0.890,4,0.000,0.040,2796,3358,1409
$GC,7537,0.13,336.5,336.8,6.5,413,7553,0.00,2.50,10.23,0.867,6,0.000,0.032,2797,1938,1361
$GC,7879,0.13,336.5,313.9,6.8,422,7883,0.00,2.53,0.00,0.000,4,0.000,0.039,2796,3355,1360
$GC,7906,0.17,363.3,312.1,6.0,422,7935,0.15,2.47,21.58,0.870,6,0.076,0.031,2828,1944,1252
$GC,8250,0.09,363.3,283.2,8.0,435,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1944,1252
$GC,8557,0.03,363.3,259.1,8.4,450,8562,0.17,2.50,0.00,0.000,4,0.107,0.038,2796,3355,1252
$GC,8597,0.03,363.3,255.7,8.7,452,8601,0.00,2.45,0.00,0.000,6,0.000,0.030,2796,1950,1252
$GC,8924,0.05,374.9,232.3,6.5,468,8936,0.00,0.00,10.07,0.818,6,0.000,0.000,2796,1950,1204
$GC,9234,0.05,374.9,211.3,8.0,483,9238,0.00,2.47,0.00,0.000,4,0.000,0.036,2795,3356,1204
$GC,9262,0.05,374.9,209.1,7.6,484,9267,0.00,2.45,0.00,0.000,6,0.000,0.028,2796,1938,1204
$GC,9593,0.21,449.7,189.4,4.6,508,9661,0.17,2.58,59.33,0.766,4,0.064,0.036,2840,3354,899
$GC,9686,0.15,449.7,182.7,7.7,517,9690,0.00,2.45,0.00,0.000,6,0.000,0.028,2840,1953,899
$GC,10017,0.10,449.7,157.3,7.9,547,10021,0.15,2.47,0.00,0.000,4,0.100,0.034,2808,3363,899
$GC,10046,0.10,449.7,154.6,8.2,549,10050,0.00,2.45,0.00,0.000,6,0.000,0.027,2807,1948,899
$GC,10377,0.23,499.9,135.6,5.3,579,10424,0.15,2.58,39.58,0.704,4,0.063,0.033,2848,3365,695
$GC,10477,0.23,499.9,128.2,7.6,588,10482,0.00,2.45,0.00,0.000,6,0.000,0.026,2848,1948,695
$GC,10804,0.23,499.9,102.9,7.6,618,10808,0.00,2.47,0.00,0.000,4,0.000,0.033,2848,3368,696
$GC,10845,0.23,499.9,99.8,7.1,621,10849,0.00,2.45,0.00,0.000,6,0.000,0.025,2848,1943,696
$GC,11175,0.27,522.2,76.6,6.2,651,11200,0.00,2.55,18.45,0.640,4,0.000,0.044,2848,548,603
$GC,11214,0.32,535.7,73.8,6.4,654,11232,0.00,2.40,11.65,0.641,6,0.000,0.022,2848,1964,548
$GC,11492,0.38,549.3,56.9,6.4,680,11514,0.12,2.47,12.30,0.623,4,0.067,0.033,2878,3352,493
$GC,11551,0.38,549.3,52.3,7.6,685,11555,0.00,2.40,0.00,0.000,6,0.000,0.025,2878,1948,493
$GC,11814,0.33,549.3,30.3,9.9,709,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1949,494
$GC,12083,0.29,549.3,5.6,8.9,756,12090,0.12,2.40,0.00,0.000,4,0.095,0.030,2854,3345,495
$STATE,12095,end climb,SURFACE_DEPTH_REACHED
$STATE,12095,begin surface coast
$FINISH,1.4,1.023300
$STATE,12135,end surface coast,CONTROL_FINISHED_OK
$STATE,12135,begin surface
$SM_CCo,12221,0.00,0.000,0,0,496,548.98
$SM_GC,1.69,10.80,0.00,0.00,0.041,0.000,0.000,408,2006,496,-10.90,-0.96,548.98
$IRIDIUM_FIX,2054.83,-15804.20,050398,070728
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,7
$24V_AH,23.6,77.595
$10V_AH,10.2,47.336
$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,28.850,135.675,573.550,0.000,0.000,52.801,122.123,144.916,10.750,0.000,0.000,14.842,1389.841,8277.074,614.674,1771.511,681.528,33.370,1505.795,0.000,1740.164,0.000,57.450
$DEVICE_MAMPS,152.633,51.389,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.398,510.929,930.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41153,765
$CAP_FILE_SIZE,114657,0
$CFSIZE,260165632,226004992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,135107,2104.896,-15745.328,34,1.2,40,9.8