version: 66.03
glider: 114
mission: 3
dive: 561
start: 12 9 108 17 31 54
data:
$ID,114
$MISSION,3
$DIVE,561
$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,-602790.81
$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,37
$R_STBD_OVSHOOT,76
$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
$GPS1,172438,2106.189,-15746.109,28,1.4,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.3
$GPS2,173057,2106.183,-15746.057,12,1.5,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.096,0.212
$KALMAN_X,-198348.3,277.1,111.4,210927.8,-498.8
$KALMAN_Y,-176900.6,351.2,125.1,157172.9,-964.0
$MHEAD_RNG_PITCHd_Wd,325.9,9816,-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,-165.5,0.0,0.0,0,113,0.00,0.00,-80.53,0.000,2,0.000,0.000,410,2069,2797
$GC,117,-1.06,-165.5,3.1,-2.9,15,147,11.95,2.30,-11.02,0.000,4,0.153,0.044,2551,3400,3407
$GC,243,-1.21,-165.5,18.0,-6.7,36,250,0.12,2.30,0.00,0.000,6,0.061,0.021,2521,2026,3407
$GC,516,-1.21,-165.5,39.1,-9.6,76,520,0.00,2.40,0.00,0.000,4,0.000,0.034,2521,3413,3407
$GC,567,-1.31,-165.5,43.5,-7.0,80,573,0.00,2.30,0.00,0.000,6,0.000,0.021,2521,2036,3407
$GC,829,-1.34,-165.5,68.9,-9.0,105,834,0.10,2.35,0.00,0.000,4,0.066,0.031,2497,3399,3407
$GC,897,-1.39,-165.5,75.5,-9.5,110,903,0.00,2.28,0.00,0.000,6,0.000,0.021,2497,2037,3407
$GC,1160,-1.39,-165.5,100.6,-9.1,135,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2037,3407
$GC,1481,-1.42,-165.5,127.8,-9.1,165,1485,0.00,2.35,0.00,0.000,4,0.000,0.032,2496,3412,3407
$GC,1584,-1.51,-165.5,137.2,-8.6,174,1588,0.15,2.30,0.00,0.000,6,0.056,0.022,2460,2035,3407
$GC,1915,-1.51,-165.5,167.9,-8.9,205,1918,0.00,2.35,0.00,0.000,4,0.000,0.032,2460,3404,3407
$GC,1943,-1.51,-165.5,170.5,-9.1,207,1949,0.00,2.30,0.00,0.000,6,0.000,0.022,2460,2031,3407
$GC,2269,-1.51,-165.5,201.0,-10.2,238,2273,0.00,2.38,0.00,0.000,4,0.000,0.033,2460,3412,3407
$GC,2303,-1.51,-165.5,204.8,-10.4,239,2309,0.00,2.30,0.00,0.000,6,0.000,0.023,2460,2042,3407
$GC,2620,-1.51,-165.5,229.8,-7.0,255,2624,0.00,2.35,0.00,0.000,4,0.000,0.033,2460,3404,3407
$GC,2660,-1.58,-165.5,232.7,-6.7,256,2666,0.00,2.30,0.00,0.000,6,0.000,0.024,2460,2039,3407
$GC,2976,-1.61,-165.5,257.0,-8.8,272,2980,0.00,2.35,0.00,0.000,4,0.000,0.035,2459,3404,3407
$GC,3038,-1.70,-165.5,262.2,-8.3,274,3045,0.17,2.30,0.00,0.000,6,0.056,0.025,2417,2041,3407
$GC,3355,-1.67,-165.5,294.0,-9.4,290,3359,0.00,2.38,0.00,0.000,4,0.000,0.037,2417,3409,3407
$GC,3406,-1.67,-165.5,298.8,-8.9,292,3410,0.00,2.33,0.00,0.000,6,0.000,0.026,2417,2041,3407
$GC,3720,-1.67,-165.5,325.8,-8.7,300,3724,0.00,2.47,0.00,0.000,4,0.000,0.044,2417,629,3405
$GC,3747,-1.67,-165.5,328.8,-9.8,300,3751,0.00,2.33,0.00,0.000,6,0.000,0.026,2417,2001,3404
$GC,4085,-1.67,-165.5,358.5,-8.8,309,4089,0.00,2.53,0.00,0.000,4,0.000,0.040,2417,3452,3402
$GC,4163,-1.67,-165.5,366.2,-9.1,310,4169,0.00,2.42,0.00,0.000,6,0.000,0.029,2417,2037,3401
$GC,4497,-1.67,-165.5,396.3,-9.0,319,4501,0.00,2.47,0.00,0.000,4,0.000,0.039,2417,3447,3399
$GC,4544,-1.70,-165.5,400.4,-8.2,320,4548,0.00,2.42,0.00,0.000,6,0.000,0.029,2417,2037,3399
$GC,4863,-1.70,-165.5,425.9,-7.6,328,4867,0.00,2.47,0.00,0.000,4,0.000,0.039,2417,3445,3396
$GC,4896,-1.70,-165.5,428.8,-7.9,328,4902,0.00,2.42,0.00,0.000,6,0.000,0.029,2417,2033,3396
$STATE,5185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5185,begin apogee
$GC,5193,-0.33,0.0,452.7,8.4,336,5328,1.42,0.00,131.48,0.927,6,0.085,0.000,2713,1937,2733
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5333,1.06,165.5,458.8,0.0,339,5474,1.38,2.55,132.50,0.910,4,0.048,0.051,3020,558,2058
$GC,5517,0.50,165.5,455.6,12.3,343,5522,0.65,2.45,0.00,0.000,6,0.140,0.029,2904,1954,2058
$GC,5867,0.22,165.5,427.2,7.5,352,5869,0.32,0.00,0.00,0.000,6,0.117,0.000,2843,1954,2055
$GC,6192,0.09,174.0,407.0,6.6,360,6207,0.15,2.62,6.97,0.884,4,0.124,0.051,2812,562,2023
$GC,6270,-0.01,174.0,401.8,7.0,361,6274,0.12,2.42,0.00,0.000,6,0.124,0.030,2791,1956,2022
$GC,6603,0.16,294.8,388.7,3.2,369,6705,0.15,2.53,96.03,0.903,4,0.077,0.044,2827,3352,1530
$GC,6731,0.09,310.2,382.2,6.4,372,6751,0.00,2.45,12.73,0.878,6,0.000,0.032,2827,1966,1468
$GC,7096,-0.00,310.2,354.9,7.7,381,7101,0.17,2.58,0.00,0.000,4,0.108,0.050,2793,544,1467
$GC,7152,-0.00,310.2,350.5,7.7,382,7156,0.00,2.45,0.00,0.000,6,0.000,0.029,2793,1954,1467
$GC,7500,0.03,331.7,328.4,6.2,391,7524,0.00,2.58,17.25,0.877,4,0.000,0.042,2792,3351,1380
$GC,7561,0.07,354.2,324.9,6.2,392,7587,0.00,2.47,18.75,0.874,6,0.000,0.032,2793,1944,1288
$GC,7913,0.20,425.1,307.8,4.7,401,7972,0.17,0.00,56.78,0.858,6,0.072,0.000,2831,1943,1000
$GC,8262,0.12,425.1,278.9,8.7,415,8267,0.00,2.50,0.00,0.000,4,0.000,0.040,2828,3351,999
$GC,8319,0.12,425.1,273.5,9.5,417,8325,0.00,2.42,0.00,0.000,6,0.000,0.031,2831,1952,999
$GC,8635,0.05,425.1,249.1,7.4,433,8640,0.15,2.47,0.00,0.000,4,0.107,0.038,2798,3352,999
$GC,8669,0.05,425.1,246.5,7.1,434,8676,0.00,2.45,0.00,0.000,6,0.000,0.030,2799,1940,999
$GC,8986,0.05,425.1,222.6,8.9,450,8989,0.00,2.47,0.00,0.000,4,0.000,0.037,2798,3353,999
$GC,9025,0.09,425.1,219.0,8.6,451,9031,0.00,2.42,0.00,0.000,6,0.000,0.028,2799,1949,999
$GC,9343,0.13,425.9,197.2,6.8,468,9347,0.00,2.47,0.00,0.000,4,0.000,0.037,2799,3360,999
$GC,9366,0.20,440.9,195.6,6.4,469,9385,0.12,2.42,13.20,0.770,6,0.057,0.028,2833,1944,935
$GC,9704,0.20,440.9,168.8,7.3,501,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1944,935
$GC,10021,0.20,440.9,145.7,7.3,531,10025,0.00,2.47,0.00,0.000,4,0.000,0.035,2833,3364,935
$GC,10062,0.25,452.3,143.0,6.5,534,10077,0.00,2.42,9.98,0.713,6,0.000,0.027,2833,1947,888
$GC,10399,0.31,486.4,123.2,5.8,565,10432,0.10,2.53,26.83,0.687,4,0.074,0.033,2859,3347,750
$GC,10451,0.27,486.4,119.7,8.0,570,10456,0.00,2.42,0.00,0.000,6,0.000,0.025,2859,1944,751
$GC,10778,0.24,486.4,92.6,7.2,600,10782,0.00,2.47,0.00,0.000,4,0.000,0.033,2859,3365,755
$GC,10811,0.29,515.2,90.4,6.0,602,10842,0.00,2.42,24.40,0.649,6,0.000,0.025,2859,1939,631
$GC,11169,0.33,541.3,69.3,6.0,636,11192,0.00,0.00,21.20,0.624,6,0.000,0.000,2859,1940,526
$GC,11449,0.34,543.6,50.6,6.8,662,11461,0.00,2.50,2.55,0.610,4,0.000,0.034,2859,3353,517
$GC,11498,0.40,543.6,47.0,7.1,666,11502,0.00,2.40,0.00,0.000,6,0.000,0.023,2859,1945,517
$GC,11762,0.40,543.6,27.2,8.0,693,11768,0.00,2.45,0.00,0.000,4,0.000,0.042,2859,551,518
$GC,11782,0.40,543.6,25.6,8.1,696,11788,0.00,2.40,0.00,0.000,6,0.000,0.021,2859,1979,518
$STATE,12052,end climb,SURFACE_DEPTH_REACHED
$STATE,12052,begin surface coast
$FINISH,0.9,1.004370
$STATE,12132,end surface coast,CONTROL_FINISHED_OK
$STATE,12133,begin surface
$SM_CCo,12217,0.00,0.000,0,0,518,543.09
$SM_GC,1.69,10.82,0.00,0.00,0.041,0.000,0.000,411,2086,518,-10.90,1.30,543.09
$IRIDIUM_FIX,2054.83,-15744.48,050398,141414
$TT8_MAMPS,0.027612
$HUMID,1787
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,23.6,77.903
$10V_AH,10.2,47.510
$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,28.250,130.900,570.625,0.000,0.000,25.054,35.570,171.388,12.000,0.000,0.000,14.228,1358.728,8267.936,636.180,1731.138,601.535,33.374,1515.120,0.000,1704.135,0.000,60.637
$DEVICE_MAMPS,152.633,69.797,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.278,502.751,916.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37985,758
$CAP_FILE_SIZE,111420,0
$CFSIZE,260165632,225886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,205637,2107.040,-15747.535,26,1.0,26,9.8