version: 66.03
glider: 114
mission: 3
dive: 512
start: 12 2 108 16 2 15
data:
$ID,114
$MISSION,3
$DIVE,512
$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,-601847.69
$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,34
$R_STBD_OVSHOOT,71
$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
$GPS1,155144,2102.568,-15748.102,23,1.8,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.0
$GPS2,160117,2102.551,-15748.112,14,3.9,33,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.015
$KALMAN_X,-158652.1,395.3,-162.5,167845.6,-1204.3
$KALMAN_Y,-145831.5,-54.5,-34.2,119951.4,-618.3
$MHEAD_RNG_PITCHd_Wd,76.6,2066,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.45,0.000,2,0.000,0.000,409,2068,2804
$GC,110,-1.06,-165.5,3.3,-3.5,14,140,12.00,2.33,-10.52,0.000,4,0.155,0.046,2551,3413,3410
$GC,176,-1.10,-165.5,15.3,-9.9,25,182,0.00,2.33,0.00,0.000,6,0.000,0.023,2551,2036,3410
$GC,450,-1.19,-165.5,37.1,-8.1,66,454,0.00,2.38,0.00,0.000,4,0.000,0.033,2551,3412,3410
$GC,502,-1.35,-165.5,41.2,-7.5,70,507,0.25,2.33,0.00,0.000,6,0.048,0.022,2492,2029,3410
$GC,767,-1.32,-165.5,68.6,-10.6,94,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2028,3410
$GC,1030,-1.32,-165.5,93.2,-7.5,119,1034,0.00,2.38,0.00,0.000,4,0.000,0.033,2492,3407,3410
$GC,1082,-1.38,-165.5,96.5,-5.3,123,1086,0.00,2.30,0.00,0.000,6,0.000,0.022,2492,2035,3410
$GC,1408,-1.38,-165.5,118.5,-6.9,153,1412,0.00,2.38,0.00,0.000,4,0.000,0.033,2492,3416,3410
$GC,1460,-1.46,-165.5,122.3,-7.2,157,1467,0.00,2.30,0.00,0.000,6,0.000,0.022,2492,2036,3410
$GC,1786,-1.51,-165.5,151.2,-8.2,188,1791,0.15,2.38,0.00,0.000,4,0.054,0.031,2455,3418,3410
$GC,1872,-1.54,-165.5,159.0,-8.6,195,1876,0.00,2.33,0.00,0.000,6,0.000,0.023,2455,2034,3411
$GC,2199,-1.54,-165.5,187.4,-8.4,225,2203,0.00,2.38,0.00,0.000,4,0.000,0.034,2454,3416,3411
$GC,2256,-1.60,-165.5,192.3,-7.3,229,2262,0.00,2.30,0.00,0.000,6,0.000,0.024,2454,2040,3410
$GC,2586,-1.60,-165.5,221.6,-8.9,250,2591,0.00,2.38,0.00,0.000,4,0.000,0.035,2454,3416,3410
$GC,2650,-1.67,-165.5,226.7,-7.4,253,2655,0.12,2.33,0.00,0.000,6,0.063,0.025,2424,2039,3410
$GC,2981,-1.63,-165.5,257.2,-10.3,269,2985,0.00,2.38,0.00,0.000,4,0.000,0.035,2423,3414,3410
$GC,3001,-1.63,-165.5,259.5,-10.5,270,3005,0.00,2.33,0.00,0.000,6,0.000,0.024,2424,2037,3410
$GC,3334,-1.63,-165.5,290.4,-8.3,286,3338,0.00,2.38,0.00,0.000,4,0.000,0.038,2424,3405,3409
$GC,3406,-1.63,-165.5,296.6,-8.4,289,3410,0.00,2.33,0.00,0.000,6,0.000,0.026,2423,2031,3409
$GC,3740,-1.63,-165.5,322.8,-8.0,298,3744,0.00,2.40,0.00,0.000,4,0.000,0.038,2423,3407,3408
$GC,3786,-1.67,-165.5,327.2,-9.7,299,3790,0.00,2.33,0.00,0.000,6,0.000,0.028,2423,2041,3407
$GC,4116,-1.67,-165.5,355.0,-7.7,307,4120,0.00,2.38,0.00,0.000,4,0.000,0.038,2423,3404,3405
$GC,4138,-1.67,-165.5,356.8,-8.2,307,4143,0.00,2.33,0.00,0.000,6,0.000,0.028,2423,2039,3405
$GC,4476,-1.67,-165.5,379.7,-6.7,316,4484,0.00,2.40,0.00,0.000,4,0.000,0.040,2424,3413,3402
$GC,4501,-1.67,-165.5,381.6,-6.9,316,4505,0.00,2.35,0.00,0.000,6,0.000,0.028,2423,2038,3402
$GC,4844,-1.67,-165.5,404.1,-6.4,325,4848,0.00,2.40,0.00,0.000,4,0.000,0.041,2423,3409,3399
$GC,4912,-1.72,-165.5,408.8,-6.7,326,4916,0.00,2.35,0.00,0.000,6,0.000,0.030,2423,2039,3399
$GC,5255,-1.72,-165.5,431.7,-6.4,335,5259,0.00,2.40,0.00,0.000,4,0.000,0.041,2423,3401,3395
$GC,5307,-1.77,-165.5,435.1,-6.7,336,5311,0.00,2.35,0.00,0.000,6,0.000,0.031,2424,2036,3395
$STATE,5539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5539,begin apogee
$GC,5547,-0.33,0.0,451.3,7.1,342,5681,1.40,0.00,129.85,0.947,6,0.088,0.000,2713,1924,2733
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5682,begin climb
$GC,5686,1.06,165.5,456.3,0.0,345,5826,1.38,2.55,131.40,0.922,4,0.048,0.039,3019,3314,2058
$GC,5914,0.55,165.5,445.4,14.0,350,5919,0.57,2.38,0.00,0.000,6,0.135,0.032,2916,1966,2058
$GC,6264,0.25,165.5,412.9,8.4,359,6269,0.35,2.60,0.00,0.000,4,0.120,0.052,2848,535,2055
$GC,6292,0.04,171.0,410.8,6.7,359,6304,0.25,2.40,4.47,0.873,6,0.115,0.031,2802,1913,2036
$GC,6630,0.16,280.9,397.1,3.6,368,6725,0.10,2.67,86.88,0.912,4,0.091,0.044,2822,3354,1587
$GC,6774,0.09,285.3,390.6,6.7,371,6784,0.00,2.50,4.62,0.854,6,0.000,0.034,2822,1941,1568
$GC,7123,-0.01,289.2,368.5,6.7,380,7129,0.17,0.00,3.62,0.858,6,0.110,0.000,2790,1941,1554
$GC,7448,0.08,340.4,350.8,5.3,388,7493,0.00,2.58,40.47,0.901,4,0.000,0.052,2790,538,1345
$GC,7511,0.08,342.6,346.8,6.8,389,7515,0.00,2.47,0.00,0.000,6,0.000,0.030,2790,1950,1344
$GC,7848,0.08,342.6,321.9,8.0,398,7852,0.00,2.50,0.00,0.000,4,0.000,0.044,2788,3355,1343
$GC,7915,0.08,342.6,316.6,7.8,399,7919,0.00,2.47,0.00,0.000,6,0.000,0.033,2790,1944,1343
$GC,8233,0.08,342.6,294.4,6.8,409,8237,0.00,2.53,0.00,0.000,4,0.000,0.041,2790,3362,1343
$GC,8262,0.16,384.7,292.7,5.6,410,8303,0.15,2.47,35.25,0.871,6,0.078,0.031,2822,1940,1163
$GC,8624,0.09,384.7,265.8,7.5,428,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1940,1164
$GC,8930,0.03,388.1,244.6,6.7,443,8939,0.12,2.55,3.42,0.799,4,0.110,0.039,2800,3348,1150
$GC,8998,0.10,431.7,240.5,5.5,446,9040,0.00,2.45,34.70,0.828,6,0.000,0.031,2800,1947,973
$GC,9350,0.10,431.7,216.1,7.4,463,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1947,972
$GC,9661,0.15,457.3,197.0,6.1,480,9687,0.00,2.53,21.05,0.785,4,0.000,0.036,2801,3354,867
$GC,9728,0.20,457.3,192.4,7.6,485,9735,0.15,2.45,0.00,0.000,6,0.070,0.028,2833,1945,868
$GC,10054,0.16,457.3,162.6,8.6,516,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1945,868
$GC,10373,0.16,457.3,134.7,7.5,546,10377,0.00,2.47,0.00,0.000,4,0.000,0.035,2833,3363,867
$GC,10436,0.23,476.6,130.5,6.2,551,10459,0.00,2.45,15.38,0.716,6,0.000,0.027,2833,1938,789
$GC,10779,0.23,476.6,105.0,7.8,583,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1938,790
$GC,11096,0.23,476.6,83.0,7.4,613,11100,0.00,2.47,0.00,0.000,4,0.000,0.033,2833,3367,791
$GC,11160,0.39,516.5,78.8,5.6,618,11198,0.17,2.42,31.52,0.660,6,0.058,0.024,2874,1941,627
$GC,11454,0.34,516.5,55.6,7.6,645,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1941,632
$GC,11709,0.30,516.5,36.9,7.8,669,11713,0.00,2.47,0.00,0.000,4,0.000,0.034,2874,3366,632
$GC,11742,0.30,516.5,33.7,9.1,671,11748,0.00,2.40,0.00,0.000,6,0.000,0.025,2875,1952,632
$GC,12018,0.26,516.5,11.3,7.7,716,12024,0.12,0.00,0.00,0.000,6,0.094,0.000,2850,1952,633
$STATE,12118,end climb,SURFACE_DEPTH_REACHED
$STATE,12118,begin surface coast
$FINISH,1.0,1.014212
$STATE,12233,end surface coast,CONTROL_FINISHED_OK
$STATE,12233,begin surface
$SM_CCo,12317,0.00,0.000,0,0,634,514.88
$SM_GC,1.54,10.75,0.00,0.00,0.040,0.000,0.000,408,2090,634,-10.91,1.41,514.88
$IRIDIUM_FIX,2054.83,-15751.76,260298,121237
$TT8_MAMPS,0.027612
$HUMID,1813
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,14
$24V_AH,23.6,70.868
$10V_AH,10.2,43.335
$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,28.225,120.975,542.650,0.000,0.000,77.643,102.366,166.226,12.750,0.000,0.000,36.041,1364.120,8459.898,586.692,1771.778,708.151,33.370,1469.221,0.000,1721.177,0.000,60.369
$DEVICE_MAMPS,154.934,52.156,947.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.291,504.647,902.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37951,754
$CAP_FILE_SIZE,112223,0
$CFSIZE,260165632,228802560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,192837,2102.270,-15746.859,25,1.6,25,9.8