version: 66.03
glider: 114
mission: 3
dive: 522
start: 12 4 108 2 33 17
data:
$ID,114
$MISSION,3
$DIVE,522
$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,-602048.38
$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,30
$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
$GPS1,022607,2105.793,-15748.587,33,1.5,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.4
$GPS2,023221,2105.808,-15748.562,14,1.8,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.190,-0.134
$KALMAN_X,-161725.4,-403.6,528.4,170250.9,-1548.6
$KALMAN_Y,-147914.3,95.1,11.3,127867.5,-456.8
$MHEAD_RNG_PITCHd_Wd,115.4,7061,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-80.43,0.000,2,0.000,0.000,410,2097,2969
$GC,118,-1.06,-165.5,3.8,-4.2,15,143,12.05,2.60,-7.00,0.000,4,0.156,0.045,2551,638,3411
$GC,185,-1.13,-165.5,17.8,-9.2,26,191,0.00,2.38,0.00,0.000,6,0.000,0.021,2551,2058,3411
$GC,463,-1.21,-165.5,38.0,-7.5,66,468,0.12,2.38,0.00,0.000,4,0.060,0.034,2519,3440,3410
$GC,553,-1.30,-165.5,45.7,-8.2,73,559,0.00,2.38,0.00,0.000,6,0.000,0.022,2520,2025,3411
$GC,815,-1.30,-165.5,68.1,-8.8,98,819,0.00,2.45,0.00,0.000,4,0.000,0.034,2520,3444,3410
$GC,874,-1.40,-165.5,73.7,-9.5,103,879,0.15,2.38,0.00,0.000,6,0.058,0.022,2484,2028,3411
$GC,1139,-1.40,-165.5,101.5,-7.5,127,1143,0.00,2.45,0.00,0.000,4,0.000,0.033,2484,3444,3411
$GC,1202,-1.45,-165.5,106.2,-7.2,132,1206,0.00,2.35,0.00,0.000,6,0.000,0.022,2484,2042,3411
$GC,1533,-1.45,-165.5,134.6,-9.7,163,1537,0.00,2.42,0.00,0.000,4,0.000,0.033,2484,3445,3412
$GC,1589,-1.52,-165.5,139.8,-8.5,167,1600,0.12,2.35,0.00,0.000,6,0.062,0.023,2454,2040,3412
$GC,1915,-1.52,-165.5,172.6,-9.6,198,1919,0.00,2.42,0.00,0.000,4,0.000,0.034,2454,3445,3412
$GC,2015,-1.55,-165.5,182.3,-9.5,206,2022,0.00,2.35,0.00,0.000,6,0.000,0.024,2454,2041,3411
$GC,2351,-1.55,-165.5,208.8,-6.8,232,2355,0.00,2.42,0.00,0.000,4,0.000,0.034,2454,3444,3412
$GC,2407,-1.62,-165.5,213.2,-7.1,234,2413,0.00,2.38,0.00,0.000,6,0.000,0.024,2454,2029,3412
$GC,2724,-1.65,-165.5,237.5,-8.2,250,2729,0.12,2.45,0.00,0.000,4,0.062,0.034,2422,3444,3411
$GC,2768,-1.65,-165.5,241.7,-9.6,252,2773,0.00,2.38,0.00,0.000,6,0.000,0.025,2422,2031,3411
$GC,3097,-1.65,-165.5,271.8,-9.5,268,3101,0.00,2.42,0.00,0.000,4,0.000,0.036,2422,3433,3411
$GC,3143,-1.65,-165.5,276.3,-9.3,270,3147,0.00,2.38,0.00,0.000,6,0.000,0.025,2422,2035,3411
$GC,3490,-1.65,-165.5,304.5,-8.0,286,3494,0.00,2.45,0.00,0.000,4,0.000,0.038,2422,3442,3409
$GC,3553,-1.65,-165.5,310.2,-9.2,287,3557,0.00,2.40,0.00,0.000,6,0.000,0.027,2422,2031,3409
$GC,3902,-1.65,-165.5,338.9,-8.0,296,3906,0.00,2.45,0.00,0.000,4,0.000,0.039,2422,3432,3407
$GC,3965,-1.70,-165.5,344.1,-8.5,297,3969,0.00,2.38,0.00,0.000,6,0.000,0.028,2422,2041,3407
$GC,4308,-1.70,-165.5,373.9,-8.5,306,4312,0.00,2.45,0.00,0.000,4,0.000,0.040,2422,3442,3404
$GC,4341,-1.70,-165.5,376.6,-7.6,306,4347,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2039,3405
$GC,4674,-1.70,-165.5,401.5,-7.4,315,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2038,3402
$GC,4998,-1.70,-165.5,424.9,-7.2,323,5002,0.00,2.45,0.00,0.000,4,0.000,0.041,2422,3431,3399
$GC,5088,-1.76,-165.5,431.5,-6.8,325,5093,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2037,3398
$STATE,5364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5365,begin apogee
$GC,5373,-0.33,0.0,451.1,7.0,332,5508,1.42,0.00,130.57,0.940,6,0.092,0.000,2715,1929,2733
$STATE,5508,end apogee,CONTROL_FINISHED_OK
$STATE,5508,begin climb
$GC,5512,1.06,165.5,456.0,0.0,335,5648,1.40,0.00,132.62,0.917,6,0.050,0.000,3020,1929,2058
$GC,5973,0.56,165.5,421.9,11.2,347,5978,0.55,2.50,0.00,0.000,4,0.128,0.052,2918,557,2056
$GC,6059,0.21,165.5,413.2,9.8,349,6064,0.43,2.42,0.00,0.000,6,0.149,0.031,2842,1942,2056
$GC,6385,0.10,187.7,393.3,6.2,357,6409,0.15,2.60,17.52,0.904,4,0.133,0.044,2811,3353,1967
$GC,6450,0.08,222.3,389.5,5.8,358,6485,0.00,2.45,27.90,0.909,6,0.000,0.035,2811,1966,1825
$GC,6801,0.03,237.4,368.3,6.4,367,6820,0.00,2.70,12.12,0.900,4,0.000,0.054,2811,534,1764
$GC,6850,-0.05,237.4,364.3,8.5,368,6855,0.17,2.50,0.00,0.000,6,0.120,0.031,2781,1958,1765
$GC,7169,0.06,305.2,346.6,4.8,376,7229,0.10,2.55,54.10,0.897,4,0.090,0.045,2800,3354,1488
$GC,7270,0.10,326.9,341.2,6.2,378,7296,0.00,2.50,17.85,0.880,6,0.000,0.033,2801,1941,1400
$GC,7622,0.11,331.7,319.0,6.7,387,7632,0.00,2.58,4.55,0.844,4,0.000,0.041,2800,3364,1380
$GC,7650,0.11,331.7,317.0,7.0,387,7654,0.00,2.50,0.00,0.000,6,0.000,0.031,2800,1940,1379
$GC,7963,0.09,335.4,296.5,6.7,395,7972,0.00,2.58,3.62,0.831,4,0.000,0.040,2801,3357,1365
$GC,7996,0.11,348.5,294.0,6.4,396,8012,0.00,2.47,11.10,0.867,6,0.000,0.031,2801,1941,1312
$GC,8335,0.11,348.5,267.1,8.1,413,8339,0.00,2.50,0.00,0.000,4,0.000,0.038,2800,3356,1312
$GC,8374,0.11,348.5,264.0,7.5,414,8381,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1949,1312
$GC,8691,0.23,417.3,246.7,4.8,430,8754,0.17,2.60,54.40,0.824,4,0.071,0.050,2842,535,1031
$GC,8761,0.14,417.3,242.1,6.9,433,8766,0.12,2.47,0.00,0.000,6,0.112,0.027,2821,1956,1031
$GC,9083,0.14,417.5,218.6,6.8,449,9087,0.00,2.45,0.00,0.000,4,0.000,0.040,2820,3350,1031
$GC,9139,0.14,417.5,214.4,7.3,451,9145,0.00,2.45,0.00,0.000,6,0.000,0.030,2820,1942,1031
$GC,9458,0.14,417.5,193.3,7.0,471,9462,0.00,2.47,0.00,0.000,4,0.000,0.035,2821,3352,1031
$GC,9505,0.18,417.5,189.5,8.2,475,9510,0.00,2.45,0.00,0.000,6,0.000,0.028,2820,1935,1031
$GC,9834,0.22,442.8,166.3,6.1,505,9860,0.00,0.00,20.90,0.729,6,0.000,0.000,2820,1935,926
$GC,10184,0.25,458.3,140.0,6.4,538,10207,0.10,2.55,12.75,0.699,4,0.076,0.033,2844,3351,864
$GC,10247,0.25,458.3,135.7,6.9,543,10253,0.00,2.42,0.00,0.000,6,0.000,0.026,2844,1939,865
$GC,10575,0.25,458.3,113.1,9.2,574,10579,0.00,2.45,0.00,0.000,4,0.000,0.033,2844,3353,865
$GC,10626,0.28,458.3,108.8,8.0,578,10632,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,1944,865
$GC,10955,0.43,541.1,90.8,4.4,609,11030,0.17,2.53,64.70,0.642,4,0.058,0.033,2890,3347,528
$GC,11069,0.39,541.1,81.5,9.5,619,11074,0.00,2.42,0.00,0.000,6,0.000,0.025,2890,1942,529
$GC,11398,0.32,541.1,51.1,9.5,649,11403,0.15,2.47,0.00,0.000,4,0.094,0.044,2857,548,531
$GC,11433,0.35,541.1,47.4,9.2,651,11439,0.00,2.38,0.00,0.000,6,0.000,0.021,2857,1963,531
$GC,11697,0.35,541.1,27.0,7.9,679,11703,0.00,2.38,0.00,0.000,4,0.000,0.032,2857,3354,532
$GC,11745,0.40,541.1,23.4,7.5,687,11752,0.00,2.40,0.00,0.000,6,0.000,0.024,2857,1936,532
$STATE,11981,end climb,SURFACE_DEPTH_REACHED
$STATE,11981,begin surface coast
$FINISH,1.0,1.002837
$STATE,12055,end surface coast,CONTROL_FINISHED_OK
$STATE,12056,begin surface
$SM_CCo,12140,0.00,0.000,0,0,533,539.66
$SM_GC,1.69,10.82,0.00,0.00,0.041,0.000,0.000,408,2072,533,-10.91,0.90,539.66
$IRIDIUM_FIX,2101.76,-15748.75,270298,222237
$TT8_MAMPS,0.027612
$HUMID,1783
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.6,72.313
$10V_AH,10.2,44.180
$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,28.350,137.625,564.725,0.000,0.000,24.234,31.102,171.170,11.250,0.000,0.000,16.008,1343.710,8192.298,658.733,1733.448,584.279,33.375,1526.188,0.000,1701.799,0.000,57.456
$DEVICE_MAMPS,156.468,53.690,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.681,487.005,883.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38101,742
$CAP_FILE_SIZE,111398,0
$CFSIZE,260165632,228204544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,055647,2104.423,-15748.158,10,4.0,29,9.8