version: 66.03
glider: 114
mission: 3
dive: 529
start: 12 5 108 2 46 6
data:
$ID,114
$MISSION,3
$DIVE,529
$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,-602202
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,023537,2107.054,-15748.161,39,1.4,39,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-60.2
$GPS2,024509,2107.051,-15748.118,13,1.5,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.031,0.075
$KALMAN_X,-166694.5,73.9,599.3,175426.2,-1540.5
$KALMAN_Y,-152112.9,-134.7,242.8,134361.9,-1238.6
$MHEAD_RNG_PITCHd_Wd,13.0,1164,-37.8,-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,-2.56,-18.2,0.0,0.0,0,104,0.00,0.00,-73.00,0.000,6,0.000,0.000,411,2012,2809
$GC,109,-2.57,-26.8,3.8,-4.7,14,128,10.27,2.50,-0.65,0.000,4,0.158,0.043,2226,3443,2845
$GC,164,-2.60,-26.8,19.6,-25.2,23,170,0.00,2.35,0.00,0.000,6,0.000,0.021,2225,2045,2846
$GC,430,-2.82,-26.8,74.5,-21.1,52,435,0.20,2.42,0.00,0.000,4,0.059,0.035,2177,639,2845
$GC,499,-2.98,-26.8,89.2,-20.2,57,506,0.17,2.35,0.00,0.000,6,0.060,0.021,2137,2045,2845
$GC,827,-3.14,-26.8,152.7,-19.9,88,832,0.15,2.45,0.00,0.000,4,0.063,0.035,2104,634,2846
$GC,1087,-3.23,-26.8,203.4,-16.8,109,1093,0.00,2.35,0.00,0.000,6,0.000,0.021,2104,2044,2847
$GC,1408,-3.36,-26.8,252.4,-15.4,125,1412,0.20,2.45,0.00,0.000,4,0.058,0.036,2056,639,2846
$GC,1666,-3.41,-26.8,296.7,-17.9,136,1672,0.00,2.38,0.00,0.000,6,0.000,0.023,2056,2051,2846
$GC,1978,-3.50,-26.8,347.7,-15.2,145,1983,0.12,2.47,0.00,0.000,4,0.072,0.041,2027,645,2845
$GC,2236,-3.50,-26.8,393.0,-17.6,150,2242,0.00,2.38,0.00,0.000,6,0.000,0.027,2027,2035,2844
$GC,2569,-3.56,-26.8,449.9,-16.3,159,2574,0.00,2.47,0.00,0.000,4,0.000,0.044,2027,641,2841
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2587,-0.33,0.0,451.9,15.3,159,2618,3.53,0.00,21.90,0.900,6,0.124,0.000,2712,1954,2732
$STATE,2619,end apogee,CONTROL_FINISHED_OK
$STATE,2619,begin climb
$GC,2622,2.57,26.8,453.9,0.0,160,2653,2.80,2.50,21.88,0.894,4,0.045,0.039,3347,3350,2623
$GC,2906,2.45,87.8,467.5,-8.5,166,2961,0.12,2.42,48.10,0.921,6,0.165,0.032,3329,1958,2375
$GC,3296,2.27,87.8,435.0,11.9,176,3301,0.22,2.47,0.00,0.000,4,0.164,0.038,3289,3353,2371
$GC,3554,2.11,87.8,408.7,9.3,181,3561,0.22,2.45,0.00,0.000,6,0.163,0.032,3252,1948,2368
$GC,3887,2.03,87.8,379.8,8.7,190,3891,0.00,2.45,0.00,0.000,4,0.000,0.037,3253,3351,2366
$GC,4058,1.93,88.4,367.8,6.7,193,4065,0.22,2.45,0.00,0.000,6,0.160,0.032,3215,1944,2364
$GC,4391,1.92,100.3,352.4,3.8,202,4401,0.00,0.00,8.23,0.903,6,0.000,0.000,3215,1944,2324
$GC,4715,1.92,100.3,331.6,7.1,210,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1944,2323
$GC,5040,1.93,109.1,314.2,4.6,218,5054,0.00,2.60,7.35,0.883,4,0.000,0.051,3215,536,2288
$GC,5311,1.86,120.8,302.5,3.9,224,5326,0.00,2.45,9.90,0.880,6,0.000,0.028,3215,1953,2240
$GC,5638,1.86,120.8,277.0,8.8,238,5643,0.00,2.55,0.00,0.000,4,0.000,0.049,3215,545,2238
$GC,5897,1.83,132.3,256.6,3.9,249,5912,0.15,2.42,9.57,0.849,6,0.172,0.028,3193,1954,2193
$GC,6238,1.88,137.4,242.3,5.5,266,6248,0.00,2.58,4.88,0.817,4,0.000,0.048,3193,547,2172
$GC,6502,1.88,137.4,220.0,7.8,278,6506,0.00,2.42,0.00,0.000,6,0.000,0.028,3192,1955,2171
$GC,6830,1.95,145.0,200.9,4.9,294,6843,0.00,2.62,6.47,0.782,4,0.000,0.047,3193,540,2142
$GC,7100,1.95,147.9,181.4,6.1,317,7112,0.10,2.42,3.28,0.758,6,0.095,0.026,3212,1961,2129
$GC,7431,2.01,152.9,161.0,5.6,348,7442,0.00,2.55,4.70,0.735,4,0.000,0.046,3212,547,2108
$GC,7490,2.01,152.9,156.8,7.9,353,7494,0.00,2.40,0.00,0.000,6,0.000,0.025,3212,1954,2108
$GC,7819,2.06,154.0,132.3,6.5,383,7824,0.12,2.38,0.00,0.000,4,0.085,0.031,3238,3348,2109
$GC,7831,2.10,156.2,131.3,6.3,383,7841,0.00,2.40,3.42,0.696,6,0.000,0.026,3238,1935,2095
$GC,8168,2.10,156.2,106.3,7.0,415,8172,0.00,2.42,0.00,0.000,4,0.000,0.043,3238,554,2095
$GC,8422,2.11,177.7,97.7,1.4,437,8444,0.00,2.38,17.05,0.657,6,0.000,0.022,3238,1977,2008
$GC,8765,2.16,177.7,77.7,9.8,469,8770,0.10,2.53,0.00,0.000,4,0.087,0.041,3259,548,2008
$GC,9023,2.19,191.4,65.2,3.4,491,9040,0.00,2.33,11.25,0.614,6,0.000,0.021,3259,1947,1952
$GC,9301,2.23,191.4,47.7,7.8,517,9305,0.00,2.47,0.00,0.000,4,0.000,0.041,3259,543,1952
$GC,9562,2.19,191.4,22.6,9.5,546,9568,0.00,2.35,0.00,0.000,6,0.000,0.021,3259,1955,1952
$STATE,9765,end climb,SURFACE_DEPTH_REACHED
$STATE,9765,begin surface coast
$FINISH,0.9,1.000664
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9859,101.12,0.548,0,0,1101,400.08
$SM_GC,1.80,0.00,0.00,101.12,0.000,0.000,0.548,409,2068,1101,-10.95,0.79,400.08
$IRIDIUM_FIX,2059.45,-15748.75,010398,020247
$TT8_MAMPS,0.027612
$HUMID,1773
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,24.70
$XPDR_PINGS,7
$24V_AH,23.7,73.195
$10V_AH,10.2,44.765
$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,31.475,88.000,177.975,101.125,0.000,50.030,69.260,236.577,10.750,0.000,0.000,14.490,1182.807,6530.153,379.032,1766.088,678.999,33.372,1192.821,0.000,1726.475,0.000,57.457
$DEVICE_MAMPS,171.808,55.224,921.167,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.733,398.277,709.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,594
$CAP_FILE_SIZE,99226,0
$CFSIZE,260165632,227807232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,053337,2106.945,-15748.670,29,1.9,46,9.8