version: 66.03
glider: 114
mission: 3
dive: 535
start: 12 5 108 23 25 23
data:
$ID,114
$MISSION,3
$DIVE,535
$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,-602312.5
$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,33
$R_STBD_OVSHOOT,57
$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
$GPS1,231456,2106.833,-15749.115,43,1.7,43,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.4
$GPS2,232426,2106.839,-15749.114,10,1.8,10,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.111,-0.204
$KALMAN_X,-166934.6,90.1,-451.5,175000.8,88.2
$KALMAN_Y,-156127.2,266.6,83.5,137738.6,-778.4
$MHEAD_RNG_PITCHd_Wd,141.8,9195,-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,-75.43,0.000,2,0.000,0.000,407,2068,2884
$GC,109,-1.06,-165.5,3.4,-4.0,14,139,12.00,2.55,-9.00,0.000,4,0.154,0.048,2550,638,3410
$GC,186,-1.23,-165.5,16.0,-7.4,27,194,0.12,2.35,0.00,0.000,6,0.058,0.021,2518,2050,3410
$GC,459,-1.23,-165.5,39.8,-8.8,66,463,0.00,2.38,0.00,0.000,4,0.000,0.035,2518,3432,3410
$GC,545,-1.32,-165.5,46.6,-8.1,73,549,0.00,2.38,0.00,0.000,6,0.000,0.022,2518,2025,3410
$GC,807,-1.32,-165.5,69.2,-9.8,97,811,0.00,2.45,0.00,0.000,4,0.000,0.034,2519,3438,3410
$GC,837,-1.36,-165.5,72.2,-10.1,99,844,0.12,2.35,0.00,0.000,6,0.060,0.022,2488,2036,3410
$GC,1100,-1.36,-165.5,97.0,-8.3,124,1104,0.00,2.42,0.00,0.000,4,0.000,0.035,2488,3434,3410
$GC,1186,-1.43,-165.5,103.4,-7.3,131,1190,0.00,2.35,0.00,0.000,6,0.000,0.023,2488,2034,3410
$GC,1518,-1.43,-165.5,130.6,-9.2,162,1523,0.00,2.42,0.00,0.000,4,0.000,0.034,2488,3438,3411
$GC,1583,-1.51,-165.5,136.7,-9.3,167,1587,0.12,2.35,0.00,0.000,6,0.060,0.022,2457,2036,3411
$GC,1913,-1.51,-165.5,166.0,-7.9,198,1917,0.00,2.42,0.00,0.000,4,0.000,0.034,2457,3442,3411
$GC,1988,-1.55,-165.5,172.2,-8.8,204,1992,0.00,2.38,0.00,0.000,6,0.000,0.023,2456,2030,3411
$GC,2313,-1.55,-165.5,199.2,-8.9,234,2317,0.00,2.42,0.00,0.000,4,0.000,0.035,2456,3432,3411
$GC,2370,-1.61,-165.5,204.4,-9.4,236,2376,0.00,2.33,0.00,0.000,6,0.000,0.023,2456,2042,3411
$GC,2686,-1.61,-165.5,231.3,-7.0,252,2691,0.00,2.42,0.00,0.000,4,0.000,0.035,2456,3441,3410
$GC,2715,-1.61,-165.5,233.4,-7.5,253,2719,0.00,2.38,0.00,0.000,6,0.000,0.024,2456,2032,3410
$GC,3032,-1.65,-165.5,254.8,-6.7,268,3037,0.12,2.45,0.00,0.000,4,0.064,0.035,2425,3442,3410
$GC,3099,-1.65,-165.5,259.9,-7.1,271,3104,0.00,2.38,0.00,0.000,6,0.000,0.025,2425,2039,3410
$GC,3427,-1.65,-165.5,287.7,-10.0,287,3431,0.00,2.42,0.00,0.000,4,0.000,0.038,2425,3431,3409
$GC,3478,-1.68,-165.5,292.9,-9.5,289,3482,0.00,2.38,0.00,0.000,6,0.000,0.026,2425,2032,3408
$GC,3811,-1.68,-165.5,321.3,-7.9,299,3816,0.00,2.45,0.00,0.000,4,0.000,0.039,2425,3431,3406
$GC,3880,-1.72,-165.5,326.5,-7.5,300,3884,0.00,2.38,0.00,0.000,6,0.000,0.028,2425,2041,3407
$GC,4222,-1.72,-165.5,354.0,-8.3,309,4226,0.00,2.45,0.00,0.000,4,0.000,0.040,2425,3439,3403
$GC,4268,-1.76,-165.5,357.8,-7.6,310,4272,0.00,2.40,0.00,0.000,6,0.000,0.028,2425,2034,3404
$GC,4588,-1.76,-165.5,382.3,-7.7,318,4591,0.00,2.47,0.00,0.000,4,0.000,0.041,2425,3442,3401
$GC,4627,-1.80,-165.5,385.8,-8.3,318,4634,0.12,2.40,0.00,0.000,6,0.072,0.028,2397,2041,3401
$GC,4961,-1.75,-165.5,414.3,-8.2,327,4965,0.00,2.45,0.00,0.000,4,0.000,0.041,2397,3432,3398
$GC,5029,-1.75,-165.5,420.0,-7.8,328,5033,0.00,2.40,0.00,0.000,6,0.000,0.030,2397,2037,3398
$GC,5373,-1.72,-165.5,448.5,-8.6,337,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2037,3395
$STATE,5409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5409,begin apogee
$GC,5418,-0.33,0.0,452.0,8.6,338,5552,1.55,0.00,130.27,0.935,6,0.091,0.000,2716,1929,2733
$STATE,5553,end apogee,CONTROL_FINISHED_OK
$STATE,5553,begin climb
$GC,5556,1.06,165.5,457.1,0.0,341,5697,1.38,2.58,131.35,0.917,4,0.049,0.051,3020,559,2058
$GC,5957,0.50,165.5,419.0,16.2,350,5962,0.65,2.42,0.00,0.000,6,0.140,0.030,2904,1943,2056
$GC,6277,0.28,193.7,394.6,6.0,358,6306,0.25,2.65,21.92,0.894,4,0.122,0.052,2856,553,1943
$GC,6347,0.14,225.1,391.1,5.9,359,6378,0.17,2.47,25.30,0.894,6,0.119,0.031,2825,1963,1815
$GC,6690,0.14,281.1,374.7,5.2,368,6740,0.00,2.55,44.85,0.900,4,0.000,0.045,2825,3363,1586
$GC,6781,0.06,281.1,368.6,7.7,370,6785,0.00,2.47,0.00,0.000,6,0.000,0.033,2825,1963,1586
$GC,7094,-0.03,281.1,344.3,7.8,378,7099,0.17,2.58,0.00,0.000,4,0.117,0.051,2789,544,1584
$GC,7128,-0.02,289.1,341.9,6.6,378,7142,0.00,2.47,6.97,0.869,6,0.000,0.030,2789,1962,1554
$GC,7463,0.12,369.3,325.5,4.4,387,7533,0.12,2.55,63.10,0.874,4,0.081,0.044,2815,3343,1227
$GC,7588,0.10,373.4,317.9,6.7,389,7597,0.00,2.47,4.05,0.822,6,0.000,0.033,2815,1942,1210
$GC,7925,0.04,373.4,291.9,7.6,400,7930,0.00,2.53,0.00,0.000,4,0.000,0.041,2814,3356,1210
$GC,7954,-0.00,373.4,289.4,8.4,401,7959,0.12,2.47,0.00,0.000,6,0.108,0.031,2792,1939,1210
$GC,8271,-0.00,373.4,267.0,6.9,416,8275,0.00,2.53,0.00,0.000,4,0.000,0.039,2792,3364,1210
$GC,8289,0.02,386.5,265.8,6.4,417,8305,0.00,2.47,11.07,0.834,6,0.000,0.030,2793,1943,1157
$GC,8616,0.09,426.2,247.2,5.6,432,8657,0.00,2.55,31.88,0.820,4,0.000,0.037,2791,3360,994
$GC,8676,0.17,458.0,243.8,5.9,434,8707,0.17,2.47,25.85,0.811,6,0.070,0.029,2830,1942,865
$GC,9032,0.13,458.0,212.8,8.7,452,9036,0.00,2.50,0.00,0.000,4,0.000,0.037,2829,3357,865
$GC,9066,0.09,458.0,209.5,8.3,453,9072,0.00,2.45,0.00,0.000,6,0.000,0.028,2830,1945,865
$GC,9389,0.06,458.0,183.6,8.5,478,9394,0.15,2.50,0.00,0.000,4,0.101,0.035,2798,3366,865
$GC,9430,0.13,460.4,180.6,6.7,481,9442,0.00,2.45,3.20,0.739,6,0.000,0.027,2799,1947,854
$GC,9763,0.19,460.4,160.0,6.9,512,9769,0.15,0.00,0.00,0.000,6,0.063,0.000,2834,1947,854
$GC,10092,0.23,479.6,136.9,6.3,543,10114,0.00,2.50,15.45,0.702,4,0.000,0.033,2834,3355,777
$GC,10155,0.27,479.6,132.4,7.3,548,10161,0.00,2.42,0.00,0.000,6,0.000,0.025,2834,1945,778
$GC,10484,0.32,505.8,109.7,6.0,579,10511,0.12,2.53,21.23,0.667,4,0.064,0.034,2865,3364,670
$GC,10542,0.28,505.8,104.9,8.3,584,10546,0.00,2.45,0.00,0.000,6,0.000,0.025,2865,1944,671
$GC,10871,0.25,505.8,75.7,7.6,614,10876,0.10,2.45,0.00,0.000,4,0.100,0.031,2846,3357,672
$GC,10905,0.29,505.8,73.1,7.0,616,10911,0.00,2.40,0.00,0.000,6,0.000,0.025,2845,1947,673
$GC,11171,0.43,565.2,58.0,5.1,641,11224,0.15,2.47,47.22,0.603,4,0.060,0.031,2887,3357,427
$GC,11249,0.37,565.2,51.3,9.8,648,11253,0.00,2.42,0.00,0.000,6,0.000,0.024,2886,1937,427
$GC,11519,0.30,565.2,23.6,9.4,678,11526,0.15,2.45,0.00,0.000,4,0.094,0.042,2853,549,427
$GC,11534,0.24,565.2,21.4,10.4,680,11541,0.00,2.38,0.00,0.000,6,0.000,0.021,2853,1966,428
$STATE,11737,end climb,SURFACE_DEPTH_REACHED
$STATE,11737,begin surface coast
$FINISH,0.9,1.023214
$STATE,11800,end surface coast,CONTROL_FINISHED_OK
$STATE,11800,begin surface
$SM_CCo,11884,0.00,0.000,0,0,429,565.17
$SM_GC,1.64,10.85,0.00,0.00,0.043,0.000,0.000,411,2074,429,-10.89,0.96,565.17
$IRIDIUM_FIX,2057.14,-15746.61,010398,232300
$TT8_MAMPS,0.027612
$HUMID,1802
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.60
$XPDR_PINGS,13
$24V_AH,23.6,74.087
$10V_AH,10.2,45.288
$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,28.900,142.250,583.725,0.000,0.000,45.694,69.909,240.335,12.250,0.000,0.000,11.943,1351.124,7938.471,627.720,1799.794,737.244,33.371,1551.800,0.000,1766.292,0.000,57.462
$DEVICE_MAMPS,154.167,56.758,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.054,477.704,866.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,727
$CAP_FILE_SIZE,118881,0
$CFSIZE,260165632,227430400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,024438,2104.999,-15749.073,31,1.3,31,9.8