version: 66.03
glider: 114
mission: 3
dive: 562
start: 12 9 108 21 4 0
data:
$ID,114
$MISSION,3
$DIVE,562
$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,-602806
$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,77
$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
$GPS1,205637,2107.040,-15747.535,26,1.0,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.6
$GPS2,210303,2107.043,-15747.568,13,1.6,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT5
$TGT_LATLONG,2114.500,-15753.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.030,0.230
$KALMAN_X,-199232.8,-408.2,331.0,209679.4,-1646.3
$KALMAN_Y,-177427.5,-311.1,112.8,159972.5,-1203.3
$MHEAD_RNG_PITCHd_Wd,357.6,16692,-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,-165.5,0.0,0.0,0,112,0.00,0.00,-80.45,0.000,2,0.000,0.000,410,2085,2903
$GC,117,-1.06,-165.5,3.4,-3.6,15,147,11.95,2.33,-8.50,0.000,4,0.154,0.047,2550,3399,3410
$GC,183,-1.06,-165.5,16.4,-9.9,26,189,0.00,2.33,0.00,0.000,6,0.000,0.022,2550,2021,3410
$GC,462,-1.14,-165.5,35.2,-7.0,69,466,0.00,2.40,0.00,0.000,4,0.000,0.033,2550,3410,3409
$GC,527,-1.30,-165.5,39.5,-6.2,74,532,0.20,2.30,0.00,0.000,6,0.051,0.021,2501,2036,3409
$GC,789,-1.30,-165.5,65.1,-10.8,98,793,0.00,2.35,0.00,0.000,4,0.000,0.033,2502,3404,3409
$GC,840,-1.35,-165.5,70.4,-9.5,102,846,0.00,2.33,0.00,0.000,6,0.000,0.022,2501,2011,3409
$GC,1103,-1.35,-165.5,96.7,-9.0,127,1107,0.00,2.40,0.00,0.000,4,0.000,0.033,2502,3402,3408
$GC,1170,-1.41,-165.5,103.3,-9.0,132,1177,0.00,2.28,0.00,0.000,6,0.000,0.022,2501,2040,3409
$GC,1497,-1.45,-165.5,126.0,-7.3,163,1501,0.12,2.35,0.00,0.000,4,0.061,0.031,2471,3404,3409
$GC,1571,-1.45,-165.5,132.6,-8.7,169,1575,0.00,2.30,0.00,0.000,6,0.000,0.022,2470,2038,3410
$GC,1897,-1.45,-165.5,163.8,-9.1,199,1901,0.00,2.35,0.00,0.000,4,0.000,0.034,2471,3402,3409
$GC,1942,-1.52,-165.5,167.9,-8.0,202,1949,0.00,2.30,0.00,0.000,6,0.000,0.023,2471,2026,3409
$GC,2268,-1.55,-165.5,193.1,-7.6,233,2272,0.00,2.38,0.00,0.000,4,0.000,0.033,2471,3406,3409
$GC,2337,-1.65,-165.5,197.9,-6.6,238,2344,0.17,2.30,0.00,0.000,6,0.053,0.024,2427,2034,3409
$GC,2667,-1.60,-165.5,224.0,-8.4,256,2672,0.00,2.35,0.00,0.000,4,0.000,0.035,2427,3399,3409
$GC,2712,-1.60,-165.5,228.4,-8.6,258,2717,0.00,2.28,0.00,0.000,6,0.000,0.024,2427,2041,3409
$GC,3040,-1.60,-165.5,258.1,-9.4,274,3044,0.00,2.35,0.00,0.000,4,0.000,0.036,2427,3398,3409
$GC,3091,-1.60,-165.5,263.1,-9.7,276,3095,0.00,2.30,0.00,0.000,6,0.000,0.025,2427,2039,3409
$GC,3409,-1.60,-165.5,290.6,-7.9,291,3413,0.00,2.38,0.00,0.000,4,0.000,0.037,2427,3406,3408
$GC,3477,-1.60,-165.5,295.5,-6.3,294,3481,0.00,2.33,0.00,0.000,6,0.000,0.026,2427,2035,3407
$GC,3796,-1.60,-165.5,319.7,-8.1,304,3800,0.00,2.38,0.00,0.000,4,0.000,0.038,2427,3399,3406
$GC,3835,-1.64,-165.5,323.0,-8.5,304,3841,0.00,2.33,0.00,0.000,6,0.000,0.027,2427,2031,3406
$GC,4167,-1.64,-165.5,348.8,-8.0,313,4172,0.00,2.40,0.00,0.000,4,0.000,0.039,2427,3405,3404
$GC,4190,-1.64,-165.5,350.8,-8.1,313,4194,0.00,2.33,0.00,0.000,6,0.000,0.027,2427,2038,3404
$GC,4527,-1.64,-165.5,377.3,-7.9,322,4531,0.00,2.38,0.00,0.000,4,0.000,0.039,2427,3397,3402
$GC,4597,-1.69,-165.5,382.6,-7.5,323,4601,0.00,2.33,0.00,0.000,6,0.000,0.029,2427,2041,3401
$GC,4933,-1.69,-165.5,409.6,-8.1,332,4938,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,3408,3398
$GC,4979,-1.74,-165.5,413.3,-7.6,333,4983,0.00,2.35,0.00,0.000,6,0.000,0.029,2427,2040,3398
$GC,5305,-1.74,-165.5,439.8,-8.2,341,5309,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,3405,3395
$GC,5366,-1.81,-165.5,445.3,-8.4,342,5371,0.15,2.35,0.00,0.000,6,0.071,0.031,2394,2039,3395
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5436,-0.33,0.0,451.1,9.4,344,5571,1.55,0.00,131.20,0.933,6,0.091,0.000,2713,1930,2732
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5576,1.06,165.5,456.7,0.0,347,5717,1.38,2.58,132.48,0.917,4,0.049,0.051,3018,543,2058
$GC,5924,0.51,165.5,430.3,13.6,355,5930,0.62,2.40,0.00,0.000,6,0.146,0.029,2907,1912,2057
$GC,6250,0.24,165.5,403.9,7.5,363,6252,0.32,0.00,0.00,0.000,6,0.120,0.000,2847,1912,2055
$GC,6575,0.16,208.7,385.1,5.5,371,6610,0.00,0.00,33.28,0.913,6,0.000,0.000,2847,1912,1882
$GC,6938,0.11,258.8,364.8,5.3,379,6985,0.17,2.60,40.47,0.900,4,0.121,0.042,2812,3353,1677
$GC,7014,0.08,282.0,360.8,6.1,380,7038,0.00,2.45,19.17,0.884,6,0.000,0.033,2812,1967,1583
$GC,7348,0.07,310.8,340.9,6.0,389,7378,0.00,2.65,23.05,0.880,4,0.000,0.051,2812,547,1466
$GC,7413,0.02,310.8,336.7,7.3,390,7418,0.00,2.47,0.00,0.000,6,0.000,0.030,2812,1960,1465
$GC,7757,-0.03,310.8,310.2,8.0,399,7762,0.15,2.47,0.00,0.000,4,0.120,0.041,2786,3355,1464
$GC,7813,-0.03,310.8,306.1,7.5,400,7818,0.00,2.47,0.00,0.000,6,0.000,0.032,2785,1940,1464
$GC,8145,0.09,381.0,287.0,4.7,414,8209,0.10,2.58,55.75,0.854,4,0.087,0.039,2807,3361,1179
$GC,8243,0.16,424.5,282.0,5.5,418,8284,0.00,2.50,34.90,0.838,6,0.000,0.031,2807,1940,1001
$GC,8607,0.24,469.9,260.6,5.5,436,8650,0.15,2.58,36.50,0.824,4,0.071,0.039,2844,3359,816
$GC,8685,0.18,469.9,254.7,8.5,439,8690,0.00,2.47,0.00,0.000,6,0.000,0.031,2845,1952,816
$GC,9002,0.08,469.9,226.6,9.2,454,9007,0.15,2.50,0.00,0.000,4,0.107,0.038,2811,3359,816
$GC,9030,0.03,469.9,223.9,9.1,455,9034,0.00,2.47,0.00,0.000,6,0.000,0.028,2813,1935,816
$GC,9347,0.03,469.9,199.4,7.8,470,9351,0.00,2.50,0.00,0.000,4,0.000,0.037,2813,3353,816
$GC,9370,0.03,469.9,197.5,8.1,471,9376,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1942,816
$GC,9698,0.07,489.0,173.5,6.3,502,9720,0.00,2.53,15.80,0.752,4,0.000,0.035,2813,3355,738
$GC,9735,0.10,510.0,171.0,6.2,505,9757,0.00,2.45,17.02,0.745,6,0.000,0.027,2812,1949,653
$GC,10078,0.11,513.8,150.3,6.7,537,10089,0.00,2.50,5.55,0.719,4,0.000,0.034,2813,3363,637
$GC,10119,0.17,513.8,147.4,7.0,540,10125,0.00,2.45,0.00,0.000,6,0.000,0.027,2813,1940,638
$GC,10448,0.22,518.4,126.0,6.7,571,10461,0.10,2.53,4.45,0.691,4,0.076,0.035,2836,3353,619
$GC,10486,0.22,518.4,122.9,7.9,574,10490,0.00,2.42,0.00,0.000,6,0.000,0.026,2836,1947,619
$GC,10816,0.22,518.4,96.6,7.1,604,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1947,620
$GC,11142,0.22,518.4,70.7,8.2,635,11146,0.00,2.45,0.00,0.000,4,0.000,0.034,2836,3359,620
$GC,11199,0.33,518.4,66.1,7.7,639,11207,0.12,2.40,0.00,0.000,6,0.067,0.024,2866,1940,621
$GC,11464,0.37,542.6,48.9,6.1,664,11490,0.00,0.00,20.02,0.618,6,0.000,0.000,2866,1940,520
$GC,11748,0.37,542.6,28.0,7.9,693,11755,0.00,2.45,0.00,0.000,4,0.000,0.032,2866,3359,521
$GC,11792,0.37,542.6,24.7,7.8,700,11799,0.00,2.40,0.00,0.000,6,0.000,0.024,2866,1949,521
$STATE,12041,end climb,SURFACE_DEPTH_REACHED
$STATE,12041,begin surface coast
$FINISH,0.9,1.010159
$STATE,12115,end surface coast,CONTROL_FINISHED_OK
$STATE,12115,begin surface
$SM_CCo,12199,0.00,0.000,0,0,522,542.11
$SM_GC,1.69,10.88,0.00,0.00,0.042,0.000,0.000,411,2092,522,-10.89,1.47,542.11
$IRIDIUM_FIX,2059.45,-15745.74,050398,171746
$TT8_MAMPS,0.027612
$HUMID,1816
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,23.6,78.058
$10V_AH,10.2,47.598
$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,28.300,135.325,569.650,0.000,0.000,24.530,39.023,174.504,10.750,0.000,0.000,14.542,1373.007,8178.101,626.391,1803.864,603.417,33.371,1545.988,0.000,1771.743,0.000,57.472
$DEVICE_MAMPS,154.167,51.389,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.992,507.191,907.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,757
$CAP_FILE_SIZE,114115,0
$CFSIZE,260165632,225824768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,002837,2108.111,-15748.574,38,1.0,38,9.8