version: 66.03
glider: 114
mission: 3
dive: 564
start: 12 10 108 4 17 19
data:
$ID,114
$MISSION,3
$DIVE,564
$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,-602838.19
$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,37
$R_STBD_OVSHOOT,68
$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
$GPS1,035508,2109.445,-15749.305,28,1.2,28,9.8
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.2
$GPS2,041620,2109.526,-15749.034,14,1.2,14,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT5
$TGT_LATLONG,2114.500,-15753.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.196,0.125
$KALMAN_X,-200174.8,-539.1,-29.9,208569.9,1059.6
$KALMAN_Y,-178184.8,-544.3,-15.0,165687.8,416.0
$MHEAD_RNG_PITCHd_Wd,292.6,11477,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.06,-165.5,0.0,0.0,0,106,0.00,0.00,-75.95,0.000,2,0.000,0.000,411,2080,2824
$GC,110,-1.06,-165.5,3.1,-3.1,14,140,11.98,2.33,-10.20,0.000,4,0.153,0.048,2548,3412,3410
$GC,247,-1.20,-165.5,19.4,-6.5,37,253,0.00,2.33,0.00,0.000,6,0.000,0.022,2549,2029,3410
$GC,524,-1.28,-165.5,37.6,-6.3,76,529,0.15,2.40,0.00,0.000,4,0.055,0.032,2508,3420,3409
$GC,569,-1.33,-165.5,41.2,-7.5,79,575,0.00,2.33,0.00,0.000,6,0.000,0.022,2507,2032,3410
$GC,832,-1.33,-165.5,63.9,-9.5,104,835,0.00,2.38,0.00,0.000,4,0.000,0.033,2507,3414,3410
$GC,890,-1.42,-165.5,69.3,-8.8,109,895,0.12,2.33,0.00,0.000,6,0.060,0.022,2477,2032,3410
$GC,1152,-1.42,-165.5,96.0,-9.1,133,1156,0.00,2.38,0.00,0.000,4,0.000,0.033,2477,3410,3410
$GC,1220,-1.46,-165.5,101.9,-7.5,138,1226,0.00,2.30,0.00,0.000,6,0.000,0.022,2477,2033,3410
$GC,1545,-1.46,-165.5,128.6,-8.3,169,1549,0.00,2.38,0.00,0.000,4,0.000,0.033,2477,3410,3410
$GC,1591,-1.52,-165.5,132.6,-8.6,172,1598,0.00,2.30,0.00,0.000,6,0.000,0.023,2477,2035,3409
$GC,1917,-1.52,-165.5,158.8,-8.3,203,1921,0.00,2.38,0.00,0.000,4,0.000,0.033,2477,3414,3409
$GC,1970,-1.61,-165.5,162.8,-8.0,207,1974,0.17,2.33,0.00,0.000,6,0.054,0.023,2434,2032,3410
$GC,2296,-1.57,-165.5,192.4,-9.5,237,2300,0.00,2.38,0.00,0.000,4,0.000,0.035,2434,3410,3409
$GC,2360,-1.57,-165.5,198.4,-9.3,242,2364,0.00,2.33,0.00,0.000,6,0.000,0.024,2434,2033,3409
$GC,2693,-1.57,-165.5,227.1,-8.0,259,2696,0.00,2.38,0.00,0.000,4,0.000,0.035,2434,3417,3409
$GC,2766,-1.60,-165.5,233.5,-8.2,262,2770,0.00,2.33,0.00,0.000,6,0.000,0.024,2433,2038,3409
$GC,3088,-1.60,-165.5,263.5,-9.1,278,3092,0.00,2.38,0.00,0.000,4,0.000,0.036,2434,3410,3408
$GC,3144,-1.65,-165.5,268.4,-8.5,280,3151,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2038,3408
$GC,3461,-1.65,-165.5,293.4,-7.8,296,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2038,3407
$GC,3768,-1.65,-165.5,312.5,-6.0,306,3772,0.00,2.40,0.00,0.000,4,0.000,0.038,2434,3413,3405
$GC,3841,-1.69,-165.5,318.2,-7.9,307,3845,0.00,2.35,0.00,0.000,6,0.000,0.028,2434,2034,3404
$GC,4175,-1.69,-165.5,346.2,-8.5,315,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2034,3402
$GC,4500,-1.69,-165.5,369.2,-6.4,323,4504,0.00,2.42,0.00,0.000,4,0.000,0.040,2434,3417,3399
$GC,4568,-1.76,-165.5,373.9,-5.9,324,4573,0.12,2.38,0.00,0.000,6,0.071,0.028,2405,2030,3399
$GC,4908,-1.76,-165.5,400.8,-8.4,333,4912,0.00,2.42,0.00,0.000,4,0.000,0.040,2406,3414,3396
$GC,4958,-1.76,-165.5,405.3,-8.3,334,4962,0.00,2.35,0.00,0.000,6,0.000,0.029,2405,2043,3396
$GC,5271,-1.76,-165.5,429.1,-7.5,342,5275,0.00,2.40,0.00,0.000,4,0.000,0.041,2405,3409,3394
$GC,5312,-1.76,-165.5,432.3,-7.9,343,5316,0.00,2.38,0.00,0.000,6,0.000,0.030,2405,2031,3393
$STATE,5553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5553,begin apogee
$GC,5561,-0.33,0.0,450.9,7.7,349,5696,1.50,0.00,131.00,0.939,6,0.089,0.000,2715,1934,2732
$STATE,5697,end apogee,CONTROL_FINISHED_OK
$STATE,5697,begin climb
$GC,5700,1.06,165.5,455.5,0.0,352,5841,1.35,2.55,132.98,0.919,4,0.048,0.051,3017,563,2058
$GC,6102,0.51,165.5,420.5,14.5,361,6107,0.62,2.38,0.00,0.000,6,0.144,0.031,2906,1920,2056
$GC,6422,0.24,166.9,395.4,6.8,369,6427,0.30,2.50,0.00,0.000,4,0.121,0.051,2848,558,2055
$GC,6524,0.11,201.3,389.2,5.8,371,6559,0.17,2.45,28.20,0.903,6,0.154,0.031,2817,1957,1911
$GC,6882,0.15,272.7,371.9,4.7,380,6947,0.00,2.58,57.70,0.897,4,0.000,0.044,2817,3353,1621
$GC,6988,0.12,289.3,366.3,6.3,382,7010,0.00,2.45,14.02,0.880,6,0.000,0.034,2817,1969,1553
$GC,7336,0.07,305.9,344.6,6.3,391,7355,0.00,2.67,13.55,0.880,4,0.000,0.052,2817,541,1486
$GC,7397,0.01,305.9,340.1,7.8,392,7402,0.12,2.47,0.00,0.000,6,0.126,0.030,2796,1953,1485
$GC,7746,0.01,308.2,316.7,6.7,401,7755,0.00,2.53,2.67,0.811,4,0.000,0.043,2795,3351,1476
$GC,7791,0.05,332.1,313.9,6.1,402,7816,0.00,2.47,19.73,0.876,6,0.000,0.032,2795,1943,1378
$GC,8135,0.16,391.3,296.2,5.1,412,8190,0.12,2.62,47.33,0.860,4,0.079,0.041,2822,3356,1137
$GC,8221,0.12,391.3,290.1,8.6,416,8225,0.00,2.50,0.00,0.000,6,0.000,0.031,2822,1941,1137
$GC,8548,0.06,391.3,263.9,7.4,432,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1941,1137
$GC,8859,0.00,391.3,239.4,7.5,447,8864,0.15,2.50,0.00,0.000,4,0.107,0.038,2790,3354,1136
$GC,8915,0.09,404.3,235.4,6.4,449,8931,0.00,2.45,11.02,0.810,6,0.000,0.029,2790,1940,1084
$GC,9248,0.09,404.3,214.4,7.2,466,9252,0.00,2.47,0.00,0.000,4,0.000,0.037,2790,3354,1083
$GC,9273,0.16,419.3,212.8,6.4,467,9295,0.15,2.45,12.55,0.798,6,0.069,0.028,2824,1941,1022
$GC,9613,0.13,419.3,188.8,8.9,489,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1941,1023
$GC,9940,0.22,469.6,166.7,5.3,520,9985,0.00,2.55,40.17,0.747,4,0.000,0.035,2824,3362,817
$GC,10026,0.26,469.6,160.8,7.2,527,10032,0.00,2.45,0.00,0.000,6,0.000,0.028,2824,1951,818
$GC,10357,0.26,469.6,137.0,7.9,558,10361,0.00,2.50,0.00,0.000,4,0.000,0.040,2824,3360,818
$GC,10390,0.26,469.6,133.3,9.4,560,10396,0.00,2.42,0.00,0.000,6,0.000,0.026,2824,1948,818
$GC,10721,0.26,469.6,107.5,7.2,591,10725,0.00,2.47,0.00,0.000,4,0.000,0.035,2825,3368,819
$GC,10750,0.26,469.6,105.0,7.6,593,10754,0.00,2.45,0.00,0.000,6,0.000,0.025,2824,1939,819
$GC,11076,0.29,469.6,78.8,6.8,623,11078,0.12,0.00,0.00,0.000,6,0.064,0.000,2855,1939,820
$GC,11331,0.35,499.6,61.7,5.9,647,11364,0.00,2.55,24.15,0.634,4,0.000,0.033,2856,3359,695
$GC,11412,0.47,539.5,56.9,5.6,654,11450,0.15,2.42,32.40,0.625,6,0.061,0.025,2891,1941,533
$GC,11706,0.39,539.5,30.9,12.3,681,11710,0.00,2.47,0.00,0.000,4,0.000,0.034,2891,3361,535
$GC,11736,0.32,539.5,27.3,12.0,684,11743,0.15,2.40,0.00,0.000,6,0.091,0.025,2861,1950,535
$GC,12016,0.32,539.5,5.1,7.1,733,12022,0.00,2.42,0.00,0.000,4,0.000,0.031,2861,3359,537
$STATE,12026,end climb,SURFACE_DEPTH_REACHED
$STATE,12026,begin surface coast
$FINISH,2.8,1.023280
$STATE,12038,end surface coast,CONTROL_FINISHED_OK
$STATE,12039,begin surface
$SM_CCo,12125,0.00,0.000,0,0,535,538.92
$SM_GC,1.70,11.02,0.00,0.00,0.049,0.000,0.000,412,2020,535,-10.90,-0.57,538.92
$IRIDIUM_FIX,2101.76,-15750.89,060398,040449
$TT8_MAMPS,0.027612
$HUMID,1834
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.20
$XPDR_PINGS,11
$24V_AH,23.6,78.409
$10V_AH,10.2,47.777
$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,28.500,130.950,567.475,0.000,0.000,80.861,84.887,830.791,11.750,0.000,0.000,16.077,1353.869,8265.821,611.708,1789.682,1379.193,33.376,1523.598,0.000,1758.752,0.000,57.442
$DEVICE_MAMPS,154.167,55.224,938.808,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.282,493.723,873.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,737
$CAP_FILE_SIZE,123169,0
$CFSIZE,260165632,225693696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,074038,2110.560,-15749.450,34,1.0,34,9.8