version: 66.03
glider: 114
mission: 3
dive: 567
start: 12 10 108 15 1 59
data:
$ID,114
$MISSION,3
$DIVE,567
$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,-602889.81
$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,43
$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
$GPS1,145508,2112.930,-15751.129,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.7
$GPS2,150102,2112.934,-15751.096,10,1.2,15,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT5
$TGT_LATLONG,2114.500,-15753.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.159,0.169
$KALMAN_X,-199376.4,1061.4,-572.8,203157.5,432.6
$KALMAN_Y,-179981.2,587.6,-135.3,172782.3,-751.7
$MHEAD_RNG_PITCHd_Wd,306.9,4384,-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,-165.5,0.0,0.0,0,110,0.00,0.00,-80.62,0.000,2,0.000,0.000,408,2007,2789
$GC,114,-1.06,-165.5,3.1,-3.0,15,144,11.98,2.38,-11.10,0.000,4,0.153,0.044,2552,643,3409
$GC,214,-1.23,-165.5,17.7,-8.5,32,221,0.15,2.35,0.00,0.000,6,0.053,0.021,2515,2046,3409
$GC,485,-1.23,-165.5,41.8,-8.1,68,489,0.00,2.40,0.00,0.000,4,0.000,0.035,2515,3442,3409
$GC,575,-1.33,-165.5,49.6,-7.6,75,582,0.00,2.35,0.00,0.000,6,0.000,0.022,2514,2043,3409
$GC,838,-1.37,-165.5,71.1,-7.9,100,842,0.00,2.42,0.00,0.000,4,0.000,0.033,2515,3444,3409
$GC,874,-1.44,-165.5,74.2,-8.2,103,879,0.17,2.38,0.00,0.000,6,0.052,0.022,2472,2029,3409
$GC,1139,-1.40,-165.5,97.5,-8.5,127,1144,0.00,2.45,0.00,0.000,4,0.000,0.034,2473,3443,3409
$GC,1184,-1.40,-165.5,101.8,-8.3,130,1191,0.00,2.35,0.00,0.000,6,0.000,0.022,2472,2040,3409
$GC,1511,-1.40,-165.5,128.9,-8.3,161,1515,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3443,3409
$GC,1574,-1.47,-165.5,134.3,-8.9,166,1579,0.00,2.38,0.00,0.000,6,0.000,0.023,2472,2033,3409
$GC,1900,-1.47,-165.5,162.0,-7.4,196,1904,0.00,2.42,0.00,0.000,4,0.000,0.034,2473,3438,3409
$GC,1956,-1.55,-165.5,165.8,-6.4,200,1962,0.00,2.35,0.00,0.000,6,0.000,0.024,2473,2036,3409
$GC,2284,-1.55,-165.5,187.8,-7.7,231,2288,0.00,2.42,0.00,0.000,4,0.000,0.034,2472,3440,3409
$GC,2340,-1.64,-165.5,192.0,-5.8,235,2346,0.17,2.38,0.00,0.000,6,0.055,0.024,2430,2029,3409
$GC,2673,-1.60,-165.5,225.1,-10.8,256,2677,0.00,2.42,0.00,0.000,4,0.000,0.035,2429,3432,3409
$GC,2725,-1.60,-165.5,230.4,-9.2,258,2730,0.00,2.35,0.00,0.000,6,0.000,0.025,2429,2040,3409
$GC,3042,-1.60,-165.5,257.1,-7.8,273,3046,0.00,2.42,0.00,0.000,4,0.000,0.037,2429,3435,3409
$GC,3070,-1.60,-165.5,259.6,-8.5,274,3075,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2027,3409
$GC,3391,-1.60,-165.5,285.0,-7.6,290,3395,0.00,2.45,0.00,0.000,4,0.000,0.037,2429,3437,3408
$GC,3436,-1.60,-165.5,288.6,-7.8,292,3440,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2036,3408
$GC,3775,-1.60,-165.5,314.2,-8.0,305,3780,0.00,2.45,0.00,0.000,4,0.000,0.038,2429,3441,3406
$GC,3821,-1.65,-165.5,318.0,-8.2,306,3825,0.00,2.40,0.00,0.000,6,0.000,0.027,2429,2031,3406
$GC,4142,-1.65,-165.5,343.5,-7.8,314,4146,0.00,2.45,0.00,0.000,4,0.000,0.038,2429,3432,3404
$GC,4198,-1.70,-165.5,347.8,-6.8,315,4202,0.00,2.38,0.00,0.000,6,0.000,0.028,2429,2041,3404
$GC,4549,-1.70,-165.5,372.7,-6.9,324,4553,0.00,2.45,0.00,0.000,4,0.000,0.040,2429,3438,3401
$GC,4623,-1.75,-165.5,377.6,-6.2,325,4627,0.00,2.40,0.00,0.000,6,0.000,0.028,2429,2035,3400
$GC,4956,-1.75,-165.5,401.6,-7.8,333,4960,0.00,2.45,0.00,0.000,4,0.000,0.039,2429,3435,3399
$GC,4990,-1.78,-165.5,404.4,-8.1,333,4995,0.12,2.40,0.00,0.000,6,0.075,0.029,2402,2033,3399
$GC,5323,-1.78,-165.5,433.6,-9.2,341,5327,0.00,2.47,0.00,0.000,4,0.000,0.041,2402,3442,3396
$GC,5362,-1.78,-165.5,437.6,-10.0,341,5368,0.00,2.42,0.00,0.000,6,0.000,0.030,2402,2029,3395
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5539,-0.33,0.0,452.5,8.9,346,5674,1.50,0.00,131.52,0.932,6,0.088,0.000,2713,1931,2733
$STATE,5675,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5679,1.06,165.5,457.5,0.0,349,5820,1.38,2.58,132.60,0.915,4,0.050,0.038,3017,3345,2058
$GC,5958,0.56,165.5,437.8,14.8,355,5964,0.57,2.42,0.00,0.000,6,0.120,0.032,2913,1968,2057
$GC,6303,0.26,165.5,403.5,9.4,364,6305,0.32,0.00,0.00,0.000,6,0.117,0.000,2852,1968,2056
$GC,6627,0.15,196.3,382.9,5.9,372,6657,0.15,2.65,24.08,0.897,4,0.124,0.052,2825,541,1932
$GC,6722,0.03,196.3,376.7,7.2,374,6727,0.15,2.45,0.00,0.000,6,0.120,0.029,2800,1946,1932
$GC,7041,0.11,264.5,360.5,4.8,382,7102,0.00,2.55,54.65,0.893,4,0.000,0.041,2799,3351,1654
$GC,7121,0.16,313.2,356.3,5.4,384,7166,0.12,2.50,39.08,0.878,6,0.079,0.032,2826,1939,1455
$GC,7495,0.08,313.2,327.1,7.6,393,7499,0.00,2.50,0.00,0.000,4,0.000,0.038,2825,3351,1455
$GC,7535,0.02,313.2,323.8,8.6,394,7540,0.15,2.47,0.00,0.000,6,0.107,0.031,2798,1942,1455
$GC,7860,0.02,313.2,298.8,8.1,402,7864,0.00,2.50,0.00,0.000,4,0.000,0.038,2796,3358,1454
$GC,7888,0.03,316.8,296.9,6.7,403,7897,0.00,2.47,3.47,0.821,6,0.000,0.031,2798,1938,1440
$GC,8216,0.12,370.3,280.2,5.2,419,8266,0.00,2.60,42.50,0.848,4,0.000,0.037,2798,3352,1223
$GC,8290,0.12,370.3,275.3,7.0,422,8295,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1945,1223
$GC,8607,0.12,370.3,250.3,8.9,437,8611,0.00,2.53,0.00,0.000,4,0.000,0.050,2798,541,1223
$GC,8651,0.12,370.3,245.9,9.9,439,8656,0.00,2.45,0.00,0.000,6,0.000,0.026,2798,1962,1222
$GC,8974,0.22,430.4,224.8,5.0,455,9029,0.17,2.53,47.70,0.798,4,0.067,0.039,2839,3344,978
$GC,9082,0.23,436.3,217.8,6.6,460,9092,0.00,2.47,5.57,0.782,6,0.000,0.031,2840,1937,954
$GC,9415,0.18,436.3,190.6,9.3,480,9419,0.00,2.50,0.00,0.000,4,0.000,0.048,2840,538,954
$GC,9433,0.12,436.3,188.6,9.4,481,9438,0.12,2.45,0.00,0.000,6,0.106,0.026,2817,1957,954
$GC,9761,0.21,484.3,165.9,5.4,511,9804,0.00,2.53,38.17,0.742,4,0.000,0.038,2817,3348,758
$GC,9863,0.33,510.3,160.0,6.0,520,9890,0.20,2.45,21.38,0.730,6,0.058,0.026,2863,1934,651
$GC,10209,0.24,510.3,127.4,9.8,552,10214,0.00,2.50,0.00,0.000,4,0.000,0.036,2862,3356,656
$GC,10251,0.19,510.3,123.0,11.5,555,10256,0.15,2.42,0.00,0.000,6,0.094,0.027,2833,1946,657
$GC,10577,0.19,510.3,94.9,8.2,585,10581,0.00,2.45,0.00,0.000,4,0.000,0.034,2833,3353,657
$GC,10618,0.26,510.3,91.6,8.6,588,10622,0.00,2.40,0.00,0.000,6,0.000,0.025,2833,1948,658
$GC,10953,0.33,529.1,67.4,6.3,619,10973,0.12,0.00,17.27,0.635,6,0.064,0.000,2864,1948,574
$GC,11230,0.33,529.6,47.9,6.8,645,11234,0.00,2.42,0.00,0.000,4,0.000,0.032,2864,3351,575
$GC,11287,0.40,529.6,43.7,7.4,649,11293,0.00,2.40,0.00,0.000,6,0.000,0.024,2864,1936,576
$GC,11554,0.40,529.6,22.3,7.5,682,11561,0.00,2.45,0.00,0.000,4,0.000,0.033,2864,3353,576
$GC,11585,0.40,529.6,19.9,8.0,687,11591,0.00,2.38,0.00,0.000,6,0.000,0.024,2864,1951,577
$STATE,11762,end climb,SURFACE_DEPTH_REACHED
$STATE,11762,begin surface coast
$FINISH,0.9,1.010694
$STATE,11835,end surface coast,CONTROL_FINISHED_OK
$STATE,11835,begin surface
$SM_CCo,11919,0.00,0.000,0,0,577,528.62
$SM_GC,1.62,10.77,0.00,0.00,0.038,0.000,0.000,410,2076,577,-10.90,1.02,528.62
$IRIDIUM_FIX,2104.07,-15750.02,060398,111153
$TT8_MAMPS,0.027612
$HUMID,1817
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,23.6,78.878
$10V_AH,10.2,48.040
$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,28.500,141.900,558.000,0.000,0.000,23.363,28.196,152.865,9.750,0.000,0.000,16.770,1356.020,7973.045,603.572,1758.237,581.343,33.378,1504.166,0.000,1725.991,0.000,57.452
$DEVICE_MAMPS,153.400,53.690,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.491,488.346,871.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,731
$CAP_FILE_SIZE,114233,0
$CFSIZE,260165632,225521664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,182156,2114.008,-15751.920,39,1.2,39,9.8