version: 66.03
glider: 114
mission: 3
dive: 515
start: 12 3 108 2 44 6
data:
$ID,114
$MISSION,3
$DIVE,515
$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,-601908.44
$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,34
$R_STBD_OVSHOOT,75
$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
$GPS1,023655,2105.414,-15747.431,22,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.7
$GPS2,024309,2105.457,-15747.430,13,1.9,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.000,0.232
$KALMAN_X,-160125.5,-21.1,511.9,170228.5,-1960.7
$KALMAN_Y,-146968.3,36.4,184.4,126154.3,-777.8
$MHEAD_RNG_PITCHd_Wd,350.1,3562,-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,-165.5,0.0,0.0,0,107,0.00,0.00,-75.45,0.000,2,0.000,0.000,411,2090,2927
$GC,111,-1.06,-165.5,3.5,-3.4,14,137,12.00,2.60,-7.93,0.000,4,0.155,0.046,2551,633,3409
$GC,218,-1.21,-165.5,19.9,-7.8,32,225,0.12,2.33,0.00,0.000,6,0.058,0.021,2520,2009,3409
$GC,488,-1.21,-165.5,45.8,-9.7,66,492,0.00,2.45,0.00,0.000,4,0.000,0.034,2520,3439,3409
$GC,574,-1.29,-165.5,53.3,-8.4,73,578,0.00,2.38,0.00,0.000,6,0.000,0.022,2520,2023,3409
$GC,836,-1.29,-165.5,77.2,-9.6,97,840,0.00,2.45,0.00,0.000,4,0.000,0.033,2520,3442,3409
$GC,893,-1.40,-165.5,82.4,-9.0,101,899,0.15,2.35,0.00,0.000,6,0.058,0.021,2484,2035,3409
$GC,1218,-1.40,-165.5,115.9,-8.3,132,1222,0.00,2.42,0.00,0.000,4,0.000,0.033,2484,3441,3409
$GC,1265,-1.45,-165.5,119.6,-7.7,135,1273,0.00,2.35,0.00,0.000,6,0.000,0.022,2484,2032,3409
$GC,1591,-1.45,-165.5,144.9,-8.9,166,1595,0.00,2.42,0.00,0.000,4,0.000,0.033,2484,3442,3410
$GC,1614,-1.45,-165.5,147.0,-8.8,168,1618,0.00,2.35,0.00,0.000,6,0.000,0.022,2484,2034,3410
$GC,1946,-1.49,-165.5,175.3,-7.5,199,1950,0.00,2.42,0.00,0.000,4,0.000,0.033,2485,3444,3410
$GC,1992,-1.57,-165.5,178.9,-7.0,202,1999,0.17,2.35,0.00,0.000,6,0.057,0.023,2443,2039,3410
$GC,2316,-1.54,-165.5,208.7,-9.7,229,2320,0.00,2.40,0.00,0.000,4,0.000,0.034,2443,3432,3410
$GC,2379,-1.54,-165.5,214.8,-9.2,232,2383,0.00,2.35,0.00,0.000,6,0.000,0.023,2443,2027,3410
$GC,2712,-1.54,-165.5,246.1,-9.2,248,2716,0.00,2.42,0.00,0.000,4,0.000,0.035,2443,3430,3410
$GC,2768,-1.57,-165.5,250.8,-7.9,250,2774,0.00,2.35,0.00,0.000,6,0.000,0.025,2443,2031,3410
$GC,3085,-1.57,-165.5,272.6,-6.5,266,3089,0.00,2.42,0.00,0.000,4,0.000,0.036,2442,3430,3410
$GC,3113,-1.57,-165.5,274.3,-7.0,267,3117,0.00,2.35,0.00,0.000,6,0.000,0.025,2443,2039,3410
$GC,3432,-1.57,-165.5,300.1,-8.6,282,3436,0.00,2.42,0.00,0.000,4,0.000,0.038,2442,3433,3409
$GC,3500,-1.63,-165.5,306.1,-7.9,283,3504,0.00,2.38,0.00,0.000,6,0.000,0.026,2443,2034,3409
$GC,3838,-1.63,-165.5,330.4,-7.3,292,3842,0.00,2.42,0.00,0.000,4,0.000,0.038,2443,3430,3407
$GC,3897,-1.69,-165.5,334.7,-7.4,293,3901,0.00,2.38,0.00,0.000,6,0.000,0.028,2442,2035,3407
$GC,4211,-1.73,-165.5,357.0,-7.7,301,4213,0.12,0.00,0.00,0.000,6,0.069,0.000,2413,2035,3404
$GC,4535,-1.73,-165.5,386.8,-8.9,309,4539,0.00,2.45,0.00,0.000,4,0.000,0.041,2413,3431,3402
$GC,4602,-1.73,-165.5,392.8,-8.9,310,4607,0.00,2.40,0.00,0.000,6,0.000,0.029,2413,2030,3401
$GC,4941,-1.73,-165.5,420.1,-8.1,319,4945,0.00,2.47,0.00,0.000,4,0.000,0.041,2413,3439,3399
$GC,5003,-1.76,-165.5,424.9,-7.0,320,5007,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2029,3399
$GC,5347,-1.76,-165.5,449.8,-7.3,329,5352,0.00,2.47,0.00,0.000,4,0.000,0.042,2413,3432,3395
$STATE,5355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5355,begin apogee
$GC,5366,-0.33,0.0,450.8,7.3,329,5500,1.42,0.00,130.30,0.935,6,0.089,0.000,2710,1953,2733
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5504,1.06,165.5,455.7,0.0,332,5643,1.42,2.53,130.65,0.933,4,0.048,0.039,3022,3344,2057
$GC,5810,0.55,165.5,438.2,11.5,339,5817,0.60,2.47,0.00,0.000,6,0.123,0.033,2913,1941,2055
$GC,6142,0.25,165.5,411.6,7.6,348,6144,0.35,0.00,0.00,0.000,6,0.118,0.000,2849,1941,2054
$GC,6468,0.09,171.1,390.3,6.7,356,6477,0.15,2.53,4.18,0.867,4,0.124,0.040,2818,3346,2035
$GC,6513,0.05,201.7,387.6,5.9,357,6543,0.00,2.45,24.40,0.917,6,0.000,0.032,2817,1952,1910
$GC,6882,0.07,263.8,369.1,5.0,366,6937,0.00,2.53,49.42,0.925,4,0.000,0.040,2817,3337,1657
$GC,6968,-0.00,263.8,363.4,7.8,368,6973,0.15,2.47,0.00,0.000,6,0.116,0.032,2790,1939,1657
$GC,7293,0.05,293.1,343.5,5.9,376,7318,0.00,0.00,23.70,0.904,6,0.000,0.000,2790,1938,1538
$GC,7618,0.11,328.9,323.6,5.8,384,7652,0.10,2.58,28.12,0.893,4,0.088,0.038,2812,3337,1392
$GC,7677,0.12,358.9,320.1,5.9,385,7706,0.00,2.45,24.60,0.866,6,0.000,0.031,2812,1946,1269
$GC,8028,0.07,358.9,296.1,7.2,395,8032,0.00,2.47,0.00,0.000,4,0.000,0.038,2812,3339,1268
$GC,8078,0.07,358.9,291.8,7.8,397,8083,0.00,2.45,0.00,0.000,6,0.000,0.031,2812,1937,1268
$GC,8395,0.04,358.9,269.2,7.0,412,8399,0.00,2.47,0.00,0.000,4,0.000,0.037,2812,3342,1268
$GC,8435,0.09,386.0,266.6,6.0,414,8463,0.00,2.42,21.73,0.834,6,0.000,0.031,2812,1950,1159
$GC,8788,0.09,386.0,243.0,7.9,431,8792,0.00,2.53,0.00,0.000,4,0.000,0.049,2812,547,1159
$GC,8806,0.09,386.0,241.5,7.5,432,8810,0.00,2.40,0.00,0.000,6,0.000,0.026,2812,1943,1158
$GC,9133,0.22,459.5,223.4,4.6,448,9199,0.12,2.55,58.03,0.790,4,0.077,0.038,2840,3344,859
$GC,9241,0.22,459.5,215.2,9.3,453,9245,0.00,2.45,0.00,0.000,6,0.000,0.029,2840,1939,858
$GC,9563,0.16,459.5,186.1,8.4,476,9567,0.00,2.47,0.00,0.000,4,0.000,0.035,2840,3348,859
$GC,9586,0.11,459.5,183.9,8.9,477,9593,0.12,2.42,0.00,0.000,6,0.100,0.027,2816,1942,859
$GC,9913,0.14,472.5,160.3,6.4,508,9929,0.00,2.50,10.95,0.719,4,0.000,0.034,2817,3354,805
$GC,9955,0.17,474.5,157.4,6.8,511,9959,0.00,2.42,0.00,0.000,6,0.000,0.025,2817,1951,805
$GC,10284,0.17,474.5,136.2,8.2,541,10288,0.00,2.42,0.00,0.000,4,0.000,0.033,2817,3352,806
$GC,10314,0.22,474.5,133.6,8.2,543,10320,0.00,2.40,0.00,0.000,6,0.000,0.025,2817,1947,806
$GC,10644,0.41,555.8,113.1,4.4,574,10713,0.25,0.00,66.22,0.663,6,0.053,0.000,2880,1946,467
$GC,11030,0.33,555.8,77.2,9.4,611,11034,0.00,2.45,0.00,0.000,4,0.000,0.032,2881,3353,469
$GC,11059,0.27,555.8,74.4,9.7,613,11064,0.15,2.42,0.00,0.000,6,0.089,0.025,2851,1939,469
$GC,11325,0.27,555.8,57.5,7.6,637,11329,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3353,471
$GC,11347,0.27,555.8,55.2,8.1,638,11354,0.00,2.38,0.00,0.000,6,0.000,0.023,2851,1949,471
$GC,11609,0.27,555.8,36.9,7.4,663,11613,0.00,2.40,0.00,0.000,4,0.000,0.031,2851,3349,471
$GC,11644,0.32,555.8,34.2,7.6,666,11648,0.00,2.38,0.00,0.000,6,0.000,0.024,2851,1949,472
$GC,11920,0.50,633.2,16.0,4.5,709,11932,0.17,0.00,10.35,0.568,6,0.057,0.000,2898,1949,420
$STATE,12032,end climb,SURFACE_DEPTH_REACHED
$STATE,12032,begin surface coast
$FINISH,0.9,1.000817
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12087,begin surface
$SM_CCo,12171,0.00,0.000,0,0,420,567.38
$SM_GC,1.72,11.02,0.00,0.00,0.041,0.000,0.000,408,2076,420,-10.91,1.02,567.38
$IRIDIUM_FIX,2057.14,-15746.61,260298,232351
$TT8_MAMPS,0.027612
$HUMID,1769
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,8
$24V_AH,23.6,71.318
$10V_AH,10.2,43.595
$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,28.625,136.625,582.650,0.000,0.000,22.237,30.173,175.913,11.250,0.000,0.000,14.516,1355.242,8238.187,618.552,1739.189,593.735,33.377,1510.202,0.000,1707.117,0.000,63.427
$DEVICE_MAMPS,154.934,49.088,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.792,491.310,871.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,738
$CAP_FILE_SIZE,113166,0
$CFSIZE,260165632,228618240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,060807,2106.669,-15748.378,30,1.0,30,9.8