version: 66.03
glider: 114
mission: 3
dive: 540
start: 12 6 108 16 10 18
data:
$ID,114
$MISSION,3
$DIVE,540
$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,-602412.62
$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,55
$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
$GPS1,160331,2102.488,-15746.527,36,1.6,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.2
$GPS2,160921,2102.484,-15746.548,13,1.5,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.126,0.195
$KALMAN_X,-175046.4,822.4,588.9,185753.1,-2493.1
$KALMAN_Y,-159627.4,-7.3,83.4,133449.5,-798.7
$MHEAD_RNG_PITCHd_Wd,23.0,9062,-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,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,88,0.00,0.00,-58.88,0.000,2,0.000,0.000,409,2056,2841
$GC,93,-1.06,-165.5,3.3,-3.8,11,123,11.95,2.42,-9.62,0.000,4,0.153,0.050,2551,3423,3410
$GC,176,-1.20,-165.5,17.5,-8.0,25,182,0.00,2.35,0.00,0.000,6,0.000,0.022,2551,2027,3410
$GC,454,-1.29,-165.5,38.6,-6.3,64,459,0.15,2.42,0.00,0.000,4,0.055,0.031,2509,3427,3410
$GC,507,-1.36,-165.5,43.7,-10.0,68,511,0.00,2.35,0.00,0.000,6,0.000,0.023,2508,2031,3410
$GC,769,-1.36,-165.5,67.7,-8.8,92,773,0.00,2.40,0.00,0.000,4,0.000,0.033,2508,3424,3411
$GC,825,-1.42,-165.5,72.8,-7.7,96,832,0.12,2.33,0.00,0.000,6,0.062,0.022,2478,2033,3411
$GC,1091,-1.37,-165.5,98.8,-9.7,121,1095,0.00,2.40,0.00,0.000,4,0.000,0.033,2478,3428,3411
$GC,1176,-1.42,-165.5,108.0,-9.3,128,1182,0.00,2.33,0.00,0.000,6,0.000,0.022,2478,2040,3411
$GC,1501,-1.42,-165.5,138.0,-9.3,159,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3412
$GC,1823,-1.42,-165.5,164.1,-6.9,189,1827,0.00,2.38,0.00,0.000,4,0.000,0.033,2478,3425,3412
$GC,1945,-1.50,-165.5,172.0,-6.4,199,1949,0.00,2.33,0.00,0.000,6,0.000,0.023,2479,2042,3413
$GC,2272,-1.55,-165.5,196.2,-7.4,229,2276,0.12,2.38,0.00,0.000,4,0.061,0.032,2446,3425,3412
$GC,2301,-1.55,-165.5,199.0,-9.5,231,2305,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2032,3412
$GC,2623,-1.55,-165.5,225.3,-8.0,247,2627,0.00,2.40,0.00,0.000,4,0.000,0.035,2446,3424,3412
$GC,2663,-1.55,-165.5,228.6,-7.9,249,2667,0.00,2.35,0.00,0.000,6,0.000,0.024,2446,2029,3412
$GC,2992,-1.55,-165.5,254.3,-8.3,265,2996,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3429,3412
$GC,3065,-1.63,-165.5,261.0,-8.5,268,3069,0.00,2.35,0.00,0.000,6,0.000,0.025,2446,2039,3412
$GC,3382,-1.63,-165.5,286.6,-7.2,283,3386,0.00,2.40,0.00,0.000,4,0.000,0.037,2446,3427,3412
$GC,3451,-1.70,-165.5,290.4,-4.7,286,3456,0.12,2.38,0.00,0.000,6,0.067,0.026,2416,2031,3412
$GC,3798,-1.70,-165.5,311.7,-6.7,299,3802,0.00,2.42,0.00,0.000,4,0.000,0.038,2416,3425,3411
$GC,3832,-1.70,-165.5,314.1,-6.4,299,3838,0.00,2.38,0.00,0.000,6,0.000,0.028,2416,2030,3410
$GC,4164,-1.70,-165.5,334.8,-6.0,308,4168,0.00,2.42,0.00,0.000,4,0.000,0.039,2416,3421,3408
$GC,4220,-1.70,-165.5,338.3,-5.9,309,4224,0.00,2.38,0.00,0.000,6,0.000,0.028,2416,2029,3407
$GC,4571,-1.70,-165.5,362.6,-7.8,318,4575,0.00,2.45,0.00,0.000,4,0.000,0.040,2416,3428,3405
$GC,4633,-1.73,-165.5,367.5,-7.7,319,4637,0.00,2.38,0.00,0.000,6,0.000,0.028,2416,2039,3405
$GC,4977,-1.73,-165.5,396.3,-8.9,328,4981,0.00,2.42,0.00,0.000,4,0.000,0.040,2416,3421,3402
$GC,5024,-1.77,-165.5,400.3,-8.3,329,5028,0.00,2.38,0.00,0.000,6,0.000,0.029,2416,2033,3402
$GC,5342,-1.77,-165.5,427.5,-8.6,337,5347,0.00,2.45,0.00,0.000,4,0.000,0.041,2416,3425,3399
$GC,5388,-1.77,-165.5,431.2,-7.7,338,5392,0.00,2.38,0.00,0.000,6,0.000,0.029,2416,2040,3399
$STATE,5622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5622,begin apogee
$GC,5630,-0.33,0.0,450.2,8.0,344,5766,1.45,0.00,132.00,0.934,6,0.091,0.000,2715,1932,2733
$STATE,5767,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5770,1.06,165.5,455.6,0.0,347,5911,1.38,2.58,132.02,0.920,4,0.049,0.040,3020,3325,2058
$GC,6045,0.55,165.5,441.1,11.7,353,6050,0.60,2.40,0.00,0.000,6,0.138,0.033,2912,1965,2057
$GC,6395,0.29,189.4,417.3,6.1,362,6420,0.25,2.65,19.15,0.913,4,0.120,0.053,2862,538,1959
$GC,6443,0.13,221.6,414.5,5.9,363,6476,0.22,2.45,26.00,0.913,6,0.119,0.029,2821,1940,1829
$GC,6802,0.09,258.2,395.4,5.7,372,6836,0.00,2.58,29.52,0.919,4,0.000,0.043,2821,3356,1679
$GC,6883,0.02,258.2,389.6,7.8,373,6889,0.12,2.50,0.00,0.000,6,0.117,0.032,2798,1942,1679
$GC,7208,-0.02,258.2,368.9,6.9,381,7213,0.00,2.50,0.00,0.000,4,0.000,0.038,2798,3353,1678
$GC,7238,-0.06,258.2,366.8,7.4,381,7242,0.10,2.47,0.00,0.000,6,0.119,0.032,2781,1940,1678
$GC,7570,-0.04,268.2,344.7,6.5,389,7584,0.00,2.58,8.45,0.901,4,0.000,0.039,2780,3348,1639
$GC,7607,-0.04,268.2,342.1,7.1,389,7613,0.00,2.47,0.00,0.000,6,0.000,0.031,2781,1939,1639
$GC,7940,0.13,365.1,327.0,4.0,398,8023,0.15,2.65,76.60,0.894,4,0.075,0.051,2817,536,1243
$GC,8060,0.08,365.1,318.8,8.6,400,8064,0.00,2.47,0.00,0.000,6,0.000,0.028,2817,1951,1244
$GC,8372,0.01,365.1,296.3,7.6,408,8377,0.12,2.50,0.00,0.000,4,0.113,0.041,2795,3359,1244
$GC,8417,0.01,365.1,293.0,7.1,410,8422,0.00,2.47,0.00,0.000,6,0.000,0.031,2795,1941,1243
$GC,8738,0.08,400.1,272.5,5.8,426,8773,0.00,2.60,28.23,0.868,4,0.000,0.038,2795,3356,1101
$GC,8797,0.13,429.8,269.2,5.9,428,8828,0.10,2.47,24.33,0.853,6,0.084,0.030,2817,1944,979
$GC,9159,0.08,429.8,244.4,7.0,446,9163,0.00,2.53,0.00,0.000,4,0.000,0.050,2816,544,980
$GC,9193,0.05,429.8,241.6,7.4,447,9199,0.00,2.45,0.00,0.000,6,0.000,0.027,2817,1960,980
$GC,9510,0.05,429.8,218.4,7.1,463,9514,0.00,2.45,0.00,0.000,4,0.000,0.040,2816,3353,980
$GC,9573,0.13,457.8,214.5,6.0,466,9602,0.00,2.45,22.95,0.811,6,0.000,0.028,2817,1941,866
$GC,9922,0.13,457.8,191.8,7.2,488,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1941,866
$GC,10248,0.14,464.3,167.5,6.6,519,10260,0.00,2.50,6.00,0.752,4,0.000,0.034,2817,3357,839
$GC,10273,0.14,467.4,165.9,6.7,521,10284,0.00,2.45,3.50,0.739,6,0.000,0.026,2817,1941,826
$GC,10604,0.14,467.4,140.9,8.5,552,10608,0.00,2.47,0.00,0.000,4,0.000,0.046,2817,548,826
$GC,10626,0.14,467.4,138.9,8.4,553,10632,0.00,2.40,0.00,0.000,6,0.000,0.024,2817,1961,826
$GC,10956,0.18,467.4,114.1,6.8,584,10960,0.00,2.38,0.00,0.000,4,0.000,0.034,2817,3342,827
$GC,11001,0.27,467.4,110.5,7.1,587,11008,0.15,2.40,0.00,0.000,6,0.061,0.026,2853,1938,828
$GC,11327,0.34,506.9,86.9,5.6,618,11363,0.00,2.53,30.92,0.645,4,0.000,0.044,2852,542,665
$GC,11383,0.39,534.7,83.7,6.0,623,11415,0.10,2.42,22.10,0.644,6,0.071,0.022,2878,1967,553
$GC,11734,0.34,534.7,53.4,8.6,656,11738,0.00,2.38,0.00,0.000,4,0.000,0.033,2878,3347,559
$GC,11784,0.34,534.7,49.3,7.4,660,11791,0.00,2.40,0.00,0.000,6,0.000,0.025,2878,1940,559
$GC,12052,0.28,534.7,26.6,8.2,688,12058,0.12,0.00,0.00,0.000,6,0.098,0.000,2854,1940,560
$GC,12330,0.28,534.7,6.2,7.4,737,12337,0.00,2.42,0.00,0.000,4,0.000,0.031,2854,3346,561
$STATE,12346,end climb,SURFACE_DEPTH_REACHED
$STATE,12347,begin surface coast
$FINISH,3.8,1.023283
$STATE,12359,end surface coast,CONTROL_FINISHED_OK
$STATE,12359,begin surface
$SM_CCo,12446,0.00,0.000,0,0,561,532.79
$SM_GC,1.60,11.02,0.00,0.00,0.052,0.000,0.000,412,2026,561,-10.89,-0.40,532.79
$IRIDIUM_FIX,2052.52,-15747.49,020398,131356
$TT8_MAMPS,0.028379
$HUMID,1791
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,440.3,72.2
$24V_AH,23.6,74.743
$10V_AH,10.2,45.704
$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,28.375,146.175,561.775,0.000,0.000,26.041,31.378,161.781,10.500,0.000,0.000,15.341,1368.731,8458.070,608.748,1789.200,573.429,33.378,1524.039,0.000,1746.931,0.000,58.927
$DEVICE_MAMPS,152.633,52.923,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.952,490.738,861.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38031,742
$CAP_FILE_SIZE,116120,0
$CFSIZE,260165632,227151872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,193901,2102.940,-15746.168,38,1.5,38,9.8