version: 66.03
glider: 114
mission: 3
dive: 543
start: 12 7 108 2 48 18
data:
$ID,114
$MISSION,3
$DIVE,543
$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,-602457.19
$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,35
$R_STBD_OVSHOOT,70
$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
$GPS1,024125,2104.362,-15745.808,22,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.7
$GPS2,024721,2104.376,-15745.797,12,1.8,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.019,0.232
$KALMAN_X,-176731.0,75.8,365.6,189701.3,-1715.7
$KALMAN_Y,-164151.0,-9.0,217.4,141346.5,-1717.3
$MHEAD_RNG_PITCHd_Wd,354.9,6970,-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,-165.5,0.0,0.0,0,113,0.00,0.00,-80.50,0.000,2,0.000,0.000,411,2092,2809
$GC,117,-1.06,-165.5,3.2,-3.5,15,147,11.95,2.28,-10.60,0.000,4,0.153,0.047,2550,3408,3408
$GC,194,-1.17,-165.5,15.5,-7.9,28,201,0.00,2.33,0.00,0.000,6,0.000,0.022,2550,2016,3408
$GC,469,-1.26,-165.5,35.6,-7.4,70,474,0.15,2.42,0.00,0.000,4,0.055,0.032,2509,3418,3408
$GC,544,-1.32,-165.5,42.1,-8.9,76,548,0.00,2.33,0.00,0.000,6,0.000,0.022,2509,2033,3408
$GC,806,-1.32,-165.5,66.9,-9.7,100,810,0.00,2.38,0.00,0.000,4,0.000,0.033,2508,3411,3407
$GC,881,-1.39,-165.5,75.0,-11.1,106,885,0.00,2.30,0.00,0.000,6,0.000,0.022,2508,2038,3408
$GC,1143,-1.39,-165.5,104.3,-10.9,130,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2037,3408
$GC,1466,-1.46,-165.5,127.5,-6.8,160,1470,0.15,2.38,0.00,0.000,4,0.054,0.031,2467,3418,3408
$GC,1541,-1.52,-165.5,133.9,-8.0,166,1545,0.00,2.33,0.00,0.000,6,0.000,0.022,2466,2035,3408
$GC,1866,-1.52,-165.5,163.8,-8.8,196,1870,0.00,2.38,0.00,0.000,4,0.000,0.032,2466,3415,3408
$GC,1899,-1.56,-165.5,166.7,-8.3,198,1906,0.00,2.35,0.00,0.000,6,0.000,0.023,2467,2032,3409
$GC,2226,-1.56,-165.5,195.7,-9.3,229,2230,0.00,2.38,0.00,0.000,4,0.000,0.032,2466,3415,3409
$GC,2289,-1.62,-165.5,201.5,-9.0,234,2293,0.15,2.33,0.00,0.000,6,0.059,0.024,2430,2034,3409
$GC,2619,-1.58,-165.5,230.8,-8.8,250,2623,0.00,2.42,0.00,0.000,4,0.000,0.039,2430,634,3409
$GC,2648,-1.58,-165.5,233.7,-9.7,251,2652,0.00,2.33,0.00,0.000,6,0.000,0.023,2430,2018,3408
$GC,2964,-1.58,-165.5,259.3,-8.0,266,2968,0.00,2.45,0.00,0.000,4,0.000,0.036,2430,3448,3408
$GC,3026,-1.62,-165.5,264.7,-8.2,268,3033,0.00,2.38,0.00,0.000,6,0.000,0.025,2430,2045,3409
$GC,3345,-1.62,-165.5,290.8,-8.3,284,3349,0.00,2.42,0.00,0.000,4,0.000,0.037,2430,3440,3408
$GC,3413,-1.62,-165.5,296.4,-7.2,287,3417,0.00,2.38,0.00,0.000,6,0.000,0.027,2430,2037,3408
$GC,3758,-1.62,-165.5,321.7,-7.7,297,3761,0.00,2.47,0.00,0.000,4,0.000,0.040,2429,3446,3407
$GC,3791,-1.62,-165.5,324.7,-8.7,297,3796,0.00,2.42,0.00,0.000,6,0.000,0.028,2430,2030,3406
$GC,4124,-1.62,-165.5,352.2,-8.4,305,4128,0.00,2.47,0.00,0.000,4,0.000,0.040,2430,3445,3404
$GC,4146,-1.62,-165.5,354.1,-8.2,305,4150,0.00,2.42,0.00,0.000,6,0.000,0.028,2430,2028,3404
$GC,4490,-1.62,-165.5,377.6,-6.4,314,4494,0.00,2.47,0.00,0.000,4,0.000,0.040,2430,3437,3400
$GC,4537,-1.68,-165.5,380.3,-5.4,315,4541,0.00,2.40,0.00,0.000,6,0.000,0.028,2430,2036,3401
$GC,4856,-1.68,-165.5,398.0,-5.6,323,4860,0.00,2.45,0.00,0.000,4,0.000,0.041,2430,3440,3398
$GC,4896,-1.72,-165.5,400.7,-7.2,323,4902,0.00,2.40,0.00,0.000,6,0.000,0.028,2430,2040,3398
$GC,5229,-1.72,-165.5,423.5,-6.8,332,5234,0.00,2.47,0.00,0.000,4,0.000,0.042,2430,3442,3395
$GC,5292,-1.79,-165.5,427.6,-6.4,333,5297,0.12,2.42,0.00,0.000,6,0.077,0.030,2402,2033,3395
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5643,-0.33,0.0,452.2,7.1,342,5777,1.52,0.00,130.35,0.941,6,0.091,0.000,2716,1926,2733
$STATE,5778,end apogee,CONTROL_FINISHED_OK
$STATE,5778,begin climb
$GC,5781,1.06,165.5,455.2,0.0,345,5922,1.35,2.58,131.90,0.919,4,0.048,0.051,3016,557,2058
$GC,6182,0.52,165.5,418.1,14.0,354,6187,0.62,2.42,0.00,0.000,6,0.146,0.031,2906,1942,2057
$GC,6502,0.24,165.5,392.0,7.8,362,6508,0.32,2.55,0.00,0.000,4,0.225,0.051,2847,552,2054
$GC,6544,0.11,199.2,389.4,5.8,363,6577,0.17,2.47,26.33,0.898,6,0.130,0.031,2817,1963,1920
$GC,6911,0.22,308.9,375.0,3.6,372,7001,0.10,0.00,88.00,0.896,6,0.087,0.000,2837,1964,1473
$GC,7315,0.11,308.9,346.7,7.6,382,7317,0.12,0.00,0.00,0.000,6,0.115,0.000,2816,1963,1472
$GC,7640,0.05,308.9,321.9,7.8,390,7644,0.00,2.47,0.00,0.000,4,0.000,0.044,2816,3359,1471
$GC,7691,0.01,308.9,318.1,7.1,391,7696,0.12,2.45,0.00,0.000,6,0.123,0.032,2794,1958,1471
$GC,8005,0.10,361.9,300.1,5.3,399,8053,0.00,2.60,41.67,0.861,4,0.000,0.051,2794,541,1256
$GC,8078,0.11,367.9,295.8,6.6,401,8090,0.00,2.47,5.53,0.832,6,0.000,0.029,2794,1955,1233
$GC,8400,0.24,441.9,279.1,4.6,417,8467,0.20,2.58,59.28,0.834,4,0.070,0.044,2839,3352,931
$GC,8508,0.18,441.9,270.4,9.5,422,8512,0.00,2.45,0.00,0.000,6,0.000,0.031,2841,1951,931
$GC,8836,0.10,441.9,238.6,10.6,438,8841,0.15,2.50,0.00,0.000,4,0.107,0.038,2804,3355,931
$GC,8880,0.10,441.9,234.0,9.6,440,8885,0.00,2.45,0.00,0.000,6,0.000,0.029,2809,1947,931
$GC,9202,0.10,441.9,205.4,8.7,456,9206,0.00,2.47,0.00,0.000,4,0.000,0.038,2809,3356,931
$GC,9231,0.13,441.9,202.7,9.2,457,9236,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,1941,931
$GC,9567,0.22,489.1,180.1,5.4,487,9614,0.12,2.60,37.45,0.746,4,0.073,0.035,2837,3364,738
$GC,9628,0.23,498.9,176.0,6.5,493,9642,0.00,2.47,8.88,0.739,6,0.000,0.027,2837,1943,698
$GC,9970,0.20,498.9,148.6,9.0,525,9974,0.00,2.47,0.00,0.000,4,0.000,0.035,2837,3353,698
$GC,9999,0.20,498.9,145.8,9.2,527,10003,0.00,2.42,0.00,0.000,6,0.000,0.025,2837,1946,699
$GC,10328,0.20,498.9,118.2,7.4,557,10332,0.00,2.45,0.00,0.000,4,0.000,0.033,2837,3361,700
$GC,10368,0.26,498.9,115.0,7.2,560,10374,0.00,2.42,0.00,0.000,6,0.000,0.025,2837,1937,700
$GC,10699,0.31,531.2,95.5,5.9,591,10732,0.00,2.53,26.48,0.650,4,0.000,0.032,2837,3367,566
$GC,10761,0.38,531.2,90.7,8.4,596,10768,0.15,2.42,0.00,0.000,6,0.064,0.025,2874,1952,569
$GC,11086,0.38,531.2,64.9,7.2,627,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1952,571
$GC,11341,0.38,531.2,43.9,8.5,651,11346,0.00,2.42,0.00,0.000,4,0.000,0.038,2873,3357,572
$GC,11383,0.38,531.2,40.6,8.3,654,11387,0.00,2.40,0.00,0.000,6,0.000,0.024,2873,1947,573
$GC,11653,0.35,531.2,19.3,8.2,689,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1946,573
$STATE,11826,end climb,SURFACE_DEPTH_REACHED
$STATE,11826,begin surface coast
$FINISH,1.0,1.000960
$STATE,11895,end surface coast,CONTROL_FINISHED_OK
$STATE,11896,begin surface
$SM_CCo,11979,0.00,0.000,0,0,574,529.60
$SM_GC,1.80,10.90,0.00,0.00,0.042,0.000,0.000,407,2094,574,-10.91,1.53,529.60
$IRIDIUM_FIX,2054.83,-15742.34,020398,232351
$TT8_MAMPS,0.027612
$HUMID,1797
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,9
$24V_AH,23.6,75.209
$10V_AH,10.2,45.960
$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,28.400,126.825,555.850,0.000,0.000,22.525,27.320,161.637,11.250,0.000,0.000,14.440,1332.621,8087.013,622.325,1721.385,571.945,33.371,1480.944,0.000,1690.900,0.000,57.444
$DEVICE_MAMPS,225.498,51.389,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.876,480.911,869.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,732
$CAP_FILE_SIZE,109025,0
$CFSIZE,260165632,226975744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071208,060907,2105.503,-15746.014,30,1.2,30,9.8