version: 66.03
glider: 114
mission: 3
dive: 545
start: 12 7 108 9 55 2
data:
$ID,114
$MISSION,3
$DIVE,545
$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,-602503.25
$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,36
$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
$GPS1,094729,2106.456,-15747.295,8,3.0,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.8
$GPS2,095407,2106.471,-15747.315,10,1.6,26,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT4
$TGT_LATLONG,2106.914,-15748.775
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.190,0.134
$KALMAN_X,-177375.9,-565.8,-330.4,189070.7,15.8
$KALMAN_Y,-165912.7,-3.7,-125.9,147323.7,-959.0
$MHEAD_RNG_PITCHd_Wd,295.5,2653,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,113,0.00,0.00,-80.50,0.000,2,0.000,0.000,410,2029,2850
$GC,118,-1.06,-165.5,3.2,-2.9,15,147,11.98,2.47,-9.68,0.000,4,0.154,0.048,2550,3430,3409
$GC,218,-1.21,-165.5,17.8,-6.9,32,225,0.10,2.35,0.00,0.000,6,0.066,0.022,2525,2030,3409
$GC,489,-1.21,-165.5,40.0,-8.5,70,494,0.00,2.45,0.00,0.000,4,0.000,0.034,2525,3443,3409
$GC,547,-1.31,-165.5,44.9,-8.6,74,553,0.00,2.35,0.00,0.000,6,0.000,0.022,2525,2039,3410
$GC,809,-1.35,-165.5,65.9,-8.4,99,814,0.12,2.42,0.00,0.000,4,0.059,0.034,2494,3443,3409
$GC,843,-1.35,-165.5,69.6,-10.8,101,849,0.00,2.35,0.00,0.000,6,0.000,0.021,2494,2034,3409
$GC,1105,-1.35,-165.5,96.4,-9.3,126,1109,0.00,2.42,0.00,0.000,4,0.000,0.033,2494,3438,3409
$GC,1161,-1.45,-165.5,101.6,-8.1,130,1168,0.00,2.38,0.00,0.000,6,0.000,0.023,2494,2040,3410
$GC,1487,-1.45,-165.5,128.8,-8.4,161,1491,0.00,2.42,0.00,0.000,4,0.000,0.038,2493,639,3410
$GC,1516,-1.51,-165.5,131.2,-8.4,163,1521,0.15,2.35,0.00,0.000,6,0.056,0.022,2456,2040,3410
$GC,1842,-1.51,-165.5,161.3,-9.1,193,1846,0.00,2.40,0.00,0.000,4,0.000,0.035,2455,3449,3410
$GC,1933,-1.57,-165.5,169.0,-7.2,200,1939,0.00,2.38,0.00,0.000,6,0.000,0.023,2456,2031,3410
$GC,2259,-1.57,-165.5,192.6,-6.5,231,2263,0.00,2.42,0.00,0.000,4,0.000,0.034,2456,3439,3410
$GC,2290,-1.60,-165.5,194.5,-6.3,233,2294,0.00,2.38,0.00,0.000,6,0.000,0.024,2456,2030,3410
$GC,2610,-1.60,-165.5,221.1,-9.0,252,2614,0.00,2.45,0.00,0.000,4,0.000,0.035,2456,3449,3410
$GC,2643,-1.64,-165.5,224.3,-8.6,253,2650,0.12,2.38,0.00,0.000,6,0.064,0.025,2426,2041,3410
$GC,2963,-1.61,-165.5,253.0,-9.0,269,2967,0.00,2.42,0.00,0.000,4,0.000,0.038,2425,3439,3410
$GC,3008,-1.61,-165.5,257.4,-9.2,271,3012,0.00,2.38,0.00,0.000,6,0.000,0.025,2425,2034,3410
$GC,3330,-1.61,-165.5,284.2,-7.4,287,3334,0.00,2.45,0.00,0.000,4,0.000,0.038,2425,3443,3409
$GC,3363,-1.61,-165.5,286.9,-7.6,288,3370,0.00,2.38,0.00,0.000,6,0.000,0.026,2426,2039,3409
$GC,3681,-1.61,-165.5,311.2,-8.0,301,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2039,3408
$GC,4003,-1.61,-165.5,342.9,-10.0,309,4007,0.00,2.45,0.00,0.000,4,0.000,0.040,2426,3439,3406
$GC,4071,-1.65,-165.5,349.3,-9.2,310,4076,0.00,2.40,0.00,0.000,6,0.000,0.028,2426,2034,3406
$GC,4409,-1.65,-165.5,374.4,-7.0,319,4413,0.00,2.47,0.00,0.000,4,0.000,0.041,2426,3442,3403
$GC,4482,-1.70,-165.5,379.9,-6.9,320,4490,0.00,2.40,0.00,0.000,6,0.000,0.029,2426,2039,3402
$GC,4823,-1.70,-165.5,403.4,-6.6,329,4827,0.00,2.45,0.00,0.000,4,0.000,0.041,2426,3434,3400
$GC,4874,-1.76,-165.5,406.8,-6.6,330,4878,0.00,2.40,0.00,0.000,6,0.000,0.029,2425,2034,3399
$GC,5188,-1.76,-165.5,428.3,-6.8,338,5192,0.00,2.45,0.00,0.000,4,0.000,0.042,2426,3434,3397
$GC,5236,-1.82,-165.5,431.9,-7.7,339,5241,0.15,2.40,0.00,0.000,6,0.072,0.030,2393,2042,3396
$STATE,5438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5438,begin apogee
$GC,5446,-0.33,0.0,450.8,9.5,344,5582,1.58,0.00,131.82,0.935,6,0.092,0.000,2716,1935,2733
$STATE,5583,end apogee,CONTROL_FINISHED_OK
$STATE,5583,begin climb
$GC,5586,1.06,165.5,457.1,0.0,347,5727,1.35,2.58,132.85,0.917,4,0.048,0.041,3016,3347,2058
$GC,5928,0.56,165.5,440.8,10.4,354,5935,0.55,2.45,0.00,0.000,6,0.123,0.033,2916,1956,2056
$GC,6261,0.33,208.3,420.6,5.6,363,6302,0.25,0.00,34.03,0.910,6,0.123,0.000,2866,1956,1883
$GC,6628,0.20,241.3,400.4,5.8,372,6663,0.15,2.67,26.65,0.913,4,0.126,0.053,2836,540,1749
$GC,6699,0.06,241.3,395.9,7.3,373,6704,0.17,2.47,0.00,0.000,6,0.117,0.031,2805,1953,1748
$GC,7037,0.03,265.7,377.1,6.1,382,7062,0.00,2.55,20.30,0.911,4,0.000,0.046,2805,3355,1649
$GC,7085,-0.02,265.7,373.7,7.1,383,7090,0.00,2.47,0.00,0.000,6,0.000,0.031,2805,1947,1648
$GC,7400,-0.05,282.3,352.9,6.3,391,7416,0.12,0.00,13.73,0.903,6,0.121,0.000,2783,1948,1582
$GC,7724,0.02,319.2,334.7,5.7,399,7759,0.00,2.58,29.80,0.893,4,0.000,0.041,2782,3361,1431
$GC,7800,0.04,332.9,330.2,6.4,399,7818,0.00,2.47,11.73,0.878,6,0.000,0.031,2783,1952,1375
$GC,8134,0.12,376.5,310.8,5.5,408,8176,0.15,2.55,35.30,0.874,4,0.075,0.040,2814,3358,1198
$GC,8200,0.07,376.5,306.3,7.6,409,8204,0.00,2.47,0.00,0.000,6,0.000,0.031,2815,1949,1198
$GC,8528,0.05,398.3,284.8,6.2,423,8552,0.00,2.58,18.00,0.854,4,0.000,0.040,2815,3349,1109
$GC,8572,0.07,438.9,282.2,5.6,425,8615,0.00,2.47,33.40,0.846,6,0.000,0.030,2815,1942,942
$GC,8927,0.02,438.9,255.5,8.2,442,8931,0.00,2.50,0.00,0.000,4,0.000,0.039,2814,3350,942
$GC,8985,0.02,438.9,250.6,8.2,444,8991,0.00,2.45,0.00,0.000,6,0.000,0.030,2815,1942,942
$GC,9301,-0.01,438.9,226.8,8.7,460,9306,0.12,2.50,0.00,0.000,4,0.107,0.037,2791,3356,942
$GC,9343,0.04,438.9,223.2,9.1,462,9347,0.00,2.45,0.00,0.000,6,0.000,0.028,2792,1944,942
$GC,9670,0.18,500.0,200.4,5.0,478,9726,0.15,2.58,48.42,0.785,4,0.070,0.037,2830,3352,694
$GC,9757,0.15,500.0,193.2,10.5,485,9761,0.00,2.45,0.00,0.000,6,0.000,0.028,2830,1950,694
$GC,10090,0.18,517.4,164.3,6.3,516,10110,0.00,2.50,14.93,0.742,4,0.000,0.035,2830,3353,623
$GC,10129,0.18,518.5,161.4,6.8,520,10133,0.00,2.45,0.00,0.000,6,0.000,0.027,2830,1944,626
$GC,10458,0.18,518.5,134.8,7.1,550,10462,0.00,2.47,0.00,0.000,4,0.000,0.035,2830,3358,626
$GC,10491,0.18,518.5,131.8,7.5,552,10497,0.00,2.42,0.00,0.000,6,0.000,0.026,2830,1947,627
$GC,10820,0.18,518.5,103.9,9.1,583,10832,0.00,2.50,2.92,0.671,4,0.000,0.033,2830,3352,619
$GC,10857,0.24,518.5,100.4,8.8,586,10861,0.00,2.42,0.00,0.000,6,0.000,0.025,2830,1937,619
$GC,11183,0.30,521.2,77.0,6.7,616,11196,0.12,2.50,3.28,0.647,4,0.066,0.032,2861,3352,607
$GC,11232,0.37,521.2,73.5,7.2,620,11236,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1945,608
$GC,11495,0.37,521.2,54.5,7.5,644,11499,0.00,2.47,0.00,0.000,4,0.000,0.044,2861,540,609
$GC,11517,0.37,521.2,52.8,7.1,645,11523,0.00,2.38,0.00,0.000,6,0.000,0.021,2861,1961,609
$GC,11779,0.37,521.2,32.0,7.5,670,11783,0.00,2.35,0.00,0.000,4,0.000,0.033,2861,3344,610
$GC,11821,0.41,521.2,29.0,7.7,674,11827,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1933,610
$GC,12099,0.41,521.2,8.6,8.5,723,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1933,611
$STATE,12154,end climb,SURFACE_DEPTH_REACHED
$STATE,12154,begin surface coast
$FINISH,1.1,1.023257
$STATE,12245,end surface coast,CONTROL_FINISHED_OK
$STATE,12245,begin surface
$SM_CCo,12330,0.00,0.000,0,0,611,520.53
$SM_GC,1.70,10.80,0.00,0.00,0.041,0.000,0.000,410,2070,611,-10.90,0.85,520.53
$IRIDIUM_FIX,2059.45,-15743.60,030398,060620
$TT8_MAMPS,0.027612
$HUMID,1800
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.70
$XPDR_PINGS,6
$24V_AH,23.6,75.521
$10V_AH,10.2,46.135
$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,28.150,142.275,557.150,0.000,0.000,23.853,34.703,178.354,10.500,0.000,0.000,28.169,1372.486,8317.972,631.923,1786.880,615.565,33.369,1542.895,0.000,1745.349,0.000,57.445
$DEVICE_MAMPS,154.167,52.923,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.292,496.725,888.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37993,749
$CAP_FILE_SIZE,117041,0
$CFSIZE,260165632,226844672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071208,132207,2107.148,-15749.005,45,0.9,56,9.8