version: 66.03
glider: 114
mission: 3
dive: 566
start: 12 10 108 11 24 36
data:
$ID,114
$MISSION,3
$DIVE,566
$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,-602872.44
$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,37
$R_STBD_OVSHOOT,56
$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
$GPS1,111755,2111.719,-15750.381,23,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.9
$GPS2,112339,2111.730,-15750.407,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT5
$TGT_LATLONG,2114.500,-15753.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.094,0.212
$KALMAN_X,-199842.0,1084.8,-187.1,204405.4,-701.2
$KALMAN_Y,-179399.6,590.1,-143.4,169979.2,-570.2
$MHEAD_RNG_PITCHd_Wd,326.2,6808,-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,-80.68,0.000,2,0.000,0.000,411,2075,2791
$GC,114,-1.06,-165.5,3.1,-2.9,15,144,11.98,2.35,-11.05,0.000,4,0.154,0.046,2551,3429,3408
$GC,237,-1.19,-165.5,19.3,-8.7,36,243,0.00,2.35,0.00,0.000,6,0.000,0.022,2551,2029,3407
$GC,513,-1.28,-165.5,39.6,-7.3,73,518,0.15,2.42,0.00,0.000,4,0.055,0.032,2509,3428,3407
$GC,554,-1.31,-165.5,43.3,-9.5,76,558,0.00,2.35,0.00,0.000,6,0.000,0.022,2508,2033,3407
$GC,816,-1.31,-165.5,66.7,-8.5,100,820,0.00,2.40,0.00,0.000,4,0.000,0.034,2509,3427,3408
$GC,863,-1.38,-165.5,70.7,-8.0,104,867,0.00,2.35,0.00,0.000,6,0.000,0.022,2509,2030,3408
$GC,1129,-1.41,-165.5,89.5,-6.2,128,1134,0.12,2.42,0.00,0.000,4,0.059,0.032,2478,3431,3408
$GC,1192,-1.41,-165.5,95.1,-9.9,133,1197,0.00,2.35,0.00,0.000,6,0.000,0.022,2477,2036,3408
$GC,1518,-1.41,-165.5,125.5,-7.5,163,1522,0.00,2.40,0.00,0.000,4,0.000,0.033,2478,3428,3408
$GC,1551,-1.41,-165.5,128.4,-8.3,165,1558,0.00,2.33,0.00,0.000,6,0.000,0.022,2478,2039,3408
$GC,1877,-1.45,-165.5,156.1,-7.2,196,1881,0.00,2.38,0.00,0.000,4,0.000,0.034,2478,3424,3408
$GC,1957,-1.54,-165.5,162.1,-7.5,203,1961,0.00,2.33,0.00,0.000,6,0.000,0.023,2477,2040,3407
$GC,2283,-1.58,-165.5,187.8,-6.9,233,2288,0.15,2.40,0.00,0.000,4,0.055,0.033,2434,3428,3407
$GC,2380,-1.62,-165.5,196.1,-8.5,241,2385,0.00,2.35,0.00,0.000,6,0.000,0.024,2433,2035,3407
$GC,2699,-1.59,-165.5,221.9,-8.7,258,2703,0.00,2.40,0.00,0.000,4,0.000,0.035,2434,3424,3407
$GC,2754,-1.59,-165.5,226.9,-8.3,260,2761,0.00,2.33,0.00,0.000,6,0.000,0.024,2434,2040,3407
$GC,3071,-1.59,-165.5,251.8,-7.4,276,3075,0.00,2.40,0.00,0.000,4,0.000,0.036,2434,3428,3407
$GC,3167,-1.62,-165.5,259.8,-8.7,280,3172,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2038,3407
$GC,3488,-1.62,-165.5,288.0,-9.2,296,3492,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3429,3407
$GC,3522,-1.66,-165.5,291.1,-9.4,297,3529,0.00,2.38,0.00,0.000,6,0.000,0.026,2434,2031,3407
$GC,3835,-1.66,-165.5,319.4,-8.7,308,3840,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3421,3405
$GC,3892,-1.70,-165.5,324.1,-8.1,309,3896,0.00,2.35,0.00,0.000,6,0.000,0.028,2434,2043,3405
$GC,4243,-1.70,-165.5,350.3,-7.1,318,4247,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3428,3402
$GC,4276,-1.70,-165.5,353.1,-7.1,318,4282,0.00,2.38,0.00,0.000,6,0.000,0.028,2434,2039,3402
$GC,4608,-1.70,-165.5,378.0,-7.3,327,4612,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3424,3399
$GC,4670,-1.77,-165.5,382.5,-7.3,328,4675,0.12,2.38,0.00,0.000,6,0.070,0.029,2405,2036,3399
$GC,5015,-1.74,-165.5,413.1,-9.2,337,5020,0.00,2.42,0.00,0.000,4,0.000,0.041,2405,3418,3396
$GC,5088,-1.74,-165.5,419.9,-8.5,338,5093,0.00,2.38,0.00,0.000,6,0.000,0.030,2405,2034,3396
$GC,5427,-1.74,-165.5,443.3,-6.9,347,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2033,3394
$STATE,5546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5546,begin apogee
$GC,5554,-0.33,0.0,452.4,7.4,350,5689,1.50,0.00,130.73,0.940,6,0.089,0.000,2715,1926,2733
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5693,1.06,165.5,457.5,0.0,353,5834,1.35,2.58,132.23,0.920,4,0.047,0.038,3017,3325,2058
$GC,6035,0.55,165.5,437.3,11.9,360,6042,0.57,2.40,0.00,0.000,6,0.120,0.033,2912,1963,2056
$GC,6368,0.26,165.5,413.0,7.3,369,6373,0.30,2.58,0.00,0.000,4,0.116,0.051,2853,545,2055
$GC,6430,0.10,184.9,409.0,6.2,370,6452,0.20,2.42,15.43,0.900,6,0.116,0.029,2816,1938,1978
$GC,6778,0.06,218.0,389.9,5.8,379,6812,0.00,2.62,26.45,0.909,4,0.000,0.041,2816,3362,1844
$GC,6882,0.03,246.0,383.4,6.0,381,6911,0.00,2.50,23.00,0.903,6,0.000,0.033,2816,1943,1729
$GC,7238,0.00,274.0,362.5,6.0,390,7264,0.12,0.00,23.10,0.896,6,0.119,0.000,2794,1944,1614
$GC,7602,0.03,289.5,340.7,6.4,399,7621,0.00,2.60,12.98,0.885,4,0.000,0.038,2793,3360,1552
$GC,7662,0.05,303.3,337.3,6.4,400,7680,0.00,2.50,11.50,0.884,6,0.000,0.031,2793,1938,1496
$GC,8014,0.13,345.4,317.9,5.6,409,8052,0.10,0.00,33.67,0.877,6,0.090,0.000,2814,1938,1324
$GC,8362,0.07,345.4,293.1,7.6,419,8366,0.00,2.53,0.00,0.000,4,0.000,0.038,2815,3362,1324
$GC,8395,0.03,345.4,290.3,7.7,420,8401,0.00,2.47,0.00,0.000,6,0.000,0.031,2815,1942,1324
$GC,8712,-0.03,345.4,267.0,6.9,436,8717,0.15,2.47,0.00,0.000,4,0.106,0.035,2782,3358,1324
$GC,8740,0.07,401.1,265.3,5.2,437,8793,0.10,2.45,44.67,0.838,6,0.082,0.030,2804,1948,1097
$GC,9106,0.07,401.1,242.1,6.9,455,9110,0.00,2.47,0.00,0.000,4,0.000,0.037,2804,3354,1097
$GC,9133,0.07,401.1,239.9,7.0,456,9137,0.00,2.45,0.00,0.000,6,0.000,0.029,2804,1949,1097
$GC,9451,0.10,414.7,219.1,6.4,471,9471,0.00,2.58,11.45,0.804,4,0.000,0.036,2804,3358,1041
$GC,9507,0.14,420.0,215.4,6.7,473,9518,0.00,2.47,4.95,0.787,6,0.000,0.029,2804,1938,1019
$GC,9831,0.18,438.5,193.9,6.3,493,9853,0.10,2.55,15.48,0.778,4,0.080,0.035,2827,3365,944
$GC,9893,0.18,438.5,189.0,7.7,498,9899,0.00,2.47,0.00,0.000,6,0.000,0.028,2827,1941,944
$GC,10222,0.18,438.5,167.4,6.9,529,10226,0.00,2.50,0.00,0.000,4,0.000,0.035,2827,3366,944
$GC,10263,0.18,438.5,164.2,8.0,532,10267,0.00,2.47,0.00,0.000,6,0.000,0.028,2827,1937,944
$GC,10589,0.18,438.5,140.1,7.2,562,10593,0.00,2.47,0.00,0.000,4,0.000,0.034,2828,3357,944
$GC,10618,0.18,438.5,138.0,7.7,564,10622,0.00,2.42,0.00,0.000,6,0.000,0.026,2828,1949,945
$GC,10947,0.22,462.1,114.9,6.1,594,10972,0.00,2.53,19.27,0.686,4,0.000,0.032,2827,3355,848
$GC,10996,0.32,482.8,111.3,6.2,598,11019,0.15,2.42,16.58,0.688,6,0.064,0.025,2862,1948,763
$GC,11339,0.27,482.8,82.9,9.0,630,11343,0.00,2.47,0.00,0.000,4,0.000,0.044,2862,538,768
$GC,11372,0.27,482.8,79.6,9.2,632,11379,0.00,2.40,0.00,0.000,6,0.000,0.022,2863,1963,768
$GC,11701,0.28,484.9,57.8,6.8,663,11713,0.00,2.42,3.72,0.627,4,0.000,0.034,2862,3342,755
$GC,11778,0.39,517.3,52.9,5.9,669,11809,0.00,2.38,25.40,0.621,6,0.000,0.025,2863,1946,623
$GC,12072,0.41,526.1,31.7,6.6,697,12086,0.00,2.47,7.93,0.601,4,0.000,0.042,2862,549,587
$GC,12099,0.41,526.1,29.9,7.0,699,12106,0.00,2.38,0.00,0.000,6,0.000,0.021,2862,1953,587
$GC,12378,0.49,574.7,10.9,5.4,748,12418,0.15,2.45,32.05,0.570,4,0.061,0.032,2904,3354,419
$STATE,12440,end climb,SURFACE_DEPTH_REACHED
$STATE,12440,begin surface coast
$FINISH,2.0,1.023291
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12558,0.00,0.000,0,0,419,567.62
$SM_GC,1.69,11.18,0.00,0.00,0.044,0.000,0.000,408,2009,419,-10.91,-0.88,567.62
$IRIDIUM_FIX,2101.76,-15748.75,060398,070745
$TT8_MAMPS,0.027612
$HUMID,1791
$INTERNAL_PRESSURE,7.91046
$TCM_TEMP,24.60
$XPDR_PINGS,9
$24V_AH,23.6,78.729
$10V_AH,10.2,47.955
$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,28.500,146.000,590.575,0.000,0.000,22.650,26.848,149.059,11.250,0.000,0.000,15.464,1391.024,8470.651,654.496,1817.699,567.950,33.373,1586.325,0.000,1777.233,0.000,57.462
$DEVICE_MAMPS,154.167,51.389,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.447,510.022,907.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41158,764
$CAP_FILE_SIZE,117803,0
$CFSIZE,260165632,225574912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,145508,2112.930,-15751.129,35,1.0,35,9.8