version: 66.03
glider: 114
mission: 3
dive: 169
start: 10 15 108 3 54 42
data:
$ID,114
$MISSION,3
$DIVE,169
$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,150
$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,410
$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,-594852.38
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$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,71
$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
$GPS1,034621,2102.502,-15747.472,33,1.3,33,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.9
$GPS2,035345,2102.503,-15747.476,9,2.0,9,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.139,0.172
$KALMAN_X,-27582.8,-408.3,-1117.7,39635.1,1218.2
$KALMAN_Y,-39338.5,-376.1,-214.3,13871.8,-289.3
$MHEAD_RNG_PITCHd_Wd,311.2,14552,-12.5,-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,-1.09,-146.0,0.0,0.0,0,99,0.00,0.00,-70.28,0.000,2,0.000,0.000,409,2088,2811
$GC,104,-1.09,-146.0,3.2,-3.9,13,134,11.90,2.33,-8.82,0.000,4,0.157,0.047,2534,3406,3331
$GC,226,-1.21,-146.0,20.8,-7.9,34,232,0.00,2.33,0.00,0.000,6,0.000,0.023,2534,2021,3330
$GC,498,-1.28,-146.0,44.2,-9.0,68,502,0.15,2.40,0.00,0.000,4,0.056,0.033,2493,3407,3331
$GC,542,-1.28,-146.0,49.4,-11.0,71,548,0.00,2.30,0.00,0.000,6,0.000,0.022,2493,2029,3331
$GC,805,-1.31,-146.0,73.9,-8.2,96,809,0.00,2.38,0.00,0.000,4,0.000,0.034,2493,3406,3331
$GC,846,-1.36,-146.0,76.9,-7.5,99,850,0.00,2.30,0.00,0.000,6,0.000,0.022,2493,2029,3331
$GC,1109,-1.42,-146.0,96.4,-7.7,123,1114,0.10,2.40,0.00,0.000,4,0.066,0.038,2467,634,3332
$GC,1173,-1.51,-146.0,102.1,-10.0,128,1177,0.00,2.30,0.00,0.000,6,0.000,0.021,2467,2014,3331
$GC,1499,-1.54,-146.0,129.6,-8.2,158,1507,0.10,2.45,0.00,0.000,4,0.066,0.033,2442,3449,3332
$GC,1593,-1.54,-146.0,138.8,-11.0,166,1598,0.00,2.38,0.00,0.000,6,0.000,0.023,2441,2036,3332
$GC,1919,-1.54,-146.0,173.1,-11.1,196,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2034,3332
$GC,2249,-1.54,-146.0,206.4,-9.4,224,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2034,3332
$GC,2557,-1.58,-146.0,230.2,-7.2,239,2561,0.00,2.42,0.00,0.000,4,0.000,0.036,2442,3440,3332
$GC,2635,-1.65,-146.0,237.1,-8.5,242,2640,0.00,2.38,0.00,0.000,6,0.000,0.025,2442,2028,3332
$GC,2952,-1.69,-146.0,262.9,-7.6,257,2957,0.15,2.45,0.00,0.000,4,0.059,0.035,2404,3440,3332
$GC,2993,-1.69,-146.0,266.5,-9.1,259,2997,0.00,2.38,0.00,0.000,6,0.000,0.026,2404,2037,3331
$GC,3320,-1.69,-146.0,293.9,-8.2,275,3324,0.00,2.42,0.00,0.000,4,0.000,0.043,2404,644,3330
$GC,3343,-1.69,-146.0,296.1,-9.0,276,3348,0.00,2.38,0.00,0.000,6,0.000,0.027,2404,2043,3330
$GC,3683,-1.69,-146.0,325.2,-8.9,286,3687,0.00,2.45,0.00,0.000,4,0.000,0.043,2404,3446,3327
$GC,3710,-1.69,-146.0,328.1,-9.8,286,3715,0.00,2.40,0.00,0.000,6,0.000,0.029,2404,2043,3327
$GC,4042,-1.69,-146.0,359.4,-9.4,294,4046,0.00,2.47,0.00,0.000,4,0.000,0.048,2404,634,3325
$GC,4058,-1.69,-146.0,361.0,-9.5,294,4062,0.00,2.40,0.00,0.000,6,0.000,0.029,2404,2038,3325
$GC,4407,-1.69,-146.0,391.1,-7.9,303,4412,0.00,2.47,0.00,0.000,4,0.000,0.046,2404,3445,3322
$GC,4493,-1.73,-146.0,398.0,-8.2,305,4497,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,2037,3321
$GC,4824,-1.73,-146.0,424.0,-8.0,313,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2036,3319
$STATE,5146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5146,begin apogee
$GC,5154,-0.33,0.0,451.3,8.3,321,5271,1.45,0.00,113.03,0.917,6,0.093,0.000,2703,1935,2733
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5275,1.09,146.0,456.5,0.0,324,5398,1.40,2.55,114.10,0.894,4,0.052,0.053,3012,554,2137
$GC,5517,0.55,146.0,443.5,13.4,329,5522,0.60,2.45,0.00,0.000,6,0.152,0.030,2906,1956,2136
$GC,5855,0.28,146.0,415.1,7.9,338,5860,0.32,2.55,0.00,0.000,4,0.126,0.053,2845,559,2134
$GC,5934,0.10,148.5,409.7,6.7,339,5941,0.22,2.42,0.00,0.000,6,0.123,0.031,2804,1955,2133
$GC,6266,0.22,256.8,397.2,3.2,348,6358,0.10,2.62,85.22,0.890,4,0.091,0.053,2824,547,1685
$GC,6379,0.17,295.9,392.3,5.5,350,6415,0.00,2.47,31.20,0.871,6,0.000,0.031,2824,1957,1526
$GC,6753,0.08,295.9,361.7,9.1,360,6758,0.15,2.53,0.00,0.000,4,0.118,0.048,2797,3360,1526
$GC,6843,0.08,295.9,353.1,9.3,362,6847,0.00,2.45,0.00,0.000,6,0.000,0.034,2797,1964,1526
$GC,7162,0.04,295.9,325.3,8.4,370,7166,0.00,2.50,0.00,0.000,4,0.000,0.043,2798,3363,1525
$GC,7195,0.04,295.9,322.6,7.7,370,7201,0.00,2.50,0.00,0.000,6,0.000,0.034,2798,1938,1524
$GC,7527,0.06,304.8,300.5,6.5,379,7541,0.00,2.62,7.18,0.847,4,0.000,0.044,2798,3359,1490
$GC,7576,0.06,309.3,297.2,6.7,380,7585,0.00,2.47,4.28,0.820,6,0.000,0.032,2798,1945,1471
$GC,7902,0.07,312.1,274.2,6.7,396,7907,0.00,0.00,3.10,0.800,6,0.000,0.000,2798,1945,1460
$GC,8212,0.10,329.7,255.1,6.2,411,8234,0.00,2.58,14.45,0.828,4,0.000,0.041,2798,3363,1388
$GC,8280,0.10,329.7,250.4,7.1,414,8284,0.00,2.47,0.00,0.000,6,0.000,0.032,2798,1948,1388
$GC,8612,0.10,329.7,227.3,7.1,430,8617,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3360,1388
$GC,8664,0.16,340.4,223.9,6.5,432,8679,0.00,2.45,8.98,0.800,6,0.000,0.031,2798,1949,1344
$GC,9009,0.25,391.0,205.5,5.1,449,9054,0.15,2.58,39.03,0.771,4,0.070,0.039,2836,3353,1139
$GC,9118,0.20,391.0,196.7,8.9,455,9123,0.00,2.47,0.00,0.000,6,0.000,0.030,2836,1938,1139
$GC,9447,0.15,391.0,169.6,8.6,485,9453,0.12,0.00,0.00,0.000,6,0.105,0.000,2813,1937,1139
$GC,9776,0.23,438.3,146.2,5.2,516,9819,0.00,2.53,36.92,0.699,4,0.000,0.034,2813,3357,945
$GC,9878,0.37,477.3,140.7,5.5,525,9914,0.22,2.42,30.17,0.684,6,0.061,0.026,2864,1946,786
$GC,10240,0.30,477.3,100.9,10.7,559,10244,0.00,2.47,0.00,0.000,4,0.000,0.035,2864,3360,786
$GC,10286,0.25,477.3,96.3,9.4,562,10293,0.15,2.42,0.00,0.000,6,0.097,0.026,2835,1940,787
$GC,10613,0.34,492.6,74.4,6.3,593,10635,0.00,2.55,12.70,0.615,4,0.000,0.034,2835,3357,723
$GC,10649,0.45,526.2,72.3,5.7,596,10682,0.20,2.42,26.02,0.609,6,0.054,0.024,2882,1937,586
$GC,10937,0.41,526.2,47.9,8.8,623,10941,0.00,2.47,0.00,0.000,4,0.000,0.035,2883,3359,588
$GC,10961,0.36,526.2,45.9,8.8,625,10965,0.12,2.40,0.00,0.000,6,0.098,0.023,2858,1944,588
$GC,11226,0.36,526.2,25.0,8.2,654,11233,0.00,2.45,0.00,0.000,4,0.000,0.033,2858,3368,590
$GC,11275,0.41,526.2,21.1,8.5,662,11281,0.00,2.40,0.00,0.000,6,0.000,0.024,2858,1945,591
$STATE,11477,end climb,SURFACE_DEPTH_REACHED
$STATE,11477,begin surface coast
$FINISH,0.7,1.023078
$STATE,11551,end surface coast,CONTROL_FINISHED_OK
$STATE,11551,begin surface
$SM_CCo,11635,0.00,0.000,0,0,594,524.70
$SM_GC,1.63,10.85,0.00,0.00,0.044,0.000,0.000,408,2084,594,-10.87,1.24,524.70
$IRIDIUM_FIX,2057.14,-15748.75,090198,000028
$TT8_MAMPS,0.027612
$HUMID,1699
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,9
$24V_AH,23.8,23.958
$10V_AH,10.2,14.596
$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,28.475,122.675,526.375,0.000,0.000,25.855,49.819,232.345,11.250,0.000,0.000,11.293,1292.979,7907.346,566.306,1676.388,637.371,33.365,1420.890,0.000,1649.312,0.000,57.449
$DEVICE_MAMPS,157.235,52.923,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.797,468.969,849.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,711
$CAP_FILE_SIZE,109566,0
$CFSIZE,260165632,248889344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,070956,2103.666,-15748.173,40,1.3,40,9.8