version: 66.03
glider: 114
mission: 3
dive: 171
start: 10 15 108 10 47 41
data:
$ID,114
$MISSION,3
$DIVE,171
$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,-594879
$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,32
$R_STBD_OVSHOOT,78
$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
$GPS1,104038,2104.979,-15748.626,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.6
$GPS2,104645,2104.966,-15748.587,12,1.3,12,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.059,0.214
$KALMAN_X,-28422.8,-139.3,981.7,36186.5,-1423.0
$KALMAN_Y,-39984.0,-285.8,194.8,18570.3,-340.2
$MHEAD_RNG_PITCHd_Wd,5.6,9637,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.09,-146.0,0.0,0.0,0,97,0.00,0.00,-64.57,0.000,2,0.000,0.000,409,2080,2805
$GC,101,-1.09,-146.0,3.4,-4.3,12,131,11.95,2.33,-8.82,0.000,4,0.157,0.049,2535,3396,3331
$GC,242,-1.21,-146.0,23.5,-8.5,36,249,0.00,2.30,0.00,0.000,6,0.000,0.023,2535,2028,3331
$GC,517,-1.28,-146.0,49.5,-8.6,67,522,0.15,2.35,0.00,0.000,4,0.055,0.034,2498,3398,3330
$GC,557,-1.28,-146.0,53.7,-10.4,70,562,0.00,2.28,0.00,0.000,6,0.000,0.022,2498,2036,3331
$GC,819,-1.28,-146.0,76.3,-8.9,94,824,0.00,2.40,0.00,0.000,4,0.000,0.038,2498,638,3331
$GC,853,-1.37,-146.0,79.9,-9.6,96,860,0.00,2.28,0.00,0.000,6,0.000,0.022,2498,2004,3331
$GC,1116,-1.45,-146.0,101.9,-7.5,121,1121,0.15,2.45,0.00,0.000,4,0.054,0.033,2461,3441,3332
$GC,1202,-1.50,-146.0,109.4,-8.3,128,1209,0.00,2.35,0.00,0.000,6,0.000,0.024,2461,2040,3332
$GC,1536,-1.54,-146.0,140.0,-8.5,159,1540,0.00,2.42,0.00,0.000,4,0.000,0.035,2460,3446,3333
$GC,1586,-1.58,-146.0,144.4,-8.8,163,1593,0.12,2.35,0.00,0.000,6,0.061,0.023,2429,2038,3333
$GC,1911,-1.58,-146.0,176.7,-8.4,194,1915,0.00,2.40,0.00,0.000,4,0.000,0.038,2429,640,3333
$GC,1967,-1.58,-146.0,181.3,-8.5,198,1973,0.00,2.35,0.00,0.000,6,0.000,0.024,2429,2046,3333
$GC,2292,-1.58,-146.0,208.6,-9.4,225,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2047,3333
$GC,2599,-1.58,-146.0,237.2,-9.1,240,2603,0.00,2.40,0.00,0.000,4,0.000,0.038,2429,3446,3333
$GC,2655,-1.62,-146.0,242.3,-8.8,242,2660,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2039,3333
$GC,2972,-1.62,-146.0,263.2,-5.9,257,2976,0.00,2.42,0.00,0.000,4,0.000,0.038,2429,3439,3332
$GC,3040,-1.67,-146.0,268.4,-7.6,260,3044,0.00,2.38,0.00,0.000,6,0.000,0.026,2429,2040,3332
$GC,3368,-1.71,-146.0,297.2,-8.5,276,3372,0.00,2.45,0.00,0.000,4,0.000,0.043,2429,633,3331
$GC,3409,-1.77,-146.0,300.7,-9.1,278,3414,0.15,2.40,0.00,0.000,6,0.064,0.028,2394,2046,3331
$GC,3734,-1.77,-146.0,329.8,-8.5,286,3738,0.00,2.45,0.00,0.000,4,0.000,0.043,2393,3447,3329
$GC,3779,-1.77,-146.0,334.3,-9.6,287,3783,0.00,2.40,0.00,0.000,6,0.000,0.029,2393,2046,3328
$GC,4105,-1.77,-146.0,365.3,-9.6,295,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2045,3326
$GC,4428,-1.77,-146.0,393.1,-8.0,303,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2045,3324
$GC,4753,-1.77,-146.0,417.5,-8.1,311,4757,0.00,2.47,0.00,0.000,4,0.000,0.043,2394,3446,3321
$GC,4831,-1.77,-146.0,424.6,-8.8,312,4837,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2037,3320
$STATE,5121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5121,begin apogee
$GC,5129,-0.33,0.0,450.7,9.0,320,5247,1.52,0.00,113.22,0.907,6,0.094,0.000,2706,1935,2733
$STATE,5247,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5251,1.09,146.0,455.1,0.0,323,5374,1.38,2.55,114.15,0.887,4,0.049,0.051,3012,550,2136
$GC,5628,0.57,146.0,421.6,12.6,331,5633,0.57,2.45,0.00,0.000,6,0.143,0.030,2910,1955,2135
$GC,5965,0.30,146.0,397.3,6.9,340,5970,0.30,2.50,0.00,0.000,4,0.123,0.047,2852,3353,2132
$GC,6017,0.18,173.3,394.1,5.9,341,6043,0.17,2.45,20.70,0.886,6,0.129,0.034,2821,1954,2026
$GC,6369,0.18,224.3,376.5,5.1,349,6416,0.00,2.67,39.88,0.882,4,0.000,0.054,2821,523,1818
$GC,6429,0.11,240.8,373.1,6.3,350,6451,0.00,2.50,13.70,0.855,6,0.000,0.031,2821,1949,1750
$GC,6777,0.08,268.3,351.7,5.9,359,6806,0.12,2.62,21.80,0.867,4,0.133,0.048,2801,3356,1639
$GC,6841,0.09,279.4,347.6,6.4,360,6855,0.00,2.47,9.30,0.851,6,0.000,0.033,2801,1951,1594
$GC,7188,0.09,279.4,323.9,7.2,369,7192,0.00,2.53,0.00,0.000,4,0.000,0.042,2801,3366,1594
$GC,7266,0.09,279.4,318.0,7.6,370,7272,0.00,2.47,0.00,0.000,6,0.000,0.033,2800,1950,1593
$GC,7578,0.12,296.0,297.5,6.3,379,7600,0.00,2.60,13.38,0.847,4,0.000,0.051,2800,548,1526
$GC,7628,0.12,296.0,294.1,7.0,381,7633,0.00,2.45,0.00,0.000,6,0.000,0.028,2800,1957,1525
$GC,7950,0.12,296.0,272.8,7.0,397,7954,0.00,2.50,0.00,0.000,4,0.000,0.047,2800,3361,1525
$GC,8046,0.14,305.3,265.8,6.5,401,8063,0.00,2.47,7.82,0.816,6,0.000,0.033,2800,1943,1487
$GC,8373,0.21,343.6,244.2,5.5,417,8409,0.12,2.55,29.67,0.802,4,0.079,0.040,2828,3356,1332
$GC,8462,0.22,353.3,238.6,6.5,420,8479,0.00,2.47,8.40,0.791,6,0.000,0.031,2828,1942,1292
$GC,8788,0.18,353.3,211.4,9.1,436,8793,0.00,2.50,0.00,0.000,4,0.000,0.039,2827,3355,1292
$GC,8829,0.13,353.3,207.7,9.3,438,8833,0.00,2.45,0.00,0.000,6,0.000,0.030,2827,1945,1292
$GC,9157,0.20,389.9,186.1,5.6,464,9192,0.00,2.58,28.65,0.743,4,0.000,0.048,2828,546,1142
$GC,9211,0.20,389.9,182.4,7.4,469,9216,0.00,2.45,0.00,0.000,6,0.000,0.026,2827,1964,1142
$GC,9540,0.20,389.9,153.7,8.6,499,9543,0.00,2.42,0.00,0.000,4,0.000,0.039,2828,3353,1143
$GC,9609,0.20,389.9,148.0,7.2,505,9613,0.00,2.42,0.00,0.000,6,0.000,0.028,2828,1949,1143
$GC,9937,0.20,389.9,125.8,8.2,535,9941,0.00,2.45,0.00,0.000,4,0.000,0.036,2827,3354,1143
$GC,9989,0.20,389.9,121.4,8.0,539,9994,0.00,2.42,0.00,0.000,6,0.000,0.027,2828,1940,1144
$GC,10318,0.23,389.9,98.5,6.9,569,10322,0.00,2.42,0.00,0.000,4,0.000,0.035,2828,3353,1144
$GC,10342,0.32,409.5,96.9,6.2,571,10364,0.00,2.38,15.57,0.644,6,0.000,0.026,2828,1946,1062
$GC,10684,0.46,454.5,75.2,5.3,603,10726,0.20,0.00,34.47,0.610,6,0.056,0.000,2880,1946,880
$GC,10983,0.42,454.5,49.7,7.5,631,10987,0.00,2.45,0.00,0.000,4,0.000,0.034,2880,3354,880
$GC,11035,0.42,454.5,45.4,8.1,635,11040,0.00,2.40,0.00,0.000,6,0.000,0.025,2880,1941,880
$GC,11302,0.42,454.5,26.2,8.3,663,11309,0.00,2.45,0.00,0.000,4,0.000,0.034,2880,3360,880
$GC,11333,0.42,454.5,23.1,9.1,668,11340,0.00,2.40,0.00,0.000,6,0.000,0.025,2880,1937,880
$STATE,11558,end climb,SURFACE_DEPTH_REACHED
$STATE,11558,begin surface coast
$FINISH,0.8,1.023152
$STATE,11632,end surface coast,CONTROL_FINISHED_OK
$STATE,11632,begin surface
$SM_CCo,11716,0.00,0.000,0,0,883,453.80
$SM_GC,1.49,10.90,0.00,0.00,0.042,0.000,0.000,410,2063,883,-10.85,0.65,453.80
$IRIDIUM_FIX,2054.83,-15749.62,090198,070738
$TT8_MAMPS,0.027612
$HUMID,1699
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,23.8,24.213
$10V_AH,10.2,14.762
$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,27.825,127.225,470.725,0.000,0.000,22.566,35.146,177.831,11.750,0.000,0.000,13.696,1316.939,7944.757,548.043,1714.823,560.810,33.369,1398.104,0.000,1687.544,0.000,60.158
$DEVICE_MAMPS,157.235,53.690,907.361,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.820,477.987,866.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37873,721
$CAP_FILE_SIZE,107461,0
$CFSIZE,260165632,248782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,140408,2106.025,-15748.760,32,1.0,32,9.8