version: 66.03
glider: 114
mission: 3
dive: 173
start: 10 15 108 17 46 48
data:
$ID,114
$MISSION,3
$DIVE,173
$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,-594912.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,36
$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
$GPS1,174008,2107.644,-15748.981,30,1.4,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.3
$GPS2,174551,2107.697,-15748.896,16,1.8,16,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.161,0.152
$KALMAN_X,-28333.2,490.6,-632.5,36542.5,1306.8
$KALMAN_Y,-41162.1,517.6,-88.6,24286.5,-150.1
$MHEAD_RNG_PITCHd_Wd,303.4,4672,-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,26,-1.09,-146.0,0.0,0.0,0,94,0.00,0.00,-65.03,0.000,2,0.000,0.000,409,2081,2879
$GC,98,-1.09,-146.0,3.9,-4.9,12,123,11.93,2.35,-7.07,0.000,4,0.158,0.047,2532,3410,3329
$GC,264,-1.20,-146.0,27.0,-7.5,40,271,0.00,2.30,0.00,0.000,6,0.000,0.022,2532,2034,3330
$GC,535,-1.27,-146.0,48.7,-7.9,68,536,0.12,0.00,0.00,0.000,6,0.059,0.000,2501,2032,3330
$GC,789,-1.27,-146.0,72.0,-9.1,92,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2032,3331
$GC,1044,-1.32,-146.0,92.0,-8.0,116,1048,0.00,2.38,0.00,0.000,4,0.000,0.034,2501,3415,3331
$GC,1079,-1.40,-146.0,94.7,-7.7,119,1084,0.12,2.33,0.00,0.000,6,0.061,0.022,2470,2028,3331
$GC,1405,-1.40,-146.0,123.8,-8.4,149,1409,0.00,2.38,0.00,0.000,4,0.000,0.034,2470,3409,3332
$GC,1438,-1.44,-146.0,126.8,-8.8,151,1445,0.00,2.28,0.00,0.000,6,0.000,0.023,2470,2042,3333
$GC,1764,-1.48,-146.0,156.5,-8.2,182,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2042,3333
$GC,2085,-1.54,-146.0,179.2,-7.1,212,2090,0.12,2.35,0.00,0.000,4,0.058,0.034,2436,3406,3333
$GC,2118,-1.54,-146.0,182.4,-9.2,214,2125,0.00,2.30,0.00,0.000,6,0.000,0.024,2437,2030,3333
$GC,2453,-1.54,-146.0,214.6,-9.8,239,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2029,3333
$GC,2759,-1.54,-146.0,243.2,-8.5,254,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2029,3333
$GC,3070,-1.58,-146.0,263.9,-5.2,269,3074,0.00,2.40,0.00,0.000,4,0.000,0.038,2436,3415,3332
$GC,3104,-1.64,-146.0,265.8,-5.3,270,3110,0.00,2.33,0.00,0.000,6,0.000,0.027,2436,2038,3332
$GC,3420,-1.68,-146.0,285.0,-7.3,286,3425,0.10,2.40,0.00,0.000,4,0.071,0.038,2412,3415,3330
$GC,3465,-1.68,-146.0,289.4,-10.2,288,3469,0.00,2.35,0.00,0.000,6,0.000,0.027,2411,2031,3330
$GC,3786,-1.68,-146.0,320.3,-9.5,299,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2030,3328
$GC,4109,-1.68,-146.0,343.0,-6.3,307,4113,0.00,2.40,0.00,0.000,4,0.000,0.041,2411,3404,3326
$GC,4138,-1.68,-146.0,345.0,-7.2,307,4142,0.00,2.33,0.00,0.000,6,0.000,0.029,2411,2042,3325
$GC,4470,-1.68,-146.0,369.1,-7.6,315,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2042,3323
$GC,4795,-1.68,-146.0,393.7,-7.4,323,4799,0.00,2.40,0.00,0.000,4,0.000,0.042,2411,3406,3320
$GC,4829,-1.68,-146.0,396.0,-7.3,323,4834,0.00,2.35,0.00,0.000,6,0.000,0.031,2411,2038,3320
$GC,5160,-1.68,-146.0,418.6,-6.9,332,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2038,3319
$GC,5486,-1.68,-146.0,442.4,-7.3,340,5490,0.00,2.42,0.00,0.000,4,0.000,0.043,2411,3411,3316
$GC,5542,-1.73,-146.0,446.6,-7.5,341,5546,0.00,2.38,0.00,0.000,6,0.000,0.031,2411,2033,3315
$STATE,5603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5603,begin apogee
$GC,5611,-0.33,0.0,450.9,6.9,343,5728,1.42,0.00,112.93,0.924,6,0.091,0.000,2705,1932,2733
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5732,1.09,146.0,454.6,0.0,346,5855,1.40,2.55,114.35,0.899,4,0.051,0.052,3015,549,2136
$GC,5878,0.55,146.0,452.2,10.6,349,5883,0.62,2.40,0.00,0.000,6,0.145,0.030,2904,1917,2136
$GC,6222,0.28,146.0,419.1,9.4,358,6227,0.30,2.58,0.00,0.000,4,0.122,0.044,2845,3357,2135
$GC,6278,0.12,146.0,414.3,8.3,359,6283,0.20,2.45,0.00,0.000,6,0.137,0.034,2810,1962,2135
$GC,6627,0.08,169.0,392.7,6.1,368,6651,0.00,2.65,17.90,0.899,4,0.000,0.054,2810,546,2042
$GC,6727,0.05,206.6,386.6,5.6,370,6761,0.00,2.45,29.45,0.892,6,0.000,0.030,2810,1953,1890
$GC,7088,0.02,229.1,364.9,6.1,379,7113,0.12,2.58,17.90,0.888,4,0.129,0.046,2789,3346,1798
$GC,7153,0.02,229.1,360.7,7.3,380,7157,0.00,2.47,0.00,0.000,6,0.000,0.034,2789,1942,1798
$GC,7496,0.06,253.9,339.7,6.0,389,7518,0.00,0.00,19.92,0.881,6,0.000,0.000,2789,1942,1698
$GC,7822,0.14,296.9,321.3,5.4,397,7863,0.00,2.58,34.08,0.869,4,0.000,0.041,2789,3351,1522
$GC,7897,0.18,321.1,317.0,6.0,398,7922,0.15,2.47,19.20,0.854,6,0.076,0.032,2821,1946,1424
$GC,8241,0.11,321.1,288.8,9.0,410,8245,0.00,2.53,0.00,0.000,4,0.000,0.042,2821,3360,1422
$GC,8286,0.06,321.1,284.3,9.6,412,8291,0.12,2.47,0.00,0.000,6,0.112,0.032,2798,1943,1423
$GC,8607,0.06,321.1,260.7,7.2,428,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1943,1422
$GC,8917,0.06,321.1,238.0,8.3,443,8921,0.00,2.50,0.00,0.000,4,0.000,0.039,2798,3360,1422
$GC,8996,0.10,321.1,230.8,8.6,446,9002,0.00,2.45,0.00,0.000,6,0.000,0.031,2797,1948,1422
$GC,9312,0.16,357.5,209.6,5.6,462,9342,0.00,0.00,28.58,0.794,6,0.000,0.000,2797,1948,1275
$GC,9646,0.22,390.0,189.2,5.7,486,9679,0.12,2.53,25.45,0.755,4,0.074,0.036,2826,3356,1143
$GC,9726,0.22,390.0,183.5,8.3,493,9731,0.00,2.47,0.00,0.000,6,0.000,0.029,2826,1938,1143
$GC,10055,0.24,402.5,158.1,6.4,523,10073,0.00,2.45,10.82,0.722,4,0.000,0.035,2826,3355,1090
$GC,10090,0.28,427.0,155.9,6.0,526,10118,0.00,2.45,19.02,0.715,6,0.000,0.028,2826,1935,992
$GC,10436,0.28,427.0,129.3,7.3,559,10441,0.00,2.50,0.00,0.000,4,0.000,0.035,2826,3362,992
$GC,10493,0.33,427.0,124.5,8.2,563,10500,0.12,2.42,0.00,0.000,6,0.070,0.027,2856,1947,992
$GC,10819,0.33,427.0,95.0,7.5,594,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1947,993
$GC,11138,0.37,446.4,75.0,6.2,624,11160,0.00,2.50,15.88,0.626,4,0.000,0.033,2855,3368,912
$GC,11219,0.41,446.4,68.9,8.7,631,11222,0.00,2.42,0.00,0.000,6,0.000,0.025,2855,1945,913
$GC,11490,0.49,471.4,51.7,6.0,656,11515,0.15,2.53,19.27,0.590,4,0.060,0.044,2897,552,810
$GC,11528,0.43,471.4,48.4,8.8,659,11535,0.12,2.38,0.00,0.000,6,0.104,0.023,2874,1960,810
$GC,11792,0.43,471.4,29.4,7.5,684,11799,0.00,2.38,0.00,0.000,4,0.000,0.035,2873,3344,810
$GC,11845,0.43,471.4,25.0,8.0,693,11852,0.00,2.38,0.00,0.000,6,0.000,0.025,2873,1939,811
$STATE,12098,end climb,SURFACE_DEPTH_REACHED
$STATE,12098,begin surface coast
$FINISH,0.9,1.011478
$STATE,12178,end surface coast,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$SM_CCo,12262,0.00,0.000,0,0,813,470.98
$SM_GC,1.60,10.95,0.00,0.00,0.045,0.000,0.000,407,2072,813,-10.87,0.90,470.98
$IRIDIUM_FIX,2059.45,-15748.75,090198,141420
$TT8_MAMPS,0.027612
$HUMID,1690
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,23.8,24.475
$10V_AH,10.2,14.934
$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,28.225,107.250,484.750,0.000,0.000,26.081,34.951,143.739,12.250,0.000,0.000,17.648,1338.331,8545.198,545.173,1658.167,519.464,33.373,1357.790,0.000,1628.370,0.000,57.436
$DEVICE_MAMPS,158.002,53.690,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.616,496.264,888.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,752
$CAP_FILE_SIZE,106058,0
$CFSIZE,260165632,248664064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,211238,2108.845,-15749.146,49,1.0,49,9.8