version: 66.03
glider: 114
mission: 3
dive: 182
start: 10 17 108 0 31 47
data:
$ID,114
$MISSION,3
$DIVE,182
$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,160
$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,-595133.31
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,002458,2101.877,-15746.761,72,2.2,91,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.7
$GPS2,003053,2101.855,-15746.757,19,2.1,38,9.8
$SPEED_LIMITS,0.057,0.227
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.043,0.223
$KALMAN_X,-27324.3,-105.8,623.7,38567.0,-1619.1
$KALMAN_Y,-38604.6,-42.5,-87.2,11476.5,-95.0
$MHEAD_RNG_PITCHd_Wd,1.0,16091,-12.0,-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,-1.07,-155.7,0.0,0.0,0,88,0.00,0.00,-59.45,0.000,2,0.000,0.000,407,2057,2864
$GC,93,-1.07,-155.7,3.5,-4.1,11,118,12.02,2.40,-8.05,0.000,4,0.159,0.043,2538,3424,3370
$GC,221,-1.19,-155.7,23.5,-7.9,33,228,0.00,2.35,0.00,0.000,6,0.000,0.022,2538,2025,3370
$GC,491,-1.25,-155.7,46.6,-8.5,65,496,0.15,2.42,0.00,0.000,4,0.057,0.033,2498,3427,3370
$GC,532,-1.25,-155.7,50.9,-11.1,68,536,0.00,2.35,0.00,0.000,6,0.000,0.023,2498,2029,3370
$GC,794,-1.25,-155.7,80.1,-9.6,92,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2029,3371
$GC,1116,-1.30,-155.7,105.2,-8.3,122,1120,0.00,2.40,0.00,0.000,4,0.000,0.034,2498,3424,3372
$GC,1213,-1.41,-155.7,112.7,-6.8,130,1218,0.12,2.33,0.00,0.000,6,0.061,0.023,2466,2042,3372
$GC,1539,-1.41,-155.7,139.4,-8.3,160,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2041,3373
$GC,1860,-1.45,-155.7,166.5,-8.0,190,1864,0.00,2.38,0.00,0.000,4,0.000,0.035,2466,3421,3373
$GC,1889,-1.50,-155.7,169.3,-8.7,192,1893,0.00,2.33,0.00,0.000,6,0.000,0.025,2466,2042,3373
$GC,2214,-1.55,-155.7,197.5,-9.4,222,2219,0.10,2.38,0.00,0.000,4,0.067,0.033,2440,3421,3373
$GC,2309,-1.55,-155.7,207.2,-9.5,227,2314,0.00,2.35,0.00,0.000,6,0.000,0.025,2440,2028,3372
$GC,2626,-1.55,-155.7,229.9,-6.8,242,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2027,3373
$GC,2936,-1.58,-155.7,250.8,-7.5,257,2940,0.00,2.40,0.00,0.000,4,0.000,0.036,2440,3421,3373
$GC,2993,-1.64,-155.7,255.4,-8.2,259,2997,0.00,2.35,0.00,0.000,6,0.000,0.026,2440,2030,3372
$GC,3310,-1.67,-155.7,280.8,-8.4,274,3315,0.10,2.42,0.00,0.000,4,0.070,0.036,2415,3426,3372
$GC,3343,-1.67,-155.7,284.3,-10.1,275,3349,0.00,2.35,0.00,0.000,6,0.000,0.028,2415,2043,3371
$GC,3678,-1.67,-155.7,314.3,-7.9,288,3682,0.00,2.40,0.00,0.000,4,0.000,0.039,2415,3420,3370
$GC,3711,-1.67,-155.7,317.2,-8.2,288,3717,0.00,2.35,0.00,0.000,6,0.000,0.028,2415,2042,3369
$GC,4043,-1.67,-155.7,344.8,-8.1,297,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2040,3368
$GC,4369,-1.67,-155.7,370.9,-7.8,305,4373,0.00,2.42,0.00,0.000,4,0.000,0.041,2415,3422,3366
$GC,4436,-1.71,-155.7,376.3,-8.3,306,4440,0.00,2.38,0.00,0.000,6,0.000,0.031,2415,2033,3365
$GC,4779,-1.71,-155.7,403.7,-8.2,315,4783,0.00,2.45,0.00,0.000,4,0.000,0.042,2415,3425,3363
$GC,4812,-1.71,-155.7,406.2,-7.2,315,4818,0.00,2.38,0.00,0.000,6,0.000,0.030,2416,2037,3363
$GC,5145,-1.71,-155.7,430.6,-7.6,324,5149,0.00,2.42,0.00,0.000,4,0.000,0.042,2415,3415,3360
$GC,5167,-1.71,-155.7,432.4,-7.9,324,5172,0.00,2.38,0.00,0.000,6,0.000,0.031,2415,2033,3360
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5428,-0.33,0.0,451.0,7.2,331,5553,1.40,0.00,121.18,0.915,6,0.089,0.000,2705,1930,2733
$STATE,5554,end apogee,CONTROL_FINISHED_OK
$STATE,5554,begin climb
$GC,5557,1.07,155.7,456.7,0.0,334,5688,1.38,2.58,121.75,0.887,4,0.047,0.054,3013,555,2097
$GC,5908,0.53,155.7,435.9,10.7,342,5913,0.65,2.40,0.00,0.000,6,0.144,0.030,2898,1934,2096
$GC,6227,0.25,155.7,413.8,7.7,350,6229,0.32,0.00,0.00,0.000,6,0.121,0.000,2838,1933,2094
$GC,6553,0.11,155.7,388.3,8.2,358,6555,0.17,0.00,0.00,0.000,6,0.120,0.000,2807,1934,2093
$GC,6878,0.10,194.4,368.5,5.6,366,6912,0.00,2.58,29.27,0.891,4,0.000,0.044,2806,3351,1940
$GC,6969,0.02,194.4,362.6,6.9,368,6975,0.10,2.45,0.00,0.000,6,0.125,0.034,2790,1954,1940
$GC,7289,0.07,238.8,344.4,5.4,376,7327,0.00,0.00,34.85,0.875,6,0.000,0.000,2790,1953,1759
$GC,7654,0.14,281.8,324.7,5.5,385,7695,0.00,2.55,33.97,0.859,4,0.000,0.041,2790,3353,1584
$GC,7752,0.14,281.8,318.6,7.1,387,7756,0.00,2.45,0.00,0.000,6,0.000,0.032,2790,1949,1584
$GC,8071,0.22,328.8,300.7,5.3,395,8111,0.17,0.00,37.05,0.844,6,0.069,0.000,2829,1948,1392
$GC,8421,0.15,328.8,272.7,10.1,411,8425,0.00,2.50,0.00,0.000,4,0.000,0.041,2829,3360,1392
$GC,8469,0.08,328.8,267.8,9.9,413,8474,0.15,2.47,0.00,0.000,6,0.106,0.031,2801,1945,1392
$GC,8796,0.10,338.6,243.0,6.5,429,8811,0.00,2.55,8.30,0.805,4,0.000,0.038,2801,3353,1352
$GC,8834,0.10,338.6,240.2,7.1,430,8841,0.00,2.45,0.00,0.000,6,0.000,0.030,2801,1945,1352
$GC,9151,0.15,367.9,222.4,5.9,446,9180,0.00,2.58,23.00,0.790,4,0.000,0.038,2802,3353,1233
$GC,9221,0.15,367.9,216.7,9.2,449,9226,0.00,2.45,0.00,0.000,6,0.000,0.029,2802,1936,1233
$GC,9546,0.18,382.7,193.8,6.4,469,9565,0.00,0.00,12.45,0.756,6,0.000,0.000,2801,1936,1171
$GC,9887,0.18,382.7,170.2,7.2,501,9891,0.00,2.47,0.00,0.000,4,0.000,0.035,2802,3361,1172
$GC,9949,0.24,382.7,165.5,7.8,506,9955,0.12,2.42,0.00,0.000,6,0.072,0.028,2829,1944,1172
$GC,10275,0.21,382.7,141.5,7.8,537,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1944,1172
$GC,10596,0.21,387.0,117.1,6.7,567,10607,0.00,2.50,4.30,0.672,4,0.000,0.034,2829,3354,1155
$GC,10655,0.28,422.4,113.4,5.7,572,10688,0.00,2.42,27.15,0.663,6,0.000,0.027,2829,1937,1010
$GC,11008,0.42,479.2,92.1,5.0,605,11056,0.17,0.00,43.62,0.628,6,0.057,0.000,2872,1937,779
$GC,11375,0.42,479.2,59.9,7.8,640,11379,0.00,2.45,0.00,0.000,4,0.000,0.032,2872,3358,779
$GC,11467,0.42,479.2,52.4,9.0,648,11471,0.00,2.40,0.00,0.000,6,0.000,0.025,2872,1945,779
$GC,11729,0.42,479.2,31.2,8.6,672,11733,0.00,2.45,0.00,0.000,4,0.000,0.033,2872,3364,779
$GC,11769,0.42,479.2,28.0,7.9,677,11776,0.00,2.42,0.00,0.000,6,0.000,0.034,2872,1935,779
$STATE,12028,end climb,SURFACE_DEPTH_REACHED
$STATE,12028,begin surface coast
$FINISH,0.9,1.022809
$STATE,12091,end surface coast,CONTROL_FINISHED_OK
$STATE,12091,begin surface
$SM_CCo,12175,0.00,0.000,0,0,782,478.58
$SM_GC,1.57,10.77,0.00,0.00,0.038,0.000,0.000,409,2078,782,-10.85,1.10,478.58
$IRIDIUM_FIX,2052.52,-15749.62,100198,212109
$TT8_MAMPS,0.027612
$HUMID,1708
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,442.1,72.1
$24V_AH,23.8,25.653
$10V_AH,10.2,15.683
$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,27.925,102.275,496.900,0.000,0.000,24.651,29.033,155.535,13.000,0.000,0.000,41.273,1313.823,8466.215,555.509,1688.284,508.242,33.366,1362.485,0.000,1633.926,0.000,58.930
$DEVICE_MAMPS,158.769,53.690,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.904,488.672,861.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38072,734
$CAP_FILE_SIZE,102146,0
$CFSIZE,260165632,248160256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171008,035553,2102.295,-15747.402,12,2.5,31,9.8