version: 66.03
glider: 114
mission: 3
dive: 183
start: 10 17 108 4 4 4
data:
$ID,114
$MISSION,3
$DIVE,183
$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,-595204.69
$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,60
$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
$GPS1,035553,2102.295,-15747.402,12,2.5,31,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.1
$GPS2,040308,2102.252,-15747.516,69,1.0,69,9.8
$SPEED_LIMITS,0.057,0.227
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.083,0.211
$KALMAN_X,-27483.6,-493.9,-704.1,39136.7,292.5
$KALMAN_Y,-40058.2,-343.6,-596.9,14486.2,-109.6
$MHEAD_RNG_PITCHd_Wd,328.8,14976,-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,-155.7,0.0,0.0,0,99,0.00,0.00,-69.93,0.000,2,0.000,0.000,409,2077,2915
$GC,104,-1.07,-155.7,3.8,-4.8,13,129,11.95,2.35,-7.03,0.000,4,0.158,0.048,2535,3421,3370
$GC,246,-1.19,-155.7,24.7,-7.2,37,252,0.00,2.33,0.00,0.000,6,0.000,0.024,2535,2028,3370
$GC,521,-1.22,-155.7,47.4,-10.5,68,525,0.00,2.40,0.00,0.000,4,0.000,0.035,2535,3419,3371
$GC,594,-1.30,-155.7,54.6,-9.6,74,601,0.17,2.30,0.00,0.000,6,0.055,0.023,2493,2042,3371
$GC,856,-1.30,-155.7,81.6,-8.5,99,860,0.00,2.38,0.00,0.000,4,0.000,0.034,2493,3425,3371
$GC,936,-1.37,-155.7,89.3,-9.2,106,940,0.00,2.33,0.00,0.000,6,0.000,0.024,2493,2036,3372
$GC,1268,-1.42,-155.7,115.2,-7.1,137,1273,0.10,2.40,0.00,0.000,4,0.065,0.036,2468,637,3372
$GC,1309,-1.50,-155.7,118.6,-8.9,140,1313,0.00,2.33,0.00,0.000,6,0.000,0.023,2467,2026,3373
$GC,1641,-1.53,-155.7,146.0,-8.5,171,1645,0.00,2.42,0.00,0.000,4,0.000,0.034,2468,3450,3373
$GC,1731,-1.61,-155.7,153.4,-8.3,178,1738,0.17,2.38,0.00,0.000,6,0.054,0.025,2425,2029,3373
$GC,2057,-1.58,-155.7,186.3,-9.0,209,2061,0.00,2.45,0.00,0.000,4,0.000,0.035,2425,3449,3373
$GC,2137,-1.58,-155.7,194.0,-9.2,215,2143,0.00,2.38,0.00,0.000,6,0.000,0.025,2424,2038,3373
$GC,2455,-1.58,-155.7,224.9,-9.1,234,2459,0.00,2.42,0.00,0.000,4,0.000,0.035,2424,3443,3373
$GC,2495,-1.58,-155.7,228.3,-8.2,236,2500,0.00,2.38,0.00,0.000,6,0.000,0.025,2424,2038,3373
$GC,2822,-1.58,-155.7,252.7,-8.1,252,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2037,3373
$GC,3132,-1.58,-155.7,278.0,-7.2,267,3136,0.00,2.42,0.00,0.000,4,0.000,0.038,2425,3440,3372
$GC,3179,-1.61,-155.7,281.6,-7.9,269,3183,0.00,2.38,0.00,0.000,6,0.000,0.027,2424,2040,3372
$GC,3505,-1.61,-155.7,304.2,-6.9,284,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2040,3370
$GC,3831,-1.64,-155.7,325.9,-6.6,292,3835,0.00,2.45,0.00,0.000,4,0.000,0.040,2425,3441,3368
$GC,3865,-1.69,-155.7,328.0,-6.3,292,3871,0.00,2.40,0.00,0.000,6,0.000,0.029,2425,2036,3367
$GC,4197,-1.69,-155.7,351.6,-7.9,301,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2035,3366
$GC,4522,-1.73,-155.7,378.8,-7.7,309,4526,0.00,2.47,0.00,0.000,4,0.000,0.042,2425,3444,3363
$GC,4595,-1.79,-155.7,383.9,-7.1,310,4600,0.15,2.42,0.00,0.000,6,0.066,0.031,2390,2029,3363
$GC,4927,-1.79,-155.7,411.5,-8.7,318,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2029,3360
$GC,5252,-1.79,-155.7,439.3,-8.4,326,5256,0.00,2.50,0.00,0.000,4,0.000,0.044,2390,3443,3357
$GC,5330,-1.79,-155.7,445.9,-8.1,327,5336,0.00,2.42,0.00,0.000,6,0.000,0.032,2390,2039,3357
$STATE,5417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5417,begin apogee
$GC,5425,-0.33,0.0,452.9,8.1,330,5550,1.52,0.00,121.10,0.927,6,0.092,0.000,2704,1935,2733
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5551,begin climb
$GC,5554,1.07,155.7,457.7,0.0,333,5681,1.42,0.00,121.95,0.901,6,0.051,0.000,3015,1935,2097
$GC,6025,0.57,155.7,418.3,11.6,345,6028,0.60,0.00,0.00,0.000,6,0.130,0.000,2908,1935,2096
$GC,6350,0.29,155.7,392.3,7.7,353,6355,0.32,2.50,0.00,0.000,4,0.123,0.053,2846,554,2094
$GC,6436,0.13,178.4,386.8,6.1,355,6461,0.20,2.42,17.77,0.898,6,0.122,0.031,2810,1946,2004
$GC,6805,0.22,278.3,371.7,3.7,364,6890,0.00,2.60,77.57,0.889,4,0.000,0.046,2810,3350,1598
$GC,6928,0.21,313.5,366.5,5.7,366,6963,0.00,2.45,27.95,0.867,6,0.000,0.034,2810,1965,1453
$GC,7302,0.14,313.5,335.1,10.0,376,7306,0.00,2.50,0.00,0.000,4,0.000,0.044,2810,3357,1453
$GC,7375,0.10,313.5,327.2,10.7,377,7380,0.00,2.47,0.00,0.000,6,0.000,0.034,2810,1947,1453
$GC,7707,0.05,313.5,299.1,7.5,385,7711,0.00,2.50,0.00,0.000,4,0.000,0.043,2810,3353,1452
$GC,7755,0.00,313.5,295.4,8.2,387,7760,0.15,2.47,0.00,0.000,6,0.117,0.032,2783,1937,1452
$GC,8083,0.06,348.2,275.2,5.7,403,8111,0.00,0.00,26.90,0.844,6,0.000,0.000,2783,1937,1313
$GC,8412,0.12,380.0,255.5,5.8,419,8443,0.10,2.58,25.75,0.821,4,0.083,0.038,2805,3365,1182
$GC,8518,0.12,380.0,247.0,8.5,424,8522,0.00,2.47,0.00,0.000,6,0.000,0.031,2805,1953,1182
$GC,8844,0.12,380.0,220.4,7.4,440,8849,0.00,2.47,0.00,0.000,4,0.000,0.038,2805,3355,1182
$GC,8878,0.12,380.0,217.7,8.0,441,8884,0.00,2.45,0.00,0.000,6,0.000,0.029,2805,1940,1182
$GC,9196,0.12,380.0,194.2,7.4,460,9200,0.00,2.50,0.00,0.000,4,0.000,0.038,2805,3364,1183
$GC,9236,0.12,380.0,191.4,7.2,463,9241,0.00,2.45,0.00,0.000,6,0.000,0.029,2805,1949,1183
$GC,9565,0.12,380.0,173.1,6.8,493,9568,0.00,2.47,0.00,0.000,4,0.000,0.035,2805,3368,1183
$GC,9606,0.15,380.0,169.8,8.4,496,9612,0.00,2.45,0.00,0.000,6,0.000,0.028,2805,1936,1183
$GC,9935,0.20,407.2,148.3,6.0,527,9961,0.00,2.53,21.45,0.715,4,0.000,0.034,2806,3364,1071
$GC,10002,0.30,440.2,144.3,5.8,532,10033,0.17,2.45,25.85,0.701,6,0.061,0.028,2846,1942,938
$GC,10360,0.25,440.2,117.2,7.2,566,10364,0.00,2.47,0.00,0.000,4,0.000,0.035,2846,3358,938
$GC,10401,0.22,440.2,114.1,7.1,569,10405,0.00,2.42,0.00,0.000,6,0.000,0.026,2845,1946,938
$GC,10734,0.22,440.2,82.6,9.5,600,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1945,938
$GC,11061,0.27,470.1,58.0,5.9,631,11093,0.00,2.53,23.48,0.606,4,0.000,0.032,2846,3361,815
$GC,11118,0.27,470.1,54.2,7.1,636,11122,0.00,2.42,0.00,0.000,6,0.000,0.024,2846,1946,816
$GC,11383,0.36,499.8,37.7,5.9,660,11415,0.00,2.55,22.73,0.576,4,0.000,0.031,2846,3369,694
$GC,11440,0.48,545.9,34.0,5.4,665,11484,0.17,2.42,35.55,0.568,6,0.057,0.023,2888,1943,507
$STATE,11739,end climb,SURFACE_DEPTH_REACHED
$STATE,11739,begin surface coast
$FINISH,1.0,0.998618
$STATE,11814,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11898,0.00,0.000,0,0,510,545.30
$SM_GC,1.53,11.00,0.00,0.00,0.042,0.000,0.000,408,2089,510,-10.86,1.41,545.30
$IRIDIUM_FIX,2052.52,-15749.62,110198,000032
$TT8_MAMPS,0.027612
$HUMID,1711
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.80
$XPDR_PINGS,5
$24V_AH,23.8,25.796
$10V_AH,10.2,15.767
$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,28.225,112.600,548.050,0.000,0.000,24.121,27.388,192.183,10.250,0.000,0.000,70.744,1302.612,8159.274,585.828,1719.986,565.287,33.371,1424.311,0.000,1634.123,0.000,57.443
$DEVICE_MAMPS,158.002,52.923,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.840,484.245,861.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38089,727
$CAP_FILE_SIZE,105977,0
$CFSIZE,260165632,248098816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171008,072338,2103.556,-15748.508,37,1.1,37,9.8