version: 66.03
glider: 114
mission: 3
dive: 157
start: 10 13 108 10 24 24
data:
$ID,114
$MISSION,3
$DIVE,157
$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,-594674.5
$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,72
$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
$GPS1,101707,2102.492,-15746.563,27,1.6,27,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.2
$GPS2,102326,2102.510,-15746.558,13,1.5,30,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.007,0.221
$KALMAN_X,-28025.1,-271.7,634.8,39764.4,-1072.1
$KALMAN_Y,-34634.1,-62.4,246.7,8396.4,-644.9
$MHEAD_RNG_PITCHd_Wd,352.1,15091,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-59.05,0.000,2,0.000,0.000,410,2078,2847
$GC,92,-1.09,-146.0,3.5,-4.4,11,118,11.93,2.38,-8.00,0.000,4,0.157,0.048,2533,3412,3331
$GC,171,-1.16,-146.0,18.4,-9.1,24,177,0.00,2.33,0.00,0.000,6,0.000,0.023,2533,2027,3330
$GC,445,-1.22,-146.0,42.2,-8.1,60,449,0.00,2.40,0.00,0.000,4,0.000,0.035,2533,3415,3331
$GC,508,-1.35,-146.0,47.2,-7.4,65,513,0.22,2.30,0.00,0.000,6,0.051,0.022,2480,2040,3331
$GC,770,-1.35,-146.0,78.9,-11.7,89,774,0.00,2.35,0.00,0.000,4,0.000,0.035,2480,3404,3332
$GC,793,-1.35,-146.0,81.9,-12.3,90,799,0.00,2.30,0.00,0.000,6,0.000,0.024,2480,2028,3332
$GC,1122,-1.40,-146.0,115.0,-9.2,121,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2027,3333
$GC,1451,-1.45,-146.0,138.6,-6.4,152,1455,0.00,2.38,0.00,0.000,4,0.000,0.035,2480,3409,3334
$GC,1496,-1.54,-146.0,141.8,-6.8,155,1503,0.15,2.30,0.00,0.000,6,0.056,0.024,2442,2032,3334
$GC,1822,-1.54,-146.0,169.0,-9.6,186,1826,0.00,2.40,0.00,0.000,4,0.000,0.038,2442,637,3334
$GC,1844,-1.54,-146.0,171.3,-10.3,187,1850,0.00,2.30,0.00,0.000,6,0.000,0.024,2442,2011,3334
$GC,2169,-1.54,-146.0,198.3,-7.4,218,2173,0.00,2.45,0.00,0.000,4,0.000,0.036,2442,3441,3334
$GC,2213,-1.60,-146.0,201.7,-7.7,221,2217,0.00,2.35,0.00,0.000,6,0.000,0.025,2442,2045,3333
$GC,2536,-1.63,-146.0,222.3,-6.4,237,2540,0.00,2.42,0.00,0.000,4,0.000,0.037,2442,3444,3334
$GC,2587,-1.68,-146.0,225.9,-6.9,239,2591,0.12,2.38,0.00,0.000,6,0.062,0.026,2411,2038,3334
$GC,2903,-1.68,-146.0,254.1,-10.1,254,2907,0.00,2.42,0.00,0.000,4,0.000,0.041,2411,635,3333
$GC,2947,-1.68,-146.0,259.0,-11.1,256,2952,0.00,2.38,0.00,0.000,6,0.000,0.027,2411,2037,3333
$GC,3269,-1.68,-146.0,293.5,-10.1,272,3273,0.00,2.45,0.00,0.000,4,0.000,0.041,2411,3447,3332
$GC,3326,-1.72,-146.0,299.3,-10.0,274,3332,0.00,2.40,0.00,0.000,6,0.000,0.028,2411,2037,3332
$GC,3639,-1.72,-146.0,326.4,-8.5,283,3643,0.00,2.47,0.00,0.000,4,0.000,0.041,2411,3448,3330
$GC,3700,-1.72,-146.0,331.4,-7.4,284,3704,0.00,2.40,0.00,0.000,6,0.000,0.028,2411,2040,3329
$GC,4045,-1.72,-146.0,361.2,-8.8,293,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2040,3326
$GC,4368,-1.72,-146.0,385.3,-7.3,301,4372,0.00,2.47,0.00,0.000,4,0.000,0.044,2411,3445,3324
$GC,4408,-1.76,-146.0,388.6,-8.5,302,4413,0.00,2.42,0.00,0.000,6,0.000,0.029,2411,2033,3324
$GC,4735,-1.76,-146.0,413.8,-7.5,310,4739,0.00,2.50,0.00,0.000,4,0.000,0.043,2411,3448,3322
$GC,4786,-1.80,-146.0,417.4,-6.8,311,4790,0.12,2.42,0.00,0.000,6,0.075,0.031,2384,2039,3321
$GC,5099,-1.80,-146.0,442.4,-8.3,319,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2038,3319
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5226,-0.33,0.0,452.5,8.4,322,5344,1.58,0.00,113.53,0.922,6,0.099,0.000,2706,1932,2733
$STATE,5344,end apogee,CONTROL_FINISHED_OK
$STATE,5344,begin climb
$GC,5348,1.09,146.0,457.4,0.0,325,5471,1.40,2.55,114.20,0.898,4,0.051,0.053,3016,548,2136
$GC,5608,0.55,146.0,440.9,13.8,331,5613,0.62,2.45,0.00,0.000,6,0.135,0.030,2905,1946,2135
$GC,5933,0.28,146.0,416.5,7.1,339,5938,0.30,2.53,0.00,0.000,4,0.125,0.052,2846,557,2133
$GC,5979,0.12,157.6,413.5,6.4,340,5994,0.20,2.45,9.12,0.892,6,0.123,0.031,2810,1964,2089
$GC,6303,0.09,190.0,395.7,5.7,348,6330,0.00,0.00,25.45,0.897,6,0.000,0.000,2810,1964,1957
$GC,6628,0.08,225.5,376.4,5.6,356,6662,0.00,2.58,27.70,0.884,4,0.000,0.048,2810,3348,1813
$GC,6726,0.03,225.5,369.7,7.6,358,6731,0.12,2.45,0.00,0.000,6,0.122,0.035,2788,1960,1812
$GC,7040,0.03,225.5,347.7,7.2,366,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1960,1811
$GC,7366,0.09,260.9,327.7,5.6,374,7401,0.00,2.58,27.77,0.871,4,0.000,0.042,2788,3349,1669
$GC,7419,0.13,283.6,324.5,6.1,375,7443,0.00,2.47,18.70,0.855,6,0.000,0.033,2789,1946,1575
$GC,7777,0.17,305.2,302.5,6.1,384,7802,0.12,2.62,16.92,0.848,4,0.078,0.043,2816,3354,1488
$GC,7853,0.13,305.2,296.7,7.3,386,7857,0.00,2.47,0.00,0.000,6,0.000,0.033,2816,1945,1488
$GC,8170,0.08,305.2,270.0,9.4,401,8174,0.00,2.53,0.00,0.000,4,0.000,0.052,2816,536,1488
$GC,8204,0.04,305.2,266.6,10.2,402,8211,0.15,2.45,0.00,0.000,6,0.112,0.031,2789,1948,1487
$GC,8521,0.16,377.5,248.7,4.4,418,8585,0.12,2.55,55.97,0.808,4,0.077,0.045,2817,3352,1193
$GC,8625,0.16,377.5,241.5,8.3,422,8631,0.00,2.47,0.00,0.000,6,0.000,0.032,2816,1941,1192
$GC,8941,0.13,377.5,216.4,7.9,438,8945,0.00,2.53,0.00,0.000,4,0.000,0.041,2816,3363,1193
$GC,8981,0.13,377.5,213.7,6.9,440,8985,0.00,2.47,0.00,0.000,6,0.000,0.031,2817,1946,1193
$GC,9300,0.13,377.5,190.3,8.6,460,9304,0.00,2.50,0.00,0.000,4,0.000,0.038,2816,3366,1193
$GC,9333,0.13,377.5,187.4,8.4,462,9340,0.00,2.45,0.00,0.000,6,0.000,0.030,2817,1939,1194
$GC,9663,0.13,377.5,163.7,8.1,493,9667,0.00,2.50,0.00,0.000,4,0.000,0.037,2817,3367,1194
$GC,9715,0.17,377.5,159.1,8.6,497,9719,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,1944,1194
$GC,10043,0.17,377.5,135.6,7.6,527,10047,0.00,2.45,0.00,0.000,4,0.000,0.035,2817,3360,1194
$GC,10072,0.17,377.5,133.3,7.5,529,10079,0.00,2.42,0.00,0.000,6,0.000,0.027,2816,1936,1194
$GC,10401,0.28,412.6,113.9,5.7,560,10435,0.10,2.60,27.55,0.657,4,0.071,0.035,2842,3368,1049
$GC,10482,0.28,412.6,108.0,8.5,567,10486,0.00,2.45,0.00,0.000,6,0.000,0.026,2842,1947,1050
$GC,10810,0.28,412.6,86.3,7.2,597,10814,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3360,1050
$GC,10846,0.35,426.5,83.8,6.4,600,10862,0.00,2.42,11.15,0.627,6,0.000,0.026,2842,1941,994
$GC,11183,0.46,462.2,65.1,5.6,631,11217,0.15,2.58,27.42,0.593,4,0.059,0.033,2884,3369,847
$GC,11253,0.46,462.2,59.0,9.7,637,11257,0.00,2.45,0.00,0.000,6,0.000,0.025,2883,1941,847
$GC,11515,0.42,462.2,36.8,9.2,661,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1941,849
$GC,11781,0.38,462.2,11.9,9.2,702,11788,0.00,2.45,0.00,0.000,4,0.000,0.032,2884,3366,850
$GC,11829,0.38,462.2,8.6,7.0,710,11835,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1947,850
$STATE,11873,end climb,SURFACE_DEPTH_REACHED
$STATE,11873,begin surface coast
$FINISH,0.8,1.023193
$STATE,11953,end surface coast,CONTROL_FINISHED_OK
$STATE,11956,begin surface
$SM_CCo,12040,0.00,0.000,0,0,853,461.16
$SM_GC,1.54,10.93,0.00,0.00,0.042,0.000,0.000,410,2084,853,-10.86,1.24,461.16
$IRIDIUM_FIX,2057.14,-15746.61,070198,070754
$TT8_MAMPS,0.027612
$HUMID,1681
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,25.10
$XPDR_PINGS,20
$24V_AH,23.8,22.425
$10V_AH,10.2,13.590
$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,28.350,132.425,475.500,0.000,0.000,23.417,28.532,183.253,14.000,0.000,0.000,31.591,1353.865,8248.173,540.714,1718.415,561.715,33.364,1390.331,0.000,1670.493,0.000,57.440
$DEVICE_MAMPS,157.235,52.923,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.637,479.182,870.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38043,732
$CAP_FILE_SIZE,111813,0
$CFSIZE,260165632,249597952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,134625,2103.552,-15746.960,25,0.9,42,9.8