version: 66.03
glider: 114
mission: 3
dive: 159
start: 10 13 108 17 22 36
data:
$ID,114
$MISSION,3
$DIVE,159
$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,-594711
$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,34
$R_STBD_OVSHOOT,64
$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
$GPS1,171608,2104.853,-15747.599,37,1.1,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.4
$GPS2,172139,2104.873,-15747.538,14,1.2,14,9.8
$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,-27862.4,271.8,-355.2,38361.8,1126.8
$KALMAN_Y,-35320.7,-25.9,-164.4,13834.0,241.9
$MHEAD_RNG_PITCHd_Wd,303.4,10404,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-59.28,0.000,2,0.000,0.000,408,2063,2790
$GC,93,-1.09,-146.0,3.4,-4.5,11,123,11.95,2.40,-9.12,0.000,4,0.158,0.050,2535,3417,3332
$GC,289,-1.22,-146.0,28.0,-7.9,45,296,0.00,2.35,0.00,0.000,6,0.000,0.024,2535,2038,3332
$GC,554,-1.30,-146.0,48.3,-7.6,72,556,0.17,0.00,0.00,0.000,6,0.053,0.000,2493,2037,3332
$GC,808,-1.30,-146.0,70.3,-8.2,96,812,0.00,2.38,0.00,0.000,4,0.000,0.035,2493,3414,3333
$GC,865,-1.34,-146.0,75.0,-7.7,100,871,0.00,2.30,0.00,0.000,6,0.000,0.022,2493,2032,3334
$GC,1128,-1.39,-146.0,93.7,-7.8,125,1132,0.00,2.38,0.00,0.000,4,0.000,0.034,2493,3418,3334
$GC,1167,-1.48,-146.0,96.7,-7.2,128,1174,0.15,2.30,0.00,0.000,6,0.059,0.023,2456,2037,3334
$GC,1493,-1.48,-146.0,127.2,-9.5,159,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2036,3334
$GC,1814,-1.48,-146.0,156.7,-8.5,189,1818,0.00,2.38,0.00,0.000,4,0.000,0.035,2456,3419,3335
$GC,1859,-1.52,-146.0,160.9,-9.0,192,1865,0.00,2.30,0.00,0.000,6,0.000,0.023,2456,2041,3334
$GC,2185,-1.56,-146.0,185.9,-6.9,223,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2040,3334
$GC,2503,-1.61,-146.0,207.1,-6.5,248,2508,0.12,2.38,0.00,0.000,4,0.061,0.034,2425,3419,3334
$GC,2553,-1.61,-146.0,211.4,-8.2,250,2557,0.00,2.33,0.00,0.000,6,0.000,0.025,2425,2028,3334
$GC,2874,-1.61,-146.0,237.2,-7.7,266,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2028,3334
$GC,3185,-1.61,-146.0,259.3,-6.7,281,3188,0.00,2.40,0.00,0.000,4,0.000,0.038,2425,3411,3334
$GC,3247,-1.65,-146.0,263.5,-6.8,283,3253,0.00,2.33,0.00,0.000,6,0.000,0.026,2425,2034,3334
$GC,3564,-1.65,-146.0,288.0,-8.1,299,3567,0.00,2.40,0.00,0.000,4,0.000,0.038,2425,3421,3333
$GC,3603,-1.69,-146.0,291.6,-8.7,300,3610,0.00,2.35,0.00,0.000,6,0.000,0.028,2425,2035,3332
$GC,3916,-1.69,-146.0,317.8,-8.4,311,3920,0.00,2.42,0.00,0.000,4,0.000,0.045,2425,640,3331
$GC,3950,-1.75,-146.0,320.5,-7.6,311,3955,0.12,2.33,0.00,0.000,6,0.068,0.028,2395,2009,3330
$GC,4283,-1.75,-146.0,351.4,-9.3,319,4287,0.00,2.53,0.00,0.000,4,0.000,0.044,2395,3448,3328
$GC,4333,-1.75,-146.0,356.3,-9.2,320,4337,0.00,2.40,0.00,0.000,6,0.000,0.030,2395,2037,3328
$GC,4652,-1.75,-146.0,383.6,-8.6,328,4656,0.00,2.47,0.00,0.000,4,0.000,0.042,2395,3443,3325
$GC,4674,-1.75,-146.0,385.8,-9.3,328,4678,0.00,2.40,0.00,0.000,6,0.000,0.029,2395,2040,3325
$GC,5011,-1.75,-146.0,414.3,-8.2,337,5015,0.00,2.47,0.00,0.000,4,0.000,0.043,2395,3443,3323
$GC,5051,-1.75,-146.0,417.5,-7.9,338,5055,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2035,3322
$GC,5375,-1.75,-146.0,444.1,-8.5,346,5379,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,639,3320
$GC,5397,-1.75,-146.0,446.3,-9.2,346,5401,0.00,2.40,0.00,0.000,6,0.000,0.031,2394,2043,3320
$STATE,5453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5453,begin apogee
$GC,5461,-0.33,0.0,451.6,9.3,348,5578,1.50,0.00,113.65,0.924,6,0.090,0.000,2705,1934,2732
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5583,1.09,146.0,457.1,0.0,351,5706,1.38,2.60,114.10,0.899,4,0.048,0.044,3012,3354,2136
$GC,5769,0.59,146.0,452.1,10.8,355,5774,0.55,2.47,0.00,0.000,6,0.127,0.034,2912,1954,2136
$GC,6118,0.29,146.0,423.4,7.8,364,6123,0.32,2.58,0.00,0.000,4,0.121,0.054,2850,536,2134
$GC,6204,0.17,190.8,418.6,5.3,366,6246,0.17,2.47,34.42,0.899,6,0.126,0.029,2818,1959,1955
$GC,6572,0.21,264.1,402.2,4.4,375,6636,0.00,2.60,57.17,0.898,4,0.000,0.047,2818,3352,1656
$GC,6672,0.13,264.1,395.9,7.0,377,6676,0.00,2.50,0.00,0.000,6,0.000,0.035,2818,1940,1655
$GC,7021,0.05,264.1,367.7,8.4,386,7026,0.15,2.53,0.00,0.000,4,0.120,0.043,2792,3349,1654
$GC,7094,0.05,264.1,361.9,7.6,387,7098,0.00,2.47,0.00,0.000,6,0.000,0.033,2791,1939,1655
$GC,7426,0.13,309.9,342.2,5.3,395,7467,0.00,2.58,35.42,0.879,4,0.000,0.041,2791,3351,1468
$GC,7502,0.17,333.0,337.8,6.0,396,7527,0.12,2.47,18.80,0.861,6,0.083,0.032,2817,1945,1374
$GC,7841,0.12,333.0,310.4,8.4,405,7845,0.00,2.53,0.00,0.000,4,0.000,0.044,2817,3352,1374
$GC,7881,0.06,333.0,306.9,9.6,406,7886,0.12,2.47,0.00,0.000,6,0.112,0.032,2795,1939,1374
$GC,8210,0.06,333.3,282.6,6.8,419,8214,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3350,1373
$GC,8254,0.06,333.3,279.4,7.0,421,8258,0.00,2.45,0.00,0.000,6,0.000,0.031,2795,1943,1373
$GC,8576,0.06,333.3,257.4,8.0,437,8579,0.00,2.47,0.00,0.000,4,0.000,0.040,2796,3351,1373
$GC,8615,0.06,333.3,254.1,8.2,438,8622,0.00,2.45,0.00,0.000,6,0.000,0.031,2795,1936,1373
$GC,8931,0.06,333.3,229.3,7.3,454,8935,0.00,2.47,0.00,0.000,4,0.000,0.038,2796,3354,1373
$GC,8987,0.09,333.3,225.1,7.2,456,8992,0.00,2.42,0.00,0.000,6,0.000,0.031,2796,1948,1373
$GC,9304,0.13,356.5,204.0,6.0,471,9329,0.00,2.55,18.23,0.775,4,0.000,0.038,2795,3352,1279
$GC,9360,0.20,365.4,200.6,6.5,473,9374,0.12,2.45,7.70,0.762,6,0.074,0.028,2824,1939,1242
$GC,9700,0.20,365.4,177.6,7.4,505,9704,0.00,2.47,0.00,0.000,4,0.000,0.036,2824,3355,1243
$GC,9741,0.20,365.4,174.5,8.3,508,9745,0.00,2.42,0.00,0.000,6,0.000,0.028,2824,1950,1243
$GC,10069,0.20,365.4,149.0,7.8,538,10073,0.00,2.45,0.00,0.000,4,0.000,0.035,2823,3355,1244
$GC,10104,0.20,365.4,146.0,7.4,541,10109,0.00,2.42,0.00,0.000,6,0.000,0.027,2824,1942,1244
$GC,10430,0.20,365.4,121.7,7.5,571,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1942,1245
$GC,10749,0.20,365.4,96.8,7.6,601,10753,0.00,2.45,0.00,0.000,4,0.000,0.034,2823,3361,1245
$GC,10801,0.25,365.4,92.9,7.3,605,10805,0.00,2.42,0.00,0.000,6,0.000,0.026,2823,1936,1246
$GC,11127,0.36,395.7,72.8,5.8,635,11160,0.15,2.53,23.98,0.617,4,0.059,0.033,2865,3348,1118
$GC,11196,0.36,395.7,68.0,7.1,641,11200,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1942,1119
$GC,11458,0.36,395.7,48.7,7.7,665,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1942,1119
$GC,11713,0.36,395.7,31.2,7.0,689,11717,0.00,2.45,0.00,0.000,4,0.000,0.032,2866,3366,1120
$GC,11766,0.37,396.4,27.7,6.8,695,11773,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1940,1121
$GC,12045,0.40,415.2,9.8,6.2,744,12069,0.00,2.50,15.18,0.547,4,0.000,0.043,2865,544,1039
$GC,12099,0.40,415.2,5.9,7.5,753,12105,0.00,2.38,0.00,0.000,6,0.000,0.021,2865,1969,1039
$STATE,12109,end climb,SURFACE_DEPTH_REACHED
$STATE,12110,begin surface coast
$FINISH,0.8,1.008750
$STATE,12184,end surface coast,CONTROL_FINISHED_OK
$STATE,12184,begin surface
$SM_CCo,12268,0.00,0.000,0,0,1038,415.54
$SM_GC,1.72,10.90,0.00,0.00,0.044,0.000,0.000,410,2087,1038,-10.86,1.33,415.54
$IRIDIUM_FIX,2057.14,-15744.48,070198,131312
$TT8_MAMPS,0.026845
$HUMID,1705
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,23.8,22.673
$10V_AH,10.2,13.761
$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,28.025,136.900,438.650,0.000,0.000,25.017,29.930,143.076,12.250,0.000,0.000,15.852,1397.774,8381.012,505.710,1777.319,539.886,33.370,1388.517,0.000,1747.784,0.000,59.983
$DEVICE_MAMPS,158.002,55.224,924.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.759,515.207,926.739,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41223,768
$CAP_FILE_SIZE,113443,0
$CFSIZE,260165632,249470976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,204825,2105.868,-15748.103,25,1.1,42,9.8