version: 66.03
glider: 114
mission: 3
dive: 160
start: 10 13 108 20 53 16
data:
$ID,114
$MISSION,3
$DIVE,160
$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,1
$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,-594727
$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,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
$GPS1,204825,2105.868,-15748.103,25,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.5
$GPS2,205220,2105.841,-15748.055,8,1.1,13,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.014,0.221
$KALMAN_X,-27768.3,382.6,678.4,36229.1,-787.8
$KALMAN_Y,-35959.5,-0.8,238.5,15843.7,-680.7
$MHEAD_RNG_PITCHd_Wd,346.5,8402,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-146.0,0.0,0.0,0,94,0.00,0.00,-64.30,0.000,2,0.000,0.000,410,2085,2983
$GC,98,-1.09,-146.0,3.9,-5.0,12,123,11.93,2.53,-5.25,0.000,4,0.159,0.049,2535,637,3329
$GC,220,-1.23,-146.0,24.6,-7.6,33,228,0.12,2.33,0.00,0.000,6,0.058,0.021,2504,2037,3329
$GC,490,-1.23,-146.0,49.3,-9.0,63,494,0.00,2.40,0.00,0.000,4,0.000,0.037,2504,3435,3329
$GC,554,-1.33,-146.0,55.3,-8.6,68,558,0.00,2.38,0.00,0.000,6,0.000,0.024,2504,2024,3330
$GC,821,-1.40,-146.0,79.7,-8.6,93,826,0.12,2.38,0.00,0.000,4,0.059,0.036,2472,640,3330
$GC,844,-1.46,-146.0,82.0,-9.2,94,850,0.00,2.33,0.00,0.000,6,0.000,0.022,2472,2039,3330
$GC,1173,-1.50,-146.0,110.6,-8.5,125,1177,0.00,2.40,0.00,0.000,4,0.000,0.036,2472,3447,3331
$GC,1269,-1.59,-146.0,119.0,-6.8,133,1276,0.17,2.38,0.00,0.000,6,0.054,0.025,2428,2029,3331
$GC,1595,-1.55,-146.0,149.6,-8.8,164,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2028,3331
$GC,1915,-1.55,-146.0,177.6,-8.9,194,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2028,3332
$GC,2252,-1.55,-146.0,205.3,-8.3,223,2256,0.00,2.45,0.00,0.000,4,0.000,0.036,2428,3446,3331
$GC,2308,-1.55,-146.0,210.6,-8.6,225,2314,0.00,2.38,0.00,0.000,6,0.000,0.025,2428,2034,3331
$GC,2625,-1.55,-146.0,237.9,-8.6,241,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2034,3331
$GC,2934,-1.55,-146.0,264.6,-7.5,256,2938,0.00,2.45,0.00,0.000,4,0.000,0.038,2428,3443,3331
$GC,2974,-1.59,-146.0,267.6,-7.6,258,2978,0.00,2.38,0.00,0.000,6,0.000,0.027,2428,2043,3331
$GC,3303,-1.62,-146.0,292.9,-7.9,274,3308,0.00,2.45,0.00,0.000,4,0.000,0.039,2428,3446,3330
$GC,3344,-1.66,-146.0,296.3,-8.5,276,3349,0.00,2.40,0.00,0.000,6,0.000,0.028,2428,2036,3330
$GC,3688,-1.70,-146.0,325.4,-8.2,286,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2035,3327
$GC,4014,-1.74,-146.0,351.1,-8.0,294,4019,0.12,2.47,0.00,0.000,4,0.071,0.041,2400,3444,3326
$GC,4042,-1.74,-146.0,353.6,-8.6,294,4046,0.00,2.40,0.00,0.000,6,0.000,0.029,2399,2038,3325
$GC,4374,-1.74,-146.0,381.0,-8.1,302,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2038,3323
$GC,4698,-1.74,-146.0,406.6,-7.8,310,4702,0.00,2.47,0.00,0.000,4,0.000,0.044,2400,3442,3320
$GC,4749,-1.74,-146.0,410.6,-7.9,311,4753,0.00,2.40,0.00,0.000,6,0.000,0.030,2399,2042,3320
$GC,5063,-1.74,-146.0,433.5,-7.3,319,5067,0.00,2.47,0.00,0.000,4,0.000,0.044,2400,3440,3318
$GC,5108,-1.74,-146.0,437.2,-8.0,320,5113,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,2031,3318
$STATE,5305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5305,begin apogee
$GC,5313,-0.33,0.0,453.4,8.3,325,5430,1.48,0.00,113.12,0.925,6,0.094,0.000,2702,1936,2733
$STATE,5431,end apogee,CONTROL_FINISHED_OK
$STATE,5431,begin climb
$GC,5434,1.09,146.0,458.6,0.0,328,5556,1.45,2.55,114.38,0.902,4,0.051,0.041,3020,3344,2137
$GC,5703,0.58,146.0,444.5,11.9,334,5708,0.60,2.42,0.00,0.000,6,0.127,0.034,2911,1969,2136
$GC,6041,0.30,146.0,418.4,7.3,343,6043,0.32,0.00,0.00,0.000,6,0.120,0.000,2851,1969,2134
$GC,6366,0.16,158.3,398.5,6.4,351,6381,0.17,2.50,9.55,0.904,4,0.124,0.041,2817,3347,2086
$GC,6410,0.08,166.8,395.6,6.5,352,6424,0.00,2.47,7.15,0.890,6,0.000,0.033,2817,1939,2053
$GC,6735,0.15,256.5,381.1,3.8,360,6814,0.00,2.60,69.80,0.893,4,0.000,0.041,2817,3342,1687
$GC,6838,0.19,322.8,377.1,4.6,362,6899,0.00,2.47,52.03,0.872,6,0.000,0.033,2817,1941,1416
$GC,7225,0.12,322.8,350.3,8.0,372,7229,0.00,2.50,0.00,0.000,4,0.000,0.041,2817,3340,1416
$GC,7270,0.07,322.8,346.1,9.0,373,7274,0.00,2.45,0.00,0.000,6,0.000,0.033,2817,1947,1415
$GC,7589,0.00,322.8,318.1,8.5,381,7594,0.15,2.50,0.00,0.000,4,0.120,0.041,2785,3347,1415
$GC,7617,0.00,322.8,316.1,7.4,381,7621,0.00,2.45,0.00,0.000,6,0.000,0.032,2785,1944,1415
$GC,7930,0.01,328.6,295.3,6.6,390,7937,0.00,0.00,5.20,0.841,6,0.000,0.000,2785,1944,1393
$GC,8239,0.05,349.5,276.6,6.1,405,8261,0.00,2.58,16.67,0.844,4,0.000,0.038,2785,3344,1307
$GC,8318,0.10,349.7,271.4,6.8,408,8323,0.00,2.45,0.00,0.000,6,0.000,0.031,2785,1940,1308
$GC,8635,0.13,349.7,251.3,7.2,423,8640,0.10,2.47,0.00,0.000,4,0.084,0.037,2808,3343,1307
$GC,8676,0.13,349.7,248.2,8.4,425,8680,0.00,2.42,0.00,0.000,6,0.000,0.031,2808,1951,1308
$GC,9003,0.17,373.7,225.7,6.0,441,9029,0.00,2.58,19.33,0.797,4,0.000,0.038,2807,3355,1208
$GC,9054,0.22,400.5,222.7,5.9,443,9084,0.00,2.45,21.30,0.783,6,0.000,0.029,2807,1950,1100
$GC,9394,0.22,400.5,199.0,7.6,460,9398,0.00,2.45,0.00,0.000,4,0.000,0.037,2807,3347,1100
$GC,9436,0.22,400.5,196.0,7.5,463,9440,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1946,1101
$GC,9764,0.22,400.5,172.8,7.8,493,9768,0.00,2.45,0.00,0.000,4,0.000,0.035,2807,3350,1101
$GC,9809,0.28,400.5,168.6,8.7,496,9816,0.15,2.42,0.00,0.000,6,0.064,0.028,2842,1938,1101
$GC,10135,0.23,400.5,138.7,8.5,527,10139,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3345,1100
$GC,10181,0.23,400.5,134.8,8.7,530,10187,0.00,2.40,0.00,0.000,6,0.000,0.027,2842,1938,1101
$GC,10510,0.20,400.5,107.2,8.6,561,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1938,1101
$GC,10836,0.25,429.5,84.0,5.9,592,10869,0.00,2.53,23.15,0.630,4,0.000,0.033,2842,3345,981
$GC,10921,0.31,433.3,78.9,6.7,599,10930,0.00,2.40,3.55,0.616,6,0.000,0.025,2843,1937,965
$GC,11196,0.46,494.2,64.8,4.8,625,11250,0.15,2.50,45.83,0.593,4,0.058,0.033,2884,3348,717
$GC,11279,0.43,494.2,58.7,8.8,632,11286,0.00,2.40,0.00,0.000,6,0.000,0.024,2884,1941,718
$GC,11542,0.37,494.2,33.1,9.8,657,11547,0.12,2.45,0.00,0.000,4,0.099,0.032,2861,3350,719
$GC,11594,0.41,494.2,28.7,8.2,662,11600,0.00,2.38,0.00,0.000,6,0.000,0.025,2860,1950,719
$GC,11872,0.41,494.2,8.1,7.6,711,11878,0.00,2.45,0.00,0.000,4,0.000,0.043,2860,547,720
$GC,11892,0.41,494.2,6.8,7.5,714,11898,0.00,2.35,0.00,0.000,6,0.000,0.021,2860,1957,721
$STATE,11914,end climb,SURFACE_DEPTH_REACHED
$STATE,11914,begin surface coast
$FINISH,0.8,1.009672
$STATE,11988,end surface coast,CONTROL_FINISHED_OK
$STATE,11988,begin surface
$SM_CCo,12072,0.00,0.000,0,0,722,493.30
$SM_GC,1.52,10.90,0.00,0.00,0.045,0.000,0.000,407,2079,722,-10.87,1.10,493.30
$IRIDIUM_FIX,2057.14,-15748.75,070198,171755
$TT8_MAMPS,0.027612
$HUMID,1705
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,25.00
$XPDR_PINGS,10
$24V_AH,23.8,22.799
$10V_AH,10.2,13.843
$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,28.075,122.400,501.050,0.000,0.000,23.039,29.189,48.000,11.500,0.000,0.000,15.349,1322.224,8322.608,583.064,1660.039,419.132,33.367,1410.714,0.000,1629.394,0.000,57.438
$DEVICE_MAMPS,158.769,58.292,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.268,483.879,863.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,731
$CAP_FILE_SIZE,105983,0
$CFSIZE,260165632,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,001538,2106.882,-15748.854,31,1.3,31,9.8