version: 66.03
glider: 114
mission: 3
dive: 161
start: 10 14 108 0 24 5
data:
$ID,114
$MISSION,3
$DIVE,161
$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,-594738.88
$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,76
$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
$GPS1,001538,2106.882,-15748.854,31,1.3,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.7
$GPS2,002309,2106.907,-15748.880,9,1.5,9,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.034,0.219
$KALMAN_X,-28047.0,121.1,-20.0,36048.3,-1161.7
$KALMAN_Y,-36612.7,0.4,-58.4,18765.0,-789.1
$MHEAD_RNG_PITCHd_Wd,359.1,6046,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.09,-146.0,0.0,0.0,0,103,0.00,0.00,-69.95,0.000,2,0.000,0.000,407,2078,2813
$GC,107,-1.09,-146.0,3.0,-3.3,13,137,11.90,2.35,-8.90,0.000,4,0.156,0.053,2532,3404,3331
$GC,297,-1.22,-146.0,27.0,-8.4,46,303,0.00,2.30,0.00,0.000,6,0.000,0.024,2532,2034,3332
$GC,567,-1.28,-146.0,50.6,-9.4,74,569,0.15,0.00,0.00,0.000,6,0.055,0.000,2495,2034,3331
$GC,821,-1.28,-146.0,76.2,-8.8,98,825,0.00,2.38,0.00,0.000,4,0.000,0.036,2494,3406,3331
$GC,919,-1.37,-146.0,84.5,-7.6,106,923,0.00,2.30,0.00,0.000,6,0.000,0.023,2495,2037,3332
$GC,1248,-1.43,-146.0,110.0,-8.2,136,1256,0.12,2.35,0.00,0.000,4,0.058,0.034,2462,3401,3333
$GC,1321,-1.48,-146.0,116.7,-9.3,142,1325,0.00,2.28,0.00,0.000,6,0.000,0.023,2462,2039,3333
$GC,1646,-1.48,-146.0,147.5,-8.5,172,1650,0.00,2.35,0.00,0.000,4,0.000,0.035,2462,3401,3333
$GC,1709,-1.52,-146.0,153.0,-9.0,177,1713,0.00,2.30,0.00,0.000,6,0.000,0.023,2463,2030,3333
$GC,2035,-1.57,-146.0,181.6,-8.3,207,2040,0.12,2.38,0.00,0.000,4,0.061,0.035,2430,3405,3333
$GC,2087,-1.57,-146.0,186.3,-9.1,211,2091,0.00,2.30,0.00,0.000,6,0.000,0.024,2430,2037,3333
$GC,2410,-1.57,-146.0,214.1,-8.3,233,2414,0.00,2.40,0.00,0.000,4,0.000,0.039,2429,644,3333
$GC,2452,-1.63,-146.0,217.6,-8.7,235,2456,0.00,2.30,0.00,0.000,6,0.000,0.025,2429,2006,3333
$GC,2779,-1.63,-146.0,239.9,-7.0,251,2783,0.00,2.47,0.00,0.000,4,0.000,0.038,2430,3444,3333
$GC,2829,-1.66,-146.0,243.8,-7.5,253,2833,0.00,2.35,0.00,0.000,6,0.000,0.026,2429,2045,3333
$GC,3156,-1.66,-146.0,269.1,-8.1,269,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3332
$GC,3465,-1.70,-146.0,292.9,-7.6,284,3470,0.00,2.45,0.00,0.000,4,0.000,0.040,2430,3446,3330
$GC,3533,-1.76,-146.0,298.6,-8.2,287,3538,0.15,2.40,0.00,0.000,6,0.064,0.028,2395,2037,3330
$GC,3850,-1.76,-146.0,327.5,-8.7,296,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2036,3328
$GC,4175,-1.76,-146.0,357.0,-9.7,304,4179,0.00,2.47,0.00,0.000,4,0.000,0.042,2395,3444,3326
$GC,4198,-1.76,-146.0,359.4,-10.8,304,4202,0.00,2.40,0.00,0.000,6,0.000,0.029,2395,2036,3326
$GC,4541,-1.76,-146.0,391.3,-9.1,313,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2035,3323
$GC,4866,-1.76,-146.0,420.3,-8.9,321,4870,0.00,2.47,0.00,0.000,4,0.000,0.043,2395,3439,3320
$GC,4933,-1.76,-146.0,426.5,-9.3,322,4937,0.00,2.40,0.00,0.000,6,0.000,0.031,2395,2043,3320
$STATE,5267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5267,begin apogee
$GC,5276,-0.33,0.0,451.3,7.0,331,5392,1.50,0.00,112.82,0.916,6,0.093,0.000,2703,1936,2733
$STATE,5393,end apogee,CONTROL_FINISHED_OK
$STATE,5393,begin climb
$GC,5396,1.09,146.0,454.4,0.0,334,5520,1.40,2.55,114.03,0.887,4,0.051,0.052,3014,551,2136
$GC,5773,0.56,146.0,419.1,12.2,342,5779,0.60,2.45,0.00,0.000,6,0.135,0.030,2907,1957,2134
$GC,6111,0.29,146.0,391.5,7.7,351,6113,0.32,0.00,0.00,0.000,6,0.123,0.000,2847,1956,2132
$GC,6436,0.19,176.4,372.3,5.8,359,6466,0.12,2.62,22.92,0.882,4,0.129,0.052,2825,565,2013
$GC,6512,0.10,193.8,368.1,6.2,360,6532,0.12,2.42,13.93,0.872,6,0.128,0.030,2805,1956,1943
$GC,6852,0.21,286.1,354.6,3.7,369,6934,0.00,2.60,71.95,0.867,4,0.000,0.046,2805,3350,1566
$GC,6963,0.26,314.3,349.3,5.9,371,6992,0.15,2.45,22.25,0.848,6,0.080,0.033,2836,1963,1451
$GC,7307,0.16,314.3,321.4,8.6,380,7311,0.00,2.50,0.00,0.000,4,0.000,0.043,2836,3358,1450
$GC,7352,0.08,314.3,317.1,10.2,381,7357,0.20,2.47,0.00,0.000,6,0.108,0.032,2799,1945,1450
$GC,7673,0.08,314.3,290.1,8.9,391,7677,0.00,2.53,0.00,0.000,4,0.000,0.051,2799,537,1449
$GC,7695,0.08,314.3,287.9,9.4,392,7699,0.00,2.45,0.00,0.000,6,0.000,0.029,2799,1955,1449
$GC,8016,0.10,326.4,264.0,6.4,408,8031,0.00,2.53,9.55,0.821,4,0.000,0.047,2799,3350,1402
$GC,8088,0.10,326.4,259.3,7.2,410,8092,0.00,2.45,0.00,0.000,6,0.000,0.032,2799,1950,1402
$GC,8405,0.10,326.4,236.8,7.3,425,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1950,1402
$GC,8714,0.10,326.4,214.6,6.8,440,8718,0.00,2.47,0.00,0.000,4,0.000,0.040,2799,3354,1402
$GC,8769,0.10,326.4,210.4,7.5,442,8776,0.00,2.42,0.00,0.000,6,0.000,0.031,2799,1948,1402
$GC,9090,0.10,326.4,187.9,7.0,466,9094,0.00,2.50,0.00,0.000,4,0.000,0.049,2799,540,1402
$GC,9113,0.10,326.4,186.1,7.7,467,9119,0.00,2.40,0.00,0.000,6,0.000,0.027,2799,1960,1401
$GC,9441,0.29,415.0,168.8,3.9,498,9516,0.17,2.50,67.30,0.722,4,0.064,0.040,2842,3356,1041
$GC,9554,0.26,415.0,162.2,7.5,508,9558,0.00,2.45,0.00,0.000,6,0.000,0.029,2842,1949,1041
$GC,9883,0.21,415.0,135.9,6.9,538,9887,0.00,2.47,0.00,0.000,4,0.000,0.037,2842,3357,1042
$GC,9946,0.21,415.0,131.0,7.5,543,9950,0.00,2.45,0.00,0.000,6,0.000,0.029,2842,1933,1043
$GC,10275,0.21,415.0,106.0,8.1,573,10280,0.00,2.45,0.00,0.000,4,0.000,0.045,2842,542,1043
$GC,10294,0.21,415.0,104.3,7.7,574,10298,0.00,2.38,0.00,0.000,6,0.000,0.024,2842,1956,1043
$GC,10628,0.21,415.0,80.6,7.0,605,10632,0.00,2.40,0.00,0.000,4,0.000,0.036,2842,3352,1043
$GC,10691,0.27,415.0,75.3,8.5,610,10695,0.00,2.40,0.00,0.000,6,0.000,0.026,2842,1944,1044
$GC,10962,0.44,482.8,58.7,4.6,635,11019,0.15,2.50,51.65,0.588,4,0.060,0.044,2884,547,763
$GC,11039,0.39,482.8,53.1,8.1,642,11043,0.00,2.38,0.00,0.000,6,0.000,0.023,2884,1948,763
$GC,11304,0.34,482.8,31.9,8.1,666,11308,0.15,2.42,0.00,0.000,4,0.094,0.034,2849,3357,763
$GC,11367,0.41,488.2,27.4,6.6,674,11380,0.00,2.40,5.00,0.570,6,0.000,0.025,2850,1939,740
$GC,11653,0.56,549.4,9.5,4.8,724,11705,0.20,2.00,46.72,0.532,3,0.057,0.038,2902,830,493
$STATE,11706,end climb,SURFACE_DEPTH_REACHED
$STATE,11706,begin surface coast
$FINISH,0.7,1.009224
$STATE,11759,end surface coast,CONTROL_FINISHED_OK
$STATE,11759,begin surface
$SM_CCo,11844,0.00,0.000,0,0,493,549.72
$SM_GC,1.53,11.12,0.00,0.00,0.044,0.000,0.000,408,2064,493,-10.87,0.68,549.72
$IRIDIUM_FIX,2059.45,-15748.75,070198,212112
$TT8_MAMPS,0.027612
$HUMID,1698
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,25.10
$XPDR_PINGS,40
$24V_AH,23.8,22.941
$10V_AH,10.2,13.929
$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,28.675,120.675,538.125,0.000,0.000,29.997,29.278,260.452,19.000,0.000,0.000,11.260,1322.326,8028.742,563.096,1740.236,641.831,33.364,1439.612,0.000,1708.780,0.000,57.459
$DEVICE_MAMPS,156.468,52.923,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.888,491.651,892.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,742
$CAP_FILE_SIZE,110393,0
$CFSIZE,260165632,249360384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,034238,2107.976,-15749.345,30,1.0,30,9.8