version: 66.03
glider: 114
mission: 3
dive: 163
start: 10 14 108 7 14 11
data:
$ID,114
$MISSION,3
$DIVE,163
$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,-594766.38
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,070738,2109.249,-15749.550,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.0
$GPS2,071315,2109.220,-15749.421,12,1.0,12,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.113,0.155
$KALMAN_X,-27851.2,-379.6,403.1,34988.8,494.8
$KALMAN_Y,-37865.8,-71.7,150.5,24162.9,-606.5
$MHEAD_RNG_PITCHd_Wd,314.2,1757,-15.4,-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,-1.21,-102.2,0.0,0.0,0,94,0.00,0.00,-64.15,0.000,2,0.000,0.000,412,2029,2869
$GC,98,-1.27,-138.2,3.7,-5.1,12,123,11.75,2.45,-6.90,0.000,4,0.160,0.047,2495,3437,3299
$GC,265,-1.38,-138.2,31.8,-10.4,40,271,0.00,2.38,0.00,0.000,6,0.000,0.023,2495,2023,3298
$GC,527,-1.45,-138.2,60.1,-10.3,65,532,0.15,2.45,0.00,0.000,4,0.056,0.035,2453,3434,3299
$GC,579,-1.48,-138.2,66.7,-12.4,69,583,0.00,2.35,0.00,0.000,6,0.000,0.022,2454,2036,3299
$GC,841,-1.48,-138.2,99.5,-11.9,93,849,0.00,2.40,0.00,0.000,4,0.000,0.037,2453,637,3298
$GC,872,-1.53,-138.2,103.0,-11.5,95,878,0.00,2.35,0.00,0.000,6,0.000,0.022,2453,2048,3299
$GC,1198,-1.61,-138.2,133.5,-9.4,126,1203,0.10,2.38,0.00,0.000,4,0.066,0.034,2426,3438,3299
$GC,1221,-1.66,-138.2,136.0,-10.5,127,1227,0.00,2.35,0.00,0.000,6,0.000,0.023,2426,2031,3299
$GC,1546,-1.72,-138.2,168.5,-8.9,158,1550,0.00,2.42,0.00,0.000,4,0.000,0.035,2426,3437,3300
$GC,1567,-1.78,-138.2,170.1,-8.4,159,1572,0.15,2.35,0.00,0.000,6,0.058,0.023,2389,2039,3300
$GC,1891,-1.78,-138.2,207.2,-11.1,186,1895,0.00,2.40,0.00,0.000,4,0.000,0.038,2389,643,3300
$GC,1931,-1.78,-138.2,211.6,-10.9,188,1935,0.00,2.35,0.00,0.000,6,0.000,0.025,2389,2037,3299
$GC,2259,-1.78,-138.2,241.0,-8.4,204,2263,0.00,2.42,0.00,0.000,4,0.000,0.037,2389,3449,3300
$GC,2304,-1.83,-138.2,245.5,-10.0,206,2308,0.00,2.38,0.00,0.000,6,0.000,0.025,2389,2045,3300
$GC,2625,-1.88,-138.2,278.1,-11.0,222,2630,0.00,2.45,0.00,0.000,4,0.000,0.042,2389,633,3300
$GC,2654,-1.92,-138.2,281.4,-11.4,223,2659,0.12,2.38,0.00,0.000,6,0.064,0.027,2359,2035,3299
$GC,2988,-1.92,-138.2,315.1,-8.9,235,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2037,3298
$GC,3314,-1.92,-138.2,343.0,-9.1,243,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2037,3297
$GC,3638,-1.92,-138.2,376.3,-10.5,251,3643,0.00,2.47,0.00,0.000,4,0.000,0.044,2358,3448,3294
$GC,3679,-1.92,-138.2,380.9,-11.9,252,3683,0.00,2.42,0.00,0.000,6,0.000,0.031,2359,2040,3293
$GC,4003,-1.92,-138.2,418.3,-11.4,260,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2039,3290
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4334,-0.33,0.0,451.5,9.8,268,4447,1.67,0.00,107.38,0.907,6,0.094,0.000,2703,1936,2732
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4452,1.27,138.2,455.7,0.0,271,4567,1.58,2.55,107.32,0.892,4,0.048,0.052,3053,560,2169
$GC,4792,0.76,138.2,424.9,14.7,278,4799,0.60,2.42,0.00,0.000,6,0.137,0.031,2948,1949,2167
$GC,5125,0.50,138.2,390.7,10.0,287,5130,0.28,2.53,0.00,0.000,4,0.130,0.051,2894,552,2165
$GC,5226,0.29,138.2,381.7,8.7,289,5231,0.25,2.45,0.00,0.000,6,0.127,0.031,2849,1961,2164
$GC,5575,0.32,189.1,364.5,4.4,298,5620,0.00,2.65,38.50,0.876,4,0.000,0.053,2849,555,1961
$GC,5655,0.24,189.1,359.7,7.6,299,5661,0.00,2.45,0.00,0.000,6,0.000,0.031,2849,1956,1961
$GC,5987,0.19,189.1,335.5,7.5,308,5992,0.15,2.50,0.00,0.000,4,0.130,0.046,2819,3354,1960
$GC,6043,0.19,189.1,331.4,7.0,309,6047,0.00,2.45,0.00,0.000,6,0.000,0.034,2818,1956,1960
$GC,6391,0.29,245.3,313.8,4.2,318,6437,0.10,0.00,43.00,0.856,6,0.088,0.000,2839,1956,1733
$GC,6740,0.29,245.3,291.6,7.3,329,6745,0.00,2.50,0.00,0.000,4,0.000,0.042,2839,3356,1732
$GC,6763,0.29,245.3,289.7,7.7,330,6767,0.00,2.47,0.00,0.000,6,0.000,0.033,2840,1941,1731
$GC,7084,0.29,245.3,268.1,7.2,346,7088,0.00,2.53,0.00,0.000,4,0.000,0.053,2840,536,1731
$GC,7129,0.29,245.3,264.2,8.5,348,7133,0.00,2.45,0.00,0.000,6,0.000,0.029,2839,1956,1730
$GC,7450,0.31,255.6,242.4,6.3,364,7465,0.00,2.53,8.25,0.811,4,0.000,0.042,2839,3350,1691
$GC,7545,0.32,262.8,236.2,6.5,368,7561,0.00,2.45,6.68,0.791,6,0.000,0.031,2840,1941,1661
$GC,7870,0.36,284.4,218.6,5.8,384,7893,0.00,2.60,17.30,0.780,4,0.000,0.050,2840,547,1573
$GC,7910,0.36,284.4,215.8,6.9,385,7916,0.00,2.45,0.00,0.000,6,0.000,0.028,2840,1960,1573
$GC,8229,0.36,284.4,193.4,7.3,405,8233,0.00,2.45,0.00,0.000,4,0.000,0.041,2840,3359,1573
$GC,8315,0.40,284.4,187.0,7.3,412,8320,0.12,2.45,0.00,0.000,6,0.079,0.031,2867,1940,1573
$GC,8640,0.40,284.4,163.5,7.4,442,8644,0.00,2.47,0.00,0.000,4,0.000,0.049,2867,547,1573
$GC,8714,0.40,284.4,156.4,11.2,448,8719,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,1955,1573
$GC,9043,0.40,284.4,129.4,7.5,478,9047,0.00,2.40,0.00,0.000,4,0.000,0.037,2867,3350,1574
$GC,9076,0.40,284.4,126.4,8.4,480,9083,0.00,2.40,0.00,0.000,6,0.000,0.028,2867,1946,1574
$GC,9406,0.40,284.4,102.0,6.9,511,9410,0.00,2.47,0.00,0.000,4,0.000,0.046,2867,541,1575
$GC,9436,0.40,284.4,99.4,7.7,513,9440,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,1964,1575
$GC,9764,0.45,284.4,76.3,6.9,543,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1964,1576
$GC,10028,0.54,303.2,59.5,5.9,568,10051,0.12,2.42,15.07,0.606,4,0.071,0.035,2897,3354,1497
$GC,10075,0.54,303.2,55.9,8.2,572,10079,0.00,2.40,0.00,0.000,6,0.000,0.026,2897,1949,1497
$GC,10341,0.59,314.4,36.9,6.3,596,10355,0.00,2.53,8.95,0.582,4,0.000,0.044,2897,546,1450
$GC,10414,0.65,314.4,31.5,7.5,602,10421,0.10,2.38,0.00,0.000,6,0.074,0.023,2921,1960,1450
$GC,10691,0.65,314.4,12.5,7.1,649,10697,0.00,2.50,0.00,0.000,4,0.000,0.042,2921,538,1452
$GC,10716,0.65,314.4,10.6,7.3,653,10722,0.00,2.38,0.00,0.000,6,0.000,0.022,2921,1964,1452
$STATE,10788,end climb,SURFACE_DEPTH_REACHED
$STATE,10788,begin surface coast
$FINISH,0.7,1.010061
$STATE,10865,end surface coast,CONTROL_FINISHED_OK
$STATE,10865,begin surface
$SM_CCo,10889,44.58,0.534,0,0,1061,410.14
$SM_GC,1.85,0.00,0.00,44.58,0.000,0.000,0.534,412,2079,1061,-10.89,1.07,410.14
$IRIDIUM_FIX,2059.45,-15750.89,080198,030327
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.8,23.172
$10V_AH,10.2,14.088
$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,28.425,117.425,352.450,44.575,0.000,22.910,36.411,145.459,11.250,0.000,0.000,13.653,1244.502,7463.084,489.887,1559.349,520.359,33.365,1258.078,0.000,1537.467,0.000,57.458
$DEVICE_MAMPS,159.536,57.525,907.361,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.327,460.000,818.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34881,679
$CAP_FILE_SIZE,101094,0
$CFSIZE,260165632,249253888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,101738,2110.154,-15749.552,29,1.9,29,9.8