version: 66.03
glider: 114
mission: 3
dive: 170
start: 10 15 108 7 16 17
data:
$ID,114
$MISSION,3
$DIVE,170
$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,-594864.69
$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
$GPS1,070956,2103.666,-15748.173,40,1.3,40,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.6
$GPS2,071521,2103.678,-15748.131,10,1.9,10,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.123,0.184
$KALMAN_X,-28029.5,-395.9,18.4,37802.3,1028.5
$KALMAN_Y,-39690.3,-538.5,199.5,16140.0,-292.2
$MHEAD_RNG_PITCHd_Wd,316.6,12145,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-75.22,0.000,2,0.000,0.000,409,2083,2871
$GC,109,-1.09,-146.0,3.6,-4.4,14,134,11.93,2.60,-7.45,0.000,4,0.158,0.051,2534,633,3331
$GC,240,-1.25,-146.0,23.5,-8.7,36,247,0.12,2.33,0.00,0.000,6,0.058,0.021,2502,2032,3330
$GC,511,-1.25,-146.0,53.5,-11.0,66,515,0.00,2.40,0.00,0.000,4,0.000,0.035,2502,3432,3330
$GC,631,-1.33,-146.0,65.7,-9.6,76,635,0.00,2.35,0.00,0.000,6,0.000,0.023,2501,2034,3330
$GC,894,-1.38,-146.0,89.4,-8.4,100,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2033,3331
$GC,1215,-1.47,-146.0,112.6,-7.0,130,1221,0.17,0.00,0.00,0.000,6,0.052,0.000,2454,2034,3332
$GC,1541,-1.47,-146.0,143.7,-9.2,161,1545,0.00,2.42,0.00,0.000,4,0.000,0.034,2454,3442,3331
$GC,1610,-1.52,-146.0,149.7,-8.5,166,1617,0.00,2.35,0.00,0.000,6,0.000,0.023,2454,2032,3331
$GC,1936,-1.55,-146.0,176.3,-7.8,197,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2032,3332
$GC,2257,-1.59,-146.0,199.6,-8.0,227,2265,0.00,2.40,0.00,0.000,4,0.000,0.039,2454,638,3331
$GC,2284,-1.65,-146.0,202.0,-8.2,229,2289,0.15,2.35,0.00,0.000,6,0.056,0.024,2417,2036,3332
$GC,2614,-1.65,-146.0,232.2,-9.1,245,2618,0.00,2.42,0.00,0.000,4,0.000,0.037,2416,3448,3331
$GC,2669,-1.65,-146.0,238.1,-10.1,247,2676,0.00,2.38,0.00,0.000,6,0.000,0.025,2416,2038,3331
$GC,2986,-1.65,-146.0,267.2,-8.8,263,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2036,3330
$GC,3295,-1.65,-146.0,296.2,-9.5,278,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2036,3330
$GC,3620,-1.65,-146.0,325.6,-8.7,287,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2036,3328
$GC,3945,-1.65,-146.0,348.9,-7.0,295,3949,0.00,2.47,0.00,0.000,4,0.000,0.041,2417,3446,3326
$GC,3968,-1.65,-146.0,350.6,-7.6,295,3972,0.00,2.40,0.00,0.000,6,0.000,0.029,2417,2042,3326
$GC,4311,-1.65,-146.0,372.9,-6.7,304,4315,0.00,2.45,0.00,0.000,4,0.000,0.041,2417,3437,3324
$GC,4345,-1.68,-146.0,375.2,-7.0,304,4351,0.00,2.40,0.00,0.000,6,0.000,0.030,2417,2039,3324
$GC,4677,-1.72,-146.0,396.0,-5.9,313,4682,0.00,2.47,0.00,0.000,4,0.000,0.042,2417,3442,3321
$GC,4734,-1.78,-146.0,399.5,-5.6,314,4739,0.10,2.42,0.00,0.000,6,0.078,0.031,2394,2032,3320
$GC,5083,-1.78,-146.0,423.5,-6.8,323,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2031,3319
$GC,5407,-1.78,-146.0,448.2,-7.8,331,5411,0.00,2.50,0.00,0.000,4,0.000,0.044,2394,3443,3316
$STATE,5427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5427,begin apogee
$GC,5438,-0.33,0.0,450.0,8.3,331,5555,1.50,0.00,112.88,0.920,6,0.095,0.000,2703,1942,2733
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5559,1.09,146.0,453.9,0.0,334,5682,1.40,2.58,114.03,0.897,4,0.051,0.041,3014,3356,2136
$GC,5739,0.58,146.0,450.6,10.1,338,5744,0.57,2.47,0.00,0.000,6,0.140,0.034,2912,1950,2136
$GC,6053,0.30,146.0,425.6,8.2,346,6055,0.35,0.00,0.00,0.000,6,0.117,0.000,2847,1951,2134
$GC,6378,0.22,187.0,406.6,5.5,354,6415,0.00,0.00,31.55,0.900,6,0.000,0.000,2846,1950,1970
$GC,6742,0.13,218.7,385.5,5.8,363,6773,0.17,2.60,25.15,0.894,4,0.119,0.054,2812,544,1840
$GC,6791,0.09,247.2,382.6,5.9,364,6823,0.00,2.45,22.80,0.881,6,0.000,0.030,2812,1944,1724
$GC,7149,0.12,299.9,362.7,5.1,373,7197,0.00,2.55,41.42,0.880,4,0.000,0.047,2812,3351,1509
$GC,7292,0.14,333.3,355.2,5.7,376,7324,0.00,2.47,26.48,0.865,6,0.000,0.034,2812,1950,1374
$GC,7650,0.09,333.3,327.7,8.3,385,7654,0.00,2.53,0.00,0.000,4,0.000,0.044,2812,3359,1373
$GC,7684,0.03,333.3,324.7,8.9,385,7690,0.12,2.47,0.00,0.000,6,0.118,0.033,2790,1948,1373
$GC,8016,0.03,333.3,301.1,6.9,394,8020,0.00,2.50,0.00,0.000,4,0.000,0.042,2790,3354,1373
$GC,8079,0.04,335.4,296.9,6.8,396,8083,0.00,2.47,0.00,0.000,6,0.000,0.033,2790,1940,1373
$GC,8406,0.04,338.7,274.9,6.7,412,8413,0.00,0.00,5.03,0.828,6,0.000,0.000,2790,1940,1351
$GC,8716,0.08,358.6,256.6,6.2,427,8738,0.00,2.55,16.15,0.828,4,0.000,0.038,2790,3357,1271
$GC,8778,0.13,360.8,252.4,6.7,429,8787,0.00,2.47,2.67,0.765,6,0.000,0.031,2790,1938,1262
$GC,9117,0.22,393.9,231.3,5.7,446,9149,0.15,2.55,26.12,0.795,4,0.071,0.038,2828,3354,1126
$GC,9194,0.22,393.9,225.0,8.6,449,9200,0.00,2.45,0.00,0.000,6,0.000,0.031,2828,1952,1126
$GC,9511,0.18,393.9,196.4,9.6,466,9515,0.00,2.47,0.00,0.000,4,0.000,0.038,2828,3355,1127
$GC,9590,0.18,393.9,188.8,8.7,472,9596,0.00,2.45,0.00,0.000,6,0.000,0.030,2828,1937,1127
$GC,9918,0.18,394.0,166.2,6.8,503,9923,0.00,2.50,0.00,0.000,4,0.000,0.038,2828,3367,1127
$GC,9941,0.18,394.0,164.1,8.0,504,9947,0.00,2.42,0.00,0.000,6,0.000,0.028,2828,1948,1127
$GC,10269,0.18,394.0,136.7,8.1,535,10273,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3369,1128
$GC,10313,0.18,394.0,132.9,8.2,538,10320,0.00,2.42,0.00,0.000,6,0.000,0.027,2828,1944,1128
$GC,10642,0.18,394.0,108.6,7.4,569,10646,0.00,2.45,0.00,0.000,4,0.000,0.035,2829,3361,1129
$GC,10704,0.25,394.0,103.7,7.2,574,10710,0.00,2.40,0.00,0.000,6,0.000,0.026,2828,1947,1129
$GC,11033,0.33,422.0,85.3,5.9,605,11066,0.10,2.58,22.40,0.627,4,0.073,0.044,2853,540,1011
$GC,11083,0.33,423.2,81.6,6.8,609,11090,0.00,2.40,0.00,0.000,6,0.000,0.022,2853,1964,1011
$GC,11414,0.43,458.8,61.1,5.6,640,11448,0.00,2.47,28.10,0.594,4,0.000,0.033,2852,3345,860
$GC,11521,0.51,458.8,53.8,7.1,649,11528,0.17,2.38,0.00,0.000,6,0.058,0.025,2895,1949,863
$GC,11787,0.45,458.8,29.7,8.9,674,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1949,863
$STATE,12044,end climb,SURFACE_DEPTH_REACHED
$STATE,12044,begin surface coast
$FINISH,0.8,1.017861
$STATE,12107,end surface coast,CONTROL_FINISHED_OK
$STATE,12107,begin surface
$SM_CCo,12192,0.00,0.000,0,0,865,457.98
$SM_GC,1.52,11.02,0.00,0.00,0.044,0.000,0.000,409,2083,865,-10.86,1.22,457.98
$IRIDIUM_FIX,2054.83,-15749.62,090198,030333
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.90
$XPDR_PINGS,19
$24V_AH,23.8,24.086
$10V_AH,10.2,14.678
$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,28.050,108.475,474.775,0.000,0.000,24.894,26.150,149.585,13.750,0.000,0.000,11.697,1304.791,8509.192,553.613,1638.535,512.473,33.367,1368.797,0.000,1612.803,0.000,59.925
$DEVICE_MAMPS,158.002,53.690,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.091,474.828,852.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,731
$CAP_FILE_SIZE,104049,0
$CFSIZE,260165632,248840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,104038,2104.979,-15748.626,30,1.0,30,9.8