version: 66.03
glider: 114
mission: 3
dive: 34
start: 9 26 108 15 36 29
data:
$ID,114
$MISSION,3
$DIVE,34
$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,180
$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,120
$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,420
$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,-592613.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2710
$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,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,0
$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
$GPS1,153035,2104.956,-15752.656,10,2.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.0
$GPS2,153533,2104.907,-15752.743,11,1.7,11,9.8
$SPEED_LIMITS,0.070,0.220
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.202,-0.087
$KALMAN_X,5750.0,-466.3,-618.1,-3225.9,62.6
$KALMAN_Y,2240.2,-27.4,-214.2,-23606.4,-148.0
$MHEAD_RNG_PITCHd_Wd,103.4,11120,-17.3,-8.333
$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,26,-1.35,-116.8,0.0,0.0,0,93,0.00,0.00,-64.12,0.000,2,0.000,0.000,413,2057,2967
$GC,97,-1.35,-116.8,3.8,-6.0,12,122,11.50,2.55,-3.75,0.000,4,0.166,0.051,2412,620,3213
$GC,229,-1.35,-116.8,34.7,-17.0,32,235,0.00,2.35,0.00,0.000,6,0.000,0.023,2412,2020,3213
$GC,490,-1.35,-116.8,73.7,-14.1,57,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2021,3214
$GC,746,-1.35,-116.8,104.8,-10.6,81,750,0.00,2.42,0.00,0.000,4,0.000,0.039,2412,625,3215
$GC,779,-1.35,-116.8,108.8,-11.8,83,785,0.00,2.38,0.00,0.000,6,0.000,0.024,2412,2044,3215
$GC,1105,-1.35,-116.8,142.7,-10.7,114,1109,0.00,2.47,0.00,0.000,4,0.000,0.039,2412,621,3216
$GC,1156,-1.35,-116.8,148.5,-11.5,118,1161,0.00,2.40,0.00,0.000,6,0.000,0.025,2412,2049,3216
$GC,1481,-1.35,-116.8,181.1,-9.7,148,1486,0.00,2.40,0.00,0.000,4,0.000,0.038,2412,3447,3216
$GC,1504,-1.35,-116.8,183.6,-10.4,149,1510,0.00,2.40,0.00,0.000,6,0.000,0.025,2412,2021,3216
$GC,1829,-1.35,-116.8,212.1,-8.1,173,1833,0.00,2.47,0.00,0.000,4,0.000,0.037,2412,3451,3216
$GC,1851,-1.35,-116.8,214.5,-9.1,174,1855,0.00,2.38,0.00,0.000,6,0.000,0.025,2412,2038,3216
$GC,2172,-1.35,-116.8,243.8,-8.9,190,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2037,3216
$GC,2482,-1.35,-116.8,270.9,-8.7,205,2486,0.00,2.42,0.00,0.000,4,0.000,0.043,2412,638,3216
$GC,2510,-1.35,-116.8,273.7,-9.7,206,2515,0.00,2.38,0.00,0.000,6,0.000,0.027,2412,2044,3216
$GC,2829,-1.35,-116.8,300.6,-8.5,221,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2045,3214
$GC,3153,-1.35,-116.8,322.9,-6.3,229,3157,0.00,2.45,0.00,0.000,4,0.000,0.043,2412,3452,3214
$GC,3175,-1.35,-116.8,324.4,-5.8,229,3179,0.00,2.40,0.00,0.000,6,0.000,0.028,2412,2040,3214
$GC,3512,-1.35,-116.8,347.9,-7.5,238,3516,0.00,2.45,0.00,0.000,4,0.000,0.041,2412,3448,3212
$GC,3529,-1.35,-116.8,349.3,-7.6,238,3533,0.00,2.40,0.00,0.000,6,0.000,0.029,2412,2040,3212
$GC,3878,-1.35,-116.8,374.4,-6.9,247,3882,0.00,2.47,0.00,0.000,4,0.000,0.049,2412,633,3210
$GC,3912,-1.35,-116.8,376.9,-8.0,247,3918,0.00,2.40,0.00,0.000,6,0.000,0.030,2412,2037,3211
$GC,4244,-1.35,-116.8,400.2,-7.5,256,4249,0.00,2.50,0.00,0.000,4,0.000,0.048,2412,3453,3208
$GC,4301,-1.35,-116.8,405.1,-8.8,257,4305,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2039,3207
$GC,4651,-1.35,-116.8,428.1,-6.3,266,4655,0.00,2.50,0.00,0.000,4,0.000,0.053,2412,627,3205
$GC,4684,-1.35,-116.8,430.6,-7.0,266,4690,0.00,2.42,0.00,0.000,6,0.000,0.031,2412,2043,3205
$STATE,5014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5014,begin apogee
$GC,5022,-0.33,0.0,452.7,6.5,275,5116,1.10,0.00,91.00,0.940,6,0.101,0.000,2634,1797,2733
$STATE,5117,end apogee,CONTROL_FINISHED_OK
$STATE,5117,begin climb
$GC,5121,1.35,116.8,454.5,0.0,277,5221,1.70,2.62,91.35,0.911,4,0.062,0.058,3000,407,2256
$GC,5235,1.46,179.3,455.3,5.3,279,5290,0.12,2.45,48.83,0.897,6,0.091,0.028,3024,1818,2001
$GC,5620,1.46,179.3,401.5,14.8,289,5624,0.00,2.60,0.00,0.000,4,0.000,0.058,3024,406,2000
$GC,5686,1.46,179.3,389.8,16.7,290,5691,0.00,2.42,0.00,0.000,6,0.000,0.029,3024,1800,1999
$GC,6024,1.46,179.3,342.5,13.6,299,6028,0.00,2.50,0.00,0.000,4,0.000,0.045,3024,3216,1998
$GC,6036,1.46,179.3,340.8,13.3,299,6040,0.00,2.47,0.00,0.000,6,0.000,0.033,3024,1801,1998
$GC,6384,1.46,179.3,296.8,12.3,308,6388,0.00,2.47,0.00,0.000,4,0.000,0.048,3024,3209,1996
$GC,6406,1.46,179.3,294.1,11.8,309,6410,0.00,2.47,0.00,0.000,6,0.000,0.033,3024,1788,1996
$GC,6727,1.46,179.3,256.3,11.7,325,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1788,1995
$GC,7036,1.46,179.3,225.1,11.2,340,7040,0.00,2.50,0.00,0.000,4,0.000,0.054,3024,396,1994
$GC,7054,1.46,179.3,223.2,10.8,341,7058,0.00,2.42,0.00,0.000,6,0.000,0.026,3024,1821,1994
$GC,7373,1.46,179.3,191.3,10.3,360,7377,0.00,2.38,0.00,0.000,4,0.000,0.036,3024,3202,1994
$GC,7396,1.46,179.3,189.0,10.0,361,7402,0.00,2.42,0.00,0.000,6,0.000,0.031,3024,1794,1994
$GC,7724,1.54,222.9,163.0,6.2,392,7761,0.00,2.50,31.80,0.752,4,0.000,0.031,3024,3211,1823
$GC,7786,1.54,222.9,158.3,8.6,397,7790,0.00,2.47,0.00,0.000,6,0.000,0.029,3024,1791,1823
$GC,8114,1.54,222.9,128.2,10.8,427,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1790,1823
$GC,8440,1.54,222.9,89.1,9.8,458,8444,0.00,2.47,0.00,0.000,4,0.000,0.048,3024,389,1824
$GC,8508,1.54,222.9,83.2,9.0,463,8515,0.00,2.38,0.00,0.000,6,0.000,0.022,3024,1817,1825
$GC,8837,1.62,269.0,62.4,6.1,494,8880,0.15,2.60,35.42,0.619,4,0.076,0.048,3061,395,1636
$GC,8986,1.62,269.0,45.6,13.4,507,8990,0.00,2.38,0.00,0.000,6,0.000,0.023,3061,1802,1636
$GC,9256,1.62,269.0,13.6,10.9,543,9262,0.00,2.50,0.00,0.000,4,0.000,0.046,3061,395,1637
$GC,9275,1.62,269.0,11.2,11.2,546,9282,0.00,2.38,0.00,0.000,6,0.000,0.022,3061,1813,1637
$STATE,9325,end climb,SURFACE_DEPTH_REACHED
$STATE,9325,begin surface coast
$FINISH,0.9,1.023106
$STATE,9372,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9396,66.88,0.547,0,0,1019,420.20
$SM_GC,1.54,0.00,0.00,66.88,0.000,0.000,0.547,411,2074,1019,-10.58,0.96,420.20
$IRIDIUM_FIX,2059.45,-15750.89,211297,131340
$TT8_MAMPS,0.028379
$HUMID,1697
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.40
$XPDR_PINGS,10
$24V_AH,23.7,7.450
$10V_AH,10.2,3.824
$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,26.375,103.650,298.400,66.875,0.000,23.890,30.089,129.260,11.500,0.000,0.000,12.847,1030.982,6600.665,449.663,1238.406,453.161,33.346,1080.690,0.000,1221.738,0.000,57.432
$DEVICE_MAMPS,165.672,57.525,940.342,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.099,372.900,646.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28624,563
$CAP_FILE_SIZE,82812,0
$CFSIZE,260165632,256241664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260908,181533,2104.388,-15751.612,36,2.0,37,9.8