version: 66.03
glider: 114
mission: 3
dive: 48
start: 9 28 108 11 20 50
data:
$ID,114
$MISSION,3
$DIVE,48
$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,210
$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,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,-592877.62
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2750
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,71
$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
$GPS1,111426,2109.858,-15749.328,41,1.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.0
$GPS2,111956,2109.854,-15749.368,15,1.3,32,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.109,-0.198
$KALMAN_X,-10737.5,195.9,753.1,17039.9,-2811.1
$KALMAN_Y,-6105.8,269.1,45.8,-6660.8,-1201.4
$MHEAD_RNG_PITCHd_Wd,141.5,14593,-13.1,-7.143
$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,27,-1.13,-146.0,0.0,0.0,0,94,0.00,0.00,-64.65,0.000,2,0.000,0.000,409,2088,2955
$GC,98,-1.13,-146.0,3.8,-5.2,12,122,11.93,2.53,-5.88,0.000,4,0.164,0.045,2497,631,3330
$GC,192,-1.25,-146.0,22.2,-9.2,28,198,0.00,2.30,0.00,0.000,6,0.000,0.023,2497,2005,3330
$GC,462,-1.30,-146.0,50.9,-11.0,60,467,0.15,2.47,0.00,0.000,4,0.058,0.035,2455,3445,3330
$GC,559,-1.30,-146.0,63.2,-12.0,68,563,0.00,2.38,0.00,0.000,6,0.000,0.024,2455,2028,3330
$GC,821,-1.30,-146.0,91.5,-9.6,92,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2028,3331
$GC,1142,-1.30,-146.0,123.0,-9.8,122,1146,0.00,2.45,0.00,0.000,4,0.000,0.035,2455,3447,3331
$GC,1211,-1.35,-146.0,129.8,-8.9,127,1218,0.00,2.35,0.00,0.000,6,0.000,0.024,2456,2040,3331
$GC,1537,-1.40,-146.0,159.3,-8.7,158,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2039,3332
$GC,1857,-1.46,-146.0,184.4,-7.5,188,1862,0.10,2.40,0.00,0.000,4,0.068,0.038,2429,644,3331
$GC,1876,-1.50,-146.0,186.2,-7.9,189,1880,0.00,2.35,0.00,0.000,6,0.000,0.025,2429,2039,3331
$GC,2209,-1.50,-146.0,216.2,-7.6,211,2213,0.00,2.42,0.00,0.000,4,0.000,0.041,2429,637,3331
$GC,2232,-1.50,-146.0,218.7,-10.0,212,2236,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2048,3331
$GC,2559,-1.50,-146.0,246.5,-7.9,228,2563,0.00,2.45,0.00,0.000,4,0.000,0.041,2429,645,3331
$GC,2577,-1.50,-146.0,247.8,-7.4,229,2581,0.00,2.38,0.00,0.000,6,0.000,0.026,2429,2052,3331
$GC,2905,-1.56,-146.0,273.7,-8.3,245,2909,0.00,2.40,0.00,0.000,4,0.000,0.040,2429,3438,3330
$GC,2938,-1.62,-146.0,276.6,-8.2,246,2945,0.15,2.38,0.00,0.000,6,0.064,0.027,2395,2032,3330
$GC,3254,-1.62,-146.0,304.9,-9.1,261,3258,0.00,2.45,0.00,0.000,4,0.000,0.039,2394,3437,3330
$GC,3294,-1.62,-146.0,308.9,-10.5,262,3298,0.00,2.38,0.00,0.000,6,0.000,0.028,2395,2043,3330
$GC,3620,-1.62,-146.0,341.7,-10.1,270,3625,0.00,2.47,0.00,0.000,4,0.000,0.046,2395,631,3328
$GC,3637,-1.62,-146.0,343.7,-10.0,270,3641,0.00,2.40,0.00,0.000,6,0.000,0.029,2395,2035,3328
$GC,3982,-1.62,-146.0,372.4,-7.3,279,3986,0.00,2.47,0.00,0.000,4,0.000,0.048,2395,638,3326
$GC,4015,-1.62,-146.0,375.0,-7.3,279,4021,0.00,2.42,0.00,0.000,6,0.000,0.030,2394,2056,3326
$GC,4348,-1.62,-146.0,398.4,-7.5,288,4352,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,3444,3323
$GC,4378,-1.62,-146.0,400.8,-8.3,288,4382,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2032,3323
$GC,4710,-1.62,-146.0,427.4,-8.3,296,4714,0.00,2.50,0.00,0.000,4,0.000,0.044,2394,3446,3320
$GC,4755,-1.65,-146.0,431.2,-8.4,297,4759,0.00,2.42,0.00,0.000,6,0.000,0.031,2395,2035,3320
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4998,-0.33,0.0,452.6,9.2,303,5115,1.38,0.00,113.68,0.920,6,0.101,0.000,2672,1835,2732
$STATE,5116,end apogee,CONTROL_FINISHED_OK
$STATE,5116,begin climb
$GC,5119,1.13,146.0,459.0,0.0,306,5243,1.48,2.58,114.57,0.891,4,0.059,0.054,2993,446,2136
$GC,5266,0.65,152.1,461.1,6.9,309,5277,0.55,2.45,5.18,0.844,6,0.141,0.028,2897,1851,2112
$GC,5610,0.41,152.1,436.5,7.4,318,5612,0.30,0.00,0.00,0.000,6,0.132,0.000,2844,1851,2110
$GC,5935,0.31,166.8,415.3,6.6,326,5953,0.12,2.50,11.50,0.897,4,0.140,0.046,2822,3252,2053
$GC,6028,0.29,197.6,409.8,6.1,328,6057,0.00,2.45,24.30,0.900,6,0.000,0.034,2821,1855,1927
$GC,6391,0.33,264.5,390.8,4.8,337,6450,0.00,2.58,52.42,0.898,4,0.000,0.041,2822,3251,1654
$GC,6497,0.29,267.3,384.4,7.0,339,6506,0.00,2.47,3.03,0.816,6,0.000,0.035,2822,1850,1642
$GC,6844,0.23,267.3,359.4,7.7,348,6849,0.10,2.50,0.00,0.000,4,0.137,0.041,2805,3253,1642
$GC,6900,0.23,267.3,355.0,7.6,349,6904,0.00,2.47,0.00,0.000,6,0.000,0.033,2805,1840,1642
$GC,7248,0.23,267.3,329.5,7.4,358,7252,0.00,2.50,0.00,0.000,4,0.000,0.040,2805,3255,1641
$GC,7333,0.23,267.3,323.4,7.4,360,7337,0.00,2.47,0.00,0.000,6,0.000,0.033,2805,1841,1640
$GC,7657,0.23,267.3,301.6,7.2,368,7661,0.00,2.50,0.00,0.000,4,0.000,0.040,2805,3261,1640
$GC,7731,0.23,267.3,296.1,7.5,370,7735,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1838,1640
$GC,8047,0.23,267.3,275.1,7.3,385,8051,0.00,2.47,0.00,0.000,4,0.000,0.038,2805,3254,1640
$GC,8103,0.23,267.3,270.8,7.6,387,8109,0.00,2.45,0.00,0.000,6,0.000,0.032,2805,1842,1640
$GC,8420,0.34,328.6,253.4,5.0,403,8474,0.00,2.55,46.67,0.820,4,0.000,0.035,2804,3263,1392
$GC,8537,0.34,328.6,245.7,7.4,408,8541,0.00,2.47,0.00,0.000,6,0.000,0.032,2805,1848,1392
$GC,8853,0.34,328.6,221.8,7.6,423,8857,0.00,2.47,0.00,0.000,4,0.000,0.036,2805,3261,1393
$GC,8921,0.37,331.5,216.6,7.0,426,8930,0.12,2.45,3.20,0.770,6,0.081,0.031,2831,1848,1380
$GC,9249,0.37,331.5,193.9,7.3,446,9253,0.00,2.47,0.00,0.000,4,0.000,0.038,2830,3262,1381
$GC,9277,0.37,331.5,191.7,8.2,448,9283,0.00,2.45,0.00,0.000,6,0.000,0.030,2831,1841,1381
$GC,9605,0.37,331.5,169.3,7.8,479,9609,0.00,2.47,0.00,0.000,4,0.000,0.036,2831,3262,1381
$GC,9661,0.37,331.5,164.8,7.2,483,9667,0.00,2.45,0.00,0.000,6,0.000,0.029,2831,1839,1381
$GC,9989,0.44,366.6,144.6,5.9,514,10022,0.00,2.53,27.38,0.705,4,0.000,0.034,2831,3264,1236
$GC,10118,0.50,386.0,137.6,6.5,525,10141,0.12,2.45,15.27,0.693,6,0.076,0.029,2859,1847,1159
$GC,10459,0.50,386.0,108.3,8.8,557,10463,0.00,2.47,0.00,0.000,4,0.000,0.036,2859,3265,1159
$GC,10532,0.50,386.0,101.8,8.6,563,10538,0.00,2.42,0.00,0.000,6,0.000,0.029,2859,1847,1160
$GC,10861,0.50,386.0,75.2,9.2,594,10866,0.00,2.45,0.00,0.000,4,0.000,0.034,2859,3264,1160
$GC,10917,0.50,386.0,69.7,8.7,598,10924,0.00,2.42,0.00,0.000,6,0.000,0.028,2859,1841,1161
$GC,11180,0.64,463.0,53.5,4.5,623,11245,0.12,2.58,58.33,0.591,4,0.068,0.034,2889,3266,844
$GC,11311,0.64,463.0,44.1,8.8,634,11317,0.00,2.45,0.00,0.000,6,0.000,0.027,2889,1838,845
$GC,11581,0.59,463.0,18.7,10.5,669,11588,0.00,2.47,0.00,0.000,4,0.000,0.035,2889,3267,844
$GC,11640,0.59,463.0,12.2,10.4,679,11647,0.00,2.42,0.00,0.000,6,0.000,0.026,2889,1838,844
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11718,begin surface coast
$FINISH,0.7,1.003409
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11874,0.00,0.000,0,0,845,462.88
$SM_GC,1.32,11.07,0.00,0.00,0.047,0.000,0.000,409,2076,845,-10.73,1.02,462.88
$IRIDIUM_FIX,2101.76,-15747.88,231297,080827
$TT8_MAMPS,0.027612
$HUMID,1682
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,8
$24V_AH,23.8,9.062
$10V_AH,10.2,4.882
$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,27.700,138.050,475.525,0.000,0.000,24.652,28.195,133.768,11.000,0.000,0.000,33.845,1298.349,8173.678,535.164,1691.165,506.311,33.360,1390.190,0.000,1646.540,0.000,57.447
$DEVICE_MAMPS,164.138,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.347,460.834,809.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38103,705
$CAP_FILE_SIZE,108348,0
$CFSIZE,260165632,255520768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280908,144002,2108.395,-15749.402,39,1.6,39,9.8