version: 66.03
glider: 114
mission: 3
dive: 52
start: 9 29 108 0 34 16
data:
$ID,114
$MISSION,3
$DIVE,52
$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,-592954.62
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2760
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,67
$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
$GPS1,002808,2104.887,-15747.429,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.7
$GPS2,003321,2104.865,-15747.512,11,1.0,11,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.191,-0.121
$KALMAN_X,-12509.6,75.8,101.0,22797.5,-2101.6
$KALMAN_Y,-5260.8,126.6,-267.1,-16286.1,42.7
$MHEAD_RNG_PITCHd_Wd,112.6,4840,-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,-64.60,0.000,2,0.000,0.000,409,2080,2849
$GC,98,-1.13,-146.0,3.2,-4.1,12,128,11.93,2.58,-8.10,0.000,4,0.163,0.048,2504,634,3330
$GC,163,-1.13,-146.0,17.1,-13.0,23,170,0.00,2.33,0.00,0.000,6,0.000,0.024,2504,2015,3329
$GC,442,-1.17,-146.0,43.8,-8.0,59,446,0.00,2.45,0.00,0.000,4,0.000,0.037,2504,3444,3330
$GC,529,-1.30,-146.0,51.2,-8.2,66,533,0.12,2.38,0.00,0.000,6,0.063,0.024,2474,2028,3330
$GC,790,-1.30,-146.0,79.0,-10.6,90,795,0.00,2.40,0.00,0.000,4,0.000,0.038,2474,631,3330
$GC,813,-1.34,-146.0,81.4,-10.4,91,820,0.00,2.38,0.00,0.000,6,0.000,0.024,2474,2057,3330
$GC,1139,-1.38,-146.0,111.3,-9.8,122,1143,0.00,2.38,0.00,0.000,4,0.000,0.036,2474,3447,3331
$GC,1169,-1.44,-146.0,114.3,-11.0,124,1174,0.12,2.35,0.00,0.000,6,0.062,0.024,2443,2039,3331
$GC,1495,-1.44,-146.0,148.5,-9.6,154,1499,0.00,2.42,0.00,0.000,4,0.000,0.035,2443,3445,3332
$GC,1534,-1.48,-146.0,152.4,-10.0,157,1540,0.00,2.38,0.00,0.000,6,0.000,0.024,2443,2027,3331
$GC,1860,-1.51,-146.0,181.9,-8.2,188,1864,0.00,2.40,0.00,0.000,4,0.000,0.039,2443,632,3332
$GC,1889,-1.56,-146.0,184.3,-8.9,190,1894,0.10,2.38,0.00,0.000,6,0.067,0.025,2416,2043,3332
$GC,2220,-1.56,-146.0,217.4,-9.8,213,2224,0.00,2.40,0.00,0.000,4,0.000,0.038,2416,3452,3331
$GC,2276,-1.56,-146.0,222.8,-9.6,215,2280,0.00,2.38,0.00,0.000,6,0.000,0.026,2416,2040,3331
$GC,2592,-1.56,-146.0,252.9,-9.4,230,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2039,3331
$GC,2902,-1.56,-146.0,279.4,-8.9,245,2906,0.00,2.45,0.00,0.000,4,0.000,0.044,2415,631,3331
$GC,2952,-1.63,-146.0,284.2,-9.7,247,2956,0.00,2.40,0.00,0.000,6,0.000,0.028,2416,2049,3331
$GC,3288,-1.66,-146.0,310.5,-7.4,260,3292,0.00,2.42,0.00,0.000,4,0.000,0.042,2416,3445,3330
$GC,3322,-1.71,-146.0,313.6,-8.6,260,3328,0.12,2.40,0.00,0.000,6,0.068,0.028,2386,2033,3329
$GC,3653,-1.71,-146.0,346.1,-9.7,269,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2032,3327
$GC,3978,-1.71,-146.0,377.5,-9.8,277,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2032,3325
$GC,4303,-1.71,-146.0,404.8,-8.2,285,4307,0.00,2.47,0.00,0.000,4,0.000,0.050,2386,631,3322
$GC,4325,-1.71,-146.0,406.8,-8.5,285,4330,0.00,2.42,0.00,0.000,6,0.000,0.031,2386,2048,3322
$GC,4663,-1.71,-146.0,434.0,-8.7,294,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2049,3320
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4873,-0.33,0.0,451.7,8.9,299,4990,1.48,0.00,113.45,0.917,6,0.101,0.000,2684,1885,2733
$STATE,4991,end apogee,CONTROL_FINISHED_OK
$STATE,4991,begin climb
$GC,4994,1.13,146.0,457.1,0.0,302,5118,1.45,2.55,114.30,0.889,4,0.058,0.054,3000,501,2136
$GC,5254,0.64,146.0,442.2,12.7,308,5260,0.55,2.45,0.00,0.000,6,0.139,0.030,2904,1907,2135
$GC,5579,0.38,146.0,416.0,7.7,316,5584,0.28,2.50,0.00,0.000,4,0.131,0.046,2851,3309,2133
$GC,5602,0.18,146.0,414.2,7.9,316,5607,0.25,2.45,0.00,0.000,6,0.122,0.034,2804,1912,2133
$GC,5940,0.26,218.8,396.9,4.6,325,6001,0.00,2.62,55.40,0.893,4,0.000,0.055,2804,490,1840
$GC,6013,0.35,292.6,392.9,4.6,326,6078,0.15,2.47,58.28,0.872,6,0.081,0.030,2834,1906,1540
$GC,6389,0.26,292.6,359.8,9.4,336,6394,0.00,2.50,0.00,0.000,4,0.000,0.048,2835,3300,1540
$GC,6435,0.20,292.6,354.7,10.3,337,6440,0.15,2.45,0.00,0.000,6,0.120,0.033,2807,1899,1539
$GC,6754,0.20,292.6,327.8,8.0,345,6758,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3308,1538
$GC,6821,0.20,292.6,322.6,7.3,346,6825,0.00,2.45,0.00,0.000,6,0.000,0.034,2807,1899,1537
$GC,7158,0.27,333.1,301.0,5.7,355,7192,0.00,0.00,30.92,0.856,6,0.000,0.000,2807,1899,1375
$GC,7510,0.27,333.1,274.8,8.3,371,7514,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3309,1374
$GC,7588,0.27,333.1,268.0,8.1,374,7594,0.00,2.45,0.00,0.000,6,0.000,0.033,2807,1899,1374
$GC,7904,0.27,333.1,244.6,7.3,390,7908,0.00,2.47,0.00,0.000,4,0.000,0.039,2807,3306,1374
$GC,7944,0.27,333.1,241.6,7.4,392,7948,0.00,2.45,0.00,0.000,6,0.000,0.031,2807,1895,1374
$GC,8271,0.31,355.1,219.5,6.4,408,8294,0.00,2.50,17.45,0.803,4,0.000,0.038,2807,3303,1285
$GC,8346,0.31,355.1,214.3,7.7,411,8350,0.00,2.45,0.00,0.000,6,0.000,0.029,2807,1892,1284
$GC,8669,0.37,390.9,195.2,5.9,430,8705,0.15,2.58,27.88,0.763,4,0.072,0.037,2845,3302,1139
$GC,8769,0.37,390.9,186.5,9.0,439,8773,0.00,2.45,0.00,0.000,6,0.000,0.030,2845,1894,1139
$GC,9099,0.33,390.9,150.2,10.9,469,9104,0.00,2.47,0.00,0.000,4,0.000,0.036,2845,3310,1139
$GC,9144,0.33,390.9,144.6,11.3,472,9151,0.00,2.42,0.00,0.000,6,0.000,0.029,2845,1899,1140
$GC,9473,0.39,424.0,119.1,6.0,503,9506,0.00,2.53,25.55,0.681,4,0.000,0.036,2845,3315,1004
$GC,9575,0.39,424.0,111.5,8.5,512,9579,0.00,2.45,0.00,0.000,6,0.000,0.028,2845,1891,1005
$GC,9903,0.39,424.0,82.1,10.9,542,9907,0.00,2.47,0.00,0.000,4,0.000,0.035,2845,3314,1004
$GC,9944,0.39,424.0,77.6,10.4,545,9949,0.00,2.42,0.00,0.000,6,0.000,0.027,2845,1894,1004
$GC,10206,0.39,424.0,54.0,8.8,569,10210,0.00,2.45,0.00,0.000,4,0.000,0.035,2845,3308,1005
$GC,10259,0.45,424.0,49.6,8.6,573,10263,0.00,2.40,0.00,0.000,6,0.000,0.027,2845,1897,1005
$GC,10524,0.56,457.0,31.2,6.0,597,10558,0.15,2.50,26.08,0.583,4,0.061,0.045,2886,499,868
$GC,10582,0.56,457.0,26.7,7.9,605,10589,0.00,2.38,0.00,0.000,6,0.000,0.023,2886,1911,868
$STATE,10846,end climb,SURFACE_DEPTH_REACHED
$STATE,10846,begin surface coast
$FINISH,0.6,1.015578
$STATE,10915,end surface coast,CONTROL_FINISHED_OK
$STATE,10915,begin surface
$SM_CCo,10999,0.00,0.000,0,0,869,457.24
$SM_GC,1.45,11.12,0.00,0.00,0.051,0.000,0.000,412,2062,869,-10.75,0.62,457.24
$IRIDIUM_FIX,2057.14,-15746.61,231297,212123
$TT8_MAMPS,0.027612
$HUMID,1691
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,23.8,9.557
$10V_AH,10.2,5.198
$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,28.125,117.925,469.300,0.000,0.000,24.100,28.651,134.145,11.000,0.000,0.000,13.416,1210.517,7560.703,516.112,1544.718,481.358,33.370,1301.206,0.000,1519.595,0.000,62.493
$DEVICE_MAMPS,162.604,55.224,916.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.536,439.180,789.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34798,664
$CAP_FILE_SIZE,99301,0
$CFSIZE,260165632,255320064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,033847,2103.840,-15747.444,13,2.7,32,9.8