version: 66.03
glider: 114
mission: 3
dive: 53
start: 9 29 108 3 48 32
data:
$ID,114
$MISSION,3
$DIVE,53
$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,-592990.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,033847,2103.840,-15747.444,13,2.7,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.3
$GPS2,034738,2103.843,-15747.531,33,0.9,33,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.071,-0.215
$KALMAN_X,-13509.9,-268.8,-1000.1,25207.9,-57.2
$KALMAN_Y,-5496.5,21.7,-296.1,-17808.1,350.1
$MHEAD_RNG_PITCHd_Wd,152.0,3022,-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,-64.78,0.000,2,0.000,0.000,412,2065,2811
$GC,98,-1.13,-146.0,3.0,-3.3,12,128,11.90,2.53,-8.70,0.000,4,0.162,0.050,2506,638,3330
$GC,209,-1.26,-146.0,21.2,-9.3,31,215,0.00,2.33,0.00,0.000,6,0.000,0.023,2506,2034,3330
$GC,480,-1.32,-146.0,44.8,-8.0,64,485,0.15,2.42,0.00,0.000,4,0.058,0.037,2469,3442,3330
$GC,554,-1.40,-146.0,53.0,-10.6,70,559,0.00,2.38,0.00,0.000,6,0.000,0.025,2469,2029,3330
$GC,816,-1.40,-146.0,78.9,-9.0,94,820,0.00,2.45,0.00,0.000,4,0.000,0.036,2469,3448,3331
$GC,869,-1.51,-146.0,83.4,-8.7,98,874,0.17,2.38,0.00,0.000,6,0.054,0.025,2425,2030,3331
$GC,1195,-1.47,-146.0,121.1,-10.0,128,1199,0.00,2.38,0.00,0.000,4,0.000,0.038,2425,642,3331
$GC,1217,-1.47,-146.0,123.3,-9.6,129,1223,0.00,2.35,0.00,0.000,6,0.000,0.024,2425,2053,3331
$GC,1542,-1.44,-146.0,158.9,-12.5,160,1547,0.10,2.38,0.00,0.000,4,0.105,0.035,2444,3443,3331
$GC,1575,-1.44,-146.0,162.6,-10.7,162,1582,0.00,2.35,0.00,0.000,6,0.000,0.025,2444,2039,3331
$GC,1903,-1.47,-146.0,188.1,-6.6,193,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2038,3331
$GC,2239,-1.53,-146.0,211.3,-6.5,217,2244,0.00,2.42,0.00,0.000,4,0.000,0.037,2444,3443,3331
$GC,2285,-1.63,-146.0,215.2,-8.2,219,2290,0.17,2.38,0.00,0.000,6,0.056,0.025,2401,2031,3331
$GC,2606,-1.63,-146.0,245.9,-9.3,235,2610,0.00,2.40,0.00,0.000,4,0.000,0.042,2401,642,3331
$GC,2647,-1.63,-146.0,250.0,-9.9,237,2655,0.00,2.38,0.00,0.000,6,0.000,0.027,2401,2046,3331
$GC,2984,-1.63,-146.0,281.1,-9.1,253,2988,0.00,2.40,0.00,0.000,4,0.000,0.041,2401,3445,3330
$GC,3068,-1.63,-146.0,289.3,-9.0,256,3075,0.00,2.38,0.00,0.000,6,0.000,0.028,2401,2039,3330
$GC,3401,-1.63,-146.0,317.8,-8.2,268,3405,0.00,2.47,0.00,0.000,4,0.000,0.041,2401,3451,3328
$GC,3458,-1.66,-146.0,322.4,-8.0,269,3462,0.00,2.40,0.00,0.000,6,0.000,0.029,2401,2044,3328
$GC,3807,-1.66,-146.0,349.2,-7.7,278,3811,0.00,2.47,0.00,0.000,4,0.000,0.048,2401,634,3325
$GC,3837,-1.66,-146.0,351.8,-9.0,278,3841,0.00,2.40,0.00,0.000,6,0.000,0.031,2401,2035,3325
$GC,4169,-1.66,-146.0,379.8,-7.7,286,4173,0.00,2.50,0.00,0.000,4,0.000,0.049,2401,628,3323
$GC,4197,-1.66,-146.0,381.8,-6.7,286,4201,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,2045,3322
$GC,4534,-1.66,-146.0,404.9,-7.0,295,4538,0.00,2.47,0.00,0.000,4,0.000,0.050,2401,3447,3320
$GC,4574,-1.70,-146.0,408.0,-8.3,296,4578,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,2038,3319
$GC,4900,-1.73,-146.0,434.8,-8.4,304,4904,0.00,2.50,0.00,0.000,4,0.000,0.044,2401,3453,3317
$GC,4928,-1.77,-146.0,437.3,-8.6,304,4933,0.12,2.42,0.00,0.000,6,0.081,0.032,2374,2038,3317
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5103,-0.33,0.0,452.5,9.1,308,5220,1.55,0.00,112.90,0.932,6,0.107,0.000,2683,1889,2732
$STATE,5220,end apogee,CONTROL_FINISHED_OK
$STATE,5220,begin climb
$GC,5224,1.13,146.0,457.1,0.0,311,5346,1.48,0.00,114.82,0.901,6,0.061,0.000,3003,1889,2136
$GC,5674,0.69,146.0,425.3,10.3,322,5679,0.50,2.53,0.00,0.000,4,0.138,0.055,2914,501,2135
$GC,5719,0.37,146.0,420.9,8.9,323,5725,0.40,2.45,0.00,0.000,6,0.153,0.029,2842,1914,2134
$GC,6039,0.29,172.6,401.2,6.2,331,6065,0.00,2.53,20.33,0.907,4,0.000,0.048,2842,3304,2028
$GC,6150,0.18,181.5,393.6,6.8,333,6167,0.22,2.45,7.97,0.887,6,0.124,0.035,2802,1912,1991
$GC,6492,0.23,235.1,375.0,5.3,342,6539,0.00,2.65,41.75,0.902,4,0.000,0.057,2801,485,1774
$GC,6569,0.21,249.7,370.5,6.6,343,6588,0.00,2.47,12.15,0.874,6,0.000,0.030,2802,1906,1715
$GC,6903,0.26,280.6,350.4,6.1,352,6932,0.00,2.55,24.62,0.885,4,0.000,0.048,2802,3302,1589
$GC,7017,0.26,280.6,342.6,7.7,354,7021,0.00,2.47,0.00,0.000,6,0.000,0.034,2802,1897,1589
$GC,7349,0.26,280.6,317.4,7.9,362,7353,0.00,2.50,0.00,0.000,4,0.000,0.043,2802,3299,1588
$GC,7404,0.26,280.6,312.8,7.9,363,7409,0.00,2.47,0.00,0.000,6,0.000,0.035,2802,1887,1587
$GC,7735,0.29,298.9,290.3,6.5,375,7757,0.00,2.58,14.65,0.865,4,0.000,0.043,2802,3305,1514
$GC,7842,0.30,305.5,283.0,6.9,379,7853,0.10,2.47,5.90,0.847,6,0.095,0.034,2822,1894,1487
$GC,8178,0.27,308.1,259.7,7.1,396,8187,0.00,2.55,2.90,0.801,4,0.000,0.042,2822,3300,1476
$GC,8269,0.27,308.1,252.1,8.8,400,8273,0.00,2.45,0.00,0.000,6,0.000,0.034,2821,1901,1476
$GC,8596,0.32,333.5,226.8,6.3,416,8621,0.00,2.53,20.05,0.821,4,0.000,0.040,2822,3300,1373
$GC,8657,0.32,333.5,222.7,7.6,419,8661,0.00,2.47,0.00,0.000,6,0.000,0.033,2821,1894,1373
$GC,8984,0.32,333.5,200.2,7.4,435,8988,0.00,2.47,0.00,0.000,4,0.000,0.038,2822,3311,1373
$GC,9046,0.33,339.5,195.6,6.9,439,9057,0.00,2.45,5.50,0.778,6,0.000,0.031,2822,1899,1348
$GC,9378,0.33,339.5,173.0,7.4,470,9382,0.00,2.47,0.00,0.000,4,0.000,0.037,2822,3312,1348
$GC,9429,0.33,344.0,169.2,7.0,474,9441,0.00,2.45,4.38,0.746,6,0.000,0.030,2822,1898,1329
$GC,9762,0.40,381.0,150.0,5.9,505,9793,0.10,0.00,28.98,0.720,6,0.081,0.000,2845,1898,1179
$GC,10110,0.40,381.0,122.3,7.5,538,10114,0.00,2.45,0.00,0.000,4,0.000,0.035,2845,3304,1179
$GC,10177,0.40,382.1,117.3,7.1,543,10184,0.00,2.42,0.00,0.000,6,0.000,0.028,2845,1888,1180
$GC,10507,0.40,382.1,90.7,8.9,574,10511,0.00,2.47,0.00,0.000,4,0.000,0.036,2845,3310,1181
$GC,10570,0.40,382.1,84.9,8.3,579,10574,0.00,2.42,0.00,0.000,6,0.000,0.027,2845,1894,1181
$GC,10899,0.51,426.5,61.7,5.6,609,10942,0.12,2.53,34.72,0.614,4,0.065,0.034,2876,3301,993
$GC,11058,0.51,426.5,49.1,9.5,623,11063,0.00,2.40,0.00,0.000,6,0.000,0.026,2876,1899,994
$GC,11325,0.51,426.5,26.1,7.9,651,11332,0.00,2.42,0.00,0.000,4,0.000,0.033,2876,3306,994
$GC,11373,0.51,426.5,22.1,8.2,659,11379,0.00,2.40,0.00,0.000,6,0.000,0.026,2876,1890,995
$STATE,11592,end climb,SURFACE_DEPTH_REACHED
$STATE,11593,begin surface coast
$FINISH,0.7,1.022207
$STATE,11660,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11744,0.00,0.000,0,0,996,426.09
$SM_GC,1.47,11.07,0.00,0.00,0.051,0.000,0.000,411,2088,996,-10.77,1.36,426.09
$IRIDIUM_FIX,2057.14,-15748.75,241297,030318
$TT8_MAMPS,0.027612
$HUMID,1683
$INTERNAL_PRESSURE,7.96906
$TCM_TEMP,24.60
$XPDR_PINGS,11
$24V_AH,23.8,9.686
$10V_AH,10.2,5.281
$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,28.175,132.775,451.625,0.000,0.000,46.466,74.209,204.814,11.750,0.000,0.000,35.432,1314.418,8073.157,544.979,1696.619,647.497,33.366,1377.320,0.000,1647.371,0.000,57.458
$DEVICE_MAMPS,161.837,56.758,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.729,468.417,830.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38004,710
$CAP_FILE_SIZE,110976,0
$CFSIZE,260165632,255254528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,070532,2102.969,-15746.839,37,1.4,37,9.8