version: 66.03
glider: 114
mission: 3
dive: 56
start: 9 29 108 12 10 51
data:
$ID,114
$MISSION,3
$DIVE,56
$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,-593056.5
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,120501,2101.850,-15746.396,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.1
$GPS2,120957,2101.835,-15746.424,12,1.8,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.050,0.043
$KALMAN_X,-14134.2,181.1,481.0,25803.7,-1521.6
$KALMAN_Y,-3608.0,120.4,-102.2,-23704.7,320.5
$MHEAD_RNG_PITCHd_Wd,39.2,1254,-45.5,-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,26,-3.06,-13.9,0.0,0.0,0,88,0.00,0.00,-58.72,0.000,6,0.000,0.000,412,2054,2791
$GC,92,-3.07,-21.6,3.2,-4.5,11,105,9.60,0.00,-0.65,0.000,6,0.166,0.000,2085,2053,2823
$GC,373,-3.36,-21.6,82.1,-23.5,44,378,0.22,2.45,0.00,0.000,4,0.061,0.034,2030,631,2825
$GC,632,-3.56,-21.6,142.4,-21.3,66,639,0.20,2.35,0.00,0.000,6,0.063,0.022,1986,2043,2827
$GC,956,-3.76,-21.6,212.8,-19.9,94,961,0.17,2.40,0.00,0.000,4,0.065,0.034,1943,3448,2828
$GC,1215,-3.90,-21.6,266.8,-17.6,105,1222,0.15,2.38,0.00,0.000,6,0.076,0.025,1912,2035,2828
$GC,1554,-4.03,-21.6,324.8,-17.5,119,1556,0.15,0.00,0.00,0.000,6,0.071,0.000,1880,2034,2828
$STATE,1835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1835,begin apogee
$GC,1843,-0.33,0.0,380.8,20.1,126,1868,4.30,0.00,18.55,0.810,6,0.137,0.000,2684,1885,2733
$STATE,1869,end apogee,CONTROL_FINISHED_OK
$STATE,1869,begin climb
$GC,1872,3.07,21.6,380.8,0.0,126,1898,3.28,2.50,17.08,0.805,4,0.044,0.038,3427,3293,2643
$GC,2151,3.03,68.4,404.2,-9.0,132,2193,0.00,2.40,35.85,0.831,6,0.000,0.031,3427,1902,2453
$GC,2501,2.94,68.4,389.7,8.7,141,2506,0.15,2.42,0.00,0.000,4,0.176,0.032,3403,3296,2451
$GC,2518,2.86,68.4,388.0,9.9,141,2522,0.00,2.42,0.00,0.000,6,0.000,0.031,3403,1894,2451
$GC,2861,2.82,73.1,366.0,5.5,150,2870,0.17,2.50,3.45,0.802,4,0.180,0.035,3375,3295,2434
$GC,3124,2.81,82.8,355.5,3.8,155,3138,0.00,2.42,8.00,0.848,6,0.000,0.031,3376,1887,2394
$GC,3458,2.81,82.8,330.6,8.0,164,3462,0.00,2.45,0.00,0.000,4,0.000,0.034,3376,3300,2392
$GC,3491,2.81,82.8,328.0,7.3,164,3495,0.00,2.42,0.00,0.000,6,0.000,0.031,3375,1899,2392
$GC,3823,2.84,99.7,315.5,1.3,172,3842,0.00,2.50,12.65,0.850,4,0.000,0.035,3375,3293,2326
$GC,4095,2.84,99.7,298.8,8.1,178,4099,0.00,2.42,0.00,0.000,6,0.000,0.032,3375,1894,2325
$GC,4416,2.84,101.0,274.5,6.7,194,4420,0.00,2.45,0.00,0.000,4,0.000,0.035,3375,3305,2324
$GC,4674,2.85,108.3,258.6,4.6,205,4688,0.00,2.42,6.75,0.822,6,0.000,0.030,3376,1896,2291
$GC,5011,2.86,111.0,238.7,6.2,222,5020,0.00,2.47,2.65,0.772,4,0.000,0.036,3375,3293,2280
$GC,5111,2.86,112.2,231.7,6.7,226,5115,0.00,2.40,0.00,0.000,6,0.000,0.031,3375,1899,2280
$GC,5433,2.88,126.0,219.4,2.4,242,5455,0.00,2.53,11.95,0.789,4,0.000,0.033,3375,3307,2219
$GC,5461,2.90,136.8,218.3,3.4,243,5478,0.00,2.45,8.95,0.775,6,0.000,0.029,3375,1890,2175
$GC,5793,2.90,136.8,189.7,8.9,265,5797,0.00,2.45,0.00,0.000,4,0.000,0.036,3375,3306,2175
$GC,5849,2.90,136.8,183.5,10.5,269,5854,0.00,2.42,0.00,0.000,6,0.000,0.028,3375,1894,2175
$GC,6177,2.95,136.8,157.8,7.3,300,6181,0.12,2.42,0.00,0.000,4,0.094,0.030,3400,3309,2175
$GC,6199,2.95,138.9,156.1,6.4,301,6206,0.00,2.40,2.40,0.705,6,0.000,0.027,3400,1901,2166
$GC,6527,2.95,138.9,134.0,7.8,332,6531,0.00,2.47,0.00,0.000,4,0.000,0.048,3399,491,2166
$GC,6787,2.90,140.9,113.2,6.5,355,6799,0.00,2.35,2.38,0.668,6,0.000,0.021,3400,1918,2158
$GC,7118,2.96,153.9,95.7,2.7,386,7134,0.00,2.35,10.43,0.652,4,0.000,0.031,3400,3288,2104
$GC,7140,3.02,165.1,94.9,3.3,387,7158,0.00,2.38,8.77,0.643,6,0.000,0.025,3400,1888,2059
$GC,7477,3.06,165.1,61.9,7.2,419,7482,0.12,2.42,0.00,0.000,4,0.085,0.041,3425,495,2059
$GC,7691,3.01,167.0,47.3,6.5,437,7697,0.00,2.33,0.00,0.000,6,0.000,0.022,3425,1900,2061
$GC,7953,3.07,180.7,35.1,2.4,462,7975,0.00,2.53,12.23,0.585,4,0.000,0.040,3425,501,1995
$GC,8045,3.04,181.9,31.4,6.8,470,8049,0.00,2.33,0.00,0.000,6,0.000,0.021,3425,1906,1995
$GC,8321,3.08,181.9,10.8,9.2,516,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1906,1997
$STATE,8387,end climb,SURFACE_DEPTH_REACHED
$STATE,8387,begin surface coast
$FINISH,0.7,1.022978
$STATE,8456,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8483,106.47,0.528,0,0,1020,420.20
$SM_GC,1.44,0.00,0.00,106.47,0.000,0.000,0.528,412,2057,1020,-10.80,0.48,420.20
$IRIDIUM_FIX,2054.83,-15749.62,241297,090959
$TT8_MAMPS,0.027612
$HUMID,1654
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,380.8,6.8
$24V_AH,23.9,9.910
$10V_AH,10.2,5.485
$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,33.125,78.025,162.075,106.475,0.000,23.900,35.873,119.044,10.250,0.000,0.000,16.704,1053.568,5558.959,364.801,1496.813,418.489,33.358,1057.934,0.000,1465.980,0.000,54.443
$DEVICE_MAMPS,180.245,47.554,849.836,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.345,370.397,667.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28501,540
$CAP_FILE_SIZE,85072,0
$CFSIZE,260165632,255143936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,143507,2101.649,-15746.992,6,1.7,23,9.8