version: 66.03
glider: 114
mission: 3
dive: 57
start: 9 29 108 14 40 53
data:
$ID,114
$MISSION,3
$DIVE,57
$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,-593067.56
$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,39
$R_STBD_OVSHOOT,65
$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
$GPS1,143507,2101.649,-15746.992,6,1.7,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.4
$GPS2,143957,2101.648,-15747.016,8,2.0,8,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.038,0.051
$KALMAN_X,-14730.9,601.6,-991.4,26437.3,-355.1
$KALMAN_Y,-3998.4,183.6,-725.5,-23099.4,573.6
$MHEAD_RNG_PITCHd_Wd,27.0,1225,-46.8,-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,-3.14,-13.2,0.0,0.0,0,88,0.00,0.00,-58.65,0.000,6,0.000,0.000,412,2057,2789
$GC,92,-3.16,-22.1,3.1,-3.9,11,111,9.50,2.50,-0.70,0.000,4,0.166,0.047,2065,638,2824
$GC,366,-3.45,-22.1,82.5,-26.2,42,371,0.25,2.33,0.00,0.000,6,0.058,0.023,2009,2023,2826
$GC,692,-3.70,-22.1,156.6,-19.1,72,696,0.22,2.42,0.00,0.000,4,0.063,0.031,1954,3451,2827
$GC,949,-3.90,-22.1,217.8,-21.6,91,955,0.20,2.38,0.00,0.000,6,0.072,0.025,1913,2038,2828
$GC,1269,-4.07,-22.1,282.9,-19.7,107,1271,0.17,0.00,0.00,0.000,6,0.067,0.000,1875,2036,2828
$GC,1571,-4.20,-22.1,339.8,-18.7,117,1579,0.15,2.42,0.00,0.000,4,0.073,0.038,1838,631,2828
$STATE,1679,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1679,begin apogee
$GC,1689,-0.33,0.0,360.8,19.2,119,1714,4.47,0.00,18.48,0.791,6,0.139,0.000,2683,1909,2733
$STATE,1715,end apogee,CONTROL_FINISHED_OK
$STATE,1715,begin climb
$GC,1719,3.16,22.1,365.5,0.0,119,1745,3.38,2.45,17.42,0.785,4,0.045,0.038,3445,3300,2642
$GC,1803,3.16,52.7,363.7,-3.9,121,1832,0.00,2.42,23.55,0.788,6,0.000,0.031,3445,1899,2517
$GC,2172,3.13,68.7,365.4,1.4,130,2191,0.00,2.55,11.95,0.808,4,0.000,0.034,3445,3310,2453
$GC,2217,3.07,78.4,364.2,3.6,131,2231,0.00,2.45,8.30,0.801,6,0.000,0.030,3445,1901,2412
$GC,2546,3.03,78.4,330.5,10.0,139,2551,0.15,2.45,0.00,0.000,4,0.186,0.035,3425,3305,2409
$GC,2732,2.99,80.1,317.0,6.5,143,2736,0.00,2.42,0.00,0.000,6,0.000,0.032,3425,1902,2408
$GC,3045,3.00,82.5,298.7,6.3,151,3054,0.00,2.55,2.75,0.772,4,0.000,0.051,3425,497,2396
$GC,3117,2.90,86.7,294.9,5.6,154,3127,0.20,2.38,3.85,0.800,6,0.196,0.025,3396,1912,2379
$GC,3444,2.91,90.9,273.2,5.6,170,3449,0.00,0.00,3.53,0.787,6,0.000,0.000,3396,1912,2362
$GC,3753,2.93,99.1,255.9,4.2,185,3767,0.00,2.62,6.72,0.806,4,0.000,0.048,3396,485,2328
$GC,3820,2.87,102.5,252.7,5.9,188,3829,0.00,2.40,3.35,0.778,6,0.000,0.025,3396,1898,2314
$GC,4153,2.88,107.7,231.6,5.3,204,4159,0.00,0.00,4.80,0.787,6,0.000,0.000,3396,1898,2292
$GC,4463,2.93,116.1,219.6,4.1,219,4476,0.00,2.50,6.65,0.785,4,0.000,0.035,3396,3300,2259
$GC,4732,2.93,116.8,199.5,6.9,231,4736,0.00,2.42,0.00,0.000,6,0.000,0.030,3397,1890,2258
$GC,5062,3.00,129.7,184.4,2.5,261,5075,0.00,0.00,10.52,0.758,6,0.000,0.000,3396,1890,2204
$GC,5396,3.04,130.3,158.4,6.9,292,5401,0.12,2.40,0.00,0.000,4,0.096,0.030,3420,3294,2204
$GC,5531,3.05,132.6,147.3,6.3,303,5538,0.00,2.38,2.90,0.707,6,0.000,0.028,3420,1891,2192
$GC,5861,3.05,134.9,128.4,6.3,334,5872,0.00,2.53,2.47,0.683,4,0.000,0.046,3420,486,2183
$GC,6125,3.00,134.9,104.2,9.7,357,6132,0.00,2.38,0.00,0.000,6,0.000,0.021,3420,1927,2183
$GC,6454,3.05,142.1,86.8,4.5,388,6466,0.00,2.53,6.30,0.653,4,0.000,0.040,3420,490,2153
$GC,6719,3.06,152.1,69.8,3.5,411,6737,0.00,2.35,8.10,0.633,6,0.000,0.021,3420,1928,2111
$GC,6996,3.12,152.1,53.4,7.2,437,7000,0.00,2.30,0.00,0.000,4,0.000,0.030,3420,3283,2112
$GC,7190,3.17,160.7,42.8,4.0,453,7203,0.12,2.35,6.90,0.604,6,0.085,0.025,3446,1879,2077
$GC,7459,3.25,176.5,36.5,1.4,478,7481,0.00,2.47,12.12,0.584,4,0.000,0.035,3445,3288,2013
$GC,7737,3.30,183.6,22.9,4.6,515,7750,0.15,2.33,5.70,0.579,6,0.077,0.024,3477,1900,1984
$STATE,7951,end climb,SURFACE_DEPTH_REACHED
$STATE,7952,begin surface coast
$FINISH,0.9,1.022978
$STATE,8015,end surface coast,CONTROL_FINISHED_OK
$STATE,8015,begin surface
$SM_CCo,8042,109.43,0.526,0,0,1020,420.20
$SM_GC,1.33,0.00,0.00,109.43,0.000,0.000,0.526,409,2055,1020,-10.81,0.42,420.20
$IRIDIUM_FIX,2054.83,-15744.48,241297,121238
$TT8_MAMPS,0.027612
$HUMID,1642
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,24.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,360.8,6.8
$24V_AH,23.9,9.973
$10V_AH,10.2,5.553
$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,34.075,68.075,166.375,109.425,0.000,26.388,34.407,118.335,8.750,0.000,0.000,10.431,1073.696,5137.776,358.524,1461.623,420.577,33.350,1029.768,0.000,1444.642,0.000,48.811
$DEVICE_MAMPS,196.352,50.622,808.418,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.061,405.218,735.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,564
$CAP_FILE_SIZE,82278,0
$CFSIZE,260165632,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,165759,2101.917,-15747.472,11,2.9,30,9.8