version: 66.03
glider: 114
mission: 3
dive: 61
start: 9 30 108 2 31 4
data:
$ID,114
$MISSION,3
$DIVE,61
$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,-593144.62
$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,31
$R_STBD_OVSHOOT,74
$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
$GPS1,022431,2104.661,-15748.138,36,1.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.3
$GPS2,023009,2104.666,-15748.193,14,2.0,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.001,0.226
$KALMAN_X,-18417.5,-467.7,-476.9,28640.4,-1078.3
$KALMAN_Y,-4286.4,-279.8,-779.6,-16707.5,617.1
$MHEAD_RNG_PITCHd_Wd,349.9,10359,-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,-64.78,0.000,2,0.000,0.000,409,2084,2864
$GC,98,-1.13,-146.0,3.1,-3.9,12,123,11.95,2.35,-7.75,0.000,4,0.163,0.050,2502,3401,3331
$GC,277,-1.20,-146.0,28.7,-9.4,43,284,0.00,2.30,0.00,0.000,6,0.000,0.024,2503,2031,3331
$GC,546,-1.23,-146.0,54.5,-8.6,69,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3331
$GC,801,-1.33,-146.0,72.3,-7.9,93,806,0.15,2.38,0.00,0.000,4,0.056,0.035,2462,3406,3332
$GC,892,-1.38,-146.0,80.5,-8.0,100,899,0.00,2.30,0.00,0.000,6,0.000,0.024,2462,2032,3332
$GC,1221,-1.41,-146.0,113.3,-8.8,131,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2030,3333
$GC,1550,-1.45,-146.0,142.5,-8.5,162,1554,0.00,2.38,0.00,0.000,4,0.000,0.035,2462,3410,3333
$GC,1584,-1.53,-146.0,145.7,-8.4,164,1591,0.15,2.33,0.00,0.000,6,0.058,0.025,2424,2042,3333
$GC,1911,-1.53,-146.0,176.1,-9.2,195,1915,0.00,2.35,0.00,0.000,4,0.000,0.035,2424,3405,3333
$GC,1933,-1.53,-146.0,178.6,-9.4,196,1940,0.00,2.33,0.00,0.000,6,0.000,0.025,2424,2038,3333
$GC,2259,-1.53,-146.0,207.6,-8.9,223,2263,0.00,2.38,0.00,0.000,4,0.000,0.036,2424,3413,3333
$GC,2287,-1.53,-146.0,210.4,-8.5,224,2291,0.00,2.33,0.00,0.000,6,0.000,0.025,2424,2032,3333
$GC,2604,-1.53,-146.0,237.7,-8.7,239,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2032,3333
$GC,2913,-1.57,-146.0,261.7,-7.6,254,2917,0.00,2.38,0.00,0.000,4,0.000,0.038,2425,3402,3333
$GC,2957,-1.66,-146.0,265.7,-8.8,256,2962,0.12,2.30,0.00,0.000,6,0.065,0.027,2394,2043,3333
$GC,3279,-1.66,-146.0,292.6,-7.9,272,3283,0.00,2.38,0.00,0.000,4,0.000,0.039,2394,3405,3332
$GC,3319,-1.66,-146.0,296.0,-8.4,274,3323,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,2040,3331
$GC,3662,-1.66,-146.0,324.8,-8.8,284,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2039,3329
$GC,3987,-1.66,-146.0,358.1,-10.4,292,3991,0.00,2.40,0.00,0.000,4,0.000,0.042,2394,3405,3327
$GC,4027,-1.66,-146.0,362.1,-10.5,293,4031,0.00,2.35,0.00,0.000,6,0.000,0.030,2394,2039,3326
$GC,4352,-1.66,-146.0,390.5,-8.4,301,4356,0.00,2.47,0.00,0.000,4,0.000,0.050,2394,638,3325
$GC,4392,-1.66,-146.0,393.9,-8.3,302,4396,0.00,2.35,0.00,0.000,6,0.000,0.031,2394,2004,3324
$GC,4719,-1.66,-146.0,420.6,-8.4,310,4723,0.00,2.55,0.00,0.000,4,0.000,0.048,2394,3447,3322
$GC,4770,-1.69,-146.0,425.2,-8.7,311,4774,0.00,2.42,0.00,0.000,6,0.000,0.031,2393,2041,3321
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5088,-0.33,0.0,451.5,8.3,319,5205,1.45,0.00,113.25,0.917,6,0.103,0.000,2686,1883,2732
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5209,1.13,146.0,456.0,0.0,322,5332,1.45,2.55,113.82,0.888,4,0.059,0.054,3001,502,2136
$GC,5342,0.68,146.0,455.9,7.3,325,5347,0.52,2.45,0.00,0.000,6,0.143,0.028,2910,1908,2136
$GC,5661,0.40,146.0,428.5,8.6,333,5667,0.30,2.50,0.00,0.000,4,0.133,0.046,2853,3301,2135
$GC,5780,0.24,147.2,419.3,7.1,335,5785,0.20,2.45,0.00,0.000,6,0.161,0.034,2817,1909,2134
$GC,6112,0.19,165.2,397.9,6.5,343,6132,0.00,2.53,14.60,0.900,4,0.000,0.041,2817,3298,2059
$GC,6144,0.16,190.2,395.7,6.3,343,6170,0.12,2.47,20.00,0.893,6,0.133,0.033,2797,1898,1957
$GC,6514,0.17,216.4,372.3,6.2,353,6540,0.00,2.55,20.65,0.893,4,0.000,0.040,2797,3304,1849
$GC,6580,0.14,216.4,367.8,7.5,354,6584,0.00,2.47,0.00,0.000,6,0.000,0.034,2797,1901,1849
$GC,6917,0.14,217.5,343.8,7.1,363,6921,0.00,2.55,0.00,0.000,4,0.000,0.056,2797,495,1848
$GC,6950,0.14,217.5,341.2,7.5,363,6956,0.00,2.42,0.00,0.000,6,0.000,0.028,2797,1900,1848
$GC,7282,0.20,252.0,321.1,5.9,372,7316,0.00,2.55,27.60,0.879,4,0.000,0.043,2797,3292,1705
$GC,7362,0.20,252.0,314.6,8.7,373,7368,0.00,2.45,0.00,0.000,6,0.000,0.034,2797,1901,1705
$GC,7675,0.20,252.0,289.9,7.6,384,7679,0.00,2.50,0.00,0.000,4,0.000,0.041,2797,3305,1704
$GC,7725,0.20,252.0,285.9,8.6,386,7729,0.00,2.47,0.00,0.000,6,0.000,0.032,2797,1889,1704
$GC,8047,0.26,286.1,265.0,6.0,402,8081,0.00,2.62,26.88,0.843,4,0.000,0.039,2797,3309,1566
$GC,8134,0.29,305.0,259.9,6.5,406,8157,0.12,2.50,15.20,0.825,6,0.087,0.032,2822,1888,1489
$GC,8468,0.30,331.8,241.4,6.2,422,8491,0.00,0.00,21.08,0.810,6,0.000,0.000,2822,1887,1380
$GC,8800,0.27,331.8,217.4,7.2,438,8804,0.00,2.50,0.00,0.000,4,0.000,0.038,2822,3303,1380
$GC,8907,0.27,331.8,207.6,9.7,443,8912,0.00,2.45,0.00,0.000,6,0.000,0.031,2822,1900,1380
$GC,9234,0.31,353.6,181.9,6.4,469,9255,0.00,0.00,17.25,0.767,6,0.000,0.000,2822,1899,1291
$GC,9579,0.35,377.4,160.4,6.3,501,9604,0.00,2.55,18.80,0.733,4,0.000,0.044,2822,3308,1194
$GC,9692,0.43,401.5,153.2,6.3,511,9717,0.15,2.45,19.05,0.720,6,0.077,0.028,2855,1899,1096
$GC,10044,0.38,401.5,122.3,8.8,544,10049,0.00,2.47,0.00,0.000,4,0.000,0.036,2855,3312,1096
$GC,10145,0.38,401.5,112.4,9.4,552,10152,0.00,2.45,0.00,0.000,6,0.000,0.028,2855,1892,1096
$GC,10474,0.38,401.5,80.9,8.8,583,10478,0.00,2.47,0.00,0.000,4,0.000,0.035,2855,3312,1097
$GC,10519,0.38,401.5,76.9,8.0,586,10526,0.00,2.42,0.00,0.000,6,0.000,0.027,2855,1895,1097
$GC,10781,0.38,401.5,58.9,7.6,611,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1894,1097
$GC,11037,0.53,464.1,44.4,5.0,635,11091,0.00,2.50,47.80,0.592,4,0.000,0.033,2855,3311,839
$GC,11179,0.65,483.3,35.3,6.5,647,11200,0.20,2.42,14.82,0.581,6,0.060,0.025,2900,1889,761
$GC,11470,0.57,483.3,5.9,11.8,693,11477,0.00,2.45,0.00,0.000,4,0.000,0.034,2900,3305,761
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11481,begin surface coast
$FINISH,0.7,1.023395
$STATE,11522,end surface coast,CONTROL_FINISHED_OK
$STATE,11522,begin surface
$SM_CCo,11608,0.00,0.000,0,0,763,483.49
$SM_GC,1.26,11.15,0.00,0.00,0.048,0.000,0.000,413,2016,763,-10.75,-0.68,483.49
$IRIDIUM_FIX,2054.83,-15748.75,241297,232315
$TT8_MAMPS,0.027612
$HUMID,1700
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,10.438
$10V_AH,10.2,5.867
$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,28.050,117.000,490.800,0.000,0.000,25.803,35.509,148.665,11.500,0.000,0.000,15.526,1269.910,7986.745,533.861,1639.500,516.272,33.357,1364.115,0.000,1615.817,0.000,57.440
$DEVICE_MAMPS,163.371,55.991,917.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.851,465.291,821.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38085,702
$CAP_FILE_SIZE,103828,0
$CFSIZE,260165632,254865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300908,054521,2105.972,-15748.984,10,1.7,10,9.8