version: 66.03
glider: 114
mission: 3
dive: 63
start: 9 30 108 9 8 27
data:
$ID,114
$MISSION,3
$DIVE,63
$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,-593178.31
$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,28
$R_STBD_OVSHOOT,57
$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
$GPS1,090138,2107.099,-15749.545,26,1.1,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.5
$GPS2,090732,2107.059,-15749.581,8,1.0,13,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.070,0.215
$KALMAN_X,-20956.1,143.9,671.4,27031.2,-1066.3
$KALMAN_Y,-6693.4,-107.4,573.4,-11387.9,-1304.7
$MHEAD_RNG_PITCHd_Wd,8.2,5494,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-70.47,0.000,2,0.000,0.000,409,2084,3029
$GC,103,-1.13,-146.0,3.7,-5.1,13,128,11.95,2.38,-4.65,0.000,4,0.165,0.050,2504,3423,3332
$GC,192,-1.19,-146.0,23.5,-10.9,28,199,0.00,2.35,0.00,0.000,6,0.000,0.023,2504,2023,3332
$GC,461,-1.27,-146.0,48.9,-8.8,58,465,0.00,2.42,0.00,0.000,4,0.000,0.035,2505,3421,3332
$GC,525,-1.37,-146.0,54.6,-8.2,63,530,0.20,2.33,0.00,0.000,6,0.053,0.023,2457,2035,3332
$GC,787,-1.37,-146.0,82.0,-10.9,87,791,0.00,2.40,0.00,0.000,4,0.000,0.039,2457,644,3333
$GC,851,-1.44,-146.0,88.7,-10.2,92,855,0.00,2.33,0.00,0.000,6,0.000,0.023,2457,2033,3333
$GC,1177,-1.44,-146.0,118.7,-9.2,122,1181,0.00,2.40,0.00,0.000,4,0.000,0.035,2457,3438,3333
$GC,1244,-1.51,-146.0,125.2,-9.0,127,1251,0.12,2.35,0.00,0.000,6,0.064,0.025,2427,2031,3333
$GC,1569,-1.51,-146.0,155.9,-9.0,158,1573,0.00,2.42,0.00,0.000,4,0.000,0.035,2426,3437,3334
$GC,1642,-1.51,-146.0,162.6,-9.5,164,1649,0.00,2.35,0.00,0.000,6,0.000,0.025,2426,2035,3334
$GC,1968,-1.51,-146.0,192.3,-9.5,195,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2035,3334
$GC,2282,-1.51,-146.0,220.6,-8.4,214,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2035,3334
$GC,2589,-1.51,-146.0,246.9,-7.6,229,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2035,3333
$GC,2899,-1.55,-146.0,271.1,-8.1,244,2903,0.00,2.45,0.00,0.000,4,0.000,0.039,2427,3444,3333
$GC,2921,-1.60,-146.0,273.1,-8.0,245,2925,0.00,2.38,0.00,0.000,6,0.000,0.026,2426,2040,3333
$GC,3244,-1.65,-146.0,298.8,-8.2,261,3246,0.12,0.00,0.00,0.000,6,0.064,0.000,2396,2039,3332
$GC,3548,-1.65,-146.0,326.7,-9.3,269,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2039,3331
$GC,3873,-1.65,-146.0,358.8,-10.4,277,3877,0.00,2.47,0.00,0.000,4,0.000,0.047,2396,633,3330
$GC,3913,-1.68,-146.0,362.9,-9.8,278,3917,0.00,2.40,0.00,0.000,6,0.000,0.030,2396,2033,3330
$GC,4238,-1.68,-146.0,391.8,-8.5,286,4242,0.00,2.50,0.00,0.000,4,0.000,0.046,2396,3455,3327
$GC,4259,-1.68,-146.0,393.8,-8.7,286,4264,0.00,2.40,0.00,0.000,6,0.000,0.031,2396,2045,3327
$GC,4603,-1.68,-146.0,423.3,-8.7,295,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2044,3325
$STATE,4925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4933,-0.33,0.0,451.4,8.3,303,5051,1.42,0.00,113.80,0.915,6,0.098,0.000,2686,1886,2733
$STATE,5051,end apogee,CONTROL_FINISHED_OK
$STATE,5051,begin climb
$GC,5055,1.13,146.0,455.8,0.0,306,5178,1.45,2.55,113.65,0.889,4,0.058,0.054,3003,502,2136
$GC,5434,0.64,146.0,426.7,12.0,314,5439,0.57,2.45,0.00,0.000,6,0.151,0.029,2904,1916,2135
$GC,5772,0.39,146.0,400.9,7.2,323,5777,0.28,2.60,0.00,0.000,4,0.131,0.054,2852,495,2133
$GC,5845,0.24,158.8,395.9,6.7,324,5861,0.20,2.42,9.90,0.890,6,0.133,0.030,2817,1900,2085
$GC,6181,0.25,201.4,377.8,5.7,333,6222,0.00,2.58,32.80,0.893,4,0.000,0.047,2817,3298,1911
$GC,6274,0.20,205.0,371.8,7.0,335,6283,0.00,2.45,3.50,0.825,6,0.000,0.034,2817,1909,1896
$GC,6598,0.15,205.0,348.7,7.5,343,6603,0.12,2.47,0.00,0.000,4,0.132,0.041,2796,3298,1895
$GC,6659,0.15,205.0,343.4,8.7,344,6663,0.00,2.45,0.00,0.000,6,0.000,0.034,2796,1892,1895
$GC,7002,0.17,215.5,318.3,6.8,353,7016,0.00,2.58,8.55,0.867,4,0.000,0.041,2796,3301,1854
$GC,7029,0.25,261.9,316.7,5.5,353,7072,0.00,2.47,36.60,0.860,6,0.000,0.033,2796,1895,1665
$GC,7392,0.37,331.7,298.8,4.7,363,7454,0.20,2.58,54.20,0.840,4,0.074,0.041,2842,3304,1380
$GC,7531,0.31,331.7,286.7,9.5,369,7535,0.00,2.47,0.00,0.000,6,0.000,0.032,2842,1896,1379
$GC,7853,0.24,331.7,256.5,9.7,385,7858,0.15,2.50,0.00,0.000,4,0.120,0.039,2811,3310,1380
$GC,7880,0.24,331.7,253.7,9.5,386,7885,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,1895,1380
$GC,8197,0.29,362.0,233.3,6.1,401,8226,0.00,2.55,23.83,0.797,4,0.000,0.039,2811,3304,1257
$GC,8301,0.33,362.0,226.5,7.6,405,8308,0.10,2.47,0.00,0.000,6,0.091,0.031,2831,1888,1257
$GC,8618,0.33,362.0,200.3,8.8,421,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1888,1257
$GC,8935,0.33,362.0,171.7,7.6,450,8939,0.00,2.47,0.00,0.000,4,0.000,0.036,2831,3302,1257
$GC,9013,0.40,396.7,166.5,5.9,456,9045,0.00,2.42,27.12,0.729,6,0.000,0.029,2831,1895,1115
$GC,9365,0.48,443.7,144.8,5.5,489,9409,0.15,2.53,36.33,0.694,4,0.071,0.035,2865,3309,923
$GC,9485,0.43,443.7,134.0,10.0,499,9492,0.00,2.45,0.00,0.000,6,0.000,0.028,2865,1890,924
$GC,9815,0.37,443.7,98.7,11.1,530,9820,0.12,2.47,0.00,0.000,4,0.107,0.035,2842,3305,924
$GC,9895,0.41,443.7,89.7,10.4,536,9902,0.00,2.42,0.00,0.000,6,0.000,0.027,2842,1886,924
$GC,10224,0.48,483.3,63.6,5.8,567,10260,0.00,2.53,30.50,0.611,4,0.000,0.034,2842,3311,762
$GC,10297,0.61,518.8,59.2,5.9,573,10331,0.22,2.42,27.02,0.599,6,0.058,0.026,2894,1901,618
$GC,10587,0.54,518.8,29.8,10.6,600,10593,0.00,2.45,0.00,0.000,4,0.000,0.034,2894,3310,620
$GC,10651,0.50,518.8,23.1,10.1,611,10658,0.12,2.42,0.00,0.000,6,0.097,0.026,2870,1889,621
$STATE,10854,end climb,SURFACE_DEPTH_REACHED
$STATE,10854,begin surface coast
$FINISH,0.7,1.012071
$STATE,10917,end surface coast,CONTROL_FINISHED_OK
$STATE,10917,begin surface
$SM_CCo,11001,0.00,0.000,0,0,622,517.83
$SM_GC,1.33,10.98,0.00,0.00,0.047,0.000,0.000,411,2064,622,-10.76,0.68,517.83
$IRIDIUM_FIX,2057.14,-15746.61,251297,050557
$TT8_MAMPS,0.027612
$HUMID,1690
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,24.40
$XPDR_PINGS,13
$24V_AH,23.8,10.699
$10V_AH,10.2,6.023
$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,28.500,103.525,517.800,0.000,0.000,28.227,35.060,165.317,12.250,0.000,0.000,15.267,1197.270,7527.354,545.579,1574.381,511.758,33.358,1345.908,0.000,1540.434,0.000,57.442
$DEVICE_MAMPS,164.905,53.690,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.729,432.027,763.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34822,658
$CAP_FILE_SIZE,98605,0
$CFSIZE,260165632,254771200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,121307,2108.081,-15749.417,35,1.1,40,9.8