version: 66.03
glider: 114
mission: 3
dive: 132
start: 10 9 108 20 9 12
data:
$ID,114
$MISSION,3
$DIVE,132
$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,220
$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,410
$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,-594121.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,66
$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
$GPS1,200308,2103.027,-15747.300,52,1.2,52,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.4
$GPS2,200815,2103.011,-15747.278,10,1.2,10,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.023,-0.068
$KALMAN_X,-35852.1,307.7,79.5,46326.4,266.8
$KALMAN_Y,-29726.1,57.9,47.2,4499.4,-414.7
$MHEAD_RNG_PITCHd_Wd,151.1,1427,-41.6,-6.818
$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,-2.80,-15.3,0.0,0.0,0,88,0.00,0.00,-59.30,0.000,2,0.000,0.000,408,2084,2752
$GC,92,-2.82,-25.4,3.2,-3.8,11,111,9.93,2.50,-1.60,0.000,4,0.161,0.045,2160,634,2836
$GC,365,-3.05,-25.4,80.9,-24.5,43,370,0.20,2.30,0.00,0.000,6,0.058,0.022,2115,2010,2838
$GC,692,-3.30,-25.4,148.8,-16.9,73,697,0.20,2.40,0.00,0.000,4,0.058,0.035,2065,624,2839
$GC,951,-3.44,-25.4,198.0,-17.1,96,956,0.15,2.38,0.00,0.000,6,0.064,0.022,2031,2049,2840
$GC,1280,-3.60,-25.4,254.0,-19.1,112,1285,0.15,2.38,0.00,0.000,4,0.067,0.033,1993,3443,2840
$GC,1539,-3.70,-25.4,307.2,-17.4,122,1544,0.00,2.38,0.00,0.000,6,0.000,0.027,1993,2039,2840
$GC,1871,-3.82,-25.4,359.7,-16.0,131,1881,0.17,2.45,0.00,0.000,4,0.069,0.040,1950,627,2839
$STATE,1884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1884,begin apogee
$GC,1894,-0.33,0.0,362.9,16.7,131,1925,3.88,0.00,20.60,0.798,6,0.127,0.000,2701,1944,2733
$STATE,1925,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1929,2.82,25.4,365.6,0.0,132,1958,3.03,2.53,20.02,0.795,4,0.043,0.038,3392,3345,2629
$GC,2207,2.74,79.4,382.2,-9.4,138,2253,0.00,2.42,41.00,0.818,6,0.000,0.031,3392,1945,2409
$GC,2562,2.59,79.4,358.5,10.7,147,2567,0.25,2.50,0.00,0.000,4,0.163,0.048,3349,546,2407
$GC,2574,2.44,79.4,357.1,10.1,147,2579,0.22,2.40,0.00,0.000,6,0.176,0.026,3315,1957,2407
$GC,2922,2.38,79.4,327.4,7.9,156,2926,0.00,2.42,0.00,0.000,4,0.000,0.039,3315,3351,2405
$GC,3181,2.32,86.1,313.2,4.8,161,3191,0.17,2.42,4.78,0.813,6,0.167,0.031,3287,1947,2381
$GC,3511,2.34,98.3,300.3,3.2,170,3525,0.00,2.50,9.55,0.825,4,0.000,0.036,3287,3352,2331
$GC,3778,2.34,98.3,286.3,6.9,181,3782,0.00,2.42,0.00,0.000,6,0.000,0.031,3287,1950,2331
$GC,4100,2.35,103.6,269.7,5.2,197,4108,0.00,0.00,4.43,0.797,6,0.000,0.000,3287,1951,2310
$GC,4432,2.35,103.6,246.5,7.1,213,4436,0.00,2.42,0.00,0.000,4,0.000,0.035,3287,3349,2309
$GC,4465,2.35,103.6,243.9,7.4,214,4469,0.00,2.42,0.00,0.000,6,0.000,0.030,3287,1938,2308
$GC,4782,2.37,113.6,228.9,3.8,229,4796,0.00,2.53,7.93,0.786,4,0.000,0.048,3287,549,2269
$GC,4942,2.30,113.6,216.7,8.1,236,4946,0.00,2.40,0.00,0.000,6,0.000,0.025,3287,1965,2269
$GC,5261,2.31,118.0,193.9,5.5,256,5273,0.00,2.58,3.70,0.749,4,0.000,0.046,3287,546,2252
$GC,5528,2.28,128.0,177.2,3.8,279,5545,0.00,2.38,8.43,0.742,6,0.000,0.025,3287,1965,2210
$GC,5864,2.28,128.0,155.7,9.2,311,5868,0.00,2.50,0.00,0.000,4,0.000,0.045,3286,546,2210
$GC,6124,2.26,134.5,138.5,4.9,334,6136,0.00,2.35,5.43,0.704,6,0.000,0.024,3287,1957,2184
$GC,6456,2.32,141.8,118.7,4.6,365,6468,0.00,2.50,6.53,0.682,4,0.000,0.042,3287,539,2153
$GC,6720,2.32,141.8,100.1,7.3,388,6727,0.00,2.35,0.00,0.000,6,0.000,0.023,3287,1958,2153
$GC,7049,2.39,151.5,87.4,3.9,419,7062,0.00,2.55,7.70,0.648,4,0.000,0.040,3287,546,2115
$GC,7113,2.39,151.5,83.2,6.9,424,7119,0.00,2.35,0.00,0.000,6,0.000,0.023,3287,1956,2115
$GC,7441,2.50,169.1,70.0,1.6,455,7465,0.15,2.42,13.82,0.614,4,0.079,0.031,3322,3341,2043
$GC,7683,2.50,169.1,52.8,8.7,476,7690,0.00,2.38,0.00,0.000,6,0.000,0.025,3322,1935,2044
$GC,7946,2.57,183.5,42.1,2.5,501,7962,0.00,2.42,11.20,0.582,4,0.000,0.040,3322,552,1984
$GC,8070,2.57,185.2,34.7,6.3,511,8076,0.00,2.33,0.00,0.000,6,0.000,0.022,3322,1947,1984
$GC,8343,2.67,197.0,21.0,3.3,553,8362,0.15,2.42,10.52,0.561,4,0.076,0.038,3358,3342,1928
$STATE,8541,end climb,SURFACE_DEPTH_REACHED
$STATE,8541,begin surface coast
$FINISH,0.7,1.022712
$STATE,8587,end surface coast,CONTROL_FINISHED_OK
$STATE,8587,begin surface
$SM_CCo,8614,109.25,0.524,0,0,1060,410.14
$SM_GC,1.52,0.00,0.00,109.25,0.000,0.000,0.524,413,2032,1060,-10.89,-0.23,410.14
$IRIDIUM_FIX,2057.14,-15818.78,030198,161654
$TT8_MAMPS,0.027612
$HUMID,1652
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,24.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,360.8,6.8
$24V_AH,23.9,19.204
$10V_AH,10.2,11.481
$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,31.875,82.250,175.625,109.250,0.000,30.832,30.986,123.349,9.750,0.000,0.000,14.643,1136.186,5441.556,372.014,1648.995,439.443,33.365,1127.338,0.000,1621.981,0.000,46.223
$DEVICE_MAMPS,176.410,48.321,825.292,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.665,420.766,773.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,596
$CAP_FILE_SIZE,87867,0
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,223547,2102.712,-15747.146,8,2.2,27,9.8