version: 66.03
glider: 114
mission: 3
dive: 31
start: 9 26 108 7 9 23
data:
$ID,114
$MISSION,3
$DIVE,31
$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,180
$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,120
$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,-592568
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2710
$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,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,0
$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
$GPS1,070223,2107.908,-15753.671,9,4.8,28,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.6
$GPS2,070829,2107.869,-15753.674,11,9.1,30,9.8
$SPEED_LIMITS,0.070,0.220
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.124,-0.181
$KALMAN_X,9514.7,-830.2,-118.9,-8730.6,1030.2
$KALMAN_Y,3013.7,-30.0,185.4,-19299.4,-148.0
$MHEAD_RNG_PITCHd_Wd,135.8,15537,-17.3,-8.333
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.35,-116.8,0.0,0.0,0,86,0.00,0.00,-54.33,0.000,2,0.000,0.000,412,2054,2661
$GC,90,-1.35,-116.8,3.1,-4.9,10,120,11.45,2.53,-9.82,0.000,4,0.163,0.051,2408,632,3212
$GC,155,-1.35,-116.8,17.6,-17.7,21,162,0.00,2.38,0.00,0.000,6,0.000,0.025,2408,2032,3212
$GC,428,-1.35,-116.8,61.3,-14.7,53,432,0.00,2.45,0.00,0.000,4,0.000,0.036,2408,619,3212
$GC,469,-1.35,-116.8,67.4,-14.3,56,473,0.00,2.40,0.00,0.000,6,0.000,0.024,2408,2047,3212
$GC,731,-1.35,-116.8,102.3,-13.2,80,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2047,3212
$GC,1049,-1.35,-116.8,142.0,-11.1,110,1053,0.00,2.40,0.00,0.000,4,0.000,0.038,2408,3442,3213
$GC,1078,-1.35,-116.8,145.2,-11.2,112,1082,0.00,2.38,0.00,0.000,6,0.000,0.025,2408,2029,3213
$GC,1403,-1.35,-116.8,175.2,-8.8,142,1407,0.00,2.45,0.00,0.000,4,0.000,0.037,2408,3450,3214
$GC,1421,-1.35,-116.8,176.9,-9.4,143,1425,0.00,2.38,0.00,0.000,6,0.000,0.025,2408,2034,3214
$GC,1744,-1.35,-116.8,209.1,-10.5,169,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2034,3214
$GC,2053,-1.35,-116.8,238.5,-9.4,184,2057,0.00,2.45,0.00,0.000,4,0.000,0.038,2408,3448,3213
$GC,2086,-1.35,-116.8,241.5,-8.8,185,2092,0.00,2.38,0.00,0.000,6,0.000,0.026,2408,2037,3214
$GC,2403,-1.35,-116.8,264.2,-6.7,201,2407,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,640,3213
$GC,2453,-1.35,-116.8,267.7,-6.4,203,2457,0.00,2.38,0.00,0.000,6,0.000,0.028,2408,2044,3213
$GC,2770,-1.35,-116.8,292.3,-8.1,218,2773,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,3446,3213
$GC,2787,-1.35,-116.8,293.7,-7.9,218,2793,0.00,2.38,0.00,0.000,6,0.000,0.028,2408,2043,3213
$GC,3120,-1.35,-116.8,322.7,-9.1,229,3124,0.00,2.47,0.00,0.000,4,0.000,0.042,2408,3451,3211
$GC,3171,-1.35,-116.8,327.7,-9.7,230,3175,0.00,2.42,0.00,0.000,6,0.000,0.030,2408,2031,3211
$GC,3485,-1.35,-116.8,354.6,-8.3,238,3490,0.00,2.50,0.00,0.000,4,0.000,0.043,2408,3450,3209
$GC,3503,-1.35,-116.8,356.2,-8.2,238,3507,0.00,2.40,0.00,0.000,6,0.000,0.029,2408,2040,3208
$GC,3848,-1.35,-116.8,381.6,-7.6,247,3852,0.00,2.47,0.00,0.000,4,0.000,0.051,2408,638,3206
$GC,3881,-1.35,-116.8,384.5,-8.3,247,3887,0.00,2.40,0.00,0.000,6,0.000,0.031,2408,2037,3206
$GC,4215,-1.35,-116.8,410.6,-7.7,256,4219,0.00,2.50,0.00,0.000,4,0.000,0.051,2408,3447,3204
$GC,4256,-1.35,-116.8,413.9,-8.4,257,4260,0.00,2.42,0.00,0.000,6,0.000,0.032,2408,2040,3203
$GC,4581,-1.35,-116.8,438.1,-6.9,265,4585,0.00,2.50,0.00,0.000,4,0.000,0.054,2408,633,3200
$GC,4626,-1.35,-116.8,441.4,-7.6,266,4630,0.00,2.42,0.00,0.000,6,0.000,0.031,2408,2048,3200
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4789,-0.33,0.0,452.1,6.7,270,4883,1.12,0.00,90.47,0.950,6,0.104,0.000,2633,1790,2733
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4884,begin climb
$GC,4887,1.35,116.8,453.8,0.0,272,4987,1.73,2.62,91.20,0.919,4,0.062,0.058,3002,404,2256
$GC,5038,1.35,116.8,450.8,9.4,275,5042,0.00,2.45,0.00,0.000,6,0.000,0.028,3002,1811,2256
$GC,5375,1.35,116.8,417.6,9.9,284,5380,0.00,2.60,0.00,0.000,4,0.000,0.058,3002,403,2254
$GC,5506,1.35,116.8,403.9,10.4,287,5510,0.00,2.42,0.00,0.000,6,0.000,0.028,3002,1802,2253
$GC,5831,1.42,153.8,380.2,6.5,295,5865,0.00,2.58,28.35,0.917,4,0.000,0.046,3002,3203,2106
$GC,5877,1.43,161.7,376.9,7.9,296,5891,0.00,2.47,7.18,0.884,6,0.000,0.035,3002,1806,2073
$GC,6201,1.43,161.7,345.6,9.5,304,6205,0.00,2.58,0.00,0.000,4,0.000,0.058,3002,391,2072
$GC,6245,1.43,161.7,341.0,10.7,305,6249,0.00,2.45,0.00,0.000,6,0.000,0.028,3002,1811,2071
$GC,6563,1.43,161.7,309.4,10.4,313,6568,0.00,2.45,0.00,0.000,4,0.000,0.044,3002,3205,2070
$GC,6614,1.43,161.7,304.0,10.3,314,6618,0.00,2.47,0.00,0.000,6,0.000,0.034,3002,1789,2070
$GC,6931,1.45,171.2,274.6,7.9,328,6945,0.10,2.58,7.38,0.872,4,0.100,0.044,3021,3210,2034
$GC,6963,1.45,171.2,271.6,8.8,329,6967,0.00,2.47,0.00,0.000,6,0.000,0.033,3021,1796,2034
$GC,7279,1.45,171.2,241.4,8.5,344,7283,0.00,2.53,0.00,0.000,4,0.000,0.056,3021,396,2034
$GC,7300,1.45,171.2,239.0,10.3,345,7305,0.00,2.42,0.00,0.000,6,0.000,0.028,3022,1813,2033
$GC,7622,1.45,171.2,206.0,10.1,361,7626,0.00,2.42,0.00,0.000,4,0.000,0.039,3021,3212,2033
$GC,7685,1.45,171.2,199.0,10.4,364,7689,0.00,2.47,0.00,0.000,6,0.000,0.033,3021,1789,2033
$GC,8013,1.51,203.1,172.4,6.8,394,8046,0.00,2.60,23.98,0.785,4,0.000,0.054,3021,393,1905
$GC,8239,1.51,203.1,150.8,11.3,414,8243,0.00,2.42,0.00,0.000,6,0.000,0.025,3021,1818,1905
$GC,8567,1.51,203.1,121.5,8.4,444,8571,0.00,2.38,0.00,0.000,4,0.000,0.035,3022,3203,1905
$GC,8679,1.51,207.0,112.0,8.1,453,8689,0.00,2.42,3.97,0.714,6,0.000,0.030,3022,1786,1888
$GC,9015,1.51,207.0,83.0,8.3,485,9020,0.00,2.47,0.00,0.000,4,0.000,0.050,3022,392,1889
$GC,9174,1.51,207.0,70.1,8.7,498,9181,0.00,2.35,0.00,0.000,6,0.000,0.022,3022,1807,1890
$GC,9436,1.62,270.8,55.0,5.2,523,9491,0.15,2.47,48.55,0.615,4,0.074,0.033,3060,3197,1627
$GC,9586,1.62,270.8,39.0,14.7,536,9590,0.00,2.40,0.00,0.000,6,0.000,0.028,3060,1797,1628
$GC,9859,1.64,280.4,9.7,7.9,578,9873,0.00,2.50,7.75,0.575,4,0.000,0.046,3060,394,1589
$STATE,9900,end climb,SURFACE_DEPTH_REACHED
$STATE,9900,begin surface coast
$FINISH,0.8,1.022832
$STATE,9946,end surface coast,CONTROL_FINISHED_OK
$STATE,9946,begin surface
$SM_CCo,9973,61.65,0.548,0,0,1019,420.20
$SM_GC,1.53,0.00,0.00,61.65,0.000,0.000,0.548,413,2057,1019,-10.57,0.48,420.20
$IRIDIUM_FIX,2104.07,-15755.17,211297,040422
$TT8_MAMPS,0.027612
$HUMID,1679
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.30
$XPDR_PINGS,16
$24V_AH,23.7,7.158
$10V_AH,10.2,3.626
$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,26.550,123.600,308.825,61.650,0.000,22.979,32.619,177.379,13.000,0.000,0.000,33.060,1118.491,6873.222,452.952,1462.740,500.007,33.356,1172.419,0.000,1411.685,0.000,59.830
$DEVICE_MAMPS,163.371,58.292,949.546,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.118,388.199,684.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31637,593
$CAP_FILE_SIZE,93966,0
$CFSIZE,260165632,256368640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260908,095807,2106.844,-15753.322,36,1.2,47,9.8