version: 66.03
glider: 114
mission: 3
dive: 36
start: 9 26 108 21 27 23
data:
$ID,114
$MISSION,3
$DIVE,36
$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,200
$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,-592643.12
$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,22
$R_STBD_OVSHOOT,54
$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
$GPS1,212135,2103.774,-15750.563,12,4.6,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.0
$GPS2,212627,2103.773,-15750.603,14,1.0,14,9.8
$SPEED_LIMITS,0.063,0.211
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.036
$KALMAN_X,2909.4,296.1,519.1,1404.7,-1988.5
$KALMAN_Y,1538.6,-192.5,218.2,-25276.2,-650.7
$MHEAD_RNG_PITCHd_Wd,70.4,6880,-15.7,-7.500
$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,26,-1.25,-116.8,0.0,0.0,0,88,0.00,0.00,-59.58,0.000,2,0.000,0.000,409,2057,2802
$GC,92,-1.25,-116.8,3.0,-4.3,11,117,11.57,2.50,-7.10,0.000,4,0.164,0.047,2430,617,3212
$GC,164,-1.25,-116.8,19.2,-15.0,23,171,0.00,2.38,0.00,0.000,6,0.000,0.024,2430,2032,3212
$GC,437,-1.25,-116.8,59.6,-14.7,55,441,0.00,2.45,0.00,0.000,4,0.000,0.038,2430,3445,3212
$GC,470,-1.25,-116.8,65.0,-15.6,57,477,0.00,2.40,0.00,0.000,6,0.000,0.024,2430,2017,3213
$GC,732,-1.25,-116.8,98.5,-12.3,82,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2016,3213
$GC,1053,-1.25,-116.8,134.8,-9.9,112,1058,0.00,2.47,0.00,0.000,4,0.000,0.036,2430,3446,3214
$GC,1083,-1.25,-116.8,138.0,-10.0,114,1087,0.00,2.38,0.00,0.000,6,0.000,0.024,2430,2027,3214
$GC,1408,-1.25,-116.8,164.4,-7.9,144,1412,0.00,2.40,0.00,0.000,4,0.000,0.039,2430,632,3215
$GC,1448,-1.25,-116.8,167.6,-8.6,147,1452,0.00,2.38,0.00,0.000,6,0.000,0.024,2430,2046,3215
$GC,1774,-1.25,-116.8,194.0,-9.0,177,1778,0.00,2.40,0.00,0.000,4,0.000,0.038,2430,3446,3216
$GC,1793,-1.25,-116.8,195.5,-8.7,178,1797,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2034,3216
$GC,2121,-1.25,-116.8,226.0,-10.4,196,2125,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,633,3215
$GC,2154,-1.25,-116.8,229.5,-10.4,197,2161,0.00,2.38,0.00,0.000,6,0.000,0.026,2430,2039,3215
$GC,2470,-1.25,-116.8,257.7,-8.5,213,2474,0.00,2.42,0.00,0.000,4,0.000,0.040,2430,3449,3215
$GC,2510,-1.25,-116.8,261.1,-8.7,214,2516,0.00,2.38,0.00,0.000,6,0.000,0.028,2430,2047,3215
$GC,2825,-1.25,-116.8,288.1,-9.0,230,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3216
$GC,3132,-1.25,-116.8,313.9,-8.0,241,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3214
$GC,3458,-1.25,-116.8,336.5,-6.4,249,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3211
$GC,3783,-1.25,-116.8,360.1,-7.9,257,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3209
$GC,4108,-1.25,-116.8,380.5,-5.8,265,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3208
$GC,4434,-1.25,-116.8,399.4,-6.0,273,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2045,3206
$GC,4760,-1.25,-116.8,420.9,-6.8,281,4764,0.00,2.50,0.00,0.000,4,0.000,0.046,2430,3452,3203
$GC,4801,-1.25,-116.8,424.0,-7.5,282,4806,0.00,2.45,0.00,0.000,6,0.000,0.032,2430,2033,3203
$GC,5126,-1.25,-116.8,448.9,-7.8,290,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2032,3200
$STATE,5166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5166,begin apogee
$GC,5174,-0.33,0.0,452.2,7.9,291,5267,1.02,0.00,90.53,0.952,6,0.103,0.000,2635,1794,2733
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5272,1.25,116.8,455.2,0.0,293,5368,1.60,0.00,91.50,0.918,6,0.064,0.000,2977,1794,2256
$GC,5679,1.25,116.8,435.5,8.1,303,5683,0.00,2.53,0.00,0.000,4,0.000,0.041,2977,3212,2255
$GC,5712,1.25,116.8,432.6,8.4,303,5718,0.00,2.47,0.00,0.000,6,0.000,0.035,2977,1805,2255
$GC,6043,1.25,116.8,403.6,8.7,312,6048,0.00,2.47,0.00,0.000,4,0.000,0.038,2978,3207,2253
$GC,6054,1.25,116.8,402.5,8.7,312,6059,0.00,2.47,0.00,0.000,6,0.000,0.035,2977,1797,2253
$GC,6403,1.25,116.8,374.2,7.6,321,6407,0.00,2.55,0.00,0.000,4,0.000,0.058,2977,394,2252
$GC,6425,1.25,117.9,372.5,7.4,321,6429,0.00,2.42,0.00,0.000,6,0.000,0.028,2978,1809,2251
$GC,6762,1.32,158.2,352.3,5.7,330,6802,0.00,2.65,31.27,0.936,4,0.000,0.056,2977,392,2087
$GC,7038,1.32,158.2,324.6,9.9,336,7042,0.00,2.40,0.00,0.000,6,0.000,0.028,2978,1796,2086
$GC,7358,1.32,158.2,295.5,8.9,345,7362,0.00,2.47,0.00,0.000,4,0.000,0.042,2977,3209,2085
$GC,7375,1.32,158.2,293.8,9.3,346,7379,0.00,2.47,0.00,0.000,6,0.000,0.034,2977,1793,2085
$GC,7702,1.32,158.2,264.0,9.0,362,7706,0.00,2.53,0.00,0.000,4,0.000,0.057,2978,389,2085
$GC,7820,1.32,158.2,253.6,8.2,367,7825,0.00,2.42,0.00,0.000,6,0.000,0.028,2978,1813,2084
$GC,8137,1.34,168.3,233.6,7.0,382,8151,0.12,2.62,8.05,0.836,4,0.091,0.052,3002,400,2045
$GC,8163,1.36,178.8,231.7,7.0,383,8180,0.00,2.40,8.75,0.831,6,0.000,0.026,3002,1804,2002
$GC,8490,1.36,178.8,203.8,9.2,399,8494,0.00,2.53,0.00,0.000,4,0.000,0.053,3002,395,2002
$GC,8671,1.36,178.8,185.7,11.4,413,8677,0.00,2.40,0.00,0.000,6,0.000,0.026,3002,1811,2002
$GC,8999,1.36,178.8,159.2,8.1,444,9003,0.00,2.38,0.00,0.000,4,0.000,0.035,3001,3211,2002
$GC,9015,1.36,178.8,157.5,8.5,445,9021,0.00,2.45,0.00,0.000,6,0.000,0.031,3002,1786,2003
$GC,9344,1.40,203.8,132.2,6.4,476,9369,0.00,2.58,18.98,0.729,4,0.000,0.051,3002,390,1902
$GC,9411,1.40,203.8,127.0,8.8,482,9415,0.00,2.40,0.00,0.000,6,0.000,0.024,3002,1807,1902
$GC,9739,1.40,203.8,100.0,8.0,512,9743,0.00,2.38,0.00,0.000,4,0.000,0.033,3002,3201,1903
$GC,9768,1.40,203.8,97.3,8.9,514,9775,0.00,2.40,0.00,0.000,6,0.000,0.028,3002,1795,1903
$GC,10097,1.45,231.4,70.9,6.3,545,10124,0.10,2.50,21.60,0.646,4,0.086,0.047,3024,398,1788
$GC,10208,1.45,231.4,61.8,9.0,554,10215,0.00,2.35,0.00,0.000,6,0.000,0.023,3024,1806,1788
$GC,10471,1.45,231.4,39.0,8.6,579,10475,0.00,2.38,0.00,0.000,4,0.000,0.033,3024,3202,1789
$GC,10515,1.45,231.4,34.7,9.2,582,10522,0.00,2.40,0.00,0.000,6,0.000,0.027,3024,1791,1790
$GC,10788,1.45,231.4,13.9,7.7,625,10795,0.00,2.42,0.00,0.000,4,0.000,0.031,3024,3210,1791
$GC,10808,1.45,231.4,12.4,7.8,628,10814,0.00,2.40,0.00,0.000,6,0.000,0.026,3024,1794,1792
$STATE,10914,end climb,SURFACE_DEPTH_REACHED
$STATE,10914,begin surface coast
$FINISH,0.7,1.023084
$STATE,11005,end surface coast,CONTROL_FINISHED_OK
$STATE,11005,begin surface
$SM_CCo,11029,88.75,0.542,0,0,1019,420.20
$SM_GC,1.34,0.00,0.00,88.75,0.000,0.000,0.542,410,2069,1019,-10.58,0.74,420.20
$IRIDIUM_FIX,2057.14,-15750.89,211297,181807
$TT8_MAMPS,0.027612
$HUMID,1647
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.70
$XPDR_PINGS,11
$24V_AH,23.7,7.638
$10V_AH,10.2,3.968
$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,26.125,108.350,270.675,88.750,0.000,23.094,27.409,122.083,11.750,0.000,0.000,16.443,1200.139,7816.553,463.511,1483.544,456.287,33.354,1181.518,0.000,1459.380,0.000,57.442
$DEVICE_MAMPS,164.138,57.525,951.847,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.874,432.765,766.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34888,663
$CAP_FILE_SIZE,92875,0
$CFSIZE,260165632,256135168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,003401,2103.188,-15750.201,36,1.1,36,9.8