version: 66.03
glider: 114
mission: 3
dive: 37
start: 9 27 108 0 40 10
data:
$ID,114
$MISSION,3
$DIVE,37
$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,-592659.81
$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,29
$R_STBD_OVSHOOT,57
$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
$GPS1,003401,2103.188,-15750.201,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.6
$GPS2,003914,2103.197,-15750.200,14,1.3,14,9.8
$SPEED_LIMITS,0.063,0.211
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.202,0.060
$KALMAN_X,1518.7,486.0,-80.3,3895.0,-2104.9
$KALMAN_Y,416.2,-186.0,-178.5,-24824.7,-810.5
$MHEAD_RNG_PITCHd_Wd,63.8,5863,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-64.35,0.000,2,0.000,0.000,411,2070,2955
$GC,97,-1.25,-116.8,3.5,-4.6,12,121,11.62,2.40,-4.07,0.000,4,0.166,0.052,2429,3417,3212
$GC,219,-1.25,-116.8,30.3,-15.3,33,225,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2015,3212
$GC,481,-1.25,-116.8,65.3,-12.2,58,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2015,3213
$GC,736,-1.25,-116.8,91.1,-9.2,82,739,0.00,2.38,0.00,0.000,4,0.000,0.038,2429,638,3213
$GC,771,-1.25,-116.8,94.3,-8.9,85,775,0.00,2.33,0.00,0.000,6,0.000,0.023,2429,2023,3214
$GC,1096,-1.25,-116.8,127.0,-11.4,115,1100,0.00,2.42,0.00,0.000,4,0.000,0.037,2429,3444,3214
$GC,1126,-1.25,-116.8,130.5,-12.4,117,1132,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2028,3214
$GC,1451,-1.25,-116.8,165.3,-9.8,148,1455,0.00,2.40,0.00,0.000,4,0.000,0.040,2429,638,3215
$GC,1503,-1.25,-116.8,170.5,-10.2,152,1507,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2049,3215
$GC,1828,-1.25,-116.8,199.8,-8.8,182,1833,0.00,2.40,0.00,0.000,4,0.000,0.038,2429,3446,3215
$GC,1867,-1.25,-116.8,203.5,-9.5,184,1873,0.00,2.38,0.00,0.000,6,0.000,0.026,2429,2033,3215
$GC,2183,-1.25,-116.8,228.0,-7.0,200,2187,0.00,2.42,0.00,0.000,4,0.000,0.041,2429,632,3214
$GC,2272,-1.25,-116.8,234.9,-8.1,204,2276,0.00,2.38,0.00,0.000,6,0.000,0.026,2429,2036,3215
$GC,2599,-1.25,-116.8,259.6,-8.0,220,2606,0.00,2.42,0.00,0.000,4,0.000,0.040,2429,3445,3215
$GC,2625,-1.25,-116.8,261.7,-8.2,221,2629,0.00,2.38,0.00,0.000,6,0.000,0.027,2429,2044,3214
$GC,2952,-1.25,-116.8,286.7,-6.7,237,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2043,3215
$GC,3260,-1.25,-116.8,307.1,-7.1,250,3264,0.00,2.42,0.00,0.000,4,0.000,0.040,2429,3445,3213
$GC,3282,-1.25,-116.8,308.9,-7.9,250,3286,0.00,2.40,0.00,0.000,6,0.000,0.028,2429,2031,3213
$GC,3627,-1.25,-116.8,335.1,-7.3,259,3631,0.00,2.45,0.00,0.000,4,0.000,0.048,2429,633,3211
$GC,3643,-1.25,-116.8,336.5,-7.1,259,3648,0.00,2.40,0.00,0.000,6,0.000,0.030,2429,2039,3211
$GC,3988,-1.25,-116.8,358.7,-6.5,268,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2040,3209
$GC,4313,-1.25,-116.8,377.1,-5.4,276,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2042,3207
$GC,4638,-1.25,-116.8,392.1,-4.4,284,4642,0.00,2.50,0.00,0.000,4,0.000,0.049,2429,3456,3205
$GC,4683,-1.25,-116.8,394.4,-5.1,285,4687,0.00,2.42,0.00,0.000,6,0.000,0.033,2429,2045,3204
$GC,5003,-1.25,-116.8,410.9,-5.5,293,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2045,3203
$GC,5328,-1.25,-116.8,430.4,-6.1,301,5332,0.00,2.47,0.00,0.000,4,0.000,0.045,2429,3446,3200
$GC,5350,-1.25,-116.8,431.8,-6.0,301,5354,0.00,2.42,0.00,0.000,6,0.000,0.031,2429,2034,3200
$STATE,5684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5692,-0.33,0.0,451.8,5.8,310,5786,1.02,0.00,90.28,0.956,6,0.104,0.000,2634,1794,2733
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5790,1.25,116.8,453.2,0.0,312,5890,1.60,2.62,91.43,0.927,4,0.064,0.057,2976,403,2256
$GC,5902,1.34,166.3,453.1,5.3,314,5947,0.12,2.45,38.80,0.920,6,0.092,0.028,3000,1816,2054
$GC,6279,1.34,166.3,408.2,12.3,324,6283,0.00,2.47,0.00,0.000,4,0.000,0.047,3000,3203,2054
$GC,6295,1.34,166.3,406.1,12.1,324,6300,0.00,2.45,0.00,0.000,6,0.000,0.032,3000,1804,2054
$GC,6638,1.34,166.3,367.7,10.3,333,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1804,2051
$GC,6963,1.34,166.3,336.6,9.9,341,6967,0.00,2.55,0.00,0.000,4,0.000,0.057,3000,390,2050
$GC,7114,1.34,166.3,319.7,11.4,344,7119,0.00,2.42,0.00,0.000,6,0.000,0.030,3000,1806,2050
$GC,7439,1.34,166.3,290.6,8.9,355,7443,0.00,2.58,0.00,0.000,4,0.000,0.055,3000,389,2050
$GC,7533,1.34,166.3,279.8,11.8,359,7537,0.00,2.40,0.00,0.000,6,0.000,0.028,3000,1803,2049
$GC,7856,1.34,166.3,250.7,8.5,375,7860,0.00,2.45,0.00,0.000,4,0.000,0.041,3000,3215,2049
$GC,7923,1.34,166.3,244.7,8.2,378,7927,0.00,2.45,0.00,0.000,6,0.000,0.033,3000,1800,2049
$GC,8244,1.35,175.1,220.5,7.1,394,8255,0.00,2.55,6.20,0.851,4,0.000,0.054,3000,389,2018
$GC,8346,1.35,175.1,211.0,9.3,398,8352,0.00,2.40,0.00,0.000,6,0.000,0.026,3001,1807,2018
$GC,8667,1.35,175.1,186.7,8.0,422,8670,0.00,2.40,0.00,0.000,4,0.000,0.036,3000,3203,2018
$GC,8829,1.35,175.1,173.4,8.0,436,8836,0.00,2.42,0.00,0.000,6,0.000,0.031,3000,1792,2018
$GC,9158,1.37,187.6,148.9,6.9,467,9173,0.00,2.47,10.07,0.780,4,0.000,0.033,3000,3208,1968
$GC,9220,1.37,187.6,144.3,8.7,472,9224,0.00,2.45,0.00,0.000,6,0.000,0.029,3001,1793,1968
$GC,9548,1.44,226.9,122.7,5.7,502,9584,0.10,2.55,30.02,0.723,4,0.087,0.050,3021,394,1807
$GC,9659,1.44,226.9,111.9,11.3,512,9663,0.00,2.40,0.00,0.000,6,0.000,0.023,3021,1811,1807
$GC,9989,1.44,226.9,75.9,11.5,542,9993,0.00,2.53,0.00,0.000,4,0.000,0.048,3021,396,1807
$GC,9999,1.44,226.9,74.0,11.6,542,10006,0.00,2.38,0.00,0.000,6,0.000,0.023,3021,1812,1808
$GC,10261,1.44,226.9,49.3,8.0,567,10266,0.00,2.53,0.00,0.000,4,0.000,0.048,3021,388,1808
$GC,10403,1.44,226.9,35.4,10.9,579,10407,0.00,2.38,0.00,0.000,6,0.000,0.023,3021,1816,1808
$GC,10677,1.50,257.3,14.4,6.1,622,10705,0.00,0.00,23.17,0.612,6,0.000,0.000,3021,1816,1684
$STATE,10799,end climb,SURFACE_DEPTH_REACHED
$STATE,10799,begin surface coast
$FINISH,0.6,1.000698
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10898,71.97,0.570,0,0,1019,420.20
$SM_GC,1.53,0.00,0.00,71.97,0.000,0.000,0.570,411,2059,1019,-10.57,0.54,420.20
$IRIDIUM_FIX,2057.14,-15751.76,211297,212102
$TT8_MAMPS,0.027612
$HUMID,1667
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.50
$XPDR_PINGS,14
$24V_AH,23.7,7.734
$10V_AH,10.2,4.042
$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,26.225,107.975,289.975,71.975,0.000,24.953,28.670,143.586,12.500,0.000,0.000,16.076,1190.475,7697.581,439.788,1500.337,464.248,33.365,1173.671,0.000,1470.043,0.000,59.865
$DEVICE_MAMPS,166.439,56.758,956.449,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.107,431.976,756.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34849,657
$CAP_FILE_SIZE,92710,0
$CFSIZE,260165632,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,034407,2103.109,-15749.525,8,1.3,24,9.8