version: 66.03
glider: 114
mission: 3
dive: 38
start: 9 27 108 3 50 23
data:
$ID,114
$MISSION,3
$DIVE,38
$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,-592675.56
$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,1
$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,24
$R_STBD_OVSHOOT,56
$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
$GPS1,034407,2103.109,-15749.525,8,1.3,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.1
$GPS2,034927,2103.092,-15749.515,13,1.0,13,9.8
$SPEED_LIMITS,0.063,0.211
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209,-0.026
$KALMAN_X,644.3,414.3,-375.0,6314.3,-984.3
$KALMAN_Y,-398.3,-121.8,-343.6,-24108.5,-183.9
$MHEAD_RNG_PITCHd_Wd,87.4,4673,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-59.83,0.000,2,0.000,0.000,411,2061,2806
$GC,93,-1.25,-116.8,3.2,-4.5,11,117,11.52,2.40,-7.00,0.000,4,0.163,0.052,2427,3424,3210
$GC,209,-1.25,-116.8,25.6,-14.9,31,216,0.00,2.38,0.00,0.000,6,0.000,0.025,2428,2022,3210
$GC,479,-1.25,-116.8,58.4,-9.7,59,483,0.00,2.40,0.00,0.000,4,0.000,0.040,2427,634,3211
$GC,535,-1.30,-116.8,64.5,-11.3,63,541,0.00,2.33,0.00,0.000,6,0.000,0.023,2427,2023,3211
$GC,797,-1.30,-116.8,95.8,-12.1,88,801,0.00,2.42,0.00,0.000,4,0.000,0.038,2427,627,3212
$GC,837,-1.36,-116.8,100.5,-11.4,91,843,0.00,2.38,0.00,0.000,6,0.000,0.024,2427,2046,3212
$GC,1164,-1.40,-116.8,135.0,-10.0,122,1168,0.10,2.40,0.00,0.000,4,0.069,0.036,2403,3445,3213
$GC,1238,-1.40,-116.8,143.4,-11.1,128,1242,0.00,2.38,0.00,0.000,6,0.000,0.025,2403,2032,3213
$GC,1563,-1.40,-116.8,178.0,-9.7,158,1567,0.00,2.40,0.00,0.000,4,0.000,0.040,2403,638,3213
$GC,1603,-1.43,-116.8,181.9,-10.1,161,1608,0.00,2.38,0.00,0.000,6,0.000,0.025,2403,2052,3213
$GC,1936,-1.48,-116.8,213.8,-10.7,186,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2052,3213
$GC,2246,-1.54,-116.8,238.0,-6.6,201,2251,0.12,2.40,0.00,0.000,4,0.065,0.038,2372,3447,3213
$GC,2268,-1.54,-116.8,240.0,-8.0,202,2273,0.00,2.40,0.00,0.000,6,0.000,0.027,2372,2027,3213
$GC,2595,-1.54,-116.8,276.2,-12.1,218,2599,0.00,2.42,0.00,0.000,4,0.000,0.044,2372,637,3213
$GC,2651,-1.54,-116.8,283.1,-11.5,220,2657,0.00,2.38,0.00,0.000,6,0.000,0.028,2372,2036,3213
$GC,2986,-1.54,-116.8,316.2,-9.4,233,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2037,3212
$GC,3312,-1.57,-116.8,343.3,-8.4,241,3317,0.00,2.47,0.00,0.000,4,0.000,0.045,2372,3450,3211
$GC,3335,-1.57,-116.8,345.7,-9.1,241,3339,0.00,2.40,0.00,0.000,6,0.000,0.029,2372,2045,3211
$GC,3673,-1.61,-116.8,376.4,-9.4,250,3677,0.00,2.47,0.00,0.000,4,0.000,0.049,2372,638,3208
$GC,3734,-1.68,-116.8,382.5,-9.4,251,3739,0.12,2.40,0.00,0.000,6,0.074,0.031,2345,2038,3208
$GC,4078,-1.68,-116.8,416.8,-10.0,260,4083,0.00,2.50,0.00,0.000,4,0.000,0.050,2344,634,3205
$GC,4106,-1.68,-116.8,419.9,-10.7,260,4111,0.00,2.40,0.00,0.000,6,0.000,0.032,2344,2039,3205
$STATE,4441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4441,begin apogee
$GC,4449,-0.33,0.0,451.4,9.4,269,4543,1.48,0.00,90.28,0.956,6,0.111,0.000,2635,1796,2733
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4547,1.25,116.8,453.8,0.0,271,4647,1.62,2.60,90.55,0.930,4,0.060,0.044,2983,3202,2255
$GC,4701,0.93,139.0,452.8,6.5,275,4726,0.40,2.47,17.70,0.907,6,0.146,0.035,2915,1808,2165
$GC,5058,0.73,139.0,425.2,7.7,284,5063,0.22,2.60,0.00,0.000,4,0.136,0.057,2872,386,2164
$GC,5075,0.54,139.0,423.8,7.8,284,5081,0.22,2.45,0.00,0.000,6,0.130,0.029,2832,1805,2164
$GC,5419,0.61,200.7,406.2,4.7,293,5473,0.00,2.60,46.97,0.934,4,0.000,0.044,2832,3209,1914
$GC,5486,0.65,248.0,402.9,5.4,294,5530,0.00,2.50,36.90,0.928,6,0.000,0.034,2832,1799,1721
$GC,5869,0.65,248.0,373.3,8.1,304,5873,0.00,2.50,0.00,0.000,4,0.000,0.042,2832,3200,1720
$GC,5999,0.65,248.0,361.5,9.4,307,6003,0.00,2.47,0.00,0.000,6,0.000,0.035,2832,1797,1720
$GC,6323,0.65,248.0,333.2,8.7,315,6327,0.00,2.50,0.00,0.000,4,0.000,0.041,2833,3204,1718
$GC,6429,0.65,248.0,324.8,7.6,317,6433,0.00,2.47,0.00,0.000,6,0.000,0.035,2832,1791,1717
$GC,6771,0.69,269.9,302.2,6.5,326,6796,0.12,2.60,16.77,0.918,4,0.089,0.041,2858,3200,1632
$GC,6913,0.67,280.1,291.6,7.0,331,6929,0.00,2.47,8.55,0.873,6,0.000,0.034,2858,1790,1590
$GC,7240,0.64,280.1,265.6,8.9,347,7244,0.00,2.50,0.00,0.000,4,0.000,0.039,2858,3204,1590
$GC,7313,0.64,280.1,259.0,9.0,350,7317,0.00,2.47,0.00,0.000,6,0.000,0.033,2858,1789,1590
$GC,7629,0.65,286.8,234.6,7.2,365,7640,0.00,2.53,6.15,0.829,4,0.000,0.037,2858,3214,1562
$GC,7670,0.65,286.8,231.5,7.6,367,7674,0.00,2.50,0.00,0.000,6,0.000,0.033,2858,1788,1562
$GC,7997,0.65,286.8,204.7,8.2,383,8001,0.00,2.47,0.00,0.000,4,0.000,0.036,2858,3209,1562
$GC,8071,0.65,286.8,198.7,8.6,387,8075,0.00,2.45,0.00,0.000,6,0.000,0.030,2858,1795,1562
$GC,8399,0.65,286.8,172.3,8.4,417,8403,0.00,2.45,0.00,0.000,4,0.000,0.035,2858,3204,1562
$GC,8501,0.68,286.8,163.0,8.5,426,8506,0.00,2.42,0.00,0.000,6,0.000,0.030,2858,1799,1562
$GC,8832,0.74,302.9,139.1,6.8,456,8854,0.00,2.53,12.50,0.726,4,0.000,0.034,2858,3205,1497
$GC,8901,0.78,302.9,133.7,8.0,462,8905,0.00,2.45,0.00,0.000,6,0.000,0.029,2858,1794,1498
$GC,9230,0.87,328.5,111.5,6.4,492,9255,0.15,2.50,19.98,0.682,4,0.068,0.034,2897,3212,1393
$GC,9342,0.87,328.5,102.1,8.5,502,9346,0.00,2.45,0.00,0.000,6,0.000,0.028,2897,1789,1393
$GC,9670,0.87,328.5,75.6,8.3,532,9674,0.00,2.47,0.00,0.000,4,0.000,0.034,2897,3218,1394
$GC,9710,0.87,328.5,71.9,8.9,535,9714,0.00,2.45,0.00,0.000,6,0.000,0.028,2897,1791,1394
$GC,9972,0.87,328.5,48.6,8.1,559,9976,0.00,2.45,0.00,0.000,4,0.000,0.033,2897,3211,1396
$GC,10080,0.91,328.5,40.0,7.7,568,10084,0.00,2.42,0.00,0.000,6,0.000,0.027,2897,1790,1397
$GC,10348,0.93,338.2,22.5,7.1,602,10362,0.00,2.53,8.20,0.587,4,0.000,0.032,2897,3215,1353
$GC,10392,0.96,338.2,19.2,7.8,609,10399,0.10,2.42,0.00,0.000,6,0.077,0.026,2920,1790,1354
$STATE,10572,end climb,SURFACE_DEPTH_REACHED
$STATE,10572,begin surface coast
$FINISH,0.6,1.022476
$STATE,10647,end surface coast,CONTROL_FINISHED_OK
$STATE,10647,begin surface
$SM_CCo,10671,37.03,0.552,0,0,1020,420.20
$SM_GC,1.35,0.00,0.00,37.03,0.000,0.000,0.552,410,2080,1020,-10.58,1.13,420.20
$IRIDIUM_FIX,2052.52,-15749.62,221297,000032
$TT8_MAMPS,0.027612
$HUMID,1676
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.80
$XPDR_PINGS,6
$24V_AH,23.7,7.843
$10V_AH,10.2,4.117
$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,27.400,123.700,354.550,37.025,0.000,23.230,40.072,138.057,10.500,0.000,0.000,15.094,1216.711,7312.130,465.792,1564.006,477.481,33.360,1236.942,0.000,1526.884,0.000,60.000
$DEVICE_MAMPS,163.371,56.758,956.449,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.015,431.279,773.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34756,654
$CAP_FILE_SIZE,99654,0
$CFSIZE,260165632,256036864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270908,065008,2103.090,-15748.267,35,1.2,35,9.8