version: 66.03
glider: 114
mission: 3
dive: 227
start: 10 23 108 10 36 50
data:
$ID,114
$MISSION,3
$DIVE,227
$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,170
$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,-596123.31
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,102626,2108.206,-15749.437,40,1.9,40,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.4
$GPS2,103551,2108.201,-15749.536,11,1.3,11,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.119,-0.200
$KALMAN_X,-55847.2,-239.0,-516.3,63576.0,-361.9
$KALMAN_Y,-55720.6,-36.3,43.8,40197.8,-324.1
$MHEAD_RNG_PITCHd_Wd,139.4,11800,-11.5,-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,24,begin dive
$GC,27,-1.06,-165.5,0.0,0.0,0,100,0.00,0.00,-69.88,0.000,2,0.000,0.000,408,2075,2880
$GC,104,-1.06,-165.5,3.7,-5.0,13,134,11.90,2.58,-8.35,0.000,4,0.155,0.048,2541,628,3411
$GC,175,-1.16,-165.5,19.4,-11.1,25,182,0.00,2.35,0.00,0.000,6,0.000,0.024,2541,2037,3411
$GC,449,-1.23,-165.5,44.2,-10.5,60,454,0.12,2.40,0.00,0.000,4,0.061,0.034,2510,3437,3411
$GC,546,-1.27,-165.5,55.5,-11.1,68,550,0.00,2.35,0.00,0.000,6,0.000,0.022,2510,2031,3411
$GC,809,-1.31,-165.5,81.9,-8.6,92,813,0.00,2.42,0.00,0.000,4,0.000,0.034,2510,3438,3411
$GC,860,-1.41,-165.5,85.5,-6.1,96,867,0.17,2.35,0.00,0.000,6,0.054,0.023,2468,2031,3411
$GC,1186,-1.41,-165.5,112.4,-8.9,127,1190,0.00,2.42,0.00,0.000,4,0.000,0.034,2467,3436,3411
$GC,1249,-1.45,-165.5,118.3,-9.2,132,1253,0.00,2.35,0.00,0.000,6,0.000,0.023,2468,2032,3411
$GC,1581,-1.45,-165.5,150.0,-7.6,163,1585,0.00,2.40,0.00,0.000,4,0.000,0.034,2467,3435,3411
$GC,1644,-1.53,-165.5,153.7,-5.1,168,1650,0.00,2.35,0.00,0.000,6,0.000,0.025,2468,2034,3411
$GC,1970,-1.58,-165.5,177.1,-9.9,199,1972,0.15,0.00,0.00,0.000,6,0.054,0.000,2429,2034,3411
$GC,2289,-1.58,-165.5,211.7,-10.9,224,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2034,3411
$GC,2594,-1.58,-165.5,238.4,-8.1,239,2598,0.00,2.42,0.00,0.000,4,0.000,0.035,2429,3439,3411
$GC,2656,-1.58,-165.5,244.1,-8.3,242,2661,0.00,2.38,0.00,0.000,6,0.000,0.025,2429,2036,3411
$GC,2984,-1.58,-165.5,269.5,-9.0,258,2989,0.00,2.42,0.00,0.000,4,0.000,0.036,2429,3433,3410
$GC,3023,-1.58,-165.5,273.2,-8.6,259,3029,0.00,2.38,0.00,0.000,6,0.000,0.027,2429,2032,3410
$GC,3339,-1.58,-165.5,296.7,-6.9,275,3343,0.00,2.45,0.00,0.000,4,0.000,0.038,2429,3445,3408
$GC,3413,-1.62,-165.5,303.2,-9.5,277,3417,0.00,2.40,0.00,0.000,6,0.000,0.028,2429,2035,3408
$GC,3751,-1.62,-165.5,338.7,-10.7,286,3755,0.00,2.45,0.00,0.000,4,0.000,0.039,2429,3435,3406
$GC,3808,-1.66,-165.5,344.2,-9.0,287,3812,0.00,2.40,0.00,0.000,6,0.000,0.029,2429,2030,3405
$GC,4156,-1.66,-165.5,368.7,-6.4,296,4160,0.00,2.47,0.00,0.000,4,0.000,0.041,2429,3439,3403
$GC,4205,-1.72,-165.5,372.2,-7.3,297,4210,0.10,2.40,0.00,0.000,6,0.077,0.030,2407,2040,3403
$GC,4529,-1.72,-165.5,397.8,-8.0,305,4533,0.00,2.47,0.00,0.000,4,0.000,0.048,2406,635,3400
$GC,4551,-1.72,-165.5,399.9,-9.0,305,4556,0.00,2.40,0.00,0.000,6,0.000,0.030,2407,2034,3401
$GC,4894,-1.72,-165.5,430.3,-8.9,314,4898,0.00,2.50,0.00,0.000,4,0.000,0.048,2407,3450,3397
$GC,4973,-1.75,-165.5,437.9,-9.0,315,4979,0.00,2.45,0.00,0.000,6,0.000,0.033,2407,2032,3397
$STATE,5140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5140,begin apogee
$GC,5148,-0.33,0.0,453.2,9.2,320,5281,1.42,0.00,129.02,0.916,6,0.094,0.000,2704,1929,2733
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5285,1.06,165.5,460.5,0.0,323,5420,1.38,0.00,129.95,0.892,6,0.048,0.000,3010,1929,2057
$GC,5736,0.56,165.5,423.4,13.7,334,5738,0.57,0.00,0.00,0.000,6,0.123,0.000,2907,1929,2055
$GC,6061,0.26,165.5,393.4,8.1,342,6063,0.38,0.00,0.00,0.000,6,0.140,0.000,2839,1929,2053
$GC,6386,0.15,189.8,374.1,6.1,350,6411,0.12,2.58,18.27,0.890,4,0.137,0.054,2818,553,1958
$GC,6516,0.03,189.8,364.9,7.8,352,6522,0.17,2.45,0.00,0.000,6,0.120,0.031,2787,1961,1958
$GC,6848,0.11,257.0,346.5,4.8,361,6907,0.00,2.60,52.12,0.878,4,0.000,0.046,2787,3361,1685
$GC,6933,0.19,302.5,342.6,5.5,363,6976,0.15,2.47,36.53,0.859,6,0.074,0.033,2818,1959,1499
$GC,7300,0.10,302.5,314.5,8.5,372,7305,0.00,2.50,0.00,0.000,4,0.000,0.042,2819,3358,1498
$GC,7346,0.03,302.5,310.4,8.5,373,7351,0.15,2.47,0.00,0.000,6,0.106,0.033,2790,1945,1498
$GC,7667,0.14,363.9,292.6,5.0,384,7722,0.00,2.62,47.30,0.834,4,0.000,0.040,2790,3364,1249
$GC,7757,0.21,406.4,287.7,5.6,388,7797,0.17,2.50,33.83,0.821,6,0.069,0.035,2829,1939,1075
$GC,8128,0.11,406.4,254.0,9.6,406,8133,0.12,2.53,0.00,0.000,4,0.108,0.040,2806,3356,1075
$GC,8193,0.11,406.4,248.7,7.4,409,8197,0.00,2.47,0.00,0.000,6,0.000,0.031,2806,1940,1076
$GC,8521,0.12,428.4,223.8,6.2,425,8545,0.00,2.58,17.55,0.783,4,0.000,0.038,2807,3350,986
$GC,8620,0.12,428.4,216.4,8.8,429,8624,0.00,2.45,0.00,0.000,6,0.000,0.030,2806,1941,986
$GC,8940,0.08,428.4,189.6,8.9,449,8944,0.00,2.50,0.00,0.000,4,0.000,0.038,2807,3361,986
$GC,8980,0.08,428.4,186.2,7.6,452,8987,0.00,2.45,0.00,0.000,6,0.000,0.028,2806,1939,986
$GC,9309,0.09,432.9,164.8,6.7,483,9320,0.00,2.50,4.22,0.724,4,0.000,0.048,2806,543,968
$GC,9338,0.09,432.9,162.4,7.5,485,9344,0.00,2.42,0.00,0.000,6,0.000,0.025,2806,1965,968
$GC,9667,0.09,432.9,141.7,7.0,516,9671,0.00,2.40,0.00,0.000,4,0.000,0.038,2806,3350,968
$GC,9731,0.16,432.9,136.7,7.6,521,9736,0.00,2.42,0.00,0.000,6,0.000,0.028,2806,1939,969
$GC,10060,0.35,508.9,115.9,4.6,551,10125,0.20,2.55,58.60,0.655,4,0.054,0.036,2859,3347,657
$GC,10138,0.28,508.9,110.2,7.9,558,10144,0.00,2.42,0.00,0.000,6,0.000,0.025,2859,1938,658
$GC,10468,0.23,508.9,79.8,8.8,589,10473,0.15,2.47,0.00,0.000,4,0.094,0.034,2829,3355,661
$GC,10532,0.32,528.5,74.7,6.2,594,10555,0.00,2.42,17.05,0.614,6,0.000,0.026,2829,1939,577
$GC,10815,0.46,568.5,56.1,5.6,620,10851,0.17,2.53,29.95,0.586,4,0.055,0.034,2879,3345,419
$GC,10874,0.43,568.5,51.0,9.3,625,10881,0.00,2.38,0.00,0.000,6,0.000,0.025,2878,1948,419
$GC,11145,0.38,589.5,23.9,6.2,656,11152,0.00,2.42,0.00,0.000,4,0.000,0.033,2878,3351,420
$GC,11193,0.31,589.5,17.5,12.0,664,11201,0.15,2.40,0.15,1.660,6,0.087,0.027,2848,1949,420
$STATE,11363,end climb,SURFACE_DEPTH_REACHED
$STATE,11363,begin surface coast
$FINISH,0.9,1.010971
$STATE,11432,end surface coast,CONTROL_FINISHED_OK
$STATE,11432,begin surface
$SM_CCo,11516,0.00,0.000,0,0,420,567.38
$SM_GC,1.51,10.75,0.00,0.00,0.040,0.000,0.000,407,2063,420,-10.87,0.65,567.38
$IRIDIUM_FIX,2101.76,-15747.88,170198,101019
$TT8_MAMPS,0.026845
$HUMID,1714
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.90
$XPDR_PINGS,17
$24V_AH,23.8,31.778
$10V_AH,10.2,19.475
$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,28.525,122.800,574.550,0.000,0.000,50.545,59.772,248.302,13.250,0.000,0.000,12.575,1288.981,7818.865,610.705,1661.462,702.562,33.367,1465.620,0.000,1635.431,0.000,57.460
$DEVICE_MAMPS,154.934,53.690,1659.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.855,465.877,834.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,706
$CAP_FILE_SIZE,110602,0
$CFSIZE,260165632,245477376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231008,135007,2106.739,-15749.379,31,1.1,41,9.8