version: 66.03
glider: 114
mission: 3
dive: 228
start: 10 23 108 14 0 18
data:
$ID,114
$MISSION,3
$DIVE,228
$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,-596138.56
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,30
$R_STBD_OVSHOOT,57
$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
$GPS1,135007,2106.739,-15749.379,31,1.1,41,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.9
$GPS2,135921,2106.716,-15749.368,13,1.2,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.180,-0.147
$KALMAN_X,-57869.7,119.6,-133.8,65147.8,-1058.2
$KALMAN_Y,-56044.2,22.8,194.0,37563.6,-648.2
$MHEAD_RNG_PITCHd_Wd,119.3,9178,-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,23,begin dive
$GC,26,-1.06,-165.5,0.0,0.0,0,110,0.00,0.00,-81.25,0.000,2,0.000,0.000,407,2062,2892
$GC,115,-1.06,-165.5,3.7,-4.5,15,145,11.95,2.53,-8.43,0.000,4,0.156,0.047,2541,630,3410
$GC,181,-1.09,-165.5,17.5,-11.1,26,187,0.00,2.35,0.00,0.000,6,0.000,0.022,2541,2034,3410
$GC,453,-1.16,-165.5,38.1,-8.5,66,457,0.00,2.42,0.00,0.000,4,0.000,0.037,2540,3444,3409
$GC,551,-1.29,-165.5,46.6,-8.8,74,556,0.20,2.38,0.00,0.000,6,0.051,0.023,2492,2028,3410
$GC,813,-1.29,-165.5,72.0,-9.2,98,817,0.00,2.45,0.00,0.000,4,0.000,0.036,2492,3446,3410
$GC,875,-1.29,-165.5,78.4,-9.9,103,881,0.00,2.35,0.00,0.000,6,0.000,0.023,2492,2037,3409
$GC,1136,-1.29,-165.5,99.9,-8.5,128,1144,0.00,2.42,0.00,0.000,4,0.000,0.035,2491,3441,3409
$GC,1257,-1.38,-165.5,111.8,-9.4,138,1264,0.00,2.35,0.00,0.000,6,0.000,0.024,2492,2034,3410
$GC,1584,-1.42,-165.5,135.3,-6.5,169,1588,0.00,2.42,0.00,0.000,4,0.000,0.034,2492,3444,3410
$GC,1607,-1.48,-165.5,137.0,-6.9,170,1614,0.15,2.35,0.00,0.000,6,0.056,0.024,2455,2036,3410
$GC,1932,-1.48,-165.5,163.7,-9.8,201,1936,0.00,2.40,0.00,0.000,4,0.000,0.034,2454,3441,3410
$GC,1973,-1.48,-165.5,167.8,-10.1,204,1980,0.00,2.35,0.00,0.000,6,0.000,0.024,2455,2034,3410
$GC,2299,-1.48,-165.5,195.2,-8.2,235,2303,0.00,2.40,0.00,0.000,4,0.000,0.039,2455,640,3410
$GC,2318,-1.51,-165.5,196.7,-8.4,236,2322,0.00,2.35,0.00,0.000,6,0.000,0.023,2455,2039,3410
$GC,2636,-1.51,-165.5,221.3,-7.9,253,2640,0.00,2.40,0.00,0.000,4,0.000,0.036,2454,3443,3410
$GC,2699,-1.58,-165.5,225.9,-7.0,256,2704,0.00,2.38,0.00,0.000,6,0.000,0.026,2454,2040,3410
$GC,3030,-1.62,-165.5,248.3,-6.2,272,3032,0.12,0.00,0.00,0.000,6,0.060,0.000,2423,2038,3409
$GC,3337,-1.62,-165.5,270.4,-7.8,287,3342,0.00,2.45,0.00,0.000,4,0.000,0.038,2422,3447,3408
$GC,3455,-1.62,-165.5,280.7,-9.0,292,3459,0.00,2.40,0.00,0.000,6,0.000,0.028,2422,2037,3407
$GC,3790,-1.62,-165.5,307.3,-7.5,306,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2036,3405
$GC,4118,-1.62,-165.5,332.5,-7.8,314,4122,0.00,2.45,0.00,0.000,4,0.000,0.040,2423,3440,3403
$GC,4169,-1.67,-165.5,337.1,-8.5,315,4173,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2039,3403
$GC,4482,-1.67,-165.5,364.6,-9.0,323,4486,0.00,2.47,0.00,0.000,4,0.000,0.041,2422,3446,3400
$GC,4527,-1.71,-165.5,368.8,-8.8,324,4532,0.00,2.42,0.00,0.000,6,0.000,0.030,2422,2032,3400
$GC,4847,-1.71,-165.5,394.5,-7.3,332,4851,0.00,2.47,0.00,0.000,4,0.000,0.042,2422,3438,3398
$GC,4863,-1.71,-165.5,395.7,-7.0,332,4867,0.00,2.40,0.00,0.000,6,0.000,0.031,2422,2040,3398
$GC,5212,-1.71,-165.5,423.1,-8.4,341,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2040,3395
$STATE,5534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5534,begin apogee
$GC,5542,-0.33,0.0,451.1,8.4,349,5674,1.35,0.00,128.10,0.918,6,0.086,0.000,2704,1935,2733
$STATE,5674,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5678,1.06,165.5,457.2,0.0,352,5817,1.40,2.60,129.88,0.897,4,0.050,0.043,3010,3355,2058
$GC,5880,0.53,165.5,451.4,12.4,357,5886,0.62,2.47,0.00,0.000,6,0.129,0.035,2899,1956,2057
$GC,6229,0.25,165.5,422.8,8.2,366,6235,0.30,2.58,0.00,0.000,4,0.124,0.054,2839,536,2055
$GC,6275,0.06,165.5,418.9,8.1,367,6280,0.22,2.45,0.00,0.000,6,0.117,0.030,2798,1945,2055
$GC,6594,-0.01,165.5,395.3,7.9,375,6599,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,536,2053
$GC,6628,-0.11,165.5,392.1,9.1,375,6635,0.22,2.47,0.00,0.000,6,0.108,0.031,2756,1961,2053
$GC,6961,-0.02,218.5,372.0,5.2,384,7006,0.00,2.53,40.22,0.900,4,0.000,0.044,2756,3352,1841
$GC,7051,0.07,271.1,367.5,5.3,386,7101,0.17,2.47,41.88,0.881,6,0.072,0.035,2792,1950,1626
$GC,7413,0.10,316.4,347.1,5.5,395,7455,0.00,2.55,35.20,0.874,4,0.000,0.042,2792,3350,1443
$GC,7517,0.10,316.4,340.1,7.9,397,7521,0.00,2.47,0.00,0.000,6,0.000,0.035,2792,1940,1442
$GC,7865,0.08,328.2,316.5,6.5,406,7880,0.00,2.58,9.82,0.858,4,0.000,0.054,2792,541,1395
$GC,7893,0.05,331.9,314.6,6.7,406,7904,0.00,2.47,3.90,0.828,6,0.000,0.031,2792,1958,1379
$GC,8211,0.08,369.5,295.6,5.7,416,8246,0.00,2.53,29.67,0.857,4,0.000,0.046,2793,3356,1226
$GC,8309,0.08,369.5,288.8,7.3,420,8313,0.00,2.47,0.00,0.000,6,0.000,0.034,2792,1946,1226
$GC,8626,0.13,397.1,269.1,6.0,435,8654,0.00,2.60,21.88,0.831,4,0.000,0.041,2792,3353,1113
$GC,8684,0.13,399.3,265.4,6.8,437,8694,0.00,2.47,2.95,0.781,6,0.000,0.032,2792,1940,1104
$GC,9023,0.15,406.8,242.0,6.6,454,9036,0.00,2.60,6.60,0.801,4,0.000,0.041,2792,3360,1073
$GC,9090,0.15,406.8,237.5,7.1,457,9094,0.00,2.47,0.00,0.000,6,0.000,0.031,2792,1942,1074
$GC,9417,0.15,406.8,215.1,7.5,473,9421,0.00,2.50,0.00,0.000,4,0.000,0.038,2793,3364,1074
$GC,9475,0.18,406.8,211.0,6.9,475,9481,0.12,2.45,0.00,0.000,6,0.074,0.030,2820,1945,1074
$GC,9795,0.13,406.8,187.0,8.6,498,9799,0.00,2.47,0.00,0.000,4,0.000,0.038,2821,3360,1074
$GC,9813,0.08,406.8,185.7,8.0,499,9819,0.12,2.42,0.00,0.000,6,0.101,0.028,2797,1949,1075
$GC,10140,0.09,410.8,164.7,6.7,530,10151,0.00,2.50,3.92,0.722,4,0.000,0.036,2797,3350,1058
$GC,10192,0.16,418.1,161.1,6.6,534,10203,0.00,2.40,6.43,0.729,6,0.000,0.028,2797,1949,1027
$GC,10525,0.28,467.9,143.2,5.3,565,10571,0.15,2.58,38.65,0.696,4,0.064,0.036,2838,3359,825
$GC,10595,0.21,467.9,137.5,9.4,571,10601,0.00,2.45,0.00,0.000,6,0.000,0.027,2838,1940,825
$GC,10924,0.16,467.9,108.1,9.2,602,10929,0.12,2.47,0.00,0.000,4,0.096,0.035,2814,3355,825
$GC,10987,0.23,467.9,102.0,9.2,607,10991,0.00,2.42,0.00,0.000,6,0.000,0.026,2814,1939,826
$GC,11316,0.29,467.9,77.7,7.5,637,11321,0.12,2.45,0.00,0.000,4,0.064,0.044,2845,545,827
$GC,11347,0.29,467.9,75.0,8.7,639,11352,0.00,2.38,0.00,0.000,6,0.000,0.023,2845,1964,827
$GC,11610,0.29,467.9,55.7,7.0,663,11614,0.00,2.38,0.00,0.000,4,0.000,0.036,2845,3346,827
$GC,11662,0.36,467.9,51.7,8.2,667,11666,0.00,2.38,0.00,0.000,6,0.000,0.026,2845,1944,827
$GC,11928,0.50,527.5,39.7,5.1,691,11976,0.17,0.00,46.05,0.575,6,0.056,0.000,2892,1944,581
$GC,12241,0.40,527.5,12.0,8.9,737,12248,0.12,2.42,0.00,0.000,4,0.098,0.030,2868,3349,584
$GC,12296,0.37,527.5,6.6,10.3,746,12303,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,1941,584
$STATE,12312,end climb,SURFACE_DEPTH_REACHED
$STATE,12312,begin surface coast
$FINISH,0.8,1.013926
$STATE,12376,end surface coast,CONTROL_FINISHED_OK
$STATE,12376,begin surface
$SM_CCo,12460,0.00,0.000,0,0,587,526.66
$SM_GC,1.47,11.00,0.00,0.00,0.048,0.000,0.000,410,2063,587,-10.86,0.62,526.66
$IRIDIUM_FIX,2101.76,-15828.22,170198,141400
$TT8_MAMPS,0.027612
$HUMID,1709
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,23.8,31.928
$10V_AH,10.2,19.564
$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,28.675,142.500,545.150,0.000,0.000,56.763,66.195,227.544,11.500,0.000,0.000,14.626,1389.247,8518.633,618.602,1792.219,697.523,33.386,1528.535,0.000,1756.317,0.000,57.447
$DEVICE_MAMPS,156.468,54.457,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.134,499.520,899.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41136,760
$CAP_FILE_SIZE,118677,0
$CFSIZE,260165632,245407744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231008,172909,2105.720,-15748.257,32,1.5,32,9.8