version: 66.03
glider: 114
mission: 3
dive: 229
start: 10 23 108 17 36 49
data:
$ID,114
$MISSION,3
$DIVE,229
$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,-596173.62
$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,35
$R_STBD_OVSHOOT,67
$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
$GPS1,172909,2105.720,-15748.257,32,1.5,32,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.1
$GPS2,173551,2105.739,-15748.288,32,1.6,32,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.212,-0.095
$KALMAN_X,-59254.7,344.2,501.6,67526.0,-2227.2
$KALMAN_Y,-55930.1,179.1,47.4,35625.8,-306.2
$MHEAD_RNG_PITCHd_Wd,104.4,6767,-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,27,-1.06,-165.5,0.0,0.0,0,99,0.00,0.00,-70.30,0.000,2,0.000,0.000,411,2062,2718
$GC,103,-1.06,-165.5,3.2,-4.0,13,134,11.88,2.50,-12.00,0.000,4,0.154,0.050,2540,634,3409
$GC,176,-1.18,-165.5,16.1,-9.6,25,182,0.00,2.30,0.00,0.000,6,0.000,0.021,2541,2020,3409
$GC,453,-1.25,-165.5,40.5,-9.4,64,458,0.15,2.45,0.00,0.000,4,0.056,0.036,2500,3441,3409
$GC,549,-1.25,-165.5,50.1,-9.0,72,553,0.00,2.35,0.00,0.000,6,0.000,0.023,2500,2035,3409
$GC,817,-1.25,-165.5,74.7,-7.2,97,821,0.00,2.42,0.00,0.000,4,0.000,0.035,2500,3437,3409
$GC,907,-1.30,-165.5,80.5,-5.7,104,914,0.00,2.35,0.00,0.000,6,0.000,0.023,2500,2030,3409
$GC,1236,-1.35,-165.5,101.1,-7.3,135,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3409
$GC,1565,-1.41,-165.5,125.3,-6.4,166,1570,0.12,2.40,0.00,0.000,4,0.058,0.030,2467,3432,3410
$GC,1623,-1.41,-165.5,130.2,-8.3,170,1630,0.00,2.33,0.00,0.000,6,0.000,0.023,2467,2038,3410
$GC,1950,-1.45,-165.5,153.1,-6.7,201,1954,0.00,2.40,0.00,0.000,4,0.000,0.035,2467,3432,3410
$GC,2013,-1.52,-165.5,157.4,-6.6,206,2017,0.00,2.35,0.00,0.000,6,0.000,0.025,2467,2035,3410
$GC,2338,-1.56,-165.5,179.7,-8.1,236,2344,0.12,2.40,0.00,0.000,4,0.061,0.034,2434,3431,3410
$GC,2419,-1.56,-165.5,187.5,-10.3,243,2423,0.00,2.35,0.00,0.000,6,0.000,0.025,2434,2038,3410
$GC,2752,-1.56,-165.5,215.6,-8.0,265,2756,0.00,2.42,0.00,0.000,4,0.000,0.036,2434,3439,3409
$GC,2820,-1.56,-165.5,221.5,-8.4,268,2824,0.00,2.38,0.00,0.000,6,0.000,0.025,2434,2028,3409
$GC,3142,-1.56,-165.5,244.2,-5.9,284,3146,0.00,2.42,0.00,0.000,4,0.000,0.037,2434,3434,3410
$GC,3204,-1.61,-165.5,248.3,-6.8,286,3210,0.00,2.35,0.00,0.000,6,0.000,0.026,2434,2043,3409
$GC,3520,-1.61,-165.5,273.9,-9.2,302,3524,0.00,2.42,0.00,0.000,4,0.000,0.038,2434,3437,3408
$GC,3560,-1.65,-165.5,277.7,-9.4,304,3564,0.00,2.38,0.00,0.000,6,0.000,0.027,2434,2040,3407
$GC,3907,-1.65,-165.5,307.7,-8.2,319,3911,0.00,2.45,0.00,0.000,4,0.000,0.044,2434,631,3405
$GC,3924,-1.68,-165.5,309.2,-8.1,319,3928,0.00,2.38,0.00,0.000,6,0.000,0.027,2434,2031,3405
$GC,4272,-1.68,-165.5,337.2,-7.7,328,4276,0.00,2.47,0.00,0.000,4,0.000,0.042,2434,3447,3403
$GC,4300,-1.72,-165.5,339.4,-7.3,328,4305,0.12,2.40,0.00,0.000,6,0.067,0.030,2405,2042,3403
$GC,4631,-1.72,-165.5,365.9,-8.1,336,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2041,3400
$GC,4957,-1.72,-165.5,390.6,-7.1,344,4961,0.00,2.47,0.00,0.000,4,0.000,0.042,2405,3446,3398
$GC,5002,-1.72,-165.5,394.1,-7.6,345,5006,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2034,3399
$GC,5322,-1.72,-165.5,419.1,-8.3,353,5326,0.00,2.47,0.00,0.000,4,0.000,0.042,2405,3441,3395
$GC,5356,-1.72,-165.5,422.4,-9.5,353,5362,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,2031,3396
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5685,begin apogee
$GC,5693,-0.33,0.0,452.2,8.8,362,5825,1.45,0.00,128.23,0.920,6,0.093,0.000,2706,1935,2733
$STATE,5826,end apogee,CONTROL_FINISHED_OK
$STATE,5826,begin climb
$GC,5829,1.06,165.5,457.5,0.0,365,5967,1.35,2.55,129.75,0.896,4,0.048,0.053,3007,553,2058
$GC,6051,0.51,165.5,447.7,14.4,370,6057,0.62,2.45,0.00,0.000,6,0.143,0.030,2896,1954,2057
$GC,6400,0.23,165.5,418.5,7.8,379,6406,0.30,2.55,0.00,0.000,4,0.119,0.054,2836,564,2056
$GC,6508,0.10,190.6,411.5,6.1,381,6533,0.17,2.42,19.73,0.895,6,0.125,0.031,2805,1954,1955
$GC,6856,0.08,234.3,392.4,5.5,390,6898,0.00,2.58,33.83,0.899,4,0.000,0.047,2805,3360,1777
$GC,6955,0.01,234.9,385.4,6.8,392,6960,0.12,2.45,0.00,0.000,6,0.124,0.035,2784,1970,1777
$GC,7269,0.01,251.8,365.3,6.3,400,7288,0.00,2.65,14.12,0.889,4,0.000,0.054,2784,537,1707
$GC,7307,0.05,297.7,362.8,5.5,400,7352,0.00,2.47,36.58,0.885,6,0.000,0.031,2784,1949,1518
$GC,7678,0.10,328.7,340.3,5.9,410,7708,0.00,2.58,24.65,0.871,4,0.000,0.048,2784,3355,1392
$GC,7782,0.16,360.7,334.0,5.9,412,7813,0.15,2.47,25.42,0.867,6,0.077,0.034,2815,1949,1262
$GC,8130,0.07,361.0,310.0,6.8,421,8134,0.00,2.55,0.00,0.000,4,0.000,0.054,2815,531,1262
$GC,8147,-0.02,361.0,308.5,7.0,421,8152,0.20,2.47,0.00,0.000,6,0.103,0.031,2779,1953,1262
$GC,8472,-0.02,361.0,286.8,7.5,434,8476,0.00,2.50,0.00,0.000,4,0.000,0.045,2779,3359,1262
$GC,8550,-0.02,361.0,280.0,8.7,437,8556,0.00,2.47,0.00,0.000,6,0.000,0.033,2778,1940,1262
$GC,8867,-0.02,361.0,255.2,7.7,453,8871,0.00,2.50,0.00,0.000,4,0.000,0.041,2779,3361,1262
$GC,8910,0.02,361.0,252.3,7.0,455,8914,0.00,2.47,0.00,0.000,6,0.000,0.032,2779,1939,1262
$GC,9237,0.04,377.5,231.6,6.3,471,9259,0.00,2.58,13.52,0.814,4,0.000,0.038,2778,3353,1194
$GC,9299,0.13,390.1,227.3,6.4,473,9315,0.15,2.45,10.65,0.807,6,0.067,0.031,2812,1946,1141
$GC,9635,0.09,390.1,200.9,7.5,490,9639,0.00,2.47,0.00,0.000,4,0.000,0.039,2812,3353,1142
$GC,9668,0.05,390.1,198.1,7.6,492,9674,0.00,2.42,0.00,0.000,6,0.000,0.031,2812,1951,1142
$GC,9997,0.02,390.1,172.6,7.2,523,10002,0.15,2.47,0.00,0.000,4,0.096,0.037,2780,3358,1142
$GC,10050,0.11,398.9,169.1,6.6,527,10065,0.10,2.45,7.82,0.754,6,0.074,0.030,2804,1939,1105
$GC,10392,0.12,406.6,142.5,6.6,559,10400,0.00,0.00,6.53,0.721,6,0.000,0.000,2804,1939,1074
$GC,10724,0.22,462.8,122.4,5.2,590,10778,0.10,2.60,43.25,0.686,4,0.073,0.035,2828,3366,846
$GC,10829,0.22,462.8,115.1,7.5,599,10835,0.00,2.45,0.00,0.000,6,0.000,0.028,2829,1950,845
$GC,11159,0.22,462.8,93.6,8.2,630,11163,0.00,2.47,0.00,0.000,4,0.000,0.046,2829,547,846
$GC,11192,0.22,462.8,90.4,8.0,632,11198,0.00,2.40,0.00,0.000,6,0.000,0.024,2829,1968,846
$GC,11522,0.37,521.2,69.7,5.1,663,11576,0.15,2.47,44.72,0.615,4,0.063,0.036,2870,3350,608
$GC,11605,0.32,521.2,63.2,8.5,670,11612,0.00,2.40,0.00,0.000,6,0.000,0.026,2870,1950,609
$GC,11868,0.29,521.2,44.1,7.8,695,11873,0.12,2.45,0.00,0.000,4,0.095,0.033,2845,3356,610
$GC,11932,0.39,529.3,39.3,6.6,700,11944,0.00,2.40,7.88,0.589,6,0.000,0.026,2845,1949,574
$GC,12207,0.42,529.3,20.8,7.3,737,12213,0.12,0.00,0.00,0.000,6,0.061,0.000,2877,1949,575
$STATE,12380,end climb,SURFACE_DEPTH_REACHED
$STATE,12383,begin surface coast
$FINISH,0.9,0.998205
$STATE,12456,end surface coast,CONTROL_FINISHED_OK
$STATE,12456,begin surface
$SM_CCo,12540,0.00,0.000,0,0,576,529.11
$SM_GC,1.66,11.02,0.00,0.00,0.048,0.000,0.000,408,2060,576,-10.87,0.57,529.11
$IRIDIUM_FIX,2059.45,-15746.61,170198,141429
$TT8_MAMPS,0.027612
$HUMID,1716
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.90
$XPDR_PINGS,15
$24V_AH,23.8,32.074
$10V_AH,10.2,19.655
$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,28.700,137.400,546.675,0.000,0.000,24.206,29.118,186.642,12.750,0.000,0.000,34.410,1420.133,8451.548,615.769,1864.792,591.761,33.372,1538.696,0.000,1810.363,0.000,59.894
$DEVICE_MAMPS,154.167,55.991,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.590,523.155,945.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41177,781
$CAP_FILE_SIZE,118434,0
$CFSIZE,260165632,245346304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231008,210708,2105.145,-15747.478,40,1.0,40,9.8