version: 66.03
glider: 114
mission: 3
dive: 230
start: 10 23 108 21 14 18
data:
$ID,114
$MISSION,3
$DIVE,230
$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,400
$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,-596193.44
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,210708,2105.145,-15747.478,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.7
$GPS2,211320,2105.169,-15747.527,12,1.3,17,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.190,-0.134
$KALMAN_X,-60349.0,354.9,101.2,70320.1,-2154.2
$KALMAN_Y,-55777.1,271.7,8.5,34366.1,-101.8
$MHEAD_RNG_PITCHd_Wd,115.3,5397,-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,-165.5,0.0,0.0,0,105,0.00,0.00,-75.70,0.000,2,0.000,0.000,408,2056,2874
$GC,109,-1.06,-165.5,3.6,-4.3,14,139,11.95,2.40,-8.62,0.000,4,0.156,0.047,2540,3426,3411
$GC,147,-0.04,-165.5,15.7,-29.5,20,155,1.08,2.35,0.00,0.000,6,0.073,0.021,2768,2022,3411
$GC,423,-0.58,-165.5,35.4,-8.3,63,429,0.50,2.42,0.00,0.000,4,0.058,0.031,2654,3430,3411
$GC,458,-0.95,-165.5,38.5,-8.6,65,465,0.38,2.33,0.00,0.000,6,0.063,0.021,2572,2032,3411
$GC,723,-1.25,-165.5,59.5,-8.2,90,727,0.25,2.40,0.00,0.000,4,0.052,0.039,2506,645,3411
$GC,741,-1.48,-165.5,61.4,-8.3,91,746,0.22,2.33,0.00,0.000,6,0.047,0.021,2452,2045,3411
$GC,1006,-1.41,-165.5,94.8,-11.0,115,1011,0.10,2.38,0.00,0.000,4,0.102,0.033,2470,3439,3411
$GC,1073,-1.48,-165.5,101.5,-8.5,120,1080,0.00,2.35,0.00,0.000,6,0.000,0.024,2470,2035,3411
$GC,1399,-1.48,-165.5,132.1,-8.9,151,1403,0.00,2.40,0.00,0.000,4,0.000,0.034,2470,3430,3411
$GC,1429,-1.48,-165.5,134.9,-9.2,153,1433,0.00,2.35,0.00,0.000,6,0.000,0.024,2470,2032,3412
$GC,1755,-1.52,-165.5,162.2,-8.2,183,1759,0.00,2.42,0.00,0.000,4,0.000,0.035,2470,3438,3412
$GC,1846,-1.61,-165.5,169.6,-8.0,190,1854,0.17,2.35,0.00,0.000,6,0.053,0.025,2426,2034,3412
$GC,2173,-1.61,-165.5,198.9,-8.8,221,2177,0.00,2.42,0.00,0.000,4,0.000,0.035,2425,3437,3412
$GC,2236,-1.61,-165.5,204.8,-9.1,224,2240,0.00,2.38,0.00,0.000,6,0.000,0.025,2425,2031,3411
$GC,2563,-1.61,-165.5,232.1,-8.0,240,2567,0.00,2.42,0.00,0.000,4,0.000,0.037,2425,3429,3411
$GC,2613,-1.61,-165.5,236.6,-8.5,242,2617,0.00,2.35,0.00,0.000,6,0.000,0.026,2425,2041,3411
$GC,2930,-1.61,-165.5,263.1,-8.8,257,2934,0.00,2.42,0.00,0.000,4,0.000,0.038,2425,3432,3411
$GC,2954,-1.61,-165.5,265.5,-10.0,258,2958,0.00,2.38,0.00,0.000,6,0.000,0.027,2425,2037,3411
$GC,3275,-1.61,-165.5,298.1,-10.2,274,3279,0.00,2.42,0.00,0.000,4,0.000,0.039,2426,3431,3410
$GC,3303,-1.61,-165.5,301.1,-10.5,275,3307,0.00,2.38,0.00,0.000,6,0.000,0.028,2426,2032,3410
$GC,3646,-1.61,-165.5,331.1,-7.7,284,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2031,3407
$GC,3971,-1.61,-165.5,352.8,-6.3,292,3975,0.00,2.45,0.00,0.000,4,0.000,0.041,2426,3428,3404
$GC,4033,-1.67,-165.5,357.1,-6.5,293,4038,0.00,2.38,0.00,0.000,6,0.000,0.029,2425,2041,3403
$GC,4379,-1.67,-165.5,380.0,-6.6,302,4383,0.00,2.45,0.00,0.000,4,0.000,0.041,2426,3435,3401
$GC,4401,-1.67,-165.5,381.7,-6.7,302,4405,0.00,2.40,0.00,0.000,6,0.000,0.031,2426,2038,3401
$GC,4738,-1.67,-165.5,404.2,-6.6,311,4742,0.00,2.45,0.00,0.000,4,0.000,0.042,2425,3432,3399
$GC,4797,-1.73,-165.5,408.1,-6.5,312,4802,0.10,2.40,0.00,0.000,6,0.077,0.032,2403,2038,3398
$GC,5110,-1.73,-165.5,433.7,-8.4,320,5114,0.00,2.50,0.00,0.000,4,0.000,0.051,2403,627,3396
$GC,5132,-1.73,-165.5,435.9,-9.7,320,5136,0.00,2.40,0.00,0.000,6,0.000,0.030,2403,2026,3396
$STATE,5304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5304,begin apogee
$GC,5312,-0.33,0.0,451.9,9.2,325,5444,1.45,0.00,128.52,0.927,6,0.099,0.000,2702,1931,2732
$STATE,5445,end apogee,CONTROL_FINISHED_OK
$STATE,5445,begin climb
$GC,5448,1.06,165.5,458.1,0.0,328,5586,1.38,2.55,129.45,0.905,4,0.050,0.053,3008,552,2057
$GC,5600,0.53,165.5,459.0,8.8,331,5606,0.62,2.47,0.00,0.000,6,0.130,0.030,2897,1963,2057
$GC,5932,0.24,165.5,433.5,7.3,339,5938,0.32,2.58,0.00,0.000,4,0.139,0.053,2838,558,2056
$GC,6066,0.09,187.5,425.1,6.2,342,6091,0.20,2.42,17.25,0.905,6,0.123,0.030,2802,1950,1968
$GC,6436,0.13,257.5,406.4,4.7,351,6496,0.00,2.58,54.67,0.903,4,0.000,0.047,2802,3355,1683
$GC,6556,0.11,283.0,400.4,6.1,353,6582,0.00,2.47,20.88,0.891,6,0.000,0.035,2802,1956,1579
$GC,6926,0.13,331.9,380.8,5.4,363,6970,0.00,2.58,38.03,0.895,4,0.000,0.043,2802,3343,1380
$GC,7000,0.10,347.0,376.5,6.4,364,7019,0.00,2.47,12.77,0.880,6,0.000,0.034,2802,1944,1317
$GC,7340,0.03,347.0,351.0,8.0,373,7344,0.00,2.53,0.00,0.000,4,0.000,0.042,2802,3358,1317
$GC,7380,-0.02,347.0,347.4,9.3,374,7385,0.12,2.50,0.00,0.000,6,0.122,0.034,2780,1939,1316
$GC,7705,0.01,362.2,325.1,6.4,382,7724,0.00,2.62,12.32,0.881,4,0.000,0.041,2780,3365,1256
$GC,7754,0.04,382.3,322.3,6.2,383,7777,0.00,2.50,16.70,0.874,6,0.000,0.033,2780,1943,1174
$GC,8116,0.07,396.7,300.4,6.4,392,8135,0.00,2.60,11.98,0.864,4,0.000,0.040,2780,3351,1115
$GC,8183,0.07,399.2,296.2,6.7,394,8192,0.00,2.47,3.00,0.824,6,0.000,0.032,2780,1944,1105
$GC,8514,0.07,399.2,273.0,7.2,410,8519,0.00,2.50,0.00,0.000,4,0.000,0.040,2780,3357,1104
$GC,8543,0.07,399.2,271.1,7.5,411,8547,0.00,2.45,0.00,0.000,6,0.000,0.031,2780,1949,1104
$GC,8858,0.07,399.2,248.8,7.3,426,8863,0.00,2.47,0.00,0.000,4,0.000,0.038,2780,3353,1104
$GC,8904,0.11,399.2,245.7,7.5,428,8909,0.10,2.42,0.00,0.000,6,0.083,0.031,2802,1948,1104
$GC,9226,0.22,461.1,226.2,5.0,444,9281,0.12,2.60,48.00,0.801,4,0.074,0.038,2831,3357,853
$GC,9299,0.13,461.1,220.7,8.5,447,9304,0.12,2.47,0.00,0.000,6,0.104,0.029,2808,1942,853
$GC,9617,0.09,461.1,196.9,7.7,463,9621,0.00,2.50,0.00,0.000,4,0.000,0.038,2809,3357,853
$GC,9679,0.09,461.1,191.7,8.7,468,9685,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1939,853
$GC,10009,0.09,461.1,162.2,8.3,499,10013,0.00,2.47,0.00,0.000,4,0.000,0.036,2808,3353,853
$GC,10043,0.09,461.1,159.3,7.5,501,10049,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1943,853
$GC,10371,0.09,461.1,136.1,8.0,532,10375,0.00,2.47,0.00,0.000,4,0.000,0.036,2808,3358,853
$GC,10440,0.15,461.1,130.2,8.6,537,10446,0.00,2.42,0.00,0.000,6,0.000,0.028,2808,1940,854
$GC,10769,0.19,465.1,108.8,6.7,568,10781,0.00,2.47,4.40,0.670,4,0.000,0.035,2808,3354,836
$GC,10805,0.24,465.1,106.0,7.4,571,10810,0.10,2.42,0.00,0.000,6,0.071,0.026,2833,1939,836
$GC,11131,0.24,465.1,77.3,8.8,601,11136,0.00,2.45,0.00,0.000,4,0.000,0.034,2833,3355,836
$GC,11165,0.24,465.1,74.6,7.5,603,11171,0.00,2.40,0.00,0.000,6,0.000,0.026,2833,1940,837
$GC,11428,0.28,465.1,55.8,7.7,628,11432,0.00,2.45,0.00,0.000,4,0.000,0.044,2833,541,838
$GC,11458,0.34,465.1,53.6,7.4,630,11464,0.00,2.38,0.00,0.000,6,0.000,0.022,2833,1964,837
$GC,11723,0.45,488.6,38.0,6.1,655,11749,0.17,2.45,18.50,0.589,4,0.057,0.035,2881,3347,740
$GC,11783,0.45,488.6,32.5,9.6,660,11790,0.00,2.40,0.00,0.000,6,0.000,0.026,2881,1940,740
$GC,12060,0.36,488.6,7.6,9.8,706,12067,0.10,2.42,0.00,0.000,4,0.102,0.031,2861,3353,741
$STATE,12088,end climb,SURFACE_DEPTH_REACHED
$STATE,12088,begin surface coast
$FINISH,1.0,1.002828
$STATE,12162,end surface coast,CONTROL_FINISHED_OK
$STATE,12162,begin surface
$SM_CCo,12248,0.00,0.000,0,0,741,488.64
$SM_GC,1.63,10.90,0.00,0.00,0.046,0.000,0.000,413,2022,741,-10.85,-0.51,488.64
$IRIDIUM_FIX,2059.45,-15831.22,170198,171759
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,23.8,32.217
$10V_AH,10.2,19.739
$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,30.475,156.400,516.475,0.000,0.000,25.457,27.928,177.954,10.250,0.000,0.000,19.183,1357.657,8345.754,589.515,1742.456,586.126,33.373,1490.559,0.000,1700.390,0.000,57.440
$DEVICE_MAMPS,156.468,52.923,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.494,474.771,845.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37959,724
$CAP_FILE_SIZE,118820,0
$CFSIZE,260165632,245284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241008,003938,2104.332,-15747.038,33,1.8,33,9.8