version: 66.03
glider: 114
mission: 3
dive: 231
start: 10 24 108 0 51 23
data:
$ID,114
$MISSION,3
$DIVE,231
$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,-596207.56
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,003938,2104.332,-15747.038,33,1.8,33,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.0
$GPS2,005027,2104.364,-15747.092,12,1.7,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.099,-0.210
$KALMAN_X,-61489.2,184.1,-339.2,72826.1,-1102.4
$KALMAN_Y,-55574.9,239.9,115.5,32598.9,-271.9
$MHEAD_RNG_PITCHd_Wd,145.0,3820,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.06,-165.5,0.0,0.0,0,103,0.00,0.00,-70.25,0.000,2,0.000,0.000,413,2015,2864
$GC,107,-1.06,-165.5,3.4,-4.1,13,137,11.98,2.53,-8.75,0.000,4,0.157,0.049,2543,3437,3410
$GC,266,-1.20,-165.5,25.9,-7.7,40,273,0.10,2.38,0.00,0.000,6,0.067,0.024,2518,2027,3410
$GC,539,-1.20,-165.5,53.0,-10.2,69,544,0.00,2.45,0.00,0.000,4,0.000,0.035,2518,3436,3410
$GC,607,-1.30,-165.5,59.5,-8.8,74,614,0.00,2.35,0.00,0.000,6,0.000,0.023,2518,2035,3410
$GC,870,-1.37,-165.5,78.5,-6.8,99,875,0.15,2.42,0.00,0.000,4,0.055,0.038,2477,631,3410
$GC,900,-1.41,-165.5,80.6,-7.9,101,904,0.00,2.35,0.00,0.000,6,0.000,0.021,2477,2039,3410
$GC,1227,-1.41,-165.5,110.7,-10.2,131,1231,0.00,2.40,0.00,0.000,4,0.000,0.035,2477,3443,3410
$GC,1283,-1.49,-165.5,116.2,-8.5,135,1290,0.10,2.35,0.00,0.000,6,0.065,0.025,2451,2042,3410
$GC,1610,-1.49,-165.5,147.0,-9.9,166,1614,0.00,2.40,0.00,0.000,4,0.000,0.037,2451,640,3411
$GC,1644,-1.49,-165.5,151.0,-11.5,168,1650,0.00,2.35,0.00,0.000,6,0.000,0.024,2451,2044,3411
$GC,1970,-1.49,-165.5,178.0,-7.2,199,1974,0.00,2.40,0.00,0.000,4,0.000,0.035,2451,3448,3411
$GC,2077,-1.55,-165.5,186.9,-8.9,208,2081,0.00,2.40,0.00,0.000,6,0.000,0.025,2451,2029,3410
$GC,2410,-1.55,-165.5,216.4,-7.6,230,2414,0.00,2.45,0.00,0.000,4,0.000,0.036,2451,3444,3411
$GC,2458,-1.60,-165.5,220.3,-7.5,232,2462,0.00,2.38,0.00,0.000,6,0.000,0.025,2451,2037,3410
$GC,2780,-1.64,-165.5,246.8,-8.6,248,2784,0.12,2.45,0.00,0.000,4,0.061,0.036,2419,3445,3410
$GC,2807,-1.64,-165.5,249.5,-9.9,249,2811,0.00,2.38,0.00,0.000,6,0.000,0.026,2418,2040,3411
$GC,3123,-1.64,-165.5,278.1,-8.5,264,3127,0.00,2.45,0.00,0.000,4,0.000,0.039,2418,3445,3410
$GC,3179,-1.64,-165.5,282.7,-8.2,266,3186,0.00,2.38,0.00,0.000,6,0.000,0.028,2418,2041,3409
$GC,3494,-1.64,-165.5,306.7,-7.1,280,3498,0.00,2.45,0.00,0.000,4,0.000,0.040,2418,3440,3408
$GC,3544,-1.64,-165.5,310.6,-7.3,281,3548,0.00,2.40,0.00,0.000,6,0.000,0.029,2419,2029,3408
$GC,3864,-1.64,-165.5,336.1,-8.5,289,3868,0.00,2.47,0.00,0.000,4,0.000,0.041,2418,3439,3405
$GC,3893,-1.64,-165.5,338.8,-9.1,289,3897,0.00,2.40,0.00,0.000,6,0.000,0.030,2418,2036,3405
$GC,4225,-1.64,-165.5,365.0,-7.3,297,4229,0.00,2.47,0.00,0.000,4,0.000,0.042,2419,3443,3402
$GC,4265,-1.68,-165.5,367.9,-7.2,298,4269,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2033,3402
$GC,4590,-1.68,-165.5,392.3,-7.7,306,4594,0.00,2.47,0.00,0.000,4,0.000,0.043,2419,3442,3400
$GC,4648,-1.75,-165.5,396.9,-7.1,307,4652,0.00,2.40,0.00,0.000,6,0.000,0.030,2419,2041,3399
$GC,4962,-1.75,-165.5,422.9,-8.4,315,4966,0.00,2.50,0.00,0.000,4,0.000,0.050,2418,630,3397
$GC,4979,-1.75,-165.5,424.5,-8.2,315,4983,0.00,2.42,0.00,0.000,6,0.000,0.031,2418,2038,3397
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5327,-0.33,0.0,451.1,7.6,324,5459,1.38,0.00,128.32,0.925,6,0.089,0.000,2703,1934,2733
$STATE,5460,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5463,1.06,165.5,456.5,0.0,327,5601,1.38,2.55,129.77,0.901,4,0.052,0.054,3007,555,2057
$GC,5694,0.52,165.5,445.3,13.6,332,5700,0.62,2.45,0.00,0.000,6,0.133,0.031,2896,1955,2056
$GC,6038,0.24,165.5,413.6,8.6,341,6043,0.32,2.58,0.00,0.000,4,0.143,0.053,2837,548,2055
$GC,6117,0.05,165.5,407.0,7.8,342,6123,0.22,2.45,0.00,0.000,6,0.124,0.031,2796,1956,2054
$GC,6450,0.05,209.7,388.8,5.5,351,6491,0.00,2.58,33.78,0.899,4,0.000,0.047,2796,3350,1877
$GC,6520,0.02,226.1,384.8,6.3,352,6540,0.00,2.47,13.48,0.885,6,0.000,0.035,2796,1951,1810
$GC,6866,-0.00,250.8,363.4,6.1,361,6888,0.00,0.00,20.10,0.890,6,0.000,0.000,2796,1951,1710
$GC,7191,0.04,304.6,345.3,5.2,369,7239,0.00,2.55,42.58,0.882,4,0.000,0.041,2796,3351,1490
$GC,7257,0.11,369.4,341.8,4.9,370,7313,0.00,2.47,51.15,0.867,6,0.000,0.032,2796,1949,1226
$GC,7636,0.12,395.5,319.5,6.0,380,7662,0.00,2.55,21.05,0.858,4,0.000,0.041,2796,3351,1119
$GC,7702,0.12,395.5,314.5,7.8,381,7706,0.00,2.47,0.00,0.000,6,0.000,0.034,2796,1949,1119
$GC,8020,0.12,395.5,289.5,8.7,392,8024,0.00,2.50,0.00,0.000,4,0.000,0.041,2796,3353,1119
$GC,8053,0.12,395.5,286.6,8.7,393,8059,0.00,2.47,0.00,0.000,6,0.000,0.032,2796,1936,1119
$GC,8370,0.12,395.5,262.3,7.2,409,8374,0.00,2.50,0.00,0.000,4,0.000,0.040,2796,3352,1119
$GC,8415,0.12,395.5,258.9,7.2,411,8419,0.00,2.42,0.00,0.000,6,0.000,0.031,2796,1946,1119
$GC,8743,0.23,457.5,239.4,5.0,427,8794,0.15,0.00,48.67,0.803,6,0.070,0.000,2834,1946,867
$GC,9116,0.15,457.5,205.9,9.7,445,9120,0.00,2.47,0.00,0.000,4,0.000,0.038,2834,3353,867
$GC,9144,0.08,457.5,202.6,9.9,446,9149,0.17,2.45,0.00,0.000,6,0.094,0.030,2799,1944,867
$GC,9471,0.08,457.5,178.8,7.1,474,9475,0.00,2.47,0.00,0.000,4,0.000,0.035,2799,3357,867
$GC,9500,0.10,473.5,176.6,6.3,476,9522,0.00,2.45,13.07,0.749,6,0.000,0.030,2799,1945,802
$GC,9841,0.10,473.5,154.3,7.2,508,9845,0.00,2.45,0.00,0.000,4,0.000,0.034,2800,3356,802
$GC,9879,0.10,473.5,151.1,8.2,511,9886,0.00,2.42,0.00,0.000,6,0.000,0.026,2799,1940,802
$GC,10208,0.14,493.4,128.1,6.2,542,10231,0.00,2.50,16.17,0.683,4,0.000,0.034,2799,3354,720
$GC,10267,0.21,493.4,124.0,6.9,547,10272,0.12,2.42,0.00,0.000,6,0.067,0.027,2829,1952,720
$GC,10593,0.21,493.4,97.1,8.6,577,10597,0.00,2.45,0.00,0.000,4,0.000,0.035,2829,3359,721
$GC,10626,0.21,493.4,94.2,7.8,579,10633,0.00,2.42,0.00,0.000,6,0.000,0.025,2829,1934,721
$GC,10956,0.21,493.4,66.6,8.1,610,10960,0.00,2.47,0.00,0.000,4,0.000,0.033,2829,3365,722
$GC,11012,0.29,493.4,61.7,8.1,614,11018,0.00,2.40,0.00,0.000,6,0.000,0.025,2829,1950,722
$GC,11278,0.45,553.7,45.9,5.0,639,11335,0.17,2.58,47.20,0.588,4,0.057,0.044,2877,542,475
$GC,11342,0.40,553.7,40.8,8.4,645,11349,0.00,2.40,0.00,0.000,6,0.000,0.022,2878,1963,475
$GC,11613,0.34,553.7,17.4,7.8,682,11620,0.12,2.40,0.00,0.000,4,0.100,0.035,2854,3350,475
$GC,11678,0.34,553.7,11.5,8.0,693,11684,0.00,2.40,0.00,0.000,6,0.000,0.025,2854,1936,476
$STATE,11750,end climb,SURFACE_DEPTH_REACHED
$STATE,11751,begin surface coast
$FINISH,0.9,1.010556
$STATE,11816,end surface coast,CONTROL_FINISHED_OK
$STATE,11816,begin surface
$SM_CCo,11900,0.00,0.000,0,0,477,553.40
$SM_GC,1.65,10.88,0.00,0.00,0.044,0.000,0.000,408,2076,477,-10.87,1.02,553.40
$IRIDIUM_FIX,2054.83,-15746.61,180198,000028
$TT8_MAMPS,0.027612
$HUMID,1722
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,24.50
$XPDR_PINGS,9
$24V_AH,23.8,32.379
$10V_AH,10.2,19.826
$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,28.000,142.225,565.350,0.000,0.000,49.313,60.998,335.825,11.500,0.000,0.000,13.492,1317.780,8106.620,638.219,1685.545,801.081,33.374,1497.812,0.000,1654.431,0.000,60.280
$DEVICE_MAMPS,157.235,53.690,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.648,468.116,842.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38079,717
$CAP_FILE_SIZE,115652,0
$CFSIZE,260165632,245227520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241008,041102,2103.154,-15746.218,40,1.2,40,9.8