version: 66.03
glider: 114
mission: 3
dive: 411
start: 11 18 108 17 27 36
data:
$ID,114
$MISSION,3
$DIVE,411
$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,-599663.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2790
$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,51
$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
$GPS1,172107,2110.363,-15749.926,69,1.0,69,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-63.6
$GPS2,172639,2110.369,-15750.000,12,1.1,12,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.095,-0.212
$KALMAN_X,-112839.9,728.4,-506.9,118785.1,52.2
$KALMAN_Y,-127411.6,386.7,131.4,115391.9,-914.9
$MHEAD_RNG_PITCHd_Wd,146.0,15839,-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,-165.5,0.0,0.0,0,88,0.00,0.00,-59.17,0.000,2,0.000,0.000,407,2050,2862
$GC,93,-1.06,-165.5,3.3,-3.6,11,122,11.95,2.50,-9.43,0.000,4,0.153,0.045,2551,635,3411
$GC,193,-1.24,-165.5,17.4,-4.8,28,200,0.15,2.35,0.00,0.000,6,0.055,0.021,2515,2052,3410
$GC,466,-1.24,-165.5,37.5,-6.6,68,470,0.00,2.35,0.00,0.000,4,0.000,0.034,2515,3428,3410
$GC,552,-1.33,-165.5,44.9,-8.3,75,556,0.00,2.35,0.00,0.000,6,0.000,0.024,2515,2036,3410
$GC,814,-1.33,-165.5,69.9,-10.7,99,818,0.00,2.40,0.00,0.000,4,0.000,0.034,2515,3428,3410
$GC,870,-1.39,-165.5,76.0,-9.3,103,877,0.12,2.33,0.00,0.000,6,0.060,0.022,2484,2034,3410
$GC,1135,-1.39,-165.5,103.6,-9.8,128,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3411
$GC,1464,-1.39,-165.5,130.0,-7.0,159,1469,0.00,2.40,0.00,0.000,4,0.000,0.032,2483,3439,3411
$GC,1538,-1.48,-165.5,135.0,-6.0,165,1544,0.00,2.33,0.00,0.000,6,0.000,0.022,2483,2040,3411
$GC,1865,-1.52,-165.5,157.6,-7.9,196,1870,0.12,2.40,0.00,0.000,4,0.060,0.032,2452,3437,3411
$GC,1939,-1.56,-165.5,164.3,-8.5,202,1943,0.00,2.35,0.00,0.000,6,0.000,0.023,2452,2036,3411
$GC,2265,-1.56,-165.5,194.0,-9.0,232,2269,0.00,2.40,0.00,0.000,4,0.000,0.033,2452,3432,3411
$GC,2299,-1.56,-165.5,197.2,-9.2,234,2305,0.00,2.33,0.00,0.000,6,0.000,0.024,2452,2040,3411
$GC,2627,-1.56,-165.5,220.3,-6.1,252,2631,0.00,2.40,0.00,0.000,4,0.000,0.034,2452,3434,3411
$GC,2718,-1.61,-165.5,225.4,-5.4,256,2723,0.00,2.35,0.00,0.000,6,0.000,0.024,2452,2035,3411
$GC,3040,-1.64,-165.5,246.2,-7.4,272,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2035,3411
$GC,3351,-1.68,-165.5,270.5,-7.4,287,3356,0.12,2.42,0.00,0.000,4,0.063,0.036,2420,3432,3411
$GC,3464,-1.71,-165.5,282.1,-10.1,292,3468,0.00,2.35,0.00,0.000,6,0.000,0.026,2419,2043,3411
$GC,3786,-1.71,-165.5,312.2,-9.7,305,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2042,3409
$GC,4109,-1.71,-165.5,339.6,-8.1,313,4113,0.00,2.42,0.00,0.000,4,0.000,0.038,2419,3434,3408
$GC,4165,-1.75,-165.5,344.2,-8.0,314,4169,0.00,2.38,0.00,0.000,6,0.000,0.028,2420,2042,3407
$GC,4481,-1.75,-165.5,370.1,-8.5,322,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2041,3405
$GC,4804,-1.75,-165.5,397.7,-7.9,330,4808,0.00,2.42,0.00,0.000,4,0.000,0.041,2419,3424,3402
$GC,4860,-1.78,-165.5,401.6,-6.7,331,4865,0.00,2.38,0.00,0.000,6,0.000,0.030,2420,2037,3402
$GC,5210,-1.78,-165.5,425.1,-6.7,340,5214,0.00,2.45,0.00,0.000,4,0.000,0.041,2419,3432,3400
$GC,5249,-1.81,-165.5,428.1,-7.4,340,5256,0.12,2.40,0.00,0.000,6,0.075,0.030,2392,2032,3399
$STATE,5538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5538,begin apogee
$GC,5546,-0.33,0.0,452.6,8.5,348,5679,1.55,0.00,129.45,0.930,6,0.090,0.000,2713,1935,2733
$STATE,5680,end apogee,CONTROL_FINISHED_OK
$STATE,5680,begin climb
$GC,5684,1.06,165.5,457.8,0.0,351,5824,1.38,2.60,130.27,0.909,4,0.048,0.040,3019,3340,2058
$GC,6053,0.55,165.5,428.2,13.3,359,6058,0.57,2.42,0.00,0.000,6,0.120,0.033,2914,1965,2057
$GC,6396,0.26,165.5,394.6,9.1,368,6401,0.32,2.58,0.00,0.000,4,0.116,0.052,2850,544,2056
$GC,6430,0.05,165.5,392.1,6.9,368,6437,0.25,2.42,0.00,0.000,6,0.113,0.030,2804,1941,2055
$GC,6763,0.16,266.7,378.1,3.8,377,6848,0.00,2.60,78.40,0.896,4,0.000,0.044,2803,3352,1645
$GC,6886,0.17,303.4,373.0,5.7,379,6921,0.10,2.47,29.17,0.885,6,0.088,0.033,2825,1950,1496
$GC,7260,0.10,317.9,349.9,6.4,389,7279,0.00,2.65,11.98,0.872,4,0.000,0.052,2825,536,1436
$GC,7325,0.03,317.9,344.6,8.6,390,7330,0.15,2.47,0.00,0.000,6,0.111,0.030,2798,1952,1436
$GC,7668,0.03,317.9,318.0,8.1,399,7672,0.00,2.50,0.00,0.000,4,0.000,0.044,2798,3362,1435
$GC,7724,0.03,317.9,313.7,7.5,400,7728,0.00,2.47,0.00,0.000,6,0.000,0.032,2797,1945,1435
$GC,8054,0.03,317.9,292.3,7.3,411,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1944,1434
$GC,8362,0.03,317.9,268.8,7.9,426,8367,0.00,2.50,0.00,0.000,4,0.000,0.040,2798,3360,1434
$GC,8383,0.03,317.9,267.5,7.4,427,8387,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1938,1434
$GC,8710,0.15,389.6,250.1,4.7,443,8773,0.12,2.58,55.28,0.826,4,0.072,0.039,2827,3358,1144
$GC,8798,0.10,391.5,244.9,6.8,447,8803,0.00,2.47,0.00,0.000,6,0.000,0.031,2827,1951,1144
$GC,9127,0.04,391.5,222.1,7.5,463,9129,0.12,0.00,0.00,0.000,6,0.104,0.000,2803,1950,1144
$GC,9435,0.13,443.6,204.0,5.3,478,9485,0.00,2.58,42.42,0.773,4,0.000,0.035,2803,3359,924
$GC,9527,0.24,482.6,199.1,5.7,482,9565,0.17,2.45,30.65,0.764,6,0.064,0.028,2843,1947,765
$GC,9885,0.17,482.6,164.8,11.1,516,9890,0.00,2.47,0.00,0.000,4,0.000,0.035,2843,3359,765
$GC,9927,0.13,482.6,160.0,10.6,519,9932,0.12,2.45,0.00,0.000,6,0.097,0.027,2819,1942,765
$GC,10253,0.13,482.6,133.8,7.7,549,10257,0.00,2.47,0.00,0.000,4,0.000,0.034,2818,3360,765
$GC,10298,0.19,482.6,130.0,9.0,552,10305,0.00,2.42,0.00,0.000,6,0.000,0.026,2818,1943,765
$GC,10626,0.19,482.6,107.2,7.8,583,10630,0.00,2.45,0.00,0.000,4,0.000,0.034,2819,3360,766
$GC,10662,0.25,482.6,104.2,8.6,586,10667,0.10,2.42,0.00,0.000,6,0.074,0.025,2843,1939,766
$GC,10988,0.32,502.6,81.4,6.2,616,11010,0.00,2.47,16.33,0.634,4,0.000,0.044,2843,552,683
$GC,11047,0.42,508.5,77.8,6.6,621,11060,0.17,2.40,4.95,0.644,6,0.062,0.022,2883,1971,659
$GC,11315,0.37,508.5,53.9,9.0,646,11319,0.00,2.35,0.00,0.000,4,0.000,0.033,2884,3343,663
$GC,11378,0.37,508.5,48.4,8.7,651,11382,0.00,2.38,0.00,0.000,6,0.000,0.025,2884,1947,665
$GC,11646,0.29,508.5,25.2,9.8,680,11653,0.15,0.00,0.00,0.000,6,0.092,0.000,2850,1946,666
$STATE,11904,end climb,SURFACE_DEPTH_REACHED
$STATE,11904,begin surface coast
$FINISH,1.1,1.023140
$STATE,11984,end surface coast,CONTROL_FINISHED_OK
$STATE,11984,begin surface
$SM_CCo,12069,0.00,0.000,0,0,669,506.54
$SM_GC,1.81,10.77,0.00,0.00,0.043,0.000,0.000,409,2079,669,-10.90,1.10,506.54
$IRIDIUM_FIX,2104.07,-15750.89,120298,141415
$TT8_MAMPS,0.027612
$HUMID,1764
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,24.90
$XPDR_PINGS,8
$24V_AH,23.8,57.637
$10V_AH,10.2,34.999
$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,28.675,117.275,528.900,0.000,0.000,23.928,31.885,147.983,11.000,0.000,0.000,14.252,1351.330,8191.090,566.729,1755.829,538.597,33.370,1437.952,0.000,1727.853,0.000,57.458
$DEVICE_MAMPS,153.400,55.991,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.636,493.659,888.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38057,740
$CAP_FILE_SIZE,109326,0
$CFSIZE,260165632,234569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181108,205022,2109.046,-15749.914,38,3.0,57,9.8