version: 66.03
glider: 114
mission: 3
dive: 416
start: 11 19 108 11 11 35
data:
$ID,114
$MISSION,3
$DIVE,416
$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,-599798.19
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,110038,2102.983,-15748.355,25,1.6,25,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.1
$GPS2,111039,2102.942,-15748.387,13,1.7,13,9.8
$SPEED_LIMITS,0.057,0.232
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.165,-0.071
$KALMAN_X,-118135.3,-454.7,-242.9,127795.6,290.4
$KALMAN_Y,-128338.9,-428.9,82.8,103434.6,-246.7
$MHEAD_RNG_PITCHd_Wd,103.3,2755,-16.8,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.28,-87.4,0.0,0.0,0,114,0.00,0.00,-80.72,0.000,2,0.000,0.000,408,2075,2848
$GC,118,-1.38,-149.8,3.4,-3.4,15,143,11.55,2.60,-8.43,0.000,4,0.153,0.049,2478,628,3345
$GC,202,-1.53,-149.8,20.3,-12.0,29,208,0.00,2.35,0.00,0.000,6,0.000,0.022,2478,2024,3345
$GC,478,-1.61,-149.8,50.5,-10.7,62,483,0.15,2.42,0.00,0.000,4,0.058,0.033,2437,3439,3345
$GC,564,-1.72,-149.8,62.3,-12.5,69,568,0.00,2.38,0.00,0.000,6,0.000,0.023,2437,2032,3346
$GC,827,-1.77,-149.8,94.7,-9.8,93,832,0.15,2.45,0.00,0.000,4,0.057,0.033,2400,3446,3345
$GC,867,-1.77,-149.8,99.7,-12.9,96,872,0.00,2.38,0.00,0.000,6,0.000,0.022,2400,2035,3346
$GC,1199,-1.77,-149.8,139.9,-11.8,127,1204,0.00,2.40,0.00,0.000,4,0.000,0.037,2400,638,3345
$GC,1223,-1.77,-149.8,142.7,-11.9,129,1227,0.00,2.35,0.00,0.000,6,0.000,0.022,2400,2041,3346
$GC,1549,-1.81,-149.8,183.0,-12.2,159,1553,0.00,2.40,0.00,0.000,4,0.000,0.035,2400,3443,3346
$GC,1673,-1.89,-149.8,198.9,-12.8,169,1678,0.00,2.38,0.00,0.000,6,0.000,0.024,2400,2033,3346
$GC,2000,-1.96,-149.8,237.9,-12.0,186,2004,0.15,2.42,0.00,0.000,4,0.057,0.038,2358,633,3346
$GC,2020,-2.00,-149.8,240.1,-12.1,187,2024,0.00,2.38,0.00,0.000,6,0.000,0.025,2358,2036,3345
$GC,2347,-2.00,-149.8,276.4,-9.6,203,2351,0.00,2.42,0.00,0.000,4,0.000,0.037,2358,3445,3345
$GC,2420,-2.04,-149.8,284.4,-10.8,206,2424,0.00,2.38,0.00,0.000,6,0.000,0.027,2358,2042,3345
$GC,2760,-2.04,-149.8,324.5,-12.1,218,2764,0.00,2.45,0.00,0.000,4,0.000,0.039,2358,3442,3343
$GC,2801,-2.08,-149.8,329.7,-12.7,219,2806,0.00,2.40,0.00,0.000,6,0.000,0.028,2358,2039,3343
$GC,3132,-2.08,-149.8,368.6,-11.5,227,3137,0.00,2.47,0.00,0.000,4,0.000,0.041,2358,3445,3341
$STATE,3145,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3145,begin apogee
$GC,3155,-0.33,0.0,370.0,11.2,227,3276,1.67,0.00,116.55,0.820,6,0.087,0.000,2716,1947,2733
$STATE,3277,end apogee,CONTROL_FINISHED_OK
$STATE,3277,begin climb
$GC,3281,1.38,149.8,374.9,0.0,230,3407,1.65,2.60,116.03,0.816,4,0.042,0.049,3090,547,2122
$GC,3447,0.86,149.8,372.3,12.6,234,3453,0.60,2.45,0.00,0.000,6,0.130,0.028,2981,1953,2122
$GC,3773,0.59,149.8,340.5,9.6,242,3778,0.30,2.55,0.00,0.000,4,0.121,0.048,2925,546,2119
$GC,3852,0.39,149.8,333.9,8.0,243,3859,0.28,2.45,0.00,0.000,6,0.127,0.028,2876,1959,2119
$GC,4184,0.45,213.4,320.8,3.4,252,4239,0.00,2.65,47.92,0.820,4,0.000,0.051,2876,550,1863
$GC,4286,0.38,213.4,314.9,8.4,254,4290,0.00,2.45,0.00,0.000,6,0.000,0.029,2875,1950,1863
$GC,4616,0.35,213.4,290.8,7.5,265,4621,0.00,2.55,0.00,0.000,4,0.000,0.051,2875,547,1861
$GC,4658,0.30,213.4,287.2,9.4,267,4662,0.00,2.45,0.00,0.000,6,0.000,0.029,2876,1955,1861
$GC,4985,0.30,213.4,262.5,7.1,283,4989,0.00,2.55,0.00,0.000,4,0.000,0.051,2875,541,1859
$GC,5027,0.25,213.4,259.4,8.5,285,5032,0.17,2.45,0.00,0.000,6,0.123,0.029,2845,1958,1859
$GC,5356,0.35,247.4,240.7,5.0,301,5387,0.00,2.60,25.77,0.796,4,0.000,0.049,2845,547,1723
$GC,5417,0.36,252.7,237.1,6.5,304,5427,0.10,2.45,4.72,0.793,6,0.084,0.028,2867,1956,1702
$GC,5749,0.36,252.7,213.3,7.8,320,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1956,1701
$GC,6064,0.40,260.8,190.8,6.4,341,6076,0.00,2.62,6.75,0.760,4,0.000,0.048,2867,543,1669
$GC,6172,0.41,264.6,183.2,6.6,350,6182,0.00,2.42,3.75,0.746,6,0.000,0.026,2867,1964,1653
$GC,6509,0.46,264.6,163.1,6.9,382,6513,0.10,2.40,0.00,0.000,4,0.084,0.036,2890,3354,1653
$GC,6549,0.46,264.6,159.9,7.9,385,6553,0.00,2.42,0.00,0.000,6,0.000,0.028,2890,1949,1653
$GC,6878,0.46,264.6,135.4,7.4,415,6882,0.00,2.47,0.00,0.000,4,0.000,0.046,2890,547,1653
$GC,6900,0.46,264.6,133.2,8.3,416,6906,0.00,2.38,0.00,0.000,6,0.000,0.024,2890,1954,1653
$GC,7229,0.49,279.5,109.9,6.0,447,7250,0.00,2.60,11.80,0.679,4,0.000,0.044,2890,542,1592
$GC,7290,0.49,279.5,105.3,7.2,452,7296,0.00,2.40,0.00,0.000,6,0.000,0.023,2890,1962,1592
$GC,7619,0.58,295.2,85.2,6.0,483,7638,0.12,2.40,12.40,0.649,4,0.071,0.032,2918,3352,1528
$GC,7651,0.58,295.7,82.9,6.8,486,7656,0.00,2.42,0.00,0.000,6,0.000,0.025,2918,1936,1528
$GC,7980,0.58,295.7,58.5,7.4,516,7984,0.00,2.42,0.00,0.000,4,0.000,0.042,2918,550,1529
$GC,8137,0.58,295.7,45.4,7.0,529,8144,0.00,2.35,0.00,0.000,6,0.000,0.022,2918,1957,1530
$GC,8402,0.62,295.7,26.3,8.4,557,8408,0.00,2.35,0.00,0.000,4,0.000,0.031,2918,3353,1531
$GC,8428,0.65,295.7,24.5,8.0,561,8434,0.00,2.38,0.00,0.000,6,0.000,0.024,2918,1941,1532
$STATE,8664,end climb,SURFACE_DEPTH_REACHED
$STATE,8664,begin surface coast
$FINISH,0.9,1.021737
$STATE,8727,end surface coast,CONTROL_FINISHED_OK
$STATE,8727,begin surface
$SM_CCo,8752,47.97,0.554,0,0,1100,400.08
$SM_GC,1.80,0.00,0.00,47.97,0.000,0.000,0.554,410,2080,1100,-10.95,1.16,400.08
$IRIDIUM_FIX,2054.83,-15751.76,130298,111103
$TT8_MAMPS,0.027612
$HUMID,1751
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,24.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,370.0,6.8
$24V_AH,23.8,58.348
$10V_AH,10.2,35.420
$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,28.150,108.075,345.700,47.975,0.000,48.478,85.836,256.801,8.750,0.000,0.000,15.378,1116.565,5690.473,476.213,1432.923,687.936,33.370,1178.540,0.000,1402.134,0.000,47.802
$DEVICE_MAMPS,153.400,50.622,819.923,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.127,428.255,790.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31753,614
$CAP_FILE_SIZE,91734,0
$CFSIZE,260165632,234287104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,133953,2101.942,-15747.498,35,3.0,54,9.8