version: 66.03
glider: 114
mission: 3
dive: 86
start: 10 3 108 11 49 56
data:
$ID,114
$MISSION,3
$DIVE,86
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,210
$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,150
$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,2
$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,-593526.56
$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,35
$R_STBD_OVSHOOT,47
$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
$GPS1,114107,2108.533,-15749.893,31,1.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.1
$GPS2,114902,2108.474,-15749.884,16,1.8,33,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.223,0.035
$KALMAN_X,-40107.0,-751.0,4133.6,43085.6,11426.0
$KALMAN_Y,-10523.2,-143.7,285.6,-4623.9,1008.4
$MHEAD_RNG_PITCHd_Wd,269.1,2833,-13.1,-7.143
$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,-1.13,-146.0,0.0,0.0,0,103,0.00,0.00,-70.50,0.000,2,0.000,0.000,412,2060,2952
$GC,107,-1.13,-146.0,3.3,-3.8,13,131,11.95,2.38,-6.18,0.000,4,0.161,0.048,2524,3429,3330
$GC,274,-1.25,-146.0,24.8,-7.2,42,281,0.00,2.35,0.00,0.000,6,0.000,0.024,2524,2032,3330
$GC,548,-1.34,-146.0,48.9,-7.0,71,553,0.15,2.42,0.00,0.000,4,0.057,0.035,2482,3431,3330
$GC,604,-1.34,-146.0,54.3,-9.1,75,610,0.00,2.33,0.00,0.000,6,0.000,0.022,2483,2038,3330
$GC,867,-1.37,-146.0,76.1,-7.1,100,871,0.00,2.42,0.00,0.000,4,0.000,0.035,2483,3441,3330
$GC,901,-1.44,-146.0,78.4,-7.4,102,907,0.00,2.35,0.00,0.000,6,0.000,0.023,2483,2035,3330
$GC,1163,-1.51,-146.0,96.9,-8.2,127,1168,0.15,2.40,0.00,0.000,4,0.055,0.034,2445,3431,3331
$GC,1194,-1.51,-146.0,99.9,-10.9,129,1198,0.00,2.35,0.00,0.000,6,0.000,0.023,2445,2033,3331
$GC,1524,-1.51,-146.0,131.2,-10.3,160,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2033,3331
$GC,1845,-1.51,-146.0,169.3,-11.0,190,1853,0.00,2.42,0.00,0.000,4,0.000,0.035,2445,3437,3331
$GC,1876,-1.54,-146.0,172.9,-11.3,192,1882,0.00,2.35,0.00,0.000,6,0.000,0.024,2445,2032,3331
$GC,2204,-1.57,-146.0,198.9,-7.9,223,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2031,3331
$GC,2531,-1.61,-146.0,226.2,-7.9,240,2535,0.00,2.40,0.00,0.000,4,0.000,0.035,2445,3430,3331
$GC,2577,-1.68,-146.0,229.6,-8.1,242,2583,0.15,2.35,0.00,0.000,6,0.059,0.025,2408,2034,3330
$GC,2910,-1.68,-146.0,257.4,-8.7,258,2914,0.00,2.42,0.00,0.000,4,0.000,0.036,2407,3436,3330
$GC,2966,-1.68,-146.0,262.6,-8.9,260,2972,0.00,2.38,0.00,0.000,6,0.000,0.026,2408,2046,3331
$GC,3283,-1.68,-146.0,291.6,-9.2,276,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2045,3330
$GC,3588,-1.68,-146.0,318.3,-8.8,286,3592,0.00,2.45,0.00,0.000,4,0.000,0.044,2408,640,3329
$GC,3644,-1.74,-146.0,323.2,-8.5,287,3648,0.00,2.35,0.00,0.000,6,0.000,0.028,2408,2023,3329
$GC,3992,-1.77,-146.0,348.6,-7.7,296,3996,0.00,2.47,0.00,0.000,4,0.000,0.044,2408,3444,3327
$GC,4040,-1.82,-146.0,352.1,-7.5,297,4045,0.10,2.40,0.00,0.000,6,0.077,0.030,2386,2045,3326
$GC,4365,-1.82,-146.0,383.0,-10.4,305,4369,0.00,2.45,0.00,0.000,4,0.000,0.042,2386,3447,3324
$GC,4382,-1.82,-146.0,385.2,-11.0,305,4386,0.00,2.42,0.00,0.000,6,0.000,0.029,2386,2030,3324
$GC,4730,-1.82,-146.0,418.4,-8.6,314,4734,0.00,2.50,0.00,0.000,4,0.000,0.043,2386,3453,3321
$GC,4753,-1.82,-146.0,420.2,-8.1,314,4757,0.00,2.42,0.00,0.000,6,0.000,0.031,2386,2040,3321
$GC,5097,-1.82,-146.0,447.4,-8.4,323,5101,0.00,2.50,0.00,0.000,4,0.000,0.044,2386,3453,3318
$STATE,5124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5124,begin apogee
$GC,5134,-0.33,0.0,450.1,9.2,323,5251,1.52,0.00,113.05,0.915,6,0.098,0.000,2699,1954,2733
$STATE,5252,end apogee,CONTROL_FINISHED_OK
$STATE,5252,begin climb
$GC,5256,1.13,146.0,454.4,0.0,326,5378,1.48,0.00,114.10,0.888,6,0.053,0.000,3024,1954,2136
$GC,5704,0.65,146.0,419.4,12.5,337,5706,0.55,0.00,0.00,0.000,6,0.137,0.000,2927,1954,2135
$GC,6029,0.36,146.0,390.0,8.7,345,6031,0.35,0.00,0.00,0.000,6,0.129,0.000,2863,1954,2133
$GC,6354,0.31,207.8,372.3,5.0,353,6403,0.00,0.00,46.90,0.888,6,0.000,0.000,2863,1953,1885
$GC,6721,0.16,207.8,344.3,8.2,362,6726,0.22,2.53,0.00,0.000,4,0.129,0.041,2820,3363,1884
$GC,6744,0.06,207.8,342.6,7.2,362,6749,0.12,2.47,0.00,0.000,6,0.123,0.032,2798,1948,1884
$GC,7081,0.15,257.4,324.2,5.4,371,7125,0.00,2.55,39.00,0.869,4,0.000,0.040,2798,3354,1682
$GC,7148,0.16,265.6,319.7,6.9,372,7162,0.00,2.47,7.22,0.837,6,0.000,0.031,2798,1947,1650
$GC,7489,0.22,296.6,295.6,6.1,382,7517,0.12,0.00,24.77,0.848,6,0.082,0.000,2825,1947,1522
$GC,7819,0.17,296.6,270.5,8.2,398,7823,0.00,2.50,0.00,0.000,4,0.000,0.040,2825,3355,1523
$GC,7841,0.13,296.6,268.4,9.0,399,7846,0.00,2.45,0.00,0.000,6,0.000,0.030,2825,1948,1522
$GC,8164,0.14,323.1,244.7,6.2,415,8190,0.00,2.55,20.67,0.815,4,0.000,0.039,2825,3362,1414
$GC,8230,0.14,323.1,240.2,7.3,418,8234,0.00,2.47,0.00,0.000,6,0.000,0.031,2824,1949,1414
$GC,8557,0.14,323.1,213.9,8.4,434,8561,0.00,2.47,0.00,0.000,4,0.000,0.038,2825,3354,1414
$GC,8607,0.14,323.1,209.7,7.9,436,8611,0.00,2.45,0.00,0.000,6,0.000,0.030,2825,1940,1414
$GC,8929,0.22,365.9,188.8,5.7,459,8971,0.00,2.58,33.00,0.755,4,0.000,0.035,2825,3358,1240
$GC,8999,0.22,365.9,184.6,7.4,465,9005,0.00,2.45,0.00,0.000,6,0.000,0.028,2824,1952,1240
$GC,9329,0.28,400.1,161.0,6.0,496,9361,0.00,2.53,26.67,0.717,4,0.000,0.035,2825,3369,1101
$GC,9424,0.34,412.1,154.7,6.7,504,9442,0.12,2.47,9.57,0.711,6,0.074,0.028,2853,1935,1053
$GC,9761,0.30,412.1,127.8,8.0,536,9765,0.00,2.50,0.00,0.000,4,0.000,0.037,2853,3361,1053
$GC,9813,0.30,412.1,123.2,8.7,540,9817,0.00,2.42,0.00,0.000,6,0.000,0.027,2852,1947,1053
$GC,10141,0.30,412.1,96.9,7.9,570,10145,0.00,2.47,0.00,0.000,4,0.000,0.037,2853,3367,1054
$GC,10170,0.30,412.1,94.5,7.9,572,10177,0.00,2.42,0.00,0.000,6,0.000,0.026,2853,1941,1054
$GC,10498,0.30,412.1,70.4,7.3,603,10503,0.00,2.47,0.00,0.000,4,0.000,0.035,2853,3367,1055
$GC,10528,0.30,412.1,68.0,7.4,605,10532,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1950,1055
$GC,10793,0.47,478.0,53.3,4.9,629,10850,0.12,2.53,50.08,0.590,4,0.067,0.035,2883,3353,783
$GC,10920,0.47,478.0,43.9,7.7,640,10927,0.00,2.40,0.00,0.000,6,0.000,0.025,2883,1946,783
$GC,11189,0.43,478.0,18.7,10.3,675,11196,0.00,2.45,0.00,0.000,4,0.000,0.035,2883,3358,784
$GC,11215,0.39,478.0,16.2,10.1,679,11221,0.00,2.40,0.00,0.000,6,0.000,0.035,2883,1945,783
$STATE,11282,end climb,FINISH_DEPTH_REACHED
$STATE,11282,begin subsurface finish
$FINISH1,10.0,1.023031,223
$GC,11290,0.39,223.0,10.0,-8.7,691,11313,0.00,0.00,-19.17,0.000,6,0.000,0.000,2883,1945,1827
$FINISH2,7.8
$STATE,11314,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11314,begin surface
$IRIDIUM_FIX,2101.76,-15753.03,281297,050559
$TT8_MAMPS,0.027612
$HUMID,1721
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.70
$XPDR_PINGS,10
$24V_AH,23.8,13.539
$10V_AH,10.2,7.828
$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,17.125,117.375,485.050,0.000,0.000,29.151,30.113,226.644,11.500,0.000,0.000,34.947,1230.174,7805.186,556.693,1554.523,638.600,33.368,1342.859,0.000,1512.844,0.000,57.466
$DEVICE_MAMPS,161.070,47.554,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.957,460.922,822.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34969,695
$CAP_FILE_SIZE,102512,0
$CFSIZE,260165632,253554688
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031008,114902,2108.474,-15749.884,16,1.8,33,9.8