version: 66.03
glider: 114
mission: 3
dive: 94
start: 10 4 108 14 10 42
data:
$ID,114
$MISSION,3
$DIVE,94
$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,-593585.94
$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,33
$R_STBD_OVSHOOT,76
$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
$GPS1,140131,2109.063,-15749.105,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.4
$GPS2,140945,2109.037,-15749.150,12,1.3,12,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,-0.220,0.051
$KALMAN_X,-43636.2,-367.2,3966.4,47658.0,2598.8
$KALMAN_Y,-11972.6,297.2,-1330.9,-950.5,-432.5
$MHEAD_RNG_PITCHd_Wd,273.3,2310,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.13,-146.0,0.0,0.0,0,88,0.00,0.00,-58.85,0.000,2,0.000,0.000,409,2078,2819
$GC,92,-1.13,-146.0,3.2,-4.1,11,122,11.98,2.33,-8.80,0.000,4,0.161,0.048,2524,3401,3331
$GC,245,-1.26,-146.0,23.5,-8.0,37,252,0.00,2.30,0.00,0.000,6,0.000,0.024,2524,2032,3331
$GC,515,-1.36,-146.0,46.3,-9.1,68,519,0.17,2.40,0.00,0.000,4,0.053,0.038,2477,644,3331
$GC,537,-1.42,-146.0,49.0,-10.2,69,543,0.00,2.28,0.00,0.000,6,0.000,0.022,2477,2011,3331
$GC,799,-1.42,-146.0,74.7,-10.4,94,803,0.00,2.45,0.00,0.000,4,0.000,0.035,2477,3439,3332
$GC,888,-1.52,-146.0,82.7,-7.6,101,896,0.12,2.35,0.00,0.000,6,0.061,0.024,2445,2034,3332
$GC,1214,-1.52,-146.0,116.2,-12.1,132,1218,0.00,2.40,0.00,0.000,4,0.000,0.037,2446,634,3333
$GC,1277,-1.56,-146.0,123.6,-11.5,137,1282,0.00,2.35,0.00,0.000,6,0.000,0.024,2445,2039,3333
$GC,1603,-1.56,-146.0,154.6,-10.3,167,1607,0.00,2.40,0.00,0.000,4,0.000,0.037,2446,3438,3333
$GC,1626,-1.56,-146.0,157.3,-11.2,168,1633,0.00,2.35,0.00,0.000,6,0.000,0.025,2445,2035,3333
$GC,1952,-1.56,-146.0,188.6,-8.6,199,1956,0.00,2.42,0.00,0.000,4,0.000,0.035,2446,3442,3333
$GC,1998,-1.61,-146.0,192.4,-8.3,203,2002,0.00,2.38,0.00,0.000,6,0.000,0.025,2446,2032,3333
$GC,2328,-1.66,-146.0,218.2,-7.4,223,2333,0.12,2.45,0.00,0.000,4,0.061,0.036,2413,3444,3333
$GC,2362,-1.66,-146.0,221.1,-8.9,224,2368,0.00,2.38,0.00,0.000,6,0.000,0.025,2412,2031,3333
$GC,2678,-1.66,-146.0,246.6,-7.2,240,2682,0.00,2.45,0.00,0.000,4,0.000,0.037,2414,3445,3333
$GC,2705,-1.66,-146.0,248.7,-7.7,241,2709,0.00,2.38,0.00,0.000,6,0.000,0.025,2413,2035,3333
$GC,3021,-1.66,-146.0,275.9,-9.7,256,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2034,3333
$GC,3351,-1.69,-146.0,304.6,-7.7,271,3355,0.00,2.45,0.00,0.000,4,0.000,0.039,2413,3438,3333
$GC,3391,-1.74,-146.0,307.8,-7.4,272,3395,0.00,2.38,0.00,0.000,6,0.000,0.028,2413,2045,3332
$GC,3718,-1.77,-146.0,333.2,-8.0,280,3722,0.00,2.47,0.00,0.000,4,0.000,0.046,2413,632,3330
$GC,3751,-1.83,-146.0,336.7,-9.9,280,3758,0.15,2.40,0.00,0.000,6,0.068,0.030,2379,2035,3330
$GC,4084,-1.83,-146.0,371.2,-10.2,289,4088,0.00,2.50,0.00,0.000,4,0.000,0.047,2379,3456,3327
$GC,4124,-1.83,-146.0,375.5,-10.7,290,4128,0.00,2.45,0.00,0.000,6,0.000,0.031,2378,2034,3327
$GC,4448,-1.83,-146.0,408.6,-10.1,298,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2034,3324
$GC,4773,-1.83,-146.0,435.7,-7.9,306,4777,0.00,2.53,0.00,0.000,4,0.000,0.045,2379,3456,3322
$GC,4828,-1.83,-146.0,440.6,-8.6,307,4833,0.00,2.45,0.00,0.000,6,0.000,0.032,2379,2035,3321
$STATE,4973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4973,begin apogee
$GC,4981,-0.33,0.0,452.9,8.5,311,5099,1.60,0.00,113.90,0.920,6,0.098,0.000,2704,1930,2733
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5100,begin climb
$GC,5103,1.13,146.0,457.1,0.0,314,5227,1.48,2.65,114.43,0.891,4,0.052,0.041,3026,3357,2136
$GC,5357,0.63,146.0,444.9,10.5,320,5363,0.60,2.47,0.00,0.000,6,0.148,0.034,2919,1957,2136
$GC,5671,0.35,146.0,422.2,7.2,328,5673,0.32,0.00,0.00,0.000,6,0.127,0.000,2860,1957,2134
$GC,5997,0.32,222.7,406.1,4.5,336,6061,0.00,2.60,58.70,0.891,4,0.000,0.043,2860,3357,1825
$GC,6081,0.20,249.0,401.8,6.2,338,6109,0.20,2.50,21.20,0.877,6,0.125,0.033,2825,1949,1718
$GC,6448,0.12,250.3,376.9,7.1,347,6452,0.00,2.53,0.00,0.000,4,0.000,0.044,2824,3359,1716
$GC,6471,0.05,254.2,375.2,7.0,347,6481,0.17,2.47,4.82,0.858,6,0.119,0.033,2793,1949,1696
$GC,6808,0.16,316.9,357.4,5.0,355,6862,0.10,2.58,48.62,0.879,4,0.093,0.041,2813,3356,1442
$GC,6903,0.13,316.9,351.3,8.0,357,6907,0.00,2.50,0.00,0.000,6,0.000,0.033,2813,1940,1441
$GC,7217,0.11,327.7,329.5,6.8,365,7228,0.00,0.00,9.45,0.855,6,0.000,0.000,2813,1940,1397
$GC,7541,0.08,327.7,303.7,8.0,373,7546,0.00,2.53,0.00,0.000,4,0.000,0.042,2813,3358,1396
$GC,7598,0.08,327.7,298.7,8.6,374,7602,0.00,2.47,0.00,0.000,6,0.000,0.032,2813,1941,1396
$GC,7931,0.08,330.2,272.8,7.1,390,7940,0.00,2.58,2.72,0.788,4,0.000,0.041,2813,3360,1387
$GC,7976,0.10,339.6,269.5,6.8,392,7990,0.00,2.47,8.38,0.831,6,0.000,0.032,2813,1944,1346
$GC,8308,0.10,339.6,243.9,7.8,408,8312,0.00,2.50,0.00,0.000,4,0.000,0.040,2813,3367,1347
$GC,8358,0.10,339.6,240.0,8.1,410,8362,0.00,2.47,0.00,0.000,6,0.000,0.031,2813,1942,1346
$GC,8675,0.11,346.1,217.9,6.9,425,8685,0.00,2.53,5.53,0.789,4,0.000,0.037,2813,3366,1321
$GC,8730,0.11,347.6,213.9,7.1,427,8737,0.00,2.47,0.00,0.000,6,0.000,0.031,2813,1941,1321
$GC,9049,0.11,347.6,191.7,8.0,447,9053,0.00,2.47,0.00,0.000,4,0.000,0.037,2814,3360,1321
$GC,9084,0.11,347.6,188.9,8.1,450,9088,0.00,2.42,0.00,0.000,6,0.000,0.029,2813,1952,1321
$GC,9418,0.14,363.3,165.3,6.6,481,9440,0.00,2.55,14.15,0.740,4,0.000,0.037,2813,3363,1251
$GC,9480,0.19,363.3,160.2,8.3,486,9486,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1941,1251
$GC,9810,0.34,421.0,141.7,5.1,517,9860,0.15,2.55,44.25,0.696,4,0.069,0.035,2853,3368,1016
$GC,9879,0.34,421.0,136.7,7.6,524,9884,0.00,2.47,0.00,0.000,6,0.000,0.027,2853,1944,1016
$GC,10209,0.34,421.0,108.2,8.5,554,10213,0.00,2.50,0.00,0.000,4,0.000,0.037,2853,3370,1016
$GC,10249,0.34,421.0,103.7,10.4,557,10254,0.00,2.45,0.00,0.000,6,0.000,0.026,2853,1940,1016
$GC,10575,0.34,421.0,76.4,7.6,587,10580,0.00,2.47,0.00,0.000,4,0.000,0.035,2853,3365,1017
$GC,10632,0.39,421.0,72.1,7.3,591,10638,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1950,1017
$GC,10897,0.58,494.1,57.9,4.6,616,10960,0.20,2.55,55.53,0.591,4,0.057,0.035,2905,3366,717
$GC,10979,0.48,494.1,50.8,11.3,624,10984,0.00,2.45,0.00,0.000,6,0.000,0.024,2905,1938,717
$GC,11247,0.39,494.1,19.6,14.3,654,11254,0.17,2.47,0.00,0.000,4,0.101,0.033,2868,3361,719
$GC,11301,0.39,494.1,13.4,10.1,663,11307,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,1949,720
$STATE,11351,end climb,FINISH_DEPTH_REACHED
$STATE,11351,begin subsurface finish
$FINISH1,9.6,1.023091,220
$GC,11360,0.38,220.0,9.6,-7.7,672,11389,0.00,2.47,-21.92,0.000,4,0.000,0.054,2868,538,1838
$FINISH2,6.3
$STATE,11389,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11390,begin surface
$IRIDIUM_FIX,2104.07,-15750.89,291297,070701
$TT8_MAMPS,0.026845
$HUMID,1719
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.80
$XPDR_PINGS,13
$24V_AH,23.8,14.544
$10V_AH,10.2,8.454
$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,17.550,135.250,501.675,0.000,0.000,24.128,32.247,273.425,12.250,0.000,0.000,13.822,1237.371,7828.270,566.092,1574.649,676.392,33.358,1382.669,0.000,1545.016,0.000,60.020
$DEVICE_MAMPS,161.070,54.457,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.424,444.052,780.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34917,677
$CAP_FILE_SIZE,108043,0
$CFSIZE,260165632,253120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,140945,2109.037,-15749.150,12,1.3,12,9.8