version: 66.03
glider: 114
mission: 3
dive: 181
start: 10 16 108 21 26 33
data:
$ID,114
$MISSION,3
$DIVE,181
$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,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,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,-595091.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,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,34
$R_STBD_OVSHOOT,70
$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
$GPS1,211917,2103.195,-15747.659,13,2.7,32,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.6
$GPS2,212538,2103.180,-15747.610,28,1.1,28,9.8
$SPEED_LIMITS,0.057,0.221
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.130,-0.140
$KALMAN_X,-27500.5,335.0,603.1,36856.9,-573.7
$KALMAN_Y,-38425.0,118.3,193.9,13302.7,223.9
$MHEAD_RNG_PITCHd_Wd,127.2,1986,-15.6,-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,-1.21,-100.6,0.0,0.0,0,103,0.00,0.00,-70.55,0.000,2,0.000,0.000,408,2082,2806
$GC,107,-1.29,-146.0,3.0,-3.2,13,137,11.68,2.55,-8.88,0.000,4,0.157,0.048,2489,640,3330
$GC,223,-1.48,-146.0,22.7,-10.4,33,230,0.15,2.30,0.00,0.000,6,0.054,0.023,2451,2006,3330
$GC,499,-1.48,-146.0,60.7,-14.1,63,503,0.00,2.47,0.00,0.000,4,0.000,0.037,2451,3445,3330
$GC,585,-1.52,-146.0,72.3,-12.3,70,589,0.00,2.38,0.00,0.000,6,0.000,0.023,2451,2032,3330
$GC,850,-1.56,-146.0,105.8,-11.9,94,853,0.00,2.42,0.00,0.000,4,0.000,0.034,2451,3443,3331
$GC,908,-1.65,-146.0,113.1,-11.6,99,913,0.15,2.35,0.00,0.000,6,0.057,0.023,2413,2040,3331
$GC,1235,-1.65,-146.0,150.3,-10.7,129,1239,0.00,2.42,0.00,0.000,4,0.000,0.034,2413,3452,3332
$GC,1264,-1.65,-146.0,153.5,-10.9,131,1269,0.00,2.38,0.00,0.000,6,0.000,0.023,2414,2037,3331
$GC,1592,-1.70,-146.0,188.2,-10.1,161,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2037,3332
$GC,1913,-1.77,-146.0,221.3,-10.0,182,1917,0.00,2.42,0.00,0.000,4,0.000,0.035,2414,3447,3332
$GC,1986,-1.86,-146.0,228.8,-10.1,185,1991,0.17,2.38,0.00,0.000,6,0.057,0.025,2371,2037,3332
$GC,2311,-1.86,-146.0,265.8,-10.9,201,2315,0.00,2.42,0.00,0.000,4,0.000,0.041,2371,637,3332
$GC,2401,-1.90,-146.0,275.6,-9.9,205,2405,0.00,2.38,0.00,0.000,6,0.000,0.026,2371,2044,3332
$GC,2747,-1.90,-146.0,308.8,-10.0,220,2752,0.00,2.42,0.00,0.000,4,0.000,0.040,2371,3445,3331
$GC,2815,-1.95,-146.0,316.2,-11.0,221,2820,0.00,2.40,0.00,0.000,6,0.000,0.028,2371,2038,3330
$GC,3154,-1.99,-146.0,352.4,-10.8,230,3156,0.12,0.00,0.00,0.000,6,0.067,0.000,2342,2036,3329
$GC,3478,-1.99,-146.0,387.7,-10.9,238,3482,0.00,2.47,0.00,0.000,4,0.000,0.041,2343,3446,3326
$GC,3500,-1.99,-146.0,390.3,-11.3,238,3505,0.00,2.42,0.00,0.000,6,0.000,0.030,2342,2034,3325
$GC,3838,-1.99,-146.0,426.0,-10.1,247,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2034,3323
$STATE,4123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4123,begin apogee
$GC,4131,-0.33,0.0,452.8,9.4,254,4249,1.77,0.00,114.03,0.910,6,0.094,0.000,2706,1930,2733
$STATE,4250,end apogee,CONTROL_FINISHED_OK
$STATE,4250,begin climb
$GC,4253,1.29,146.0,456.8,0.0,257,4376,1.62,2.62,114.12,0.887,4,0.047,0.041,3065,3353,2137
$GC,4455,0.80,146.0,446.9,13.7,262,4460,0.60,2.45,0.00,0.000,6,0.134,0.034,2958,1965,2137
$GC,4775,0.52,146.0,416.3,8.7,270,4780,0.32,2.60,0.00,0.000,4,0.123,0.053,2897,531,2135
$GC,4803,0.30,146.0,413.8,8.8,270,4808,0.28,2.47,0.00,0.000,6,0.124,0.030,2848,1956,2134
$GC,5136,0.28,175.6,396.2,5.4,278,5165,0.00,2.55,22.62,0.894,4,0.000,0.044,2848,3347,2016
$GC,5179,0.24,188.0,393.5,6.2,279,5195,0.00,2.47,10.23,0.874,6,0.000,0.033,2847,1947,1966
$GC,5504,0.22,207.4,373.7,5.9,287,5524,0.00,2.58,15.32,0.893,4,0.000,0.053,2847,545,1886
$GC,5581,0.15,207.4,368.5,7.3,288,5588,0.17,2.45,0.00,0.000,6,0.120,0.030,2816,1951,1885
$GC,5913,0.23,257.7,353.9,4.4,297,5957,0.00,2.55,39.38,0.887,4,0.000,0.046,2816,3350,1682
$GC,5982,0.23,257.7,349.7,7.1,298,5986,0.00,2.47,0.00,0.000,6,0.000,0.033,2816,1949,1682
$GC,6319,0.23,257.7,322.9,8.3,307,6323,0.00,2.50,0.00,0.000,4,0.000,0.043,2816,3353,1681
$GC,6347,0.27,257.7,320.4,8.7,307,6352,0.10,2.45,0.00,0.000,6,0.087,0.032,2837,1950,1681
$GC,6659,0.27,257.7,290.5,9.3,316,6664,0.00,2.50,0.00,0.000,4,0.000,0.042,2837,3353,1680
$GC,6710,0.27,257.7,285.7,9.2,318,6714,0.00,2.45,0.00,0.000,6,0.000,0.032,2837,1947,1679
$GC,7027,0.35,305.1,266.4,4.6,333,7069,0.00,2.53,36.47,0.838,4,0.000,0.039,2837,3354,1488
$GC,7117,0.39,305.1,260.5,7.6,337,7122,0.12,2.45,0.00,0.000,6,0.081,0.031,2863,1949,1488
$GC,7444,0.39,305.1,234.0,8.4,353,7448,0.00,2.53,0.00,0.000,4,0.000,0.048,2863,533,1488
$GC,7488,0.39,305.1,229.8,9.6,355,7493,0.00,2.45,0.00,0.000,6,0.000,0.028,2864,1958,1488
$GC,7811,0.39,305.1,202.3,10.1,371,7814,0.00,2.42,0.00,0.000,4,0.000,0.040,2863,3354,1488
$GC,7846,0.39,305.1,198.6,10.8,373,7850,0.00,2.42,0.00,0.000,6,0.000,0.031,2864,1947,1488
$GC,8179,0.39,305.1,169.8,6.9,404,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1946,1488
$GC,8506,0.39,305.1,141.5,8.1,435,8510,0.00,2.45,0.00,0.000,4,0.000,0.035,2864,3355,1489
$GC,8558,0.42,305.1,137.3,8.5,439,8562,0.00,2.42,0.00,0.000,6,0.000,0.027,2864,1936,1489
$GC,8887,0.47,305.1,113.0,7.6,469,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1936,1490
$GC,9213,0.47,305.1,90.3,8.6,500,9216,0.00,2.45,0.00,0.000,4,0.000,0.033,2864,3360,1491
$GC,9338,0.56,305.1,80.7,7.4,511,9343,0.17,2.40,0.00,0.000,6,0.060,0.025,2905,1946,1492
$GC,9664,0.60,327.1,59.7,5.8,541,9684,0.00,0.00,17.60,0.607,6,0.000,0.000,2905,1946,1399
$GC,9939,0.63,345.1,41.8,6.0,567,9961,0.00,2.53,13.85,0.587,4,0.000,0.043,2904,545,1325
$GC,9974,0.63,345.1,39.3,7.2,570,9979,0.00,2.40,0.00,0.000,6,0.000,0.022,2905,1968,1325
$GC,10244,0.63,345.1,20.6,7.3,606,10251,0.00,2.38,0.00,0.000,4,0.000,0.036,2905,3357,1326
$GC,10310,0.68,345.1,16.0,7.3,617,10317,0.10,2.38,0.00,0.000,6,0.075,0.024,2928,1945,1327
$STATE,10444,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.8,1.022853
$STATE,10514,end surface coast,CONTROL_FINISHED_OK
$STATE,10514,begin surface
$SM_CCo,10539,31.27,0.532,0,0,1060,410.14
$SM_GC,1.50,0.00,0.00,31.27,0.000,0.000,0.532,407,2056,1060,-10.92,0.45,410.14
$IRIDIUM_FIX,2057.14,-15751.76,100198,181804
$TT8_MAMPS,0.028379
$HUMID,1701
$INTERNAL_PRESSURE,7.99835
$TCM_TEMP,25.10
$XPDR_PINGS,12
$24V_AH,23.8,25.522
$10V_AH,10.2,15.598
$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,28.650,108.225,383.625,31.275,0.000,24.577,36.772,175.068,12.250,0.000,0.000,30.410,1195.095,7228.961,496.012,1510.815,524.342,33.360,1231.181,0.000,1462.841,0.000,62.824
$DEVICE_MAMPS,157.235,52.923,910.429,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.639,429.826,784.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,653
$CAP_FILE_SIZE,96552,0
$CFSIZE,260165632,248217600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171008,002458,2101.877,-15746.761,72,2.2,91,9.8