version: 66.03
glider: 139
mission: 3
dive: 8
start: 7 10 108 7 18 5
data:
$ID,139
$MISSION,3
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$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,166
$T_MISSION,200
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1270496
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.422788
$PRESSURE_SLOPE,0.000116328
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$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,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,071109,2113.593,-15752.079,8,2.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-65.2
$GPS2,071715,2113.618,-15752.089,12,2.0,12,9.8
$SPEED_LIMITS,0.157,0.276
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.173,-0.216
$KALMAN_X,-409.7,962.6,-499.5,1198.0,-1098.0
$KALMAN_Y,1309.2,-159.2,31.1,-6845.4,677.1
$MHEAD_RNG_PITCHd_Wd,131.5,22758,-15.0,-9.036
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.16,-175.2,0.0,0.0,0,114,0.00,0.00,-91.57,0.000,2,0.000,0.000,432,2104,3043
$GC,116,-1.16,-175.2,3.5,-9.4,17,141,11.52,2.42,-5.65,0.000,4,0.152,0.051,2510,677,3381
$GC,169,-1.16,-175.2,23.7,-27.4,26,175,0.00,2.03,0.00,0.000,6,0.000,0.058,2510,1986,3383
$GC,288,-1.16,-175.2,48.5,-20.8,40,292,0.00,2.40,0.00,0.000,4,0.000,0.028,2510,3462,3382
$GC,394,-1.16,-175.2,63.5,-12.9,49,401,0.00,2.28,0.00,0.000,6,0.000,0.022,2510,2079,3383
$GC,719,-1.16,-175.2,112.6,-13.4,80,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3384
$GC,1037,-1.16,-175.2,152.3,-12.9,110,1041,0.00,2.28,0.00,0.000,4,0.000,0.029,2510,3462,3384
$GC,1064,-1.16,-175.2,155.9,-12.9,112,1068,0.00,2.25,0.00,0.000,6,0.000,0.022,2510,2075,3384
$GC,1389,-1.16,-175.2,198.1,-12.6,142,1393,0.00,2.35,0.00,0.000,4,0.000,0.039,2510,673,3385
$GC,1443,-1.16,-175.2,204.8,-11.6,144,1450,0.00,2.28,0.00,0.000,6,0.000,0.021,2510,2078,3385
$GC,1758,-1.16,-175.2,239.4,-11.2,160,1762,0.00,2.30,0.00,0.000,4,0.000,0.033,2511,3470,3384
$GC,1781,-1.16,-175.2,241.7,-10.3,161,1785,0.00,2.28,0.00,0.000,6,0.000,0.023,2510,2070,3385
$GC,2107,-1.16,-175.2,272.3,-9.7,177,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2068,3384
$GC,2416,-1.16,-175.2,301.5,-9.5,192,2420,0.00,2.35,0.00,0.000,4,0.000,0.041,2510,680,3383
$GC,2454,-1.16,-175.2,305.5,-10.6,193,2459,0.00,2.25,0.00,0.000,6,0.000,0.042,2510,2080,3383
$GC,2778,-1.16,-175.2,337.9,-10.0,201,2782,0.00,2.38,0.00,0.000,4,0.000,0.042,2510,676,3381
$GC,2827,-1.16,-175.2,343.2,-10.5,202,2831,0.00,2.30,0.00,0.000,6,0.000,0.025,2510,2074,3381
$GC,3145,-1.16,-175.2,375.5,-10.4,210,3149,0.00,2.38,0.00,0.000,4,0.000,0.040,2510,3478,3379
$GC,3189,-1.16,-175.2,380.0,-10.5,211,3193,0.00,2.35,0.00,0.000,6,0.000,0.028,2510,2078,3379
$GC,3513,-1.16,-175.2,410.8,-9.3,219,3517,0.00,2.40,0.00,0.000,4,0.000,0.077,2510,676,3377
$GC,3562,-1.16,-175.2,415.0,-8.1,220,3566,0.00,2.30,0.00,0.000,6,0.000,0.064,2510,2075,3377
$GC,3881,-1.16,-175.2,439.5,-7.7,228,3885,0.00,2.38,0.00,0.000,4,0.000,0.044,2510,3473,3375
$GC,3920,-1.16,-175.2,442.3,-7.3,229,3924,0.00,2.33,0.00,0.000,6,0.000,0.029,2510,2075,3375
$STATE,4037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4038,begin apogee
$GC,4042,-0.31,0.0,451.0,7.3,232,4186,0.88,0.00,140.30,0.859,6,0.069,0.000,2699,2073,2664
$STATE,4186,end apogee,CONTROL_FINISHED_OK
$STATE,4186,begin climb
$GC,4188,1.16,175.2,455.3,0.0,235,4339,1.40,2.47,142.52,0.838,4,0.038,0.044,3027,3474,1949
$GC,4474,1.16,175.2,442.5,9.6,241,4479,0.00,2.38,0.00,0.000,6,0.000,0.031,3027,2088,1943
$GC,4811,1.16,175.2,412.1,9.4,250,4815,0.00,2.40,0.00,0.000,4,0.000,0.044,3027,3473,1938
$GC,4865,1.16,175.2,406.7,9.7,251,4869,0.00,2.38,0.00,0.000,6,0.000,0.038,3027,2081,1938
$GC,5178,1.16,175.2,377.0,9.4,259,5182,0.00,2.45,0.00,0.000,4,0.000,0.048,3026,667,1934
$GC,5316,1.16,175.2,363.9,9.1,262,5321,0.00,2.38,0.00,0.000,6,0.000,0.064,3026,2074,1931
$GC,5635,1.16,175.2,335.0,9.1,270,5639,0.00,2.40,0.00,0.000,4,0.000,0.044,3027,3475,1931
$GC,5740,1.16,177.7,325.1,8.9,272,5744,0.00,2.35,0.00,0.000,6,0.000,0.065,3027,2070,1931
$GC,6068,1.16,181.2,295.9,8.9,281,6072,0.00,2.40,0.00,0.000,4,0.000,0.047,3026,671,1929
$GC,6179,1.18,195.0,286.4,8.6,286,6200,0.00,2.35,14.75,0.749,6,0.000,0.055,3027,2090,1867
$GC,6527,1.18,195.0,256.7,9.3,303,6531,0.00,2.42,0.00,0.000,4,0.000,0.045,3026,678,1864
$GC,6576,1.18,195.0,251.8,10.1,305,6580,0.00,2.35,0.00,0.000,6,0.000,0.063,3026,2078,1862
$GC,6897,1.22,228.9,224.7,7.9,321,6929,0.00,0.00,29.50,0.729,6,0.000,0.000,3027,2083,1730
$GC,7228,1.23,235.5,196.2,8.8,339,7240,0.00,2.45,6.75,0.595,4,0.000,0.039,3027,3478,1703
$GC,7308,1.23,235.5,188.5,9.6,346,7312,0.00,2.35,0.00,0.000,6,0.000,0.039,3027,2069,1703
$GC,7632,1.25,251.1,159.2,8.5,376,7654,0.00,2.45,14.52,0.644,4,0.000,0.050,3027,677,1638
$GC,7760,1.28,280.1,148.9,8.0,387,7791,0.05,2.33,25.90,0.649,6,0.053,0.060,3050,2083,1522
$GC,8116,1.29,281.3,117.4,9.0,421,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2086,1515
$GC,8435,1.29,287.5,88.8,8.8,451,8447,0.00,2.38,7.15,0.513,4,0.000,0.043,3051,3475,1491
$GC,8515,1.29,287.5,80.8,10.1,458,8519,0.00,2.30,0.00,0.000,6,0.000,0.023,3051,2072,1491
$GC,8841,1.36,345.0,54.8,7.1,488,8897,0.00,2.40,49.47,0.561,4,0.000,0.038,3050,691,1256
$GC,8964,1.36,345.0,44.2,9.4,499,8971,0.00,2.28,0.00,0.000,6,0.000,0.020,3051,2088,1251
$GC,9296,1.36,345.0,17.6,9.2,543,9302,0.00,2.38,0.00,0.000,4,0.000,0.072,3050,675,1250
$GC,9343,1.36,345.0,12.9,10.2,551,9350,0.00,2.22,0.00,0.000,6,0.000,0.020,3051,2081,1249
$STATE,9456,end climb,SURFACE_DEPTH_REACHED
$STATE,9457,begin surface coast
$FINISH,-0.2,1.022507
$STATE,9492,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9572,0.00,0.000,0,0,1246,347.59
$SM_GC,0.68,11.25,0.00,0.00,0.031,0.000,0.000,425,2085,1246,-10.70,0.17,347.59
$IRIDIUM_FIX,2108.69,-15747.00,041097,050524
$TT8_MAMPS,0.029146
$HUMID,1903
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,653
$24V_AH,23.6,31.181
$10V_AH,10.3,18.155
$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,25.100,98.500,430.875,0.000,0.000,25.081,26.712,214.114,163.250,0.000,0.000,13.851,1042.254,6569.716,506.436,1415.762,411.307,33.321,1234.069,0.000,1401.513,0.000,0.470
$DEVICE_MAMPS,151.866,77.467,859.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.542,373.703,661.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28645,577
$CAP_FILE_SIZE,86594,9
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100708,095838,2112.647,-15751.510,26,1.4,26,9.8