version: 66.03
glider: 139
mission: 3
dive: 20
start: 7 11 108 19 40 53
data:
$ID,139
$MISSION,3
$DIVE,20
$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,200
$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,-1270718.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2795
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,38
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,192915,2104.626,-15749.484,8,1.7,8,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-68.8
$GPS2,194002,2104.701,-15749.565,11,1.8,16,9.8
$SPEED_LIMITS,0.130,0.259
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.212,0.149
$KALMAN_X,-677.2,-374.5,-47.0,6690.8,331.6
$KALMAN_Y,5860.7,-212.3,-65.6,-27755.2,468.5
$MHEAD_RNG_PITCHd_Wd,295.3,12530,-12.6,-7.500
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.00,-175.2,0.0,0.0,0,81,0.00,0.00,-59.70,0.000,2,0.000,0.000,425,2094,3049
$GC,83,-1.00,-175.2,3.7,-8.4,11,107,12.27,2.25,-5.32,0.000,4,0.161,0.038,2568,3465,3383
$GC,310,-0.94,-175.2,46.2,-11.8,40,315,0.10,2.28,0.00,0.000,6,0.111,0.021,2587,2069,3385
$GC,635,-0.89,-175.2,81.8,-10.2,70,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2068,3385
$GC,953,-0.89,-175.2,109.5,-8.7,100,957,0.00,2.33,0.00,0.000,4,0.000,0.035,2586,682,3385
$GC,982,-0.93,-175.2,111.9,-9.3,102,986,0.00,2.22,0.00,0.000,6,0.000,0.055,2587,2080,3386
$GC,1309,-0.93,-175.2,139.2,-7.3,132,1313,0.00,2.30,0.00,0.000,4,0.000,0.067,2587,3462,3387
$GC,1348,-1.01,-175.2,142.6,-8.0,135,1353,0.00,2.25,0.00,0.000,6,0.000,0.020,2587,2073,3386
$GC,1675,-1.06,-175.2,166.6,-6.5,165,1679,0.10,2.35,0.00,0.000,4,0.052,0.061,2555,680,3386
$GC,1725,-1.06,-175.2,170.5,-8.1,169,1729,0.00,2.25,0.00,0.000,6,0.000,0.024,2554,2076,3386
$GC,2052,-1.06,-175.2,196.6,-8.0,199,2056,0.00,2.30,0.00,0.000,4,0.000,0.064,2554,3465,3386
$GC,2123,-1.06,-175.2,202.2,-7.5,204,2128,0.00,2.28,0.00,0.000,6,0.000,0.046,2554,2089,3386
$GC,2444,-1.06,-175.2,223.1,-6.8,220,2449,0.00,2.38,0.00,0.000,4,0.000,0.038,2554,683,3386
$GC,2484,-1.10,-175.2,225.7,-6.7,222,2488,0.00,2.25,0.00,0.000,6,0.000,0.021,2554,2074,3386
$GC,2810,-1.10,-175.2,247.3,-7.0,238,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2079,3385
$GC,3120,-1.10,-175.2,271.1,-7.8,253,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2080,3384
$GC,3429,-1.10,-175.2,297.1,-8.6,268,3433,0.00,2.35,0.00,0.000,4,0.000,0.038,2554,3466,3382
$GC,3461,-1.15,-175.2,299.9,-8.7,269,3468,0.00,2.28,0.00,0.000,6,0.000,0.025,2554,2083,3382
$GC,3792,-1.15,-175.2,322.4,-6.1,278,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2082,3381
$GC,4117,-1.15,-175.2,343.5,-6.8,286,4121,0.00,2.40,0.00,0.000,4,0.000,0.042,2554,678,3378
$GC,4150,-1.20,-175.2,346.1,-7.8,286,4156,0.00,2.30,0.00,0.000,6,0.000,0.027,2554,2074,3378
$GC,4481,-1.24,-175.2,367.8,-6.0,295,4483,0.12,0.00,0.00,0.000,6,0.054,0.000,2517,2079,3376
$GC,4806,-1.19,-175.2,392.2,-7.5,303,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2079,3375
$GC,5131,-1.14,-175.2,420.4,-9.0,311,5133,0.12,0.00,0.00,0.000,6,0.087,0.000,2543,2079,3372
$GC,5455,-1.14,-175.2,445.5,-7.7,319,5459,0.00,2.42,0.00,0.000,4,0.000,0.048,2543,680,3371
$GC,5500,-1.19,-175.2,449.2,-8.6,320,5504,0.00,2.33,0.00,0.000,6,0.000,0.031,2542,2073,3370
$STATE,5513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5513,begin apogee
$GC,5518,-0.31,0.0,450.5,7.8,320,5663,0.82,0.00,141.50,0.887,6,0.065,0.000,2724,2075,2664
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5664,begin climb
$GC,5666,1.00,175.2,459.1,0.0,324,5819,1.27,2.50,144.68,0.863,4,0.041,0.078,3017,679,1948
$GC,5882,0.83,175.2,455.4,8.3,329,5887,0.20,2.38,0.00,0.000,6,0.096,0.031,2980,2077,1939
$GC,6195,0.81,181.6,433.5,7.3,337,6201,0.00,0.00,4.80,0.611,6,0.000,0.000,2980,2082,1923
$GC,6519,0.81,182.7,408.5,7.5,345,6523,0.00,2.45,0.00,0.000,4,0.000,0.057,2980,686,1920
$GC,6558,0.74,182.7,405.3,8.5,346,6563,0.12,2.38,0.00,0.000,6,0.101,0.032,2957,2089,1918
$GC,6881,0.75,189.5,381.5,7.3,354,6891,0.00,0.00,7.72,0.747,6,0.000,0.000,2957,2093,1891
$GC,7206,0.82,243.2,361.7,6.0,362,7261,0.00,2.55,48.15,0.844,4,0.000,0.080,2957,688,1671
$GC,7311,0.82,243.2,354.4,7.8,364,7315,0.00,2.40,0.00,0.000,6,0.000,0.054,2958,2083,1665
$GC,7660,0.92,281.0,331.5,6.4,373,7702,0.15,2.53,32.90,0.816,4,0.055,0.048,2999,693,1517
$GC,7785,0.92,281.0,318.8,11.1,375,7792,0.00,2.38,0.00,0.000,6,0.000,0.030,2999,2081,1512
$GC,8097,0.92,281.0,287.5,10.3,386,8102,0.00,2.45,0.00,0.000,4,0.000,0.047,2999,686,1510
$GC,8124,0.92,281.0,284.5,11.2,387,8129,0.00,2.35,0.00,0.000,6,0.000,0.030,2999,2088,1508
$GC,8445,0.92,281.0,251.5,9.9,403,8450,0.00,2.40,0.00,0.000,4,0.000,0.041,3000,3479,1508
$GC,8472,0.92,281.0,248.7,9.7,404,8476,0.00,2.38,0.00,0.000,6,0.000,0.029,2999,2088,1508
$GC,8793,0.92,281.0,219.0,8.8,420,8797,0.00,2.45,0.00,0.000,4,0.000,0.078,2999,677,1507
$GC,8904,0.92,281.0,207.5,9.5,425,8909,0.00,2.35,0.00,0.000,6,0.000,0.027,2999,2075,1505
$GC,9229,0.95,281.0,182.3,7.5,451,9233,0.00,2.42,0.00,0.000,4,0.000,0.075,2999,676,1505
$GC,9302,0.95,281.0,176.1,8.7,457,9305,0.00,1.75,0.00,0.000,6,0.000,0.070,2999,1775,1503
$GC,9633,0.99,281.0,148.2,8.9,488,9638,0.00,2.90,0.00,0.000,4,0.000,0.061,2999,3478,1503
$GC,9729,1.05,281.0,139.9,8.7,496,9734,0.10,2.33,0.00,0.000,6,0.062,0.058,3031,2073,1503
$GC,10053,1.05,281.0,108.8,8.3,526,10057,0.00,2.38,0.00,0.000,4,0.000,0.040,3031,680,1503
$GC,10152,1.05,281.0,99.3,9.5,534,10160,0.00,2.33,0.00,0.000,6,0.000,0.045,3031,2086,1503
$GC,10478,1.05,281.0,71.4,8.6,565,10482,0.00,2.33,0.00,0.000,4,0.000,0.067,3031,3467,1504
$GC,10533,1.05,281.0,66.4,8.8,569,10540,0.00,2.30,0.00,0.000,6,0.000,0.022,3031,2080,1504
$GC,10862,1.15,338.1,45.2,5.9,600,10916,0.00,2.40,48.25,0.558,4,0.000,0.051,3031,680,1283
$GC,10989,1.19,338.1,35.4,7.9,611,10996,0.00,2.25,0.00,0.000,6,0.000,0.019,3031,2086,1279
$GC,11328,1.26,338.1,10.7,7.7,665,11335,0.15,2.40,0.00,0.000,4,0.043,0.071,3086,678,1279
$GC,11370,1.20,338.1,6.4,11.1,672,11377,0.15,2.22,0.00,0.000,6,0.082,0.019,3055,2081,1278
$STATE,11404,end climb,SURFACE_DEPTH_REACHED
$STATE,11404,begin surface coast
$FINISH,0.1,1.022750
$STATE,11433,end surface coast,CONTROL_FINISHED_OK
$STATE,11433,begin surface
$SM_CCo,11513,0.00,0.000,0,0,1274,340.72
$SM_GC,0.62,11.38,0.00,0.00,0.035,0.000,0.000,423,2084,1274,-10.82,0.11,340.72
$IRIDIUM_FIX,2054.83,-15748.75,051097,191947
$TT8_MAMPS,0.029146
$HUMID,1847
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.30
$XPDR_PINGS,620
$24V_AH,23.4,32.747
$10V_AH,10.2,18.995
$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,27.075,103.425,428.000,0.000,0.000,53.502,63.088,341.988,155.000,0.000,0.000,17.941,1228.237,8260.785,489.295,1540.188,628.424,33.351,1262.269,0.000,1525.876,0.000,0.470
$DEVICE_MAMPS,161.070,79.768,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.257,443.656,765.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,683
$CAP_FILE_SIZE,103394,13
$CFSIZE,260165632,256868352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110708,225401,2105.758,-15750.810,40,1.3,40,9.8