version: 66.03
glider: 139
mission: 3
dive: 21
start: 7 11 108 23 0 59
data:
$ID,139
$MISSION,3
$DIVE,21
$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,210
$T_MISSION,300
$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,-1270733.6
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,225401,2105.758,-15750.810,40,1.3,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-68.6
$GPS2,230009,2105.767,-15750.794,13,1.3,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.231,0.107
$KALMAN_X,-583.3,322.7,-412.2,4146.4,1179.8
$KALMAN_Y,5919.1,-94.1,-59.6,-25963.1,466.9
$MHEAD_RNG_PITCHd_Wd,285.0,9636,-11.9,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-59.53,0.000,2,0.000,0.000,423,2085,2979
$GC,83,-0.96,-175.2,3.5,-6.8,11,108,12.40,1.75,-6.60,0.000,4,0.162,0.087,2577,3126,3383
$GC,334,-0.89,-175.2,45.1,-11.2,44,338,0.10,1.70,0.00,0.000,6,0.107,0.021,2596,2070,3385
$GC,666,-0.86,-175.2,76.5,-8.8,75,670,0.00,2.33,0.00,0.000,4,0.000,0.058,2596,689,3385
$GC,716,-0.86,-175.2,81.5,-8.9,79,720,0.00,2.22,0.00,0.000,6,0.000,0.018,2596,2082,3386
$GC,1046,-0.86,-175.2,108.7,-7.9,110,1050,0.00,2.28,0.00,0.000,4,0.000,0.030,2596,3458,3386
$GC,1119,-0.92,-175.2,113.7,-6.1,116,1123,0.00,2.22,0.00,0.000,6,0.000,0.019,2596,2077,3386
$GC,1451,-0.92,-175.2,134.7,-6.9,147,1455,0.00,2.35,0.00,0.000,4,0.000,0.070,2596,684,3387
$GC,1491,-0.99,-175.2,137.6,-6.9,150,1495,0.00,2.22,0.00,0.000,6,0.000,0.018,2596,2079,3387
$GC,1823,-1.03,-175.2,159.8,-5.9,181,1825,0.12,0.00,0.00,0.000,6,0.048,0.000,2562,2084,3388
$GC,2140,-1.03,-175.2,185.1,-8.4,211,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2084,3388
$GC,2464,-1.03,-175.2,211.3,-8.4,236,2468,0.00,2.35,0.00,0.000,4,0.000,0.036,2562,689,3388
$GC,2490,-1.03,-175.2,213.3,-7.4,237,2494,0.00,2.25,0.00,0.000,6,0.000,0.028,2562,2066,3388
$GC,2811,-1.03,-175.2,236.2,-8.0,253,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2071,3388
$GC,3121,-1.03,-175.2,258.3,-6.3,268,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2071,3387
$GC,3431,-1.03,-175.2,278.3,-7.0,283,3435,0.00,2.35,0.00,0.000,4,0.000,0.037,2562,3461,3386
$GC,3480,-1.10,-175.2,282.2,-7.3,285,3484,0.00,2.28,0.00,0.000,6,0.000,0.058,2561,2082,3386
$GC,3801,-1.10,-175.2,303.0,-5.9,300,3805,0.00,2.38,0.00,0.000,4,0.000,0.041,2561,684,3384
$GC,3856,-1.16,-175.2,306.2,-5.2,301,3860,0.00,2.28,0.00,0.000,6,0.000,0.025,2562,2073,3384
$GC,4204,-1.16,-175.2,324.0,-5.7,310,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2078,3382
$GC,4529,-1.20,-175.2,347.6,-7.5,318,4531,0.12,0.00,0.00,0.000,6,0.059,0.000,2528,2078,3381
$GC,4854,-1.15,-175.2,374.0,-7.7,326,4858,0.00,2.40,0.00,0.000,4,0.000,0.044,2527,680,3379
$GC,4875,-1.11,-175.2,375.6,-7.2,326,4880,0.12,2.33,0.00,0.000,6,0.083,0.028,2553,2081,3379
$GC,5217,-1.11,-175.2,399.6,-7.5,335,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2085,3377
$GC,5542,-1.11,-175.2,423.8,-7.3,343,5546,0.00,2.40,0.00,0.000,4,0.000,0.045,2552,681,3375
$GC,5598,-1.16,-175.2,427.7,-7.4,344,5602,0.00,2.33,0.00,0.000,6,0.000,0.032,2552,2078,3375
$GC,5910,-1.16,-175.2,447.9,-6.6,352,5914,0.00,2.42,0.00,0.000,4,0.000,0.046,2553,3483,3373
$STATE,5934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5934,begin apogee
$GC,5942,-0.31,0.0,450.0,7.9,352,6087,0.77,0.00,141.88,0.886,6,0.071,0.000,2723,2080,2664
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6090,0.96,175.2,458.8,0.0,356,6243,1.25,2.50,144.43,0.862,4,0.041,0.077,3008,3478,1948
$GC,6259,0.82,175.2,458.4,7.5,360,6264,0.17,2.35,0.00,0.000,6,0.100,0.048,2976,2083,1946
$GC,6578,0.78,175.2,432.5,8.6,368,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2082,1937
$GC,6902,0.74,175.2,407.9,7.2,376,6907,0.00,2.47,0.00,0.000,4,0.000,0.049,2975,674,1934
$GC,6969,0.66,175.2,402.8,7.4,377,6974,0.17,2.38,0.00,0.000,6,0.095,0.031,2943,2084,1932
$GC,7305,0.72,223.9,382.7,5.8,386,7351,0.00,2.53,40.55,0.847,4,0.000,0.078,2943,676,1750
$GC,7401,0.72,223.9,376.1,7.6,388,7405,0.00,2.38,0.00,0.000,6,0.000,0.031,2943,2078,1744
$GC,7714,0.78,223.9,353.0,7.5,396,7718,0.00,2.47,0.00,0.000,4,0.000,0.081,2943,672,1741
$GC,7763,0.78,223.9,348.9,8.2,397,7767,0.00,2.38,0.00,0.000,6,0.000,0.031,2943,2080,1739
$GC,8082,0.84,223.9,323.6,7.9,405,8087,0.15,2.47,0.00,0.000,4,0.054,0.049,2985,667,1739
$GC,8136,0.78,223.9,318.3,9.8,406,8140,0.00,2.38,0.00,0.000,6,0.000,0.030,2986,2084,1737
$GC,8450,0.78,223.9,293.0,7.6,416,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2088,1737
$GC,8760,0.78,223.9,268.3,8.5,431,8765,0.00,2.47,0.00,0.000,4,0.000,0.077,2986,669,1736
$GC,8822,0.73,223.9,262.9,9.0,434,8827,0.15,1.70,0.00,0.000,6,0.092,0.075,2957,1726,1735
$GC,9154,0.78,223.9,239.8,7.4,450,9159,0.00,3.00,0.00,0.000,4,0.000,0.067,2957,3481,1735
$GC,9351,0.85,223.9,224.3,7.7,459,9356,0.10,2.38,0.00,0.000,6,0.063,0.034,2983,2067,1735
$GC,9676,0.85,223.9,200.5,7.5,475,9680,0.00,2.38,0.00,0.000,4,0.000,0.044,2984,679,1735
$GC,9737,0.85,223.9,195.8,7.8,479,9743,0.00,2.35,0.00,0.000,6,0.000,0.061,2983,2096,1733
$GC,10063,0.90,267.1,175.3,6.0,510,10104,0.00,2.55,36.05,0.692,4,0.000,0.073,2983,679,1574
$GC,10138,0.90,267.1,170.0,7.5,517,10142,0.00,2.33,0.00,0.000,6,0.000,0.025,2983,2081,1569
$GC,10468,0.94,267.1,144.3,7.8,548,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2086,1568
$GC,10789,1.04,304.1,120.4,6.1,578,10831,0.15,2.45,32.40,0.633,4,0.049,0.071,3030,679,1421
$GC,10955,1.01,304.1,104.7,9.8,593,10959,0.00,2.30,0.00,0.000,6,0.000,0.036,3029,2084,1417
$GC,11279,1.01,304.1,73.9,9.3,623,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2089,1417
$GC,11598,1.05,338.3,49.6,6.2,653,11634,0.00,2.47,29.67,0.558,4,0.000,0.074,3029,683,1283
$GC,11687,1.09,342.5,43.7,7.0,661,11698,0.00,2.28,4.65,0.406,6,0.000,0.056,3029,2097,1267
$GC,12026,1.18,365.0,20.2,6.5,704,12055,0.10,2.47,20.50,0.517,4,0.058,0.037,3066,683,1174
$GC,12095,1.18,365.0,13.2,10.4,716,12101,0.00,2.22,0.00,0.000,6,0.000,0.019,3066,2082,1172
$STATE,12195,end climb,SURFACE_DEPTH_REACHED
$STATE,12195,begin surface coast
$FINISH,0.0,1.022782
$STATE,12227,end surface coast,CONTROL_FINISHED_OK
$STATE,12227,begin surface
$SM_CCo,12306,0.00,0.000,0,0,1167,367.21
$SM_GC,0.55,11.48,0.00,0.00,0.033,0.000,0.000,427,2081,1167,-10.81,0.06,367.21
$IRIDIUM_FIX,2057.14,-15748.75,051097,191926
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,8.62932
$TCM_TEMP,22.80
$XPDR_PINGS,681
$24V_AH,23.4,32.883
$10V_AH,10.2,19.075
$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,27.375,102.875,450.125,0.000,0.000,24.865,26.218,200.811,170.250,0.000,0.000,14.588,1312.058,8771.996,492.280,1661.856,423.843,33.353,1316.877,0.000,1650.252,0.000,0.470
$DEVICE_MAMPS,161.837,86.671,885.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.657,481.799,832.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38034,739
$CAP_FILE_SIZE,103961,8
$CFSIZE,260165632,256815104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120708,022728,2106.646,-15752.019,28,4.4,47,9.8