version: 66.03
glider: 139
mission: 3
dive: 22
start: 7 12 108 2 45 5
data:
$ID,139
$MISSION,3
$DIVE,22
$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,-1270749.1
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,022728,2106.646,-15752.019,28,4.4,47,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.4
$GPS2,024414,2106.513,-15752.020,13,1.0,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.160,0.198
$KALMAN_X,-809.8,768.4,163.0,1241.6,-149.1
$KALMAN_Y,5809.3,13.6,-26.8,-24610.3,178.5
$MHEAD_RNG_PITCHd_Wd,311.1,7198,-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,-175.2,0.0,0.0,0,87,0.00,0.00,-65.68,0.000,2,0.000,0.000,427,2083,3066
$GC,89,-0.96,-175.2,4.0,-7.8,12,114,12.32,2.28,-4.97,0.000,4,0.162,0.039,2577,3460,3381
$GC,287,-0.90,-175.2,41.2,-10.6,38,295,0.08,2.28,0.00,0.000,6,0.092,0.020,2596,2075,3382
$GC,614,-0.86,-175.2,72.5,-10.0,69,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2073,3383
$GC,931,-0.86,-175.2,98.6,-9.0,99,935,0.00,2.30,0.00,0.000,4,0.000,0.030,2596,3455,3384
$GC,982,-0.92,-175.2,102.8,-7.9,103,986,0.00,2.22,0.00,0.000,6,0.000,0.035,2596,2075,3384
$GC,1308,-0.95,-175.2,128.7,-7.7,133,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2073,3384
$GC,1627,-1.00,-175.2,150.0,-5.5,163,1631,0.00,2.35,0.00,0.000,4,0.000,0.055,2596,677,3384
$GC,1648,-1.07,-175.2,151.3,-5.0,164,1655,0.15,2.08,0.00,0.000,6,0.048,0.044,2558,2018,3383
$GC,1973,-1.03,-175.2,177.0,-9.0,195,1977,0.00,2.40,0.00,0.000,4,0.000,0.032,2557,3453,3384
$GC,2069,-1.03,-175.2,185.9,-9.5,203,2074,0.00,2.25,0.00,0.000,6,0.000,0.021,2557,2072,3384
$GC,2389,-1.03,-175.2,211.8,-7.7,226,2393,0.00,2.35,0.00,0.000,4,0.000,0.037,2557,679,3383
$GC,2432,-1.03,-175.2,215.1,-7.1,228,2436,0.00,2.25,0.00,0.000,6,0.000,0.021,2557,2074,3384
$GC,2758,-1.03,-175.2,239.4,-7.6,244,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2078,3383
$GC,3068,-1.03,-175.2,259.4,-5.8,259,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2078,3382
$GC,3378,-1.03,-175.2,278.6,-6.8,274,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2078,3380
$GC,3687,-1.03,-175.2,298.2,-6.7,289,3691,0.00,2.38,0.00,0.000,4,0.000,0.041,2557,686,3379
$GC,3726,-1.07,-175.2,301.1,-7.5,291,3730,0.00,2.28,0.00,0.000,6,0.000,0.025,2557,2071,3379
$GC,4050,-1.07,-175.2,324.7,-7.9,299,4054,0.00,2.38,0.00,0.000,4,0.000,0.041,2557,684,3377
$GC,4071,-1.07,-175.2,326.6,-8.5,299,4075,0.00,2.33,0.00,0.000,6,0.000,0.026,2557,2077,3377
$GC,4419,-1.07,-175.2,350.7,-6.6,308,4423,0.00,2.38,0.00,0.000,4,0.000,0.041,2557,3473,3375
$GC,4446,-1.11,-175.2,352.7,-7.3,308,4450,0.00,2.33,0.00,0.000,6,0.000,0.054,2557,2079,3375
$GC,4783,-1.11,-175.2,375.8,-6.8,317,4787,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,682,3373
$GC,4815,-1.16,-175.2,378.0,-7.2,317,4822,0.00,2.33,0.00,0.000,6,0.000,0.071,2557,2083,3373
$GC,5146,-1.16,-175.2,395.6,-4.9,326,5150,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,676,3370
$GC,5174,-1.19,-175.2,397.1,-5.6,326,5178,0.00,2.33,0.00,0.000,6,0.000,0.029,2557,2078,3370
$GC,5510,-1.19,-175.2,416.8,-6.5,335,5514,0.00,2.40,0.00,0.000,4,0.000,0.044,2557,682,3368
$GC,5537,-1.23,-175.2,418.7,-6.9,335,5542,0.15,2.33,0.00,0.000,6,0.055,0.064,2514,2078,3367
$GC,5868,-1.16,-175.2,445.4,-8.1,343,5870,0.12,0.00,0.00,0.000,6,0.087,0.000,2540,2082,3365
$STATE,5947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5952,-0.31,0.0,451.6,7.9,345,6095,0.88,0.00,140.05,0.890,6,0.160,0.000,2727,2081,2664
$STATE,6096,end apogee,CONTROL_FINISHED_OK
$STATE,6096,begin climb
$GC,6098,0.96,175.2,457.8,0.0,348,6247,1.25,0.00,144.90,0.866,6,0.104,0.000,3007,2081,1948
$GC,6556,0.86,175.2,431.2,8.9,360,6558,0.12,0.00,0.00,0.000,6,0.103,0.000,2985,2081,1938
$GC,6880,0.80,175.2,405.4,7.8,368,6884,0.00,2.45,0.00,0.000,4,0.000,0.050,2984,683,1935
$GC,6923,0.70,175.2,401.5,9.6,369,6928,0.17,2.35,0.00,0.000,6,0.094,0.031,2950,2076,1933
$GC,7247,0.70,175.2,374.4,8.7,377,7251,0.00,2.45,0.00,0.000,4,0.000,0.047,2950,679,1932
$GC,7307,0.70,175.2,369.0,8.6,378,7311,0.00,2.40,0.00,0.000,6,0.000,0.031,2950,2082,1931
$GC,7655,0.74,204.8,344.7,6.3,387,7684,0.00,2.55,23.48,0.822,4,0.000,0.081,2950,680,1828
$GC,7724,0.74,205.2,340.0,7.1,388,7728,0.00,2.38,0.00,0.000,6,0.000,0.068,2950,2080,1824
$GC,8067,0.77,205.2,317.6,7.2,397,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2084,1822
$GC,8372,0.80,205.2,293.7,7.5,406,8376,0.00,2.45,0.00,0.000,4,0.000,0.051,2950,681,1821
$GC,8439,0.80,205.2,288.7,8.0,409,8443,0.00,2.38,0.00,0.000,6,0.000,0.041,2950,2092,1819
$GC,8766,0.88,239.4,268.4,6.2,425,8810,0.17,2.55,32.42,0.752,4,0.051,0.077,2994,683,1686
$GC,8855,0.83,239.4,260.5,10.4,429,8859,0.00,2.35,0.00,0.000,6,0.000,0.029,2994,2079,1682
$GC,9182,0.83,239.4,231.3,8.0,445,9186,0.00,2.45,0.00,0.000,4,0.000,0.045,2994,677,1680
$GC,9214,0.78,239.4,228.6,8.4,446,9221,0.08,2.38,0.00,0.000,6,0.089,0.028,2966,2080,1678
$GC,9530,0.83,239.4,205.0,7.6,462,9534,0.00,2.40,0.00,0.000,4,0.000,0.040,2966,3479,1678
$GC,9573,0.89,239.4,201.6,8.7,464,9578,0.10,2.35,0.00,0.000,6,0.063,0.061,2993,2078,1678
$GC,9898,0.89,239.4,176.1,8.3,493,9902,0.00,2.40,0.00,0.000,4,0.000,0.037,2993,3477,1678
$GC,9926,0.89,239.4,173.7,9.0,495,9930,0.00,2.35,0.00,0.000,6,0.000,0.038,2993,2075,1678
$GC,10251,0.89,239.4,148.3,8.4,525,10255,0.00,2.40,0.00,0.000,4,0.000,0.075,2993,679,1678
$GC,10369,0.89,239.4,138.5,8.3,535,10374,0.00,2.33,0.00,0.000,6,0.000,0.024,2993,2093,1675
$GC,10694,0.91,261.3,117.9,6.5,565,10717,0.00,2.42,18.62,0.623,4,0.000,0.067,2993,3474,1598
$GC,10780,0.94,261.3,111.8,7.3,572,10786,0.00,2.30,0.00,0.000,6,0.000,0.023,2993,2072,1597
$GC,11106,1.05,310.9,90.4,5.8,603,11160,0.12,2.45,43.78,0.606,4,0.052,0.073,3029,686,1394
$GC,11183,1.05,310.9,84.9,7.8,610,11187,0.00,2.30,0.00,0.000,6,0.000,0.021,3029,2091,1392
$GC,11510,1.05,310.9,60.0,7.7,640,11514,0.00,2.42,0.00,0.000,4,0.000,0.071,3029,676,1390
$GC,11594,1.05,310.9,52.4,8.4,647,11598,0.00,2.28,0.00,0.000,6,0.000,0.058,3029,2081,1387
$GC,11920,1.09,310.9,27.5,7.7,680,11926,0.00,2.30,0.00,0.000,4,0.000,0.031,3029,3467,1388
$GC,11984,1.25,398.9,23.9,4.7,691,12068,0.15,2.25,73.47,0.535,6,0.044,0.021,3079,2076,1035
$GC,12180,1.22,398.9,3.8,13.1,726,12186,0.00,2.35,0.00,0.000,4,0.000,0.038,3079,688,1031
$STATE,12191,end climb,SURFACE_DEPTH_REACHED
$STATE,12191,begin surface coast
$FINISH,-0.2,1.010135
$STATE,12216,end surface coast,CONTROL_FINISHED_OK
$STATE,12216,begin surface
$SM_CCo,12298,0.00,0.000,0,0,1026,401.80
$SM_GC,0.58,11.50,0.00,0.00,0.037,0.000,0.000,424,2074,1026,-10.81,-0.14,401.80
$IRIDIUM_FIX,2059.45,-15753.03,061097,020221
$TT8_MAMPS,0.028379
$HUMID,1848
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.20
$XPDR_PINGS,682
$24V_AH,23.4,33.043
$10V_AH,10.2,19.161
$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,27.375,117.750,476.725,0.000,0.000,108.086,171.929,398.558,170.500,0.000,0.000,14.902,1286.326,8978.763,552.942,1581.952,891.038,33.356,1356.156,0.000,1577.861,0.000,0.470
$DEVICE_MAMPS,161.837,80.535,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.800,482.824,831.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38135,732
$CAP_FILE_SIZE,112516,11
$CFSIZE,260165632,256753664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120708,061108,2107.848,-15752.968,30,1.2,30,9.8