version: 66.03
glider: 139
mission: 3
dive: 52
start: 7 16 108 12 48 16
data:
$ID,139
$MISSION,3
$DIVE,52
$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,-1271345.2
$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
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,123637,2109.725,-15754.584,24,1.4,24,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-70.5
$GPS2,124727,2109.728,-15754.643,17,1.4,17,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.125
$KALMAN_X,-1912.7,-620.0,9.0,-640.3,-161.3
$KALMAN_Y,-23.7,-59.9,227.3,-13010.8,-1147.4
$MHEAD_RNG_PITCHd_Wd,109.6,19130,-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,-59.38,0.000,2,0.000,0.000,433,2077,3108
$GC,83,-0.96,-175.2,4.5,-8.8,11,108,12.20,2.38,-4.20,0.000,4,0.158,0.072,2575,3481,3383
$GC,131,-0.96,-175.2,24.7,-38.5,19,137,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2081,3384
$GC,246,-0.96,-175.2,39.3,-12.4,33,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2079,3384
$GC,564,-0.96,-175.2,75.2,-10.8,63,568,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,669,3385
$GC,637,-0.96,-175.2,82.7,-9.7,69,641,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2092,3385
$GC,963,-0.96,-175.2,114.1,-9.1,99,966,0.00,2.28,0.00,0.000,4,0.000,0.065,2575,3461,3386
$GC,996,-0.96,-175.2,117.3,-9.8,102,1001,0.00,2.28,0.00,0.000,6,0.000,0.020,2574,2065,3386
$GC,1323,-0.96,-175.2,142.1,-7.2,132,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2063,3387
$GC,1638,-0.96,-175.2,166.3,-9.3,162,1642,0.00,2.35,0.00,0.000,4,0.000,0.032,2575,3462,3387
$GC,1659,-0.96,-175.2,168.3,-9.1,163,1666,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2082,3387
$GC,1985,-0.96,-175.2,194.8,-7.2,194,1989,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,682,3387
$GC,2035,-0.96,-175.2,198.6,-7.6,198,2040,0.00,2.25,0.00,0.000,6,0.000,0.027,2575,2074,3387
$GC,2351,-0.96,-175.2,220.7,-6.4,214,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2078,3387
$GC,2661,-0.96,-175.2,237.2,-5.8,229,2665,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,679,3386
$GC,2687,-0.96,-175.2,238.9,-6.4,230,2691,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2083,3386
$GC,3008,-0.96,-175.2,258.2,-7.0,246,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3385
$GC,3318,-0.96,-175.2,279.9,-6.9,261,3322,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,688,3383
$GC,3345,-0.96,-175.2,281.6,-6.1,262,3349,0.00,2.28,0.00,0.000,6,0.000,0.023,2575,2083,3383
$GC,3686,-0.96,-175.2,303.3,-6.7,278,3690,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,3470,3381
$GC,3718,-0.96,-175.2,305.6,-7.0,278,3725,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2078,3381
$GC,4049,-0.96,-175.2,329.0,-7.1,287,4053,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,685,3380
$GC,4082,-0.96,-175.2,331.6,-7.5,287,4088,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2083,3380
$GC,4413,-0.96,-175.2,352.9,-6.2,296,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2086,3378
$GC,4738,-0.96,-175.2,370.9,-5.5,304,4742,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,686,3376
$GC,4777,-0.96,-175.2,373.3,-6.0,305,4781,0.00,2.30,0.00,0.000,6,0.000,0.063,2575,2077,3376
$GC,5100,-0.96,-175.2,393.1,-6.2,313,5104,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3477,3374
$GC,5121,-0.96,-175.2,394.5,-6.6,313,5125,0.00,2.33,0.00,0.000,6,0.000,0.036,2575,2084,3374
$GC,5458,-0.96,-175.2,414.6,-5.6,322,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3372
$GC,5783,-0.96,-175.2,432.8,-5.6,330,5787,0.00,2.42,0.00,0.000,4,0.000,0.045,2574,676,3370
$GC,5810,-0.96,-175.2,434.4,-6.1,330,5814,0.00,2.33,0.00,0.000,6,0.000,0.064,2574,2075,3370
$STATE,6103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6103,begin apogee
$GC,6108,-0.31,0.0,452.5,6.3,338,6253,0.70,0.00,141.82,0.886,6,0.059,0.000,2729,2077,2664
$STATE,6254,end apogee,CONTROL_FINISHED_OK
$STATE,6254,begin climb
$GC,6256,0.96,175.2,458.4,0.0,341,6413,1.20,2.55,145.45,0.862,4,0.107,0.076,3005,680,1946
$GC,6463,0.96,175.2,452.8,10.4,346,6467,0.00,2.38,0.00,0.000,6,0.000,0.029,3005,2079,1940
$GC,6786,0.96,175.2,424.6,8.8,354,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2083,1936
$GC,7111,0.96,175.2,397.4,8.3,362,7115,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,3475,1934
$GC,7188,0.96,175.2,390.4,9.1,363,7194,0.00,2.38,0.00,0.000,6,0.000,0.038,3005,2082,1934
$GC,7519,0.96,175.2,358.4,9.9,372,7523,0.00,2.45,0.00,0.000,4,0.000,0.047,3005,673,1932
$GC,7585,0.96,175.2,351.4,10.3,373,7589,0.00,2.38,0.00,0.000,6,0.000,0.029,3005,2072,1931
$GC,7933,0.96,175.2,318.5,9.2,382,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2075,1931
$GC,8239,0.97,179.2,295.1,7.0,391,8243,0.00,2.42,0.00,0.000,4,0.000,0.051,3005,3477,1930
$GC,8288,0.98,191.4,291.5,6.8,393,8305,0.00,2.38,11.90,0.742,6,0.000,0.063,3005,2069,1883
$GC,8625,0.98,191.4,266.8,7.4,410,8629,0.00,2.25,0.00,0.000,4,0.000,0.075,3005,3394,1880
$GC,8702,0.98,191.4,260.4,8.4,413,8707,0.00,2.25,0.00,0.000,6,0.000,0.038,3005,2077,1880
$GC,9024,0.98,191.4,232.3,8.6,429,9028,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,676,1878
$GC,9079,0.98,191.4,227.8,8.0,431,9086,0.00,2.35,0.00,0.000,6,0.000,0.027,3005,2092,1876
$GC,9395,0.98,191.4,204.7,7.4,447,9399,0.00,2.35,0.00,0.000,4,0.000,0.038,3005,3473,1876
$GC,9456,0.98,191.4,200.0,8.1,450,9460,0.00,2.33,0.00,0.000,6,0.000,0.026,3005,2075,1876
$GC,9782,0.98,191.4,176.4,7.7,480,9787,0.00,2.40,0.00,0.000,4,0.000,0.048,3005,678,1876
$GC,9833,0.98,191.4,172.1,8.0,484,9837,0.00,2.33,0.00,0.000,6,0.000,0.024,3005,2086,1874
$GC,10159,1.03,234.0,149.2,6.0,514,10202,0.00,1.35,37.20,0.668,4,0.000,0.087,3005,2934,1709
$GC,10326,1.04,242.8,138.5,6.9,529,10338,0.00,1.42,8.70,0.588,6,0.000,0.025,3005,2077,1674
$GC,10655,1.08,272.5,117.0,6.3,560,10688,0.10,2.40,26.65,0.620,4,0.058,0.044,3036,687,1551
$GC,10780,1.08,272.5,106.0,9.7,571,10784,0.00,1.77,0.00,0.000,6,0.000,0.065,3036,1816,1546
$GC,11112,1.08,272.5,80.2,7.5,602,11116,0.00,2.80,0.00,0.000,4,0.000,0.061,3036,3477,1545
$GC,11222,1.08,272.5,71.0,8.5,611,11229,0.00,2.33,0.00,0.000,6,0.000,0.021,3036,2080,1545
$GC,11550,1.08,272.5,46.3,7.5,642,11554,0.00,2.38,0.00,0.000,4,0.000,0.070,3036,676,1545
$GC,11593,1.08,272.5,42.4,8.4,645,11601,0.00,2.30,0.00,0.000,6,0.000,0.055,3036,2087,1544
$GC,11926,1.09,278.5,20.2,7.0,689,11933,0.00,0.00,5.57,0.422,6,0.000,0.000,3036,2088,1528
$GC,12046,1.09,278.5,11.4,7.4,710,12053,0.00,2.38,0.00,0.000,4,0.000,0.037,3036,683,1527
$GC,12098,1.09,278.5,7.6,7.2,719,12105,0.00,2.22,0.00,0.000,6,0.000,0.048,3036,2083,1527
$STATE,12166,end climb,SURFACE_DEPTH_REACHED
$STATE,12166,begin surface coast
$FINISH,-0.1,1.022784
$STATE,12206,end surface coast,CONTROL_FINISHED_OK
$STATE,12206,begin surface
$SM_CCo,12226,35.72,0.512,0,0,1359,320.12
$SM_GC,0.86,0.00,0.00,35.72,0.000,0.000,0.512,427,2086,1359,-10.89,0.20,320.12
$IRIDIUM_FIX,2059.45,-15753.90,101097,121222
$TT8_MAMPS,0.029146
$HUMID,1834
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.00
$XPDR_PINGS,699
$24V_AH,23.4,37.231
$10V_AH,10.2,21.597
$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,25.450,115.300,377.300,35.725,0.000,53.321,69.502,335.701,174.750,0.000,0.000,19.316,1301.832,8827.252,496.477,1622.243,651.520,33.364,1301.992,0.000,1610.757,0.000,0.470
$DEVICE_MAMPS,158.002,86.671,885.885,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.818,487.545,836.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38062,738
$CAP_FILE_SIZE,106549,11
$CFSIZE,260165632,255094784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160708,161402,2108.782,-15753.795,46,1.4,46,9.8