version: 66.03
glider: 139
mission: 3
dive: 167
start: 8 2 108 15 28 56
data:
$ID,139
$MISSION,3
$DIVE,167
$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,-1274139.4
$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
$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,205
$R_STBD_OVSHOOT,60
$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
$GPS1,152129,2105.617,-15752.368,8,3.5,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.3
$GPS2,152807,2105.635,-15752.424,37,1.7,41,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.071,0.244
$KALMAN_X,-60862.6,-845.1,-318.1,62697.0,-1783.2
$KALMAN_Y,-41972.0,-271.0,-203.3,21998.3,-1410.8
$MHEAD_RNG_PITCHd_Wd,6.4,8172,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,86,0.00,0.00,-64.80,0.000,2,0.000,0.000,418,2082,2736
$GC,89,-0.96,-175.2,3.4,-4.4,12,119,12.07,2.38,-12.18,0.000,4,0.152,0.074,2576,3471,3382
$GC,240,-0.96,-175.2,26.4,-9.3,38,247,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2238,3383
$GC,355,-0.96,-175.2,39.3,-13.8,52,359,0.00,2.35,0.00,0.000,4,0.000,0.034,2575,835,3383
$GC,398,-0.96,-175.2,44.3,-11.2,55,405,0.00,2.03,0.00,0.000,6,0.000,0.018,2576,2083,3383
$GC,723,-0.96,-175.2,89.9,-14.4,86,726,0.00,2.10,0.00,0.000,4,0.000,0.034,2575,834,3384
$GC,750,-0.96,-175.2,93.6,-13.1,88,757,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2073,3384
$GC,1075,-0.96,-175.2,127.3,-10.3,119,1079,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,835,3384
$GC,1131,-0.96,-175.2,132.6,-8.9,124,1135,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2080,3385
$GC,1462,-0.96,-175.2,161.5,-9.1,155,1466,0.00,2.08,0.00,0.000,4,0.000,0.067,2575,843,3385
$GC,1545,-0.96,-175.2,169.9,-9.7,162,1553,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,1872,-0.96,-175.2,197.2,-8.1,193,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3385
$GC,2181,-0.96,-175.2,220.7,-7.6,210,2184,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,841,3385
$GC,2230,-0.96,-175.2,224.9,-8.4,212,2234,0.00,2.03,0.00,0.000,6,0.000,0.060,2575,2080,3385
$GC,2557,-0.96,-175.2,252.9,-8.7,228,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3385
$GC,2867,-0.96,-175.2,272.2,-5.8,243,2870,0.00,2.10,0.00,0.000,4,0.000,0.037,2575,841,3385
$GC,2899,-0.96,-175.2,274.4,-6.9,244,2903,0.00,2.00,0.00,0.000,6,0.000,0.025,2575,2076,3385
$GC,3221,-0.96,-175.2,291.1,-4.8,260,3225,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,3468,3383
$GC,3248,-0.96,-175.2,292.7,-5.7,261,3252,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2230,3383
$GC,3586,-0.96,-175.2,311.7,-5.5,273,3590,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,839,3381
$GC,3642,-0.96,-175.2,315.4,-6.7,274,3646,0.00,2.03,0.00,0.000,6,0.000,0.030,2575,2074,3381
$GC,3955,-0.96,-175.2,333.2,-5.6,282,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3379
$GC,4279,-0.96,-175.2,352.2,-5.7,290,4283,0.00,2.10,0.00,0.000,4,0.000,0.041,2575,848,3377
$GC,4306,-0.96,-175.2,354.2,-7.3,290,4311,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2069,3377
$GC,4649,-0.96,-175.2,378.2,-7.2,299,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2073,3375
$GC,4974,-0.96,-175.2,399.1,-5.6,307,4977,0.00,2.10,0.00,0.000,4,0.000,0.041,2575,846,3373
$GC,4995,-0.96,-175.2,400.3,-5.1,307,5000,0.00,2.05,0.00,0.000,6,0.000,0.053,2575,2076,3373
$GC,5343,-0.96,-175.2,415.6,-4.4,316,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3371
$GC,5669,-0.96,-175.2,431.8,-5.1,324,5672,0.00,2.12,0.00,0.000,4,0.000,0.042,2575,841,3369
$GC,5696,-0.96,-175.2,433.7,-6.6,324,5700,0.00,2.10,0.00,0.000,6,0.000,0.037,2575,2098,3368
$STATE,5954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5955,begin apogee
$GC,5959,-0.31,0.0,451.8,7.0,331,6104,0.68,0.00,141.50,0.890,6,0.173,0.000,2728,2099,2664
$STATE,6105,end apogee,CONTROL_FINISHED_OK
$STATE,6105,begin climb
$GC,6107,0.96,175.2,460.2,0.0,334,6261,1.20,2.22,145.20,0.863,4,0.037,0.080,3010,846,1948
$GC,6474,0.96,175.2,440.3,9.8,342,6478,0.00,2.10,0.00,0.000,6,0.000,0.029,3009,2079,1936
$GC,6816,0.96,175.2,410.7,8.7,351,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1934
$GC,7141,0.96,175.2,382.2,8.5,359,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1933
$GC,7466,0.96,175.2,357.6,7.6,367,7469,0.00,2.15,0.00,0.000,4,0.000,0.044,3009,842,1931
$GC,7510,0.96,175.2,353.9,8.3,368,7514,0.00,2.08,0.00,0.000,6,0.000,0.029,3010,2083,1929
$GC,7834,0.96,175.2,326.7,8.9,376,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2086,1929
$GC,8159,0.96,175.2,299.7,7.9,384,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2087,1928
$GC,8469,1.03,233.2,281.3,5.6,399,8519,0.00,0.00,47.92,0.785,6,0.000,0.000,3009,2087,1712
$GC,8819,1.03,233.2,250.8,9.8,416,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2087,1705
$GC,9128,1.03,233.2,227.8,7.7,431,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2087,1703
$GC,9437,1.03,233.2,201.9,8.3,446,9441,0.00,2.15,0.00,0.000,4,0.000,0.040,3009,838,1701
$GC,9544,1.03,233.2,191.7,9.0,454,9551,0.00,2.05,0.00,0.000,6,0.000,0.065,3009,2085,1699
$GC,9870,1.04,237.9,163.7,7.0,485,9874,0.00,2.38,0.00,0.000,4,0.000,0.048,3009,3479,1699
$GC,9999,1.18,356.8,156.9,3.9,496,10113,0.20,2.05,104.55,0.664,6,0.038,0.039,3068,2244,1207
$GC,10430,1.18,356.8,116.0,12.8,537,10434,0.00,2.40,0.00,0.000,4,0.000,0.038,3068,840,1201
$GC,10554,1.18,356.8,100.9,12.5,548,10558,0.00,2.05,0.00,0.000,6,0.000,0.021,3068,2100,1198
$GC,10886,1.18,356.8,65.6,8.8,579,10890,0.00,2.15,0.00,0.000,4,0.000,0.076,3068,845,1198
$GC,10941,1.18,356.8,59.7,10.2,583,10949,0.00,2.03,0.00,0.000,6,0.000,0.025,3068,2080,1197
$GC,11270,1.18,356.8,28.4,8.5,615,11276,0.00,2.10,0.00,0.000,4,0.000,0.073,3068,839,1197
$GC,11316,1.18,356.8,23.4,10.7,623,11323,0.00,2.03,0.00,0.000,6,0.000,0.062,3068,2086,1197
$GC,11436,1.18,356.8,10.7,10.5,644,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2090,1197
$STATE,11513,end climb,SURFACE_DEPTH_REACHED
$STATE,11513,begin surface coast
$FINISH,0.8,1.007387
$STATE,11542,end surface coast,CONTROL_FINISHED_OK
$STATE,11542,begin surface
$SM_CCo,11622,0.00,0.000,0,0,1194,360.35
$SM_GC,1.76,11.35,0.00,0.00,0.028,0.000,0.000,427,2089,1194,-10.82,0.28,360.35
$IRIDIUM_FIX,2057.14,-15753.90,271097,121213
$TT8_MAMPS,0.028379
$HUMID,1912
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,607
$24V_AH,23.3,53.779
$10V_AH,10.2,30.981
$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,25.500,80.350,439.175,0.000,0.000,27.764,32.462,189.341,151.750,0.000,0.000,43.056,1152.990,8455.830,491.426,1485.470,421.386,33.376,1234.326,0.000,1452.288,0.000,0.471
$DEVICE_MAMPS,172.575,79.768,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.250,424.539,710.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34740,663
$CAP_FILE_SIZE,87647,6
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020808,184338,2106.533,-15753.045,25,1.6,25,9.8