version: 66.03
glider: 139
mission: 3
dive: 173
start: 8 3 108 12 14 24
data:
$ID,139
$MISSION,3
$DIVE,173
$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,-1274235.5
$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,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
$GPS1,120408,2108.247,-15752.446,33,1.0,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.1
$GPS2,121332,2108.210,-15752.442,15,1.1,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.151
$KALMAN_X,-70303.4,-351.6,634.4,70652.3,-2863.0
$KALMAN_Y,-49839.6,163.6,414.9,33581.4,-1841.4
$MHEAD_RNG_PITCHd_Wd,116.6,14486,-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,16,begin dive
$GC,18,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.75,0.000,2,0.000,0.000,427,2085,2808
$GC,78,-0.96,-175.2,3.6,-4.0,10,107,12.15,0.00,-10.38,0.000,6,0.155,0.000,2576,2087,3381
$GC,220,-0.96,-175.2,29.7,-13.5,35,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3382
$GC,332,-0.96,-175.2,43.5,-12.2,46,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3382
$GC,651,-0.96,-175.2,80.7,-9.2,76,654,0.00,2.10,0.00,0.000,4,0.000,0.034,2576,834,3383
$GC,668,-0.96,-175.2,82.2,-9.0,77,674,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2080,3383
$GC,992,-0.96,-175.2,109.1,-8.5,108,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2084,3384
$GC,1311,-0.96,-175.2,136.3,-8.8,138,1314,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,835,3385
$GC,1356,-0.96,-175.2,139.9,-7.9,142,1360,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2083,3385
$GC,1688,-0.96,-175.2,164.5,-7.9,173,1691,0.00,2.30,0.00,0.000,4,0.000,0.048,2577,3461,3384
$GC,1710,-0.96,-175.2,166.6,-8.6,175,1714,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2228,3385
$GC,2041,-0.96,-175.2,195.3,-8.5,206,2045,0.00,2.33,0.00,0.000,4,0.000,0.068,2577,841,3385
$GC,2103,-0.96,-175.2,200.3,-7.0,211,2107,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2077,3384
$GC,2435,-0.96,-175.2,222.5,-5.2,227,2439,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,3470,3385
$GC,2467,-0.96,-175.2,224.3,-5.3,228,2471,0.00,2.03,0.00,0.000,6,0.000,0.031,2577,2243,3385
$GC,2788,-0.96,-175.2,247.1,-7.6,244,2792,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,844,3384
$GC,2842,-0.96,-175.2,252.1,-9.5,246,2847,0.00,2.03,0.00,0.000,6,0.000,0.027,2578,2078,3384
$GC,3164,-0.96,-175.2,273.9,-5.5,262,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3383
$GC,3474,-0.96,-175.2,291.1,-6.2,277,3477,0.00,2.10,0.00,0.000,4,0.000,0.037,2576,838,3382
$GC,3506,-0.96,-175.2,293.3,-6.5,278,3510,0.00,2.03,0.00,0.000,6,0.000,0.064,2577,2071,3382
$GC,3845,-0.96,-175.2,313.0,-6.0,290,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3381
$GC,4170,-0.96,-175.2,333.0,-6.5,298,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3380
$GC,4495,-0.96,-175.2,355.2,-6.7,306,4499,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3464,3378
$GC,4527,-0.96,-175.2,357.4,-6.8,306,4533,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2235,3377
$GC,4858,-0.96,-175.2,377.6,-5.7,315,4862,0.00,2.35,0.00,0.000,4,0.000,0.041,2577,842,3376
$GC,4919,-0.96,-175.2,381.2,-6.2,316,4923,0.00,2.03,0.00,0.000,6,0.000,0.033,2577,2070,3376
$GC,5267,-0.96,-175.2,403.1,-6.2,325,5271,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,3471,3374
$GC,5311,-0.96,-175.2,405.9,-5.6,326,5315,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2232,3374
$GC,5636,-0.96,-175.2,426.3,-6.8,334,5640,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,841,3372
$GC,5724,-0.96,-175.2,433.3,-7.2,336,5728,0.00,2.08,0.00,0.000,6,0.000,0.066,2577,2071,3371
$STATE,5965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5965,begin apogee
$GC,5970,-0.31,0.0,451.0,7.1,342,6114,0.68,0.00,141.68,0.889,6,0.164,0.000,2729,2071,2664
$STATE,6115,end apogee,CONTROL_FINISHED_OK
$STATE,6115,begin climb
$GC,6118,0.96,175.2,457.6,0.0,345,6274,1.20,2.55,145.27,0.862,4,0.036,0.066,3011,3471,1948
$GC,6318,0.96,175.2,449.7,10.4,349,6325,0.00,2.10,0.00,0.000,6,0.000,0.038,3011,2255,1944
$GC,6649,0.96,175.2,415.5,10.7,358,6654,0.00,2.45,0.00,0.000,4,0.000,0.045,3011,850,1938
$GC,6783,0.96,175.2,400.8,10.3,361,6788,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2066,1934
$GC,7107,0.96,175.2,374.2,8.1,369,7111,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,3475,1933
$GC,7252,0.96,175.2,362.0,8.3,372,7255,0.00,2.08,0.00,0.000,6,0.000,0.056,3010,2252,1933
$GC,7564,0.98,187.2,339.4,6.8,380,7579,0.00,2.50,8.50,0.729,4,0.000,0.076,3011,855,1900
$GC,7612,0.98,192.2,335.9,7.0,381,7623,0.00,2.08,5.90,0.663,6,0.000,0.028,3011,2091,1880
$GC,7930,0.98,192.2,309.6,9.2,389,7934,0.00,2.40,0.00,0.000,4,0.000,0.050,3011,3478,1878
$GC,7969,0.98,192.2,305.6,10.3,390,7972,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2245,1878
$GC,8302,1.01,213.6,277.8,6.6,404,8327,0.00,2.45,19.88,0.767,4,0.000,0.073,3011,842,1793
$GC,8518,1.01,213.6,262.2,8.1,413,8524,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2083,1786
$GC,8834,1.01,213.6,236.8,8.1,429,8838,0.00,2.30,0.00,0.000,4,0.000,0.072,3011,3456,1786
$GC,8889,1.01,213.6,232.4,7.9,431,8895,0.00,2.05,0.00,0.000,6,0.000,0.025,3011,2243,1786
$GC,9205,1.12,304.6,211.4,4.7,447,9291,0.12,2.47,79.18,0.718,4,0.052,0.041,3049,851,1420
$GC,9358,1.12,304.6,197.0,12.7,454,9365,0.00,2.08,0.00,0.000,6,0.000,0.064,3050,2079,1415
$GC,9684,1.12,304.6,155.2,12.6,485,9688,0.00,2.38,0.00,0.000,4,0.000,0.050,3050,3473,1412
$GC,9736,1.12,304.6,148.9,12.6,489,9739,0.00,2.03,0.00,0.000,6,0.000,0.023,3050,2246,1412
$GC,10067,1.12,304.6,115.5,8.9,520,10071,0.00,2.40,0.00,0.000,4,0.000,0.071,3050,842,1411
$GC,10140,1.12,304.6,109.4,8.1,526,10144,0.00,2.03,0.00,0.000,6,0.000,0.021,3049,2091,1408
$GC,10471,1.14,322.1,87.5,6.7,557,10493,0.00,2.17,14.62,0.570,4,0.000,0.036,3050,846,1349
$GC,10538,1.14,322.1,82.3,8.0,563,10542,0.00,2.00,0.00,0.000,6,0.000,0.025,3050,2080,1347
$GC,10872,1.14,322.1,56.7,8.1,594,10875,0.00,1.58,0.00,0.000,4,0.000,0.077,3050,3061,1347
$GC,10951,1.14,322.1,49.3,9.8,601,10954,0.00,1.35,0.00,0.000,6,0.000,0.021,3050,2233,1347
$GC,11280,1.14,322.1,20.1,8.1,641,11287,0.00,2.33,0.00,0.000,4,0.000,0.035,3050,841,1347
$GC,11388,1.14,322.1,11.3,9.2,660,11394,0.00,2.00,0.00,0.000,6,0.000,0.018,3050,2080,1347
$STATE,11483,end climb,SURFACE_DEPTH_REACHED
$STATE,11483,begin surface coast
$FINISH,0.9,1.022470
$STATE,11526,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11606,0.00,0.000,0,0,1345,323.55
$SM_GC,1.70,11.20,0.00,0.00,0.031,0.000,0.000,422,2085,1345,-10.81,0.17,323.55
$IRIDIUM_FIX,2101.76,-15753.03,281097,121254
$TT8_MAMPS,0.028379
$HUMID,1889
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,690
$24V_AH,23.3,54.585
$10V_AH,10.2,31.455
$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,25.350,103.725,415.025,0.000,0.000,58.610,60.617,252.326,172.500,0.000,0.000,16.594,1238.293,8240.067,476.385,1626.800,574.581,33.398,1293.893,0.000,1620.429,0.000,0.470
$DEVICE_MAMPS,164.138,76.700,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.218,452.433,778.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34879,684
$CAP_FILE_SIZE,100983,13
$CFSIZE,260165632,248877056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,152932,2106.998,-15753.087,67,1.0,67,9.8