version: 66.03
glider: 139
mission: 3
dive: 187
start: 8 5 108 12 36 48
data:
$ID,139
$MISSION,3
$DIVE,187
$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,-1274553.4
$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,62
$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
$GPS1,122351,2104.718,-15757.011,62,2.9,81,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.5
$GPS2,123559,2104.581,-15757.196,15,2.1,34,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,0.129
$KALMAN_X,-116677.4,-174.5,389.0,108892.2,-3668.9
$KALMAN_Y,-70832.6,-121.0,23.9,48534.9,-1415.1
$MHEAD_RNG_PITCHd_Wd,49.6,18214,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-49.10,0.000,2,0.000,0.000,427,2097,2719
$GC,73,-0.96,-175.2,3.1,-3.3,9,103,11.88,2.35,-13.00,0.000,4,0.146,0.079,2573,3460,3382
$GC,160,-0.96,-175.2,18.0,-11.4,24,166,0.00,1.98,0.00,0.000,6,0.000,0.020,2573,2233,3383
$GC,279,-0.96,-175.2,30.4,-10.2,45,283,0.00,2.35,0.00,0.000,4,0.000,0.065,2573,836,3383
$GC,323,-0.96,-175.2,35.3,-10.8,48,330,0.00,2.00,0.00,0.000,6,0.000,0.018,2573,2069,3383
$GC,648,-0.96,-175.2,70.2,-11.5,79,652,0.00,2.33,0.00,0.000,4,0.000,0.030,2573,3466,3383
$GC,676,-0.96,-175.2,73.2,-10.9,81,679,0.00,1.98,0.00,0.000,6,0.000,0.019,2573,2239,3384
$GC,1006,-0.96,-175.2,104.3,-8.4,112,1009,0.00,2.33,0.00,0.000,4,0.000,0.034,2573,843,3384
$GC,1130,-0.96,-175.2,116.7,-10.6,123,1133,0.00,1.98,0.00,0.000,6,0.000,0.018,2573,2082,3385
$GC,1463,-0.96,-175.2,150.3,-9.0,154,1467,0.00,2.30,0.00,0.000,4,0.000,0.066,2573,3464,3385
$GC,1484,-0.96,-175.2,152.7,-9.0,155,1490,0.00,2.00,0.00,0.000,6,0.000,0.020,2573,2246,3385
$GC,1810,-0.96,-175.2,178.1,-7.9,186,1814,0.00,2.35,0.00,0.000,4,0.000,0.038,2573,843,3385
$GC,1894,-0.96,-175.2,185.5,-9.1,193,1898,0.00,1.98,0.00,0.000,6,0.000,0.019,2573,2078,3385
$GC,2220,-0.96,-175.2,210.2,-6.5,217,2223,0.00,2.08,0.00,0.000,4,0.000,0.035,2573,842,3385
$GC,2242,-0.96,-175.2,212.0,-7.7,218,2246,0.00,1.98,0.00,0.000,6,0.000,0.020,2573,2080,3385
$GC,2574,-0.96,-175.2,232.5,-6.1,234,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2085,3385
$GC,2884,-0.96,-175.2,249.8,-6.3,249,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2084,3385
$GC,3193,-0.96,-175.2,270.9,-7.1,264,3196,0.00,2.10,0.00,0.000,4,0.000,0.037,2573,841,3384
$GC,3231,-0.96,-175.2,273.7,-7.5,265,3237,0.00,2.03,0.00,0.000,6,0.000,0.023,2573,2067,3383
$GC,3547,-0.96,-175.2,296.9,-7.1,281,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2071,3382
$GC,3852,-0.96,-175.2,318.0,-7.0,290,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2071,3381
$GC,4177,-0.96,-175.2,345.6,-9.1,298,4181,0.00,2.08,0.00,0.000,4,0.000,0.039,2573,848,3379
$GC,4233,-0.96,-175.2,350.9,-9.3,299,4237,0.00,2.03,0.00,0.000,6,0.000,0.025,2573,2080,3379
$GC,4551,-0.96,-175.2,376.6,-7.5,307,4555,0.00,2.38,0.00,0.000,4,0.000,0.040,2573,3470,3377
$GC,4583,-0.96,-175.2,379.2,-7.9,307,4589,0.00,2.05,0.00,0.000,6,0.000,0.058,2573,2251,3376
$GC,4914,-0.96,-175.2,400.1,-6.0,316,4918,0.00,2.40,0.00,0.000,4,0.000,0.041,2573,842,3375
$GC,4992,-0.96,-175.2,404.7,-5.7,317,4996,0.00,2.05,0.00,0.000,6,0.000,0.027,2573,2082,3374
$GC,5329,-0.96,-175.2,422.7,-5.1,326,5333,0.00,2.40,0.00,0.000,4,0.000,0.043,2573,3479,3372
$GC,5350,-0.96,-175.2,424.1,-5.9,326,5354,0.00,2.08,0.00,0.000,6,0.000,0.025,2573,2242,3372
$GC,5692,-0.96,-175.2,446.6,-7.3,335,5696,0.00,2.38,0.00,0.000,4,0.000,0.041,2573,842,3370
$STATE,5739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5739,begin apogee
$GC,5746,-0.31,0.0,450.3,7.2,336,5891,0.08,0.00,141.85,0.883,6,1.553,0.000,2603,2080,2664
$STATE,5892,end apogee,CONTROL_FINISHED_OK
$STATE,5892,begin climb
$GC,5894,0.96,175.2,457.3,0.0,339,6048,1.83,2.25,144.82,0.858,4,0.055,0.072,3002,846,1948
$GC,6148,0.96,175.2,447.4,9.5,345,6153,0.00,2.10,0.00,0.000,6,0.000,0.028,3002,2078,1939
$GC,6473,0.96,175.2,419.7,8.7,353,6476,0.00,2.15,0.00,0.000,4,0.000,0.044,3002,850,1936
$GC,6517,0.96,175.2,415.5,9.2,354,6521,0.00,2.08,0.00,0.000,6,0.000,0.028,3002,2081,1934
$GC,6846,0.96,175.2,381.7,10.7,362,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2084,1933
$GC,7171,0.96,175.2,348.0,10.0,370,7175,0.00,2.42,0.00,0.000,4,0.000,0.043,3002,3478,1931
$GC,7248,0.96,175.2,340.2,9.7,371,7254,0.00,2.08,0.00,0.000,6,0.000,0.028,3002,2257,1931
$GC,7579,0.96,175.2,311.5,8.4,380,7583,0.00,2.45,0.00,0.000,4,0.000,0.043,3002,839,1930
$GC,7708,0.96,175.2,300.3,9.2,383,7712,0.00,2.08,0.00,0.000,6,0.000,0.029,3002,2087,1927
$GC,8041,0.96,175.2,271.6,8.6,398,8045,0.00,2.40,0.00,0.000,4,0.000,0.041,3002,3475,1927
$GC,8062,0.96,175.2,269.7,9.1,399,8066,0.00,2.05,0.00,0.000,6,0.000,0.066,3002,2249,1927
$GC,8389,0.96,178.8,244.7,7.0,415,8393,0.00,2.42,0.00,0.000,4,0.000,0.064,3002,844,1926
$GC,8534,1.05,246.0,236.2,5.3,421,8602,0.00,2.10,58.50,0.749,6,0.000,0.066,3002,2083,1659
$GC,8912,1.05,246.0,211.5,7.5,440,8915,0.00,1.77,0.00,0.000,4,0.000,0.065,3002,3147,1651
$GC,9098,1.05,246.0,196.2,7.9,449,9104,0.00,1.52,0.00,0.000,6,0.000,0.025,3002,2242,1651
$GC,9424,1.05,246.0,168.6,7.8,480,9428,0.00,2.40,0.00,0.000,4,0.000,0.049,3002,842,1650
$GC,9546,1.05,246.0,158.2,7.6,490,9553,0.00,2.08,0.00,0.000,6,0.000,0.023,3002,2088,1647
$GC,9873,1.06,253.9,137.1,6.9,521,9885,0.10,2.35,6.12,0.523,4,0.056,0.033,3037,3475,1628
$GC,9991,1.06,253.9,126.4,9.3,531,9998,0.00,2.08,0.00,0.000,6,0.000,0.055,3037,2240,1628
$GC,10319,1.07,264.2,103.1,6.9,562,10335,0.00,2.40,11.25,0.568,4,0.000,0.048,3037,838,1585
$GC,10430,1.07,264.2,93.4,8.8,571,10437,0.00,2.05,0.00,0.000,6,0.000,0.051,3037,2084,1582
$GC,10757,1.15,331.9,75.0,5.3,602,10821,0.00,2.42,58.78,0.581,4,0.000,0.040,3036,3474,1309
$GC,10902,1.15,331.9,63.7,9.4,615,10905,0.00,2.03,0.00,0.000,6,0.000,0.060,3037,2233,1308
$GC,11233,1.15,331.9,30.7,10.5,646,11237,0.00,2.35,0.00,0.000,4,0.000,0.069,3036,843,1305
$GC,11424,1.15,331.9,13.7,7.9,678,11431,0.00,1.98,0.03,0.258,6,0.000,0.019,3037,2095,1302
$GC,11543,1.15,331.9,3.1,9.3,699,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2099,1302
$STATE,11553,end climb,SURFACE_DEPTH_REACHED
$STATE,11553,begin surface coast
$FINISH,1.2,1.023109
$STATE,11588,end surface coast,CONTROL_FINISHED_OK
$STATE,11588,begin surface
$SM_CCo,11668,0.00,0.000,0,0,1300,334.59
$SM_GC,1.95,11.15,0.00,0.00,0.031,0.000,0.000,426,2099,1300,-10.82,0.57,334.59
$IRIDIUM_FIX,2054.83,-15759.05,301097,121237
$TT8_MAMPS,0.029146
$HUMID,1910
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.20
$XPDR_PINGS,702
$24V_AH,21.6,56.525
$10V_AH,10.2,32.565
$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,25.025,108.000,421.350,0.000,0.000,55.908,64.615,391.539,175.500,0.000,0.000,36.690,1265.465,8214.271,477.842,1718.817,704.939,33.372,1324.265,0.000,1683.717,0.000,0.470
$DEVICE_MAMPS,1553.175,79.001,882.817,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.426,467.178,810.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37948,707
$CAP_FILE_SIZE,103378,15
$CFSIZE,260165632,248180736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050808,155237,2104.854,-15757.666,40,1.1,46,9.8