version: 66.03
glider: 139
mission: 3
dive: 200
start: 8 7 108 8 47 37
data:
$ID,139
$MISSION,3
$DIVE,200
$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,-1274775.8
$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,61
$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
$GPS1,083938,2109.655,-15800.317,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.8
$GPS2,084645,2109.654,-15800.466,13,1.3,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.045
$KALMAN_X,-158616.3,251.2,-241.1,145386.1,-2981.9
$KALMAN_Y,-79461.3,-88.4,249.8,66293.6,-669.1
$MHEAD_RNG_PITCHd_Wd,70.0,27044,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-49.47,0.000,2,0.000,0.000,423,2091,2731
$GC,74,-0.96,-175.2,3.4,-3.5,9,104,12.18,2.35,-12.57,0.000,4,0.156,0.041,2577,3463,3382
$GC,133,-0.96,-175.2,15.9,-15.2,19,139,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,2237,3383
$GC,252,-0.96,-175.2,30.1,-11.6,40,256,0.00,2.35,0.00,0.000,4,0.000,0.033,2576,836,3384
$GC,295,-0.96,-175.2,35.6,-12.6,43,302,0.00,2.03,0.00,0.000,6,0.000,0.039,2576,2080,3384
$GC,620,-0.96,-175.2,74.1,-11.7,74,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3384
$GC,939,-0.96,-175.2,107.9,-9.4,104,943,0.00,2.08,0.00,0.000,4,0.000,0.033,2576,842,3385
$GC,973,-0.96,-175.2,111.6,-11.2,107,977,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2080,3385
$GC,1304,-0.96,-175.2,150.1,-11.4,138,1308,0.00,1.65,0.00,0.000,4,0.000,0.074,2577,3098,3386
$GC,1365,-0.96,-175.2,156.5,-9.8,143,1371,0.00,1.40,0.00,0.000,6,0.000,0.018,2576,2228,3386
$GC,1691,-0.96,-175.2,179.7,-5.7,174,1695,0.00,2.33,0.00,0.000,4,0.000,0.067,2576,839,3386
$GC,1803,-0.96,-175.2,186.1,-5.6,183,1809,0.00,1.77,0.00,0.000,6,0.000,0.063,2576,1979,3386
$GC,2123,-0.96,-175.2,209.8,-7.4,208,2127,0.00,2.47,0.00,0.000,4,0.000,0.031,2577,3462,3387
$GC,2194,-0.96,-175.2,215.3,-7.5,211,2199,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2236,3386
$GC,2516,-0.96,-175.2,238.9,-6.1,227,2520,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,836,3386
$GC,2645,-0.96,-175.2,245.7,-5.0,233,2649,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2083,3387
$GC,2978,-0.96,-175.2,265.7,-6.2,249,2981,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,843,3386
$GC,3035,-0.96,-175.2,269.2,-5.9,251,3038,0.00,1.98,0.00,0.000,6,0.000,0.021,2577,2079,3385
$GC,3355,-0.96,-175.2,290.7,-8.2,267,3360,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3463,3385
$GC,3388,-0.96,-175.2,293.8,-9.2,268,3395,0.00,2.03,0.00,0.000,6,0.000,0.022,2577,2236,3385
$GC,3720,-0.96,-175.2,321.6,-8.3,279,3724,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,842,3384
$GC,3804,-0.96,-175.2,328.0,-7.4,281,3808,0.00,2.00,0.00,0.000,6,0.000,0.030,2576,2071,3384
$GC,4134,-0.96,-175.2,345.7,-5.1,289,4138,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3471,3382
$GC,4173,-0.96,-175.2,348.0,-6.1,290,4176,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2240,3382
$GC,4503,-0.96,-175.2,368.7,-6.4,298,4507,0.00,2.38,0.00,0.000,4,0.000,0.045,2576,847,3380
$GC,4558,-0.96,-175.2,372.7,-7.2,299,4562,0.00,2.03,0.00,0.000,6,0.000,0.064,2577,2074,3380
$GC,4870,-0.96,-175.2,400.4,-9.5,307,4874,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,836,3377
$GC,4881,-0.96,-175.2,401.2,-9.0,307,4885,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2082,3378
$GC,5200,-0.96,-175.2,423.7,-6.2,315,5204,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3473,3377
$GC,5249,-0.96,-175.2,426.6,-6.1,316,5253,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2231,3376
$GC,5567,-0.96,-175.2,439.9,-4.3,324,5572,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,838,3374
$GC,5658,-0.96,-175.2,445.3,-6.2,326,5662,0.00,2.05,0.00,0.000,6,0.000,0.027,2577,2077,3373
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5741,-0.31,0.0,451.0,7.6,328,5886,0.68,0.00,142.77,0.881,6,0.174,0.000,2730,2078,2664
$STATE,5887,end apogee,CONTROL_FINISHED_OK
$STATE,5887,begin climb
$GC,5889,0.96,175.2,459.9,0.0,331,6043,1.20,2.25,145.02,0.855,4,0.037,0.062,3010,843,1948
$GC,6200,0.96,175.2,443.3,10.0,338,6204,0.00,2.10,0.00,0.000,6,0.000,0.069,3010,2075,1937
$GC,6513,0.96,175.2,411.9,10.5,346,6517,0.00,2.15,0.00,0.000,4,0.000,0.044,3010,842,1935
$GC,6534,0.96,175.2,410.0,8.6,346,6538,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2083,1934
$GC,6876,0.96,175.2,379.2,9.3,355,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2087,1934
$GC,7201,0.96,175.2,350.8,9.0,363,7205,0.00,2.40,0.00,0.000,4,0.000,0.042,3010,3473,1932
$GC,7357,0.96,175.2,336.5,8.4,366,7361,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2252,1932
$GC,7699,0.98,190.2,312.1,6.7,375,7715,0.00,2.47,11.10,0.739,4,0.000,0.049,3010,840,1886
$GC,7804,0.98,190.2,303.8,7.9,377,7808,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2076,1883
$GC,8136,0.98,190.2,282.5,7.4,392,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2080,1882
$GC,8445,0.98,190.2,255.5,9.6,407,8449,0.00,2.12,0.00,0.000,4,0.000,0.041,3010,845,1881
$GC,8581,0.98,190.2,241.9,10.3,413,8584,0.00,2.05,0.00,0.000,6,0.000,0.026,3010,2082,1880
$GC,8913,0.99,195.7,216.0,7.0,429,8922,0.00,2.12,4.97,0.537,4,0.000,0.076,3010,848,1866
$GC,8949,0.99,195.7,213.1,7.6,430,8956,0.00,2.08,0.00,0.000,6,0.000,0.025,3010,2084,1865
$GC,9269,0.99,195.7,189.5,8.2,452,9273,0.00,2.35,0.00,0.000,4,0.000,0.036,3011,3471,1864
$GC,9330,0.99,195.7,184.5,7.6,457,9334,0.00,2.03,0.00,0.000,6,0.000,0.023,3010,2242,1865
$GC,9661,1.01,216.1,160.6,6.6,488,9686,0.00,2.42,19.88,0.650,4,0.000,0.037,3010,844,1781
$GC,9787,1.01,216.1,151.2,8.1,499,9793,0.00,2.05,0.00,0.000,6,0.000,0.023,3011,2077,1777
$GC,10114,1.02,224.2,125.9,6.9,530,10126,0.00,2.17,7.75,0.552,4,0.000,0.036,3010,845,1749
$GC,10149,1.03,228.4,123.3,7.0,533,10161,0.00,2.03,5.47,0.485,6,0.000,0.022,3010,2083,1732
$GC,10479,1.04,237.4,101.6,6.9,564,10493,0.00,2.40,9.35,0.542,4,0.000,0.065,3010,3464,1696
$GC,10546,1.08,272.8,97.5,6.2,570,10583,0.00,2.05,32.35,0.591,6,0.000,0.031,3010,2234,1551
$GC,10902,1.09,280.3,71.5,6.9,603,10915,0.10,2.42,7.12,0.484,4,0.054,0.035,3048,842,1521
$GC,11077,1.09,280.3,56.6,8.2,618,11084,0.00,2.03,0.00,0.000,6,0.000,0.020,3048,2077,1517
$GC,11405,1.09,282.5,33.8,7.1,649,11409,0.00,2.33,0.00,0.000,4,0.000,0.064,3048,3466,1517
$GC,11461,1.09,282.5,28.8,8.8,654,11468,0.00,2.00,0.00,0.000,6,0.000,0.020,3048,2231,1517
$GC,11580,1.09,282.5,19.2,8.7,675,11587,0.00,2.35,0.00,0.000,4,0.000,0.071,3048,837,1516
$GC,11661,1.09,282.5,11.6,9.3,689,11667,0.00,1.98,0.00,0.000,6,0.000,0.018,3048,2085,1515
$STATE,11761,end climb,SURFACE_DEPTH_REACHED
$STATE,11761,begin surface coast
$FINISH,1.2,0.999251
$STATE,11798,end surface coast,CONTROL_FINISHED_OK
$STATE,11798,begin surface
$SM_CCo,11817,33.75,0.511,0,0,1358,320.12
$SM_GC,2.04,0.00,0.00,33.75,0.000,0.000,0.511,430,2089,1358,-10.88,0.28,320.12
$IRIDIUM_FIX,2101.76,-15758.18,011197,050559
$TT8_MAMPS,0.029146
$HUMID,1914
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,733
$24V_AH,23.4,58.334
$10V_AH,10.2,33.585
$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,25.425,119.875,385.800,33.750,0.000,24.655,43.969,225.776,183.250,0.000,0.000,15.029,1312.167,8207.356,497.429,1757.577,494.771,33.372,1366.894,0.000,1742.105,0.000,0.471
$DEVICE_MAMPS,174.109,75.933,880.516,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.238,468.092,804.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,713
$CAP_FILE_SIZE,107022,9
$CFSIZE,260165632,247537664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070808,120632,2109.802,-15759.861,46,1.2,46,9.8