version: 66.03
glider: 139
mission: 3
dive: 204
start: 8 7 108 23 10 34
data:
$ID,139
$MISSION,3
$DIVE,204
$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,-1274853.2
$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,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
$GPS1,224832,2108.849,-15759.083,37,1.6,37,9.8
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.2
$GPS2,230944,2108.676,-15759.508,13,1.6,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.010
$KALMAN_X,-169428.7,62.1,-278.3,158086.8,-1766.2
$KALMAN_Y,-81415.2,-137.3,-49.9,66796.8,-651.7
$MHEAD_RNG_PITCHd_Wd,82.5,24712,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,103,0.00,0.00,-80.35,0.000,2,0.000,0.000,433,2091,2700
$GC,106,-0.96,-175.2,3.4,-3.6,15,141,11.88,2.35,-13.52,0.000,4,0.147,0.041,2577,3463,3381
$GC,159,-0.96,-175.2,14.0,-15.6,24,165,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2239,3382
$GC,278,-0.96,-175.2,26.9,-11.4,45,284,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,844,3382
$GC,328,-0.96,-175.2,32.6,-11.0,52,335,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2079,3382
$GC,653,-0.96,-175.2,70.0,-9.6,83,657,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,841,3382
$GC,702,-0.96,-175.2,74.9,-9.8,87,710,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2075,3382
$GC,1028,-0.96,-175.2,108.9,-11.5,118,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3382
$GC,1346,-0.96,-175.2,144.0,-10.1,148,1350,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3460,3382
$GC,1368,-0.96,-175.2,146.1,-9.6,150,1372,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2224,3382
$GC,1699,-0.96,-175.2,177.4,-9.1,181,1703,0.00,2.28,0.00,0.000,4,0.000,0.051,2577,836,3382
$GC,1756,-0.96,-175.2,182.5,-9.5,185,1761,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2078,3382
$GC,2087,-0.96,-175.2,209.7,-7.2,211,2091,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,842,3382
$GC,2137,-0.96,-175.2,213.5,-6.5,213,2141,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2073,3382
$GC,2464,-0.96,-175.2,230.4,-5.3,229,2468,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,838,3381
$GC,2519,-0.96,-175.2,233.5,-5.6,231,2524,0.00,2.03,0.00,0.000,6,0.000,0.020,2577,2080,3381
$GC,2841,-0.96,-175.2,252.4,-6.2,247,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2083,3381
$GC,3150,-0.96,-175.2,272.4,-6.1,262,3153,0.00,2.08,0.00,0.000,4,0.000,0.041,2577,845,3379
$GC,3188,-0.96,-175.2,275.0,-6.3,263,3194,0.00,2.00,0.00,0.000,6,0.000,0.022,2577,2083,3379
$GC,3504,-0.96,-175.2,291.4,-4.7,279,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3377
$GC,3831,-0.96,-175.2,311.4,-6.6,291,3834,0.00,2.10,0.00,0.000,4,0.000,0.038,2577,844,3376
$GC,3869,-0.96,-175.2,314.2,-7.4,291,3875,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2078,3376
$GC,4200,-0.96,-175.2,339.4,-8.3,300,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3375
$GC,4525,-0.96,-175.2,361.9,-6.6,308,4529,0.00,2.10,0.00,0.000,4,0.000,0.040,2577,845,3372
$GC,4564,-0.96,-175.2,364.7,-7.1,308,4570,0.00,2.05,0.00,0.000,6,0.000,0.034,2577,2085,3371
$GC,4895,-0.96,-175.2,384.4,-5.7,317,4899,0.00,2.12,0.00,0.000,4,0.000,0.040,2577,840,3370
$GC,4940,-0.96,-175.2,387.5,-6.4,318,4944,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2082,3369
$GC,5269,-0.96,-175.2,408.1,-5.9,326,5273,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3471,3367
$GC,5285,-0.96,-175.2,409.0,-5.1,326,5289,0.00,2.05,0.00,0.000,6,0.000,0.044,2578,2238,3366
$GC,5634,-0.96,-175.2,428.6,-5.5,335,5638,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,846,3364
$STATE,5800,end dive,NO_VERTICAL_VELOCITY
$STATE,5800,begin apogee
$GC,5807,-0.31,0.0,430.3,0.0,338,5951,0.62,0.00,140.40,0.871,6,0.153,0.000,2725,2079,2664
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5952,begin climb
$GC,5954,0.96,175.2,430.2,0.0,342,6103,1.27,0.00,145.57,0.844,6,0.057,0.000,3006,2078,1949
$GC,6416,1.28,436.8,430.0,0.0,354,6647,0.25,2.47,221.02,0.846,4,0.041,0.057,3077,3475,881
$GC,6713,1.28,436.8,389.2,14.2,361,6717,0.00,2.10,0.00,0.000,6,0.000,0.031,3077,2255,879
$GC,7032,1.28,436.8,337.8,16.3,369,7035,0.00,2.12,0.00,0.000,4,0.000,0.040,3077,3475,875
$GC,7188,1.28,436.8,311.5,17.1,372,7192,0.00,2.10,0.00,0.000,6,0.000,0.031,3077,2259,874
$GC,7519,1.28,436.8,255.6,16.4,386,7522,0.00,2.10,0.00,0.000,4,0.000,0.038,3077,3477,872
$GC,7669,1.28,436.8,228.8,17.9,392,7676,0.00,2.10,0.00,0.000,6,0.000,0.038,3077,2256,872
$GC,7989,1.28,436.8,174.3,15.7,415,7993,0.00,2.10,0.00,0.000,4,0.000,0.036,3077,3478,870
$GC,8139,1.28,436.8,154.1,12.0,428,8146,0.00,2.08,0.00,0.000,6,0.000,0.041,3077,2259,870
$GC,8466,1.28,436.8,111.9,14.4,459,8470,0.00,2.10,0.00,0.000,4,0.000,0.036,3078,3487,869
$GC,8628,1.28,436.8,89.3,12.5,473,8634,0.00,2.08,0.00,0.000,6,0.000,0.024,3077,2249,869
$GC,8954,1.28,436.8,53.3,10.7,504,8958,0.00,2.40,0.00,0.000,4,0.000,0.071,3077,842,869
$GC,9156,1.28,436.8,28.4,12.5,522,9162,0.00,2.03,0.00,0.000,6,0.000,0.020,3076,2109,868
$GC,9275,1.28,436.8,14.9,11.6,543,9281,0.00,2.15,0.00,0.000,4,0.000,0.045,3077,842,869
$GC,9323,1.28,436.8,9.3,12.4,551,9329,0.00,1.98,0.00,0.000,6,0.000,0.020,3077,2080,869
$STATE,9378,end climb,SURFACE_DEPTH_REACHED
$STATE,9378,begin surface coast
$FINISH,1.3,1.023093
$STATE,9407,end surface coast,CONTROL_FINISHED_OK
$STATE,9407,begin surface
$SM_CCo,9487,0.00,0.000,0,0,866,440.80
$SM_GC,2.08,11.32,0.00,0.00,0.028,0.000,0.000,428,2084,866,-10.81,0.14,440.80
$IRIDIUM_FIX,2101.76,-15800.33,011197,232342
$TT8_MAMPS,0.029146
$HUMID,1998
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,22.50
$XPDR_PINGS,578
$24V_AH,23.4,58.974
$10V_AH,10.2,33.909
$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,25.350,84.800,507.000,0.000,0.000,149.380,145.712,592.074,144.500,0.000,0.000,14.907,1012.008,6697.920,588.701,1377.925,1070.122,33.371,1291.431,0.000,1366.581,0.000,0.471
$DEVICE_MAMPS,153.400,71.331,871.312,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.249,366.144,642.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,566
$CAP_FILE_SIZE,91758,6
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,014937,2108.198,-15759.459,11,1.6,21,9.8