version: 66.03
glider: 139
mission: 3
dive: 209
start: 8 8 108 15 44 33
data:
$ID,139
$MISSION,3
$DIVE,209
$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,-1274953.6
$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
$GPS1,153305,2108.667,-15759.569,9,2.3,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-68.5
$GPS2,154344,2108.649,-15759.763,30,1.9,30,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,0.123
$KALMAN_X,-186434.0,555.7,411.9,173459.6,-4135.4
$KALMAN_Y,-85437.2,199.7,-90.1,70468.2,-842.8
$MHEAD_RNG_PITCHd_Wd,51.4,25078,-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,-49.78,0.000,2,0.000,0.000,431,2237,2747
$GC,74,-0.96,-175.2,3.6,-3.8,9,104,11.95,2.03,-12.12,0.000,4,0.150,0.041,2576,3464,3380
$GC,150,-0.96,-175.2,18.7,-11.5,22,156,0.00,1.98,0.00,0.000,6,0.000,0.021,2575,2239,3381
$GC,273,-0.96,-175.2,32.3,-10.9,42,277,0.00,2.35,0.00,0.000,4,0.000,0.034,2575,838,3381
$GC,300,-0.96,-175.2,35.3,-10.8,44,304,0.00,2.00,0.00,0.000,6,0.000,0.063,2576,2082,3381
$GC,630,-0.96,-175.2,71.1,-9.4,75,634,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3470,3382
$GC,668,-0.96,-175.2,75.5,-10.7,78,675,0.00,2.03,0.00,0.000,6,0.000,0.058,2575,2240,3382
$GC,994,-0.96,-175.2,112.6,-11.7,109,997,0.00,2.33,0.00,0.000,4,0.000,0.033,2575,843,3384
$GC,1110,-0.96,-175.2,123.5,-7.7,119,1117,0.00,2.00,0.00,0.000,6,0.000,0.059,2575,2076,3384
$GC,1436,-0.96,-175.2,151.1,-8.2,150,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3384
$GC,1754,-0.96,-175.2,175.6,-8.0,180,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3384
$GC,2082,-0.96,-175.2,202.1,-8.8,210,2086,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,844,3384
$GC,2104,-0.96,-175.2,204.0,-8.6,211,2108,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2076,3385
$GC,2436,-0.96,-175.2,233.5,-8.4,227,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3385
$GC,2745,-0.96,-175.2,252.4,-5.9,242,2749,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,845,3384
$GC,2790,-0.96,-175.2,255.2,-6.2,244,2794,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2081,3385
$GC,3122,-0.96,-175.2,273.9,-5.0,260,3126,0.00,2.10,0.00,0.000,4,0.000,0.037,2575,842,3384
$GC,3145,-0.96,-175.2,274.9,-4.6,261,3149,0.00,2.00,0.00,0.000,6,0.000,0.023,2575,2076,3384
$GC,3478,-0.96,-175.2,289.6,-5.0,277,3482,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,3467,3382
$GC,3510,-0.96,-175.2,291.2,-4.8,278,3516,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2219,3382
$GC,3845,-0.96,-175.2,303.5,-4.0,293,3849,0.00,2.33,0.00,0.000,4,0.000,0.038,2575,843,3381
$GC,3935,-0.96,-175.2,309.3,-7.3,295,3938,0.00,2.03,0.00,0.000,6,0.000,0.025,2575,2078,3381
$GC,4264,-0.96,-175.2,336.3,-9.0,303,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3379
$GC,4589,-0.96,-175.2,364.7,-8.2,311,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3377
$GC,4914,-0.96,-175.2,388.2,-7.0,319,4918,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,3470,3375
$GC,4946,-0.96,-175.2,390.5,-7.0,319,4950,0.00,2.03,0.00,0.000,6,0.000,0.025,2575,2245,3375
$GC,5283,-0.96,-175.2,410.4,-5.1,328,5287,0.00,2.38,0.00,0.000,4,0.000,0.037,2575,840,3373
$STATE,5426,end dive,NO_VERTICAL_VELOCITY
$STATE,5426,begin apogee
$GC,5434,-0.31,0.0,410.4,0.0,331,5581,0.65,0.00,141.88,0.846,6,0.049,0.000,2726,2068,2664
$STATE,5582,end apogee,CONTROL_FINISHED_OK
$STATE,5582,begin climb
$GC,5584,0.96,175.2,410.3,0.0,335,5738,1.25,2.50,144.80,0.822,4,0.057,0.074,3005,3477,1947
$GC,5990,0.96,175.2,403.3,8.1,344,5994,0.00,2.10,0.00,0.000,6,0.000,0.027,3004,2249,1941
$GC,6338,0.97,179.2,378.4,7.0,353,6341,0.00,2.15,0.00,0.000,4,0.000,0.043,3005,3481,1936
$GC,6443,0.97,179.2,370.0,7.8,355,6447,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2248,1936
$GC,6791,0.97,182.3,342.7,7.1,364,6801,0.00,2.45,4.82,0.590,4,0.000,0.078,3005,849,1920
$GC,6879,0.97,182.3,335.3,8.7,366,6883,0.00,2.10,0.00,0.000,6,0.000,0.028,3005,2083,1917
$GC,7203,0.97,182.3,307.5,9.1,374,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2086,1917
$GC,7510,0.97,182.3,281.2,9.5,386,7514,0.00,2.40,0.00,0.000,4,0.000,0.041,3004,3478,1916
$GC,7672,0.97,182.3,263.2,10.4,393,7676,0.00,2.08,0.00,0.000,6,0.000,0.026,3005,2255,1916
$GC,7994,1.04,238.6,241.3,5.6,409,8049,0.00,2.50,49.38,0.746,4,0.000,0.074,3005,841,1690
$GC,8217,1.04,238.6,226.6,7.6,419,8222,0.00,2.10,0.00,0.000,6,0.000,0.026,3005,2085,1682
$GC,8535,1.04,238.6,195.4,12.2,436,8539,0.00,2.38,0.00,0.000,4,0.000,0.037,3004,3474,1680
$GC,8578,1.04,238.6,190.2,11.6,439,8584,0.00,2.08,0.00,0.000,6,0.000,0.062,3005,2247,1680
$GC,8904,1.07,263.9,161.9,6.5,470,8931,0.10,2.17,21.95,0.655,4,0.058,0.074,3037,3477,1587
$GC,8954,1.07,263.9,158.0,7.7,474,8958,0.00,2.05,0.00,0.000,6,0.000,0.024,3037,2246,1586
$GC,9287,1.09,276.8,136.1,6.8,505,9309,0.00,2.47,12.05,0.597,4,0.000,0.038,3037,843,1533
$GC,9411,1.09,276.8,125.7,7.8,516,9415,0.00,2.05,0.00,0.000,6,0.000,0.022,3037,2095,1530
$GC,9744,1.11,293.8,102.7,6.7,547,9767,0.00,2.15,15.80,0.581,4,0.000,0.072,3037,843,1465
$GC,9903,1.11,293.8,92.0,7.2,561,9907,0.00,2.03,0.00,0.000,6,0.000,0.061,3037,2087,1461
$GC,10235,1.15,332.3,71.9,6.1,592,10278,0.00,2.38,34.28,0.571,4,0.000,0.064,3037,3460,1309
$GC,10316,1.15,332.3,64.9,9.7,599,10323,0.00,2.03,0.00,0.000,6,0.000,0.021,3037,2245,1308
$GC,10643,1.15,332.3,42.0,7.6,630,10647,0.00,2.38,0.00,0.000,4,0.000,0.068,3037,838,1306
$GC,10861,1.15,332.3,23.1,7.9,656,10868,0.00,1.98,0.00,0.000,6,0.000,0.019,3037,2085,1303
$GC,10981,1.15,332.3,12.9,8.7,677,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2089,1303
$STATE,11097,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,1.2,1.009420
$STATE,11134,end surface coast,CONTROL_FINISHED_OK
$STATE,11134,begin surface
$SM_CCo,11213,0.00,0.000,0,0,1300,334.34
$SM_GC,1.95,11.20,0.00,0.00,0.038,0.000,0.000,430,2089,1300,-10.81,0.28,334.34
$IRIDIUM_FIX,2101.76,-15758.18,021197,151542
$TT8_MAMPS,0.029146
$HUMID,1917
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.10
$XPDR_PINGS,716
$24V_AH,23.4,59.680
$10V_AH,10.2,34.308
$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,25.150,95.400,424.950,0.000,0.000,57.963,66.596,315.982,179.000,0.000,0.000,31.902,1255.781,7755.204,468.268,1735.382,628.278,33.366,1313.007,0.000,1705.022,0.000,0.470
$DEVICE_MAMPS,149.565,78.234,846.001,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.529,473.957,827.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34915,704
$CAP_FILE_SIZE,97797,4
$CFSIZE,260165632,247091200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,185238,2109.211,-15759.899,37,1.2,37,9.8