version: 66.03
glider: 139
mission: 3
dive: 211
start: 8 8 108 22 44 0
data:
$ID,139
$MISSION,3
$DIVE,211
$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,-1274987.6
$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,57
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,223625,2109.392,-15759.801,72,1.4,72,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-69.7
$GPS2,224310,2109.404,-15759.926,17,1.4,17,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,0.081
$KALMAN_X,-191904.2,429.6,-1.7,179179.5,-2849.2
$KALMAN_Y,-86865.6,-17.2,102.2,73318.6,-1131.9
$MHEAD_RNG_PITCHd_Wd,61.7,26005,-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,19,-0.96,-175.2,0.0,0.0,0,65,0.00,0.00,-44.00,0.000,2,0.000,0.000,430,2230,2581
$GC,68,-0.96,-175.2,3.3,-3.2,8,103,11.98,2.05,-16.67,0.000,4,0.150,0.044,2576,3464,3380
$GC,131,-0.96,-175.2,14.2,-12.5,19,137,0.00,2.00,0.00,0.000,6,0.000,0.028,2576,2228,3380
$GC,250,-0.96,-175.2,28.9,-12.3,40,257,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,835,3381
$GC,285,-0.96,-175.2,33.1,-12.1,44,289,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2083,3381
$GC,615,-0.96,-175.2,72.4,-12.6,75,619,0.00,2.10,0.00,0.000,4,0.000,0.034,2576,834,3382
$GC,637,-0.96,-175.2,75.1,-11.8,77,641,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2090,3382
$GC,967,-0.96,-175.2,113.6,-10.2,108,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2093,3383
$GC,1285,-0.96,-175.2,147.8,-10.2,138,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2093,3383
$GC,1605,-0.96,-175.2,178.8,-9.0,168,1609,0.00,2.10,0.00,0.000,4,0.000,0.072,2576,844,3384
$GC,1706,-0.96,-175.2,186.9,-7.5,177,1710,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,2077,3384
$GC,2033,-0.96,-175.2,207.1,-5.5,202,2036,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,844,3384
$GC,2088,-0.96,-175.2,210.3,-5.5,204,2092,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2091,3384
$GC,2409,-0.96,-175.2,232.4,-7.3,220,2412,0.00,2.10,0.00,0.000,4,0.000,0.035,2575,840,3384
$GC,2441,-0.96,-175.2,234.9,-7.8,221,2445,0.00,2.03,0.00,0.000,6,0.000,0.031,2576,2076,3384
$GC,2763,-0.96,-175.2,257.5,-6.2,237,2767,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,3463,3384
$GC,2803,-0.96,-175.2,260.0,-6.9,239,2806,0.00,2.00,0.00,0.000,6,0.000,0.034,2576,2235,3383
$GC,3135,-0.96,-175.2,280.1,-6.5,255,3139,0.00,2.35,0.00,0.000,4,0.000,0.041,2576,841,3383
$GC,3201,-0.96,-175.2,285.1,-7.3,258,3206,0.00,2.03,0.00,0.000,6,0.000,0.022,2576,2071,3382
$GC,3526,-0.96,-175.2,309.0,-7.3,271,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3381
$GC,3853,-0.96,-175.2,330.5,-6.6,279,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3380
$GC,4177,-0.96,-175.2,349.6,-5.2,287,4180,0.00,2.08,0.00,0.000,4,0.000,0.039,2575,845,3378
$GC,4215,-0.96,-175.2,351.5,-4.6,287,4221,0.00,2.03,0.00,0.000,6,0.000,0.066,2576,2082,3378
$GC,4548,-0.96,-175.2,370.1,-6.0,296,4552,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,3479,3376
$GC,4586,-0.96,-175.2,373.0,-7.6,297,4590,0.00,2.05,0.00,0.000,6,0.000,0.032,2576,2236,3376
$GC,4916,-0.96,-175.2,399.3,-7.9,305,4920,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,847,3375
$GC,5016,-0.96,-175.2,405.8,-5.9,307,5020,0.00,2.03,0.00,0.000,6,0.000,0.026,2576,2079,3374
$GC,5329,-0.96,-175.2,429.0,-7.6,315,5332,0.00,2.10,0.00,0.000,4,0.000,0.040,2576,845,3372
$GC,5412,-0.96,-175.2,434.6,-6.4,316,5418,0.00,2.05,0.00,0.000,6,0.000,0.027,2576,2085,3372
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5625,-0.31,0.0,452.8,9.3,322,5771,0.68,0.00,142.38,0.887,6,0.048,0.000,2730,2085,2664
$STATE,5771,end apogee,CONTROL_FINISHED_OK
$STATE,5771,begin climb
$GC,5773,0.96,175.2,464.9,0.0,325,5930,1.20,2.53,145.43,0.867,4,0.036,0.049,3012,3474,1948
$GC,6064,0.96,175.2,459.5,7.8,331,6071,0.00,2.10,0.00,0.000,6,0.000,0.067,3012,2259,1943
$GC,6395,0.96,175.2,424.6,11.4,340,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2259,1937
$GC,6720,0.96,175.2,391.4,9.4,348,6724,0.00,2.45,0.00,0.000,4,0.000,0.044,3012,848,1935
$GC,6977,0.96,175.2,369.0,7.4,353,6983,0.00,2.10,0.00,0.000,6,0.000,0.067,3012,2077,1931
$GC,7308,0.99,197.2,346.0,6.5,362,7332,0.00,2.53,17.12,0.802,4,0.000,0.044,3012,3477,1860
$GC,7360,0.99,197.2,341.1,9.3,363,7364,0.00,2.08,0.00,0.000,6,0.000,0.028,3012,2254,1860
$GC,7678,0.99,197.2,309.5,9.5,371,7682,0.00,2.42,0.00,0.000,4,0.000,0.044,3012,849,1855
$GC,7834,0.99,197.2,293.8,10.5,375,7838,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2085,1852
$GC,8162,1.02,221.4,269.7,6.5,391,8193,0.00,0.00,23.83,0.717,6,0.000,0.000,3011,2089,1760
$GC,8508,1.02,221.4,241.4,8.7,408,8512,0.00,2.38,0.00,0.000,4,0.000,0.040,3012,3475,1756
$GC,8580,1.02,221.4,234.5,9.5,411,8584,0.00,2.05,0.00,0.000,6,0.000,0.055,3012,2250,1756
$GC,8906,1.02,221.4,207.6,8.3,427,8910,0.00,2.40,0.00,0.000,4,0.000,0.074,3012,847,1755
$GC,9046,1.03,233.4,196.5,6.8,434,9063,0.00,2.05,11.00,0.654,6,0.000,0.043,3012,2096,1712
$GC,9381,1.03,233.4,169.1,8.5,466,9384,0.00,2.15,0.00,0.000,4,0.000,0.040,3012,846,1710
$GC,9435,1.03,233.4,163.9,9.3,470,9442,0.00,2.08,0.00,0.000,6,0.000,0.025,3012,2083,1708
$GC,9762,1.03,233.4,138.9,7.4,501,9765,0.00,2.12,0.00,0.000,4,0.000,0.044,3012,844,1707
$GC,9796,1.03,233.4,136.4,7.7,504,9800,0.00,2.05,0.00,0.000,6,0.000,0.029,3012,2091,1707
$GC,10128,1.03,234.6,111.9,7.1,535,10131,0.00,1.58,0.00,0.000,4,0.000,0.060,3012,3061,1707
$GC,10207,1.03,234.6,106.0,7.5,542,10210,0.00,1.35,0.00,0.000,6,0.000,0.023,3012,2244,1707
$GC,10538,1.03,234.6,82.5,7.5,573,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2243,1707
$GC,10856,1.14,320.3,63.3,4.8,603,10944,0.12,2.40,77.18,0.566,4,0.047,0.039,3056,844,1356
$GC,11124,1.14,320.3,42.0,8.7,627,11128,0.00,2.00,0.00,0.000,6,0.000,0.021,3056,2085,1349
$GC,11458,1.14,320.3,14.9,8.4,673,11464,0.00,2.30,0.00,0.000,4,0.000,0.031,3056,3465,1349
$GC,11510,1.14,320.3,10.4,8.8,682,11516,0.00,1.98,0.00,0.000,6,0.000,0.020,3056,2237,1349
$STATE,11582,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,1.3,1.023012
$STATE,11612,end surface coast,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$SM_CCo,11692,0.00,0.000,0,0,1345,323.55
$SM_GC,2.00,11.30,0.00,0.00,0.031,0.000,0.000,418,2236,1345,-10.82,4.44,323.55
$IRIDIUM_FIX,2104.07,-15800.33,021197,191919
$TT8_MAMPS,0.028379
$HUMID,1940
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.10
$XPDR_PINGS,702
$24V_AH,23.4,59.977
$10V_AH,10.2,34.475
$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,25.275,97.675,416.925,0.000,0.000,33.062,33.134,187.072,179.500,0.000,0.000,19.140,1256.159,8194.652,472.431,1707.576,453.463,33.370,1306.126,0.000,1672.862,0.000,29.245
$DEVICE_MAMPS,150.332,74.399,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.054,460.276,795.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34812,700
$CAP_FILE_SIZE,98129,6
$CFSIZE,260165632,246996992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090808,020031,2109.329,-15759.159,64,1.8,64,9.8