version: 66.03
glider: 139
mission: 3
dive: 217
start: 8 9 108 19 23 53
data:
$ID,139
$MISSION,3
$DIVE,217
$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,-1275216.4
$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,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
$GPS1,191125,2108.889,-15759.427,13,2.5,32,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-64.4
$GPS2,192304,2108.900,-15759.682,14,3.6,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,0.073
$KALMAN_X,-209401.3,-50.8,-139.2,197725.6,-3447.1
$KALMAN_Y,-91132.7,177.7,-36.6,76592.7,-716.1
$MHEAD_RNG_PITCHd_Wd,63.4,25175,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.65,0.000,2,0.000,0.000,433,2090,2622
$GC,79,-0.96,-175.2,3.4,-3.1,10,114,11.95,0.00,-15.60,0.000,6,0.150,0.000,2576,2090,3382
$GC,226,-0.96,-175.2,25.3,-13.2,36,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2090,3383
$GC,341,-0.96,-175.2,41.2,-14.8,50,345,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3467,3384
$GC,373,-0.96,-175.2,46.1,-14.1,52,380,0.00,2.03,0.00,0.000,6,0.000,0.020,2576,2238,3383
$GC,698,-0.96,-175.2,93.5,-12.0,83,702,0.00,2.33,0.00,0.000,4,0.000,0.033,2575,837,3384
$GC,811,-0.96,-175.2,104.7,-9.3,93,815,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2076,3384
$GC,1142,-0.96,-175.2,132.9,-7.9,124,1146,0.00,1.67,0.00,0.000,4,0.000,0.053,2576,3117,3385
$GC,1180,-0.96,-175.2,136.3,-8.3,127,1187,0.00,1.42,0.00,0.000,6,0.000,0.020,2576,2238,3384
$GC,1507,-0.96,-175.2,164.2,-8.3,158,1511,0.00,2.35,0.00,0.000,4,0.000,0.067,2576,837,3385
$GC,1634,-0.96,-175.2,175.8,-8.8,169,1641,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2072,3385
$GC,1957,-0.96,-175.2,208.6,-10.0,196,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2076,3385
$GC,2266,-0.96,-175.2,239.5,-10.0,211,2270,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,840,3385
$GC,2299,-0.96,-175.2,243.0,-10.3,212,2303,0.00,2.03,0.00,0.000,6,0.000,0.020,2576,2079,3385
$GC,2621,-0.96,-175.2,269.0,-6.8,228,2625,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,3464,3384
$GC,2665,-0.96,-175.2,271.4,-5.2,230,2668,0.00,2.03,0.00,0.000,6,0.000,0.031,2576,2224,3384
$GC,2991,-0.96,-175.2,285.5,-4.5,246,2995,0.00,2.33,0.00,0.000,4,0.000,0.038,2576,838,3384
$GC,3060,-0.96,-175.2,288.4,-4.4,249,3063,0.00,2.03,0.00,0.000,6,0.000,0.061,2576,2082,3383
$GC,3390,-0.96,-175.2,304.2,-4.8,263,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3382
$GC,3715,-0.96,-175.2,318.4,-4.5,271,3719,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,844,3380
$GC,3760,-0.96,-175.2,320.3,-4.2,272,3764,0.00,1.65,0.00,0.000,6,0.000,0.071,2576,1877,3380
$GC,4090,-0.96,-175.2,339.8,-6.8,280,4097,0.00,2.70,0.00,0.000,4,0.000,0.038,2576,3467,3378
$GC,4174,-0.96,-175.2,346.9,-10.2,281,4181,0.00,2.05,0.00,0.000,6,0.000,0.064,2576,2242,3377
$GC,4506,-0.96,-175.2,374.2,-7.8,290,4510,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,842,3376
$GC,4594,-0.96,-175.2,380.3,-6.6,292,4598,0.00,2.03,0.00,0.000,6,0.000,0.026,2576,2071,3375
$GC,4919,-0.96,-175.2,398.4,-5.3,300,4922,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,3479,3373
$STATE,5000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5000,begin apogee
$GC,5007,-0.31,0.0,403.3,6.1,301,5152,0.65,0.00,141.50,0.835,6,0.057,0.000,2723,2241,2664
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5155,0.96,175.2,411.0,0.0,305,5307,1.23,2.17,143.68,0.816,4,0.035,0.045,3012,3468,1949
$GC,5358,0.96,175.2,405.8,9.1,310,5362,0.00,2.08,0.00,0.000,6,0.000,0.067,3013,2246,1946
$GC,5687,0.96,175.2,368.8,12.0,318,5691,0.00,2.42,0.00,0.000,4,0.000,0.042,3012,842,1938
$GC,5747,0.96,175.2,362.1,11.1,319,5751,0.00,2.10,0.00,0.000,6,0.000,0.027,3012,2098,1936
$GC,6060,0.96,175.2,336.2,7.7,327,6064,0.00,2.17,0.00,0.000,4,0.000,0.041,3012,845,1934
$GC,6109,0.96,175.2,331.9,8.4,328,6113,0.00,2.08,0.00,0.000,6,0.000,0.028,3012,2073,1933
$GC,6428,0.99,195.7,310.6,6.6,336,6449,0.00,2.15,16.30,0.746,4,0.000,0.077,3012,849,1865
$GC,6588,0.99,195.7,297.9,9.4,339,6592,0.00,2.10,0.00,0.000,6,0.000,0.065,3012,2083,1859
$GC,6910,0.99,195.7,271.2,8.5,355,6913,0.00,2.15,0.00,0.000,4,0.000,0.041,3012,839,1858
$GC,7009,0.99,195.7,263.4,7.9,359,7016,0.00,2.10,0.00,0.000,6,0.000,0.026,3012,2083,1857
$GC,7326,1.04,238.1,241.4,6.0,375,7368,0.00,2.50,36.88,0.734,4,0.000,0.073,3012,3480,1692
$GC,7504,1.04,238.1,226.4,8.8,383,7507,0.00,2.08,0.00,0.000,6,0.000,0.025,3012,2243,1690
$GC,7827,1.04,238.1,194.5,9.4,401,7831,0.00,2.40,0.00,0.000,4,0.000,0.039,3012,840,1686
$GC,7961,1.09,280.4,184.6,6.0,412,8003,0.00,2.08,36.92,0.682,6,0.000,0.025,3012,2083,1520
$GC,8321,1.20,367.0,164.1,4.8,446,8405,0.15,2.20,74.70,0.659,4,0.044,0.041,3064,854,1166
$GC,8465,1.20,367.0,152.5,11.0,459,8472,0.00,2.05,0.00,0.000,6,0.000,0.062,3064,2080,1161
$GC,8792,1.20,367.0,115.0,15.2,490,8796,0.00,2.35,0.00,0.000,4,0.000,0.068,3064,3473,1160
$GC,8846,1.20,367.0,106.9,14.1,494,8853,0.00,2.05,0.00,0.000,6,0.000,0.051,3064,2253,1159
$GC,9174,1.20,367.0,63.8,9.9,525,9179,0.00,2.40,0.00,0.000,4,0.000,0.061,3064,841,1158
$GC,9330,1.20,367.0,50.5,8.6,538,9338,0.00,2.00,0.00,0.000,6,0.000,0.039,3064,2077,1156
$GC,9661,1.20,367.0,20.0,10.2,578,9667,0.00,2.30,0.00,0.000,4,0.000,0.064,3064,3463,1157
$GC,9695,1.20,367.0,16.3,10.5,584,9701,0.00,1.98,0.00,0.000,6,0.000,0.021,3064,2241,1157
$GC,9815,1.20,367.0,4.0,9.6,605,9821,0.00,2.35,0.00,0.000,4,0.000,0.044,3064,846,1157
$STATE,9825,end climb,SURFACE_DEPTH_REACHED
$STATE,9825,begin surface coast
$FINISH,1.4,1.019397
$STATE,9856,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9938,0.00,0.000,0,0,1153,370.65
$SM_GC,2.35,11.32,0.00,0.00,0.032,0.000,0.000,422,2093,1153,-10.82,0.42,370.65
$IRIDIUM_FIX,2059.45,-15759.05,031197,191916
$TT8_MAMPS,0.029146
$HUMID,1932
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,614
$ALTIM_BOTTOM_PING,340.0,73.1
$24V_AH,23.4,60.863
$10V_AH,10.2,34.961
$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,25.300,98.575,449.975,0.000,0.000,60.425,65.764,362.144,155.000,0.000,0.000,35.990,1103.837,6788.246,506.409,1558.979,667.167,33.377,1287.460,0.000,1517.220,0.000,12.657
$DEVICE_MAMPS,149.565,77.467,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.030,404.616,693.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31654,612
$CAP_FILE_SIZE,93567,7
$CFSIZE,260165632,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090808,221037,2108.867,-15759.508,30,1.5,30,9.8