version: 66.03
glider: 139
mission: 3
dive: 232
start: 8 11 108 22 37 19
data:
$ID,139
$MISSION,3
$DIVE,232
$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,-1275494.5
$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,64
$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
$GPS1,222208,2109.597,-15757.944,38,1.4,38,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.0
$GPS2,223627,2109.680,-15758.108,11,1.7,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.014
$KALMAN_X,-252576.1,238.8,21.4,243163.4,-2503.8
$KALMAN_Y,-99799.3,82.7,113.7,86649.9,-314.5
$MHEAD_RNG_PITCHd_Wd,83.4,23640,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-48.72,0.000,2,0.000,0.000,433,2037,2696
$GC,74,-0.96,-175.2,3.4,-3.2,9,104,12.05,2.08,-13.35,0.000,4,0.153,0.048,2575,842,3383
$GC,127,-0.96,-175.2,16.0,-20.1,18,134,0.00,1.95,0.00,0.000,6,0.000,0.019,2575,2071,3384
$GC,246,-0.96,-175.2,31.8,-14.2,38,250,0.00,2.33,0.00,0.000,4,0.000,0.029,2575,3470,3384
$GC,296,-0.96,-175.2,38.5,-12.3,42,300,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2232,3384
$GC,626,-0.96,-175.2,78.3,-10.9,73,630,0.00,2.33,0.00,0.000,4,0.000,0.033,2574,841,3384
$GC,682,-0.96,-175.2,84.4,-10.7,77,688,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2077,3385
$GC,1007,-0.96,-175.2,122.4,-10.3,108,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3385
$GC,1325,-0.96,-175.2,152.2,-8.8,138,1328,0.00,2.08,0.00,0.000,4,0.000,0.034,2574,841,3386
$GC,1370,-0.96,-175.2,156.3,-9.0,142,1373,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2076,3386
$GC,1701,-0.96,-175.2,184.7,-8.2,173,1705,0.00,2.08,0.00,0.000,4,0.000,0.072,2575,843,3386
$GC,1739,-0.96,-175.2,188.0,-8.3,176,1746,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2076,3386
$GC,2060,-0.96,-175.2,211.7,-7.8,200,2064,0.00,2.33,0.00,0.000,4,0.000,0.031,2575,3469,3386
$GC,2086,-0.96,-175.2,214.0,-7.9,201,2091,0.00,2.03,0.00,0.000,6,0.000,0.058,2575,2237,3386
$GC,2409,-0.96,-175.2,239.0,-7.0,217,2413,0.00,2.35,0.00,0.000,4,0.000,0.061,2575,836,3385
$GC,2509,-0.96,-175.2,245.7,-5.9,221,2515,0.00,2.00,0.00,0.000,6,0.000,0.057,2575,2078,3385
$GC,2825,-0.96,-175.2,261.8,-4.9,237,2829,0.00,2.10,0.00,0.000,4,0.000,0.075,2573,838,3385
$GC,2864,-0.96,-175.2,263.9,-5.3,238,2871,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2104,3385
$GC,3179,-0.96,-175.2,283.8,-7.5,254,3183,0.00,2.12,0.00,0.000,4,0.000,0.056,2574,845,3383
$GC,3195,-0.96,-175.2,285.1,-8.0,254,3202,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2074,3383
$GC,3530,-0.96,-175.2,312.1,-7.4,267,3533,0.00,2.08,0.00,0.000,4,0.000,0.037,2574,845,3382
$GC,3557,-0.96,-175.2,314.0,-7.1,267,3561,0.00,2.03,0.00,0.000,6,0.000,0.066,2575,2085,3382
$GC,3900,-0.96,-175.2,330.2,-4.7,276,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3381
$GC,4225,-0.96,-175.2,346.3,-4.3,284,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3379
$GC,4549,-0.96,-175.2,364.3,-5.9,292,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3377
$GC,4875,-0.96,-175.2,381.9,-6.0,300,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3376
$GC,5199,-0.96,-175.2,398.2,-4.4,308,5203,0.00,2.12,0.00,0.000,4,0.000,0.041,2574,843,3373
$GC,5239,-0.96,-175.2,400.1,-4.6,308,5245,0.00,2.03,0.00,0.000,6,0.000,0.026,2575,2071,3373
$GC,5570,-0.96,-175.2,416.3,-5.4,317,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3370
$GC,5895,-0.96,-175.2,435.4,-6.1,325,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3369
$STATE,6179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6179,begin apogee
$GC,6184,-0.31,0.0,451.1,5.1,332,6329,0.70,0.00,141.70,0.890,6,0.056,0.000,2730,2075,2664
$STATE,6330,end apogee,CONTROL_FINISHED_OK
$STATE,6330,begin climb
$GC,6332,0.96,175.2,456.8,0.0,335,6482,0.08,0.00,145.62,0.864,6,1.641,0.000,2764,2075,1948
$GC,6819,1.04,242.8,443.8,5.3,347,6884,1.12,2.17,58.53,0.855,4,0.049,0.044,3020,851,1673
$GC,7063,1.04,242.8,415.7,12.3,352,7068,0.00,2.08,0.00,0.000,6,0.000,0.028,3020,2070,1663
$GC,7405,1.04,242.8,376.2,11.7,361,7409,0.00,2.12,0.00,0.000,4,0.000,0.043,3020,848,1661
$GC,7427,1.04,242.8,373.4,12.5,361,7431,0.00,2.10,0.00,0.000,6,0.000,0.028,3020,2079,1660
$GC,7775,1.04,242.8,335.0,11.0,370,7779,0.00,2.42,0.00,0.000,4,0.000,0.041,3020,3481,1659
$GC,7892,1.04,242.8,322.4,10.9,372,7895,0.00,2.08,0.00,0.000,6,0.000,0.067,3020,2252,1659
$GC,8209,1.04,242.8,290.4,9.5,382,8213,0.00,2.42,0.00,0.000,4,0.000,0.044,3020,850,1657
$GC,8325,1.04,242.8,278.9,9.0,387,8329,0.00,2.08,0.00,0.000,6,0.000,0.027,3020,2078,1655
$GC,8653,1.04,242.8,251.3,8.9,403,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2082,1655
$GC,8961,1.04,242.8,221.5,10.7,418,8965,0.00,2.12,0.00,0.000,4,0.000,0.041,3021,842,1654
$GC,8994,1.04,242.8,217.8,10.6,419,8998,0.00,2.08,0.00,0.000,6,0.000,0.025,3020,2080,1652
$GC,9319,1.04,242.8,185.8,8.8,442,9323,0.00,2.38,0.00,0.000,4,0.000,0.036,3020,3473,1652
$GC,9392,1.04,242.8,179.0,9.3,448,9396,0.00,2.05,0.00,0.000,6,0.000,0.041,3020,2241,1652
$GC,9724,1.04,242.8,153.7,7.8,479,9728,0.00,2.40,0.00,0.000,4,0.000,0.044,3020,839,1652
$GC,9785,1.04,242.8,148.3,8.4,484,9789,0.00,2.05,0.00,0.000,6,0.000,0.064,3020,2086,1652
$GC,10118,1.04,242.8,122.7,8.0,515,10122,0.00,2.12,0.00,0.000,4,0.000,0.074,3020,845,1652
$GC,10190,1.04,242.8,116.0,9.1,521,10197,0.00,2.03,0.00,0.000,6,0.000,0.022,3020,2074,1652
$GC,10518,1.04,242.8,88.5,7.7,552,10522,0.00,2.35,0.00,0.000,4,0.000,0.065,3020,3467,1653
$GC,10539,1.04,242.8,86.7,7.2,553,10545,0.00,2.05,0.00,0.000,6,0.000,0.048,3020,2236,1654
$GC,10865,1.10,290.4,64.3,5.8,584,10919,0.00,2.40,40.88,0.551,4,0.000,0.035,3020,838,1478
$GC,11015,1.15,332.6,55.9,6.0,597,11058,0.10,2.00,36.95,0.558,6,0.054,0.020,3058,2089,1307
$GC,11380,1.15,332.6,22.8,9.7,637,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2089,1303
$GC,11499,1.15,332.6,12.6,8.3,658,11506,0.00,2.33,0.00,0.000,4,0.000,0.064,3058,3458,1303
$GC,11523,1.15,332.6,10.1,10.2,662,11529,0.00,1.98,0.00,0.000,6,0.000,0.021,3058,2241,1303
$STATE,11606,end climb,SURFACE_DEPTH_REACHED
$STATE,11606,begin surface coast
$FINISH,1.3,1.009639
$STATE,11641,end surface coast,CONTROL_FINISHED_OK
$STATE,11641,begin surface
$SM_CCo,11722,0.00,0.000,0,0,1298,335.08
$SM_GC,2.14,11.35,0.00,0.00,0.031,0.000,0.000,427,2238,1298,-10.82,4.49,335.08
$IRIDIUM_FIX,2104.07,-15758.18,051197,222259
$TT8_MAMPS,0.029146
$HUMID,1941
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.10
$XPDR_PINGS,658
$24V_AH,23.3,63.039
$10V_AH,10.2,36.176
$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,25.400,93.825,423.675,0.000,0.000,117.452,114.437,307.576,168.500,0.000,0.000,12.672,1207.104,8590.279,489.875,1525.819,753.871,33.378,1254.102,0.000,1511.126,0.000,29.240
$DEVICE_MAMPS,1640.613,75.166,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.184,441.312,758.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,683
$CAP_FILE_SIZE,99394,13
$CFSIZE,260165632,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120808,015401,2109.319,-15757.451,44,0.9,44,9.8