version: 66.03
glider: 139
mission: 3
dive: 233
start: 8 12 108 2 1 2
data:
$ID,139
$MISSION,3
$DIVE,233
$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,0
$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,-1275509.2
$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,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
$GPS1,015401,2109.319,-15757.451,44,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.5
$GPS2,020015,2109.324,-15757.511,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.148
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,115.7,22416,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-49.08,0.000,2,0.000,0.000,427,2236,2655
$GC,73,-0.96,-175.2,3.5,-3.1,9,108,11.98,2.08,-14.23,0.000,4,0.150,0.044,2578,3452,3382
$GC,114,-0.96,-175.2,13.4,-23.1,16,121,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2231,3382
$GC,233,-0.96,-175.2,27.3,-11.8,37,240,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,839,3383
$GC,280,-0.96,-175.2,32.8,-11.2,43,283,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2076,3382
$GC,610,-0.96,-175.2,69.4,-10.3,74,613,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,842,3383
$GC,655,-0.96,-175.2,73.5,-8.7,78,659,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2079,3383
$GC,985,-0.96,-175.2,102.9,-8.4,109,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2083,3384
$GC,1304,-0.96,-175.2,128.3,-8.1,139,1307,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,844,3385
$GC,1326,-0.96,-175.2,130.2,-8.3,141,1330,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2077,3385
$GC,1657,-0.96,-175.2,158.8,-8.1,172,1661,0.00,2.08,0.00,0.000,4,0.000,0.052,2578,836,3385
$GC,1679,-0.96,-175.2,160.7,-8.1,174,1683,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2083,3385
$GC,2013,-0.96,-175.2,191.3,-8.8,205,2016,0.00,2.10,0.00,0.000,4,0.000,0.070,2577,839,3385
$GC,2046,-0.96,-175.2,194.4,-8.8,208,2050,0.00,2.00,0.00,0.000,6,0.000,0.028,2578,2079,3385
$GC,2370,-0.96,-175.2,216.9,-5.8,227,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3385
$GC,2678,-0.96,-175.2,234.8,-5.9,242,2682,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,835,3385
$GC,2750,-0.96,-175.2,239.2,-6.0,245,2753,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2082,3385
$GC,3077,-0.96,-175.2,258.9,-5.7,261,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3384
$GC,3386,-0.96,-175.2,277.4,-6.5,276,3389,0.00,2.08,0.00,0.000,4,0.000,0.036,2577,845,3384
$GC,3423,-0.96,-175.2,280.2,-7.2,277,3430,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2074,3384
$GC,3760,-0.96,-175.2,303.0,-6.5,293,3764,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3467,3382
$GC,3787,-0.96,-175.2,304.9,-6.6,293,3791,0.00,2.00,0.00,0.000,6,0.000,0.023,2577,2243,3382
$GC,4124,-0.96,-175.2,324.6,-5.6,302,4128,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,844,3381
$GC,4213,-0.96,-175.2,329.6,-5.2,304,4217,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2078,3380
$GC,4539,-0.96,-175.2,352.8,-8.1,312,4543,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3470,3378
$GC,4617,-0.96,-175.2,358.3,-6.6,313,4623,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2240,3378
$GC,4951,-0.96,-175.2,381.1,-6.9,322,4955,0.00,2.12,0.00,0.000,4,0.000,0.040,2578,3476,3376
$GC,5041,-0.96,-175.2,387.5,-6.9,324,5045,0.00,2.05,0.00,0.000,6,0.000,0.063,2578,2237,3376
$GC,5371,-0.96,-175.2,409.7,-6.6,332,5376,0.00,2.33,0.00,0.000,4,0.000,0.072,2577,852,3374
$GC,5482,-0.96,-175.2,417.6,-7.4,334,5486,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2072,3373
$GC,5831,-0.96,-175.2,438.5,-5.8,343,5835,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3473,3371
$GC,5886,-0.96,-175.2,442.0,-6.4,344,5889,0.00,2.05,0.00,0.000,6,0.000,0.067,2577,2240,3370
$STATE,6035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6035,begin apogee
$GC,6040,-0.31,0.0,451.1,6.2,348,6185,0.68,0.00,142.20,0.889,6,0.047,0.000,2732,2240,2664
$STATE,6186,end apogee,CONTROL_FINISHED_OK
$STATE,6186,begin climb
$GC,6188,0.96,175.2,458.2,0.0,351,6345,1.17,2.53,145.73,0.861,4,0.104,0.073,3009,845,1946
$GC,6546,0.96,175.2,437.4,10.3,359,6551,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2076,1936
$GC,6860,0.96,175.2,408.8,8.7,367,6863,0.00,2.15,0.00,0.000,4,0.000,0.044,3009,848,1935
$GC,6926,0.96,175.2,402.3,9.4,368,6930,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2076,1933
$GC,7274,0.99,199.6,376.2,6.5,377,7298,0.00,2.20,19.62,0.813,4,0.000,0.081,3009,850,1850
$GC,7344,0.99,199.6,370.5,8.9,378,7348,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2080,1846
$GC,7686,0.99,199.6,345.1,7.7,387,7690,0.00,2.42,0.00,0.000,4,0.000,0.042,3009,3478,1844
$GC,7763,0.99,199.6,338.9,8.0,388,7769,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2251,1844
$GC,8095,1.00,210.9,315.7,6.8,397,8110,0.00,2.45,10.52,0.739,4,0.000,0.075,3009,848,1804
$GC,8277,1.00,210.9,299.8,8.8,401,8282,0.00,2.10,0.00,0.000,6,0.000,0.066,3009,2079,1799
$GC,8601,1.04,240.3,277.3,6.3,416,8633,0.00,2.45,26.95,0.769,4,0.000,0.072,3009,3473,1684
$GC,8666,1.04,240.3,272.4,8.3,419,8670,0.00,2.10,0.00,0.000,6,0.000,0.027,3009,2251,1683
$GC,8993,1.04,240.3,244.3,9.7,435,8997,0.00,2.42,0.00,0.000,4,0.000,0.042,3009,841,1679
$GC,9115,1.04,240.3,231.4,10.6,440,9119,0.00,2.08,0.00,0.000,6,0.000,0.031,3009,2083,1676
$GC,9436,1.04,240.3,206.0,7.4,456,9439,0.00,2.15,0.00,0.000,4,0.000,0.041,3009,843,1676
$GC,9485,1.04,240.3,201.9,8.4,458,9490,0.00,2.08,0.00,0.000,6,0.000,0.064,3009,2077,1674
$GC,9812,1.08,271.6,178.0,6.3,487,9845,0.00,2.45,27.50,0.685,4,0.000,0.066,3009,3471,1555
$GC,9901,1.08,271.6,170.9,8.4,495,9905,0.00,2.05,0.00,0.000,6,0.000,0.024,3009,2242,1556
$GC,10233,1.08,271.6,138.9,9.7,526,10238,0.00,2.40,0.00,0.000,4,0.000,0.071,3009,840,1553
$GC,10351,1.08,271.6,128.3,9.0,536,10355,0.00,2.05,0.00,0.000,6,0.000,0.061,3009,2086,1549
$GC,10681,1.08,271.6,103.7,8.0,567,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2092,1549
$GC,11000,1.09,278.8,80.1,6.9,597,11013,0.10,2.40,7.00,0.497,4,0.053,0.066,3045,3468,1526
$GC,11040,1.09,278.8,76.4,9.1,600,11047,0.00,2.05,0.00,0.000,6,0.000,0.030,3045,2242,1527
$GC,11366,1.09,278.8,48.0,7.5,631,11370,0.00,2.38,0.00,0.000,4,0.000,0.067,3045,835,1526
$GC,11411,1.09,278.8,44.4,8.0,634,11418,0.00,2.00,0.00,0.000,6,0.000,0.020,3045,2088,1525
$GC,11743,1.09,278.8,19.1,7.5,677,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2092,1525
$GC,11864,1.13,309.2,11.2,6.3,698,11898,0.00,2.12,28.08,0.523,4,0.000,0.041,3045,843,1401
$GC,11955,1.13,309.2,3.2,10.6,714,11961,0.00,1.98,0.00,0.000,6,0.000,0.020,3045,2082,1397
$STATE,11965,end climb,SURFACE_DEPTH_REACHED
$STATE,11965,begin surface coast
$FINISH,1.4,1.022902
$STATE,12000,end surface coast,CONTROL_FINISHED_OK
$STATE,12000,begin surface
$SM_CCo,12020,8.00,0.455,0,0,1358,320.12
$SM_GC,2.21,0.00,0.00,8.00,0.000,0.000,0.455,431,2085,1358,-10.87,0.17,320.12
$IRIDIUM_FIX,2101.76,-15756.04,051197,222245
$TT8_MAMPS,0.029146
$HUMID,1965
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.80
$XPDR_PINGS,744
$24V_AH,23.3,63.171
$10V_AH,10.2,36.257
$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,25.225,116.350,407.600,8.000,0.000,24.989,30.910,193.845,190.000,0.000,0.000,14.143,1322.800,8362.460,481.121,1772.474,454.732,29.241,1355.078,0.000,1743.181,0.000,29.253
$DEVICE_MAMPS,149.565,81.302,888.953,454.831,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.111,475.364,822.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37942,722
$CAP_FILE_SIZE,107088,11
$CFSIZE,260165632,245858304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120808,052338,2108.377,-15757.685,89,1.2,89,9.8