version: 66.03
glider: 139
mission: 3
dive: 236
start: 8 12 108 12 33 45
data:
$ID,139
$MISSION,3
$DIVE,236
$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,-1275573.2
$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,51
$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
$GPS1,121638,2107.023,-15759.732,59,1.1,59,9.8
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.5
$GPS2,123256,2107.053,-15759.998,13,1.0,30,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.055
$KALMAN_X,-8806.4,-979.6,-779.2,6321.3,-1222.4
$KALMAN_Y,377.1,42.6,75.5,-4703.1,-56.2
$MHEAD_RNG_PITCHd_Wd,92.6,24214,-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,21,-0.96,-175.2,0.0,0.0,0,67,0.00,0.00,-44.08,0.000,2,0.000,0.000,428,2229,2585
$GC,70,-0.96,-175.2,3.3,-3.0,8,104,12.02,0.00,-16.05,0.000,6,0.152,0.000,2578,2230,3380
$GC,217,-0.96,-175.2,25.7,-11.8,34,223,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,840,3382
$GC,252,-0.96,-175.2,29.8,-11.4,40,259,0.00,2.03,0.00,0.000,6,0.000,0.019,2578,2088,3382
$GC,364,-0.96,-175.2,42.7,-12.2,51,368,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3470,3382
$GC,383,-0.96,-175.2,44.9,-12.9,52,386,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2234,3382
$GC,713,-0.96,-175.2,82.7,-12.4,83,717,0.00,2.33,0.00,0.000,4,0.000,0.033,2577,839,3382
$GC,835,-0.96,-175.2,98.5,-13.1,93,841,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2077,3383
$GC,1160,-0.96,-175.2,146.5,-13.9,124,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3383
$GC,1478,-0.96,-175.2,179.9,-7.2,154,1482,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,841,3383
$GC,1501,-0.96,-175.2,181.4,-6.5,156,1505,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2085,3384
$GC,1833,-0.96,-175.2,198.4,-8.0,187,1836,0.00,2.30,0.00,0.000,4,0.000,0.041,2578,3460,3384
$GC,1865,-0.96,-175.2,201.7,-9.4,189,1869,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2240,3384
$GC,2187,-0.96,-175.2,232.6,-7.9,205,2191,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,838,3384
$GC,2255,-0.96,-175.2,237.1,-6.2,208,2259,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2077,3384
$GC,2581,-0.96,-175.2,249.3,-4.7,224,2586,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3464,3383
$GC,2603,-0.96,-175.2,250.5,-5.4,225,2607,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2234,3383
$GC,2930,-0.96,-175.2,278.5,-9.6,241,2934,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,837,3381
$GC,3063,-0.96,-175.2,291.5,-9.5,247,3067,0.00,2.03,0.00,0.000,6,0.000,0.021,2578,2068,3381
$GC,3387,-0.96,-175.2,313.5,-6.1,258,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2071,3380
$GC,3712,-0.96,-175.2,335.7,-7.2,266,3715,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,845,3379
$GC,3750,-0.96,-175.2,338.5,-7.2,266,3756,0.00,2.05,0.00,0.000,6,0.000,0.024,2578,2077,3378
$GC,4082,-0.96,-175.2,358.1,-5.3,275,4086,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3472,3376
$GC,4115,-0.96,-175.2,359.9,-5.3,275,4122,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2239,3376
$GC,4446,-0.96,-175.2,383.2,-7.6,284,4450,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,838,3375
$GC,4540,-0.96,-175.2,391.0,-8.2,286,4545,0.00,2.08,0.00,0.000,6,0.000,0.025,2578,2074,3374
$GC,4861,-0.96,-175.2,412.8,-6.2,294,4865,0.00,1.75,0.00,0.000,4,0.000,0.083,2578,3126,3371
$GC,4951,-0.96,-175.2,417.8,-5.6,296,4955,0.00,1.48,0.00,0.000,6,0.000,0.026,2578,2243,3371
$GC,5281,-0.96,-175.2,437.0,-6.2,304,5285,0.00,2.38,0.00,0.000,4,0.000,0.074,2578,848,3369
$GC,5370,-0.96,-175.2,442.4,-5.6,306,5374,0.00,2.05,0.00,0.000,6,0.000,0.066,2578,2080,3368
$STATE,5532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5532,begin apogee
$GC,5537,-0.31,0.0,451.0,5.4,310,5682,0.68,0.00,141.40,0.886,6,0.048,0.000,2732,2082,2664
$STATE,5682,end apogee,CONTROL_FINISHED_OK
$STATE,5682,begin climb
$GC,5685,0.96,175.2,457.2,0.0,313,5839,0.12,2.47,145.40,0.858,4,0.669,0.076,2777,3477,1948
$GC,6091,1.17,345.5,445.9,2.5,322,6248,1.23,2.08,146.90,0.851,6,0.041,0.052,3055,2238,1254
$GC,6561,1.17,345.5,397.8,11.1,334,6565,0.00,2.42,0.00,0.000,4,0.000,0.045,3055,852,1245
$GC,6610,1.17,345.5,391.8,12.5,335,6614,0.00,2.08,0.00,0.000,6,0.000,0.028,3055,2086,1244
$GC,6928,1.17,345.5,350.0,14.1,343,6932,0.00,2.17,0.00,0.000,4,0.000,0.046,3055,846,1242
$GC,6994,1.17,345.5,338.9,16.1,344,6999,0.00,2.10,0.00,0.000,6,0.000,0.028,3054,2083,1240
$GC,7323,1.17,345.5,289.5,13.6,354,7327,0.00,2.17,0.00,0.000,4,0.000,0.044,3054,840,1240
$GC,7395,1.17,345.5,280.4,12.8,357,7399,0.00,2.08,0.00,0.000,6,0.000,0.067,3055,2082,1238
$GC,7717,1.17,345.5,244.4,10.4,373,7720,0.00,2.15,0.00,0.000,4,0.000,0.044,3055,849,1238
$GC,7749,1.17,345.5,240.9,10.4,374,7753,0.00,2.08,0.00,0.000,6,0.000,0.026,3055,2103,1237
$GC,8070,1.17,345.5,211.8,8.7,390,8074,0.00,2.17,0.00,0.000,4,0.000,0.042,3055,849,1237
$GC,8131,1.17,345.5,205.5,11.2,393,8135,0.00,2.05,0.00,0.000,6,0.000,0.025,3055,2089,1236
$GC,8462,1.17,345.5,167.3,12.9,421,8466,0.00,2.15,0.00,0.000,4,0.000,0.046,3055,848,1235
$GC,8496,1.17,345.5,162.3,13.8,424,8500,0.00,2.05,0.00,0.000,6,0.000,0.064,3055,2093,1236
$GC,8829,1.17,345.5,122.5,10.4,455,8833,0.00,2.15,0.00,0.000,4,0.000,0.041,3055,845,1236
$GC,8923,1.17,345.5,112.7,9.8,463,8930,0.00,2.05,0.00,0.000,6,0.000,0.022,3055,2084,1235
$GC,9251,1.17,345.5,86.9,7.8,494,9255,0.00,2.12,0.00,0.000,4,0.000,0.074,3055,842,1235
$GC,9278,1.17,345.5,84.4,7.8,496,9285,0.00,2.03,0.00,0.000,6,0.000,0.021,3054,2075,1235
$GC,9605,1.17,345.5,55.2,9.8,527,9608,0.00,2.10,0.00,0.000,4,0.000,0.077,3055,841,1236
$GC,9688,1.17,345.5,46.3,10.5,534,9695,0.00,2.03,0.00,0.000,6,0.000,0.020,3055,2079,1236
$GC,10020,1.17,345.5,15.5,10.4,578,10026,0.00,2.30,0.00,0.000,4,0.000,0.029,3055,3467,1237
$GC,10044,1.17,345.5,13.2,9.9,582,10050,0.00,2.03,0.00,0.000,6,0.000,0.021,3055,2238,1237
$STATE,10150,end climb,SURFACE_DEPTH_REACHED
$STATE,10150,begin surface coast
$FINISH,1.6,1.022845
$STATE,10187,end surface coast,CONTROL_FINISHED_OK
$STATE,10187,begin surface
$SM_CCo,10267,0.00,0.000,0,0,1235,350.53
$SM_GC,2.19,11.27,0.00,0.00,0.031,0.000,0.000,425,2234,1235,-10.82,4.38,350.53
$IRIDIUM_FIX,2101.76,-15803.33,061197,121231
$TT8_MAMPS,0.029146
$HUMID,1968
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.50
$XPDR_PINGS,625
$24V_AH,23.4,63.608
$10V_AH,10.2,36.497
$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,25.325,102.000,433.700,0.000,0.000,114.691,219.664,309.431,160.250,0.000,0.000,32.101,1134.000,7222.708,481.413,1552.119,838.559,32.355,1256.240,0.000,1505.224,0.000,29.253
$DEVICE_MAMPS,668.824,82.836,885.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.766,395.429,678.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31739,607
$CAP_FILE_SIZE,96819,5
$CFSIZE,260165632,245731328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120808,152631,2106.514,-15800.348,63,1.6,63,9.8