version: 66.03
glider: 139
mission: 3
dive: 31
start: 7 13 108 10 14 12
data:
$ID,139
$MISSION,3
$DIVE,31
$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,-1270894.6
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,36
$R_STBD_OVSHOOT,58
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,100608,2102.784,-15747.628,38,1.5,38,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-67.3
$GPS2,101321,2102.792,-15747.598,9,2.0,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.124,0.222
$KALMAN_X,-2436.6,150.4,-235.3,11512.7,-528.1
$KALMAN_Y,4869.7,-62.4,71.2,-30585.8,-654.4
$MHEAD_RNG_PITCHd_Wd,321.0,17435,-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,18,-0.96,-175.2,0.0,0.0,0,86,0.00,0.00,-65.30,0.000,2,0.000,0.000,432,2083,3018
$GC,88,-0.96,-175.2,4.0,-8.1,12,113,12.27,2.30,-5.78,0.000,4,0.160,0.042,2577,3472,3381
$GC,228,-0.87,-175.2,34.1,-12.1,33,233,0.12,2.28,0.00,0.000,6,0.712,0.021,2609,2074,3383
$GC,552,-0.87,-175.2,62.3,-8.2,63,556,0.00,2.35,0.00,0.000,4,0.000,0.035,2609,676,3383
$GC,603,-0.91,-175.2,66.1,-7.1,67,607,0.00,2.25,0.00,0.000,6,0.000,0.018,2609,2084,3384
$GC,928,-0.91,-175.2,89.7,-7.6,97,932,0.00,1.88,0.00,0.000,4,0.000,0.059,2609,3244,3385
$GC,1000,-0.97,-175.2,95.3,-7.4,103,1007,0.08,1.92,0.00,0.000,6,0.037,0.020,2577,2071,3385
$GC,1325,-0.94,-175.2,125.0,-8.4,134,1329,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,688,3385
$GC,1358,-0.94,-175.2,127.7,-8.0,136,1365,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,1684,-0.94,-175.2,155.9,-9.6,167,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3386
$GC,2001,-0.94,-175.2,182.3,-8.9,197,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3386
$GC,2318,-0.94,-175.2,205.9,-7.0,223,2322,0.00,2.38,0.00,0.000,4,0.000,0.069,2576,665,3385
$GC,2361,-1.00,-175.2,209.1,-7.6,225,2365,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2077,3386
$GC,2689,-1.04,-175.2,231.5,-5.9,241,2693,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3464,3385
$GC,2728,-1.11,-175.2,233.7,-5.8,243,2733,0.12,2.25,0.00,0.000,6,0.057,0.058,2544,2082,3386
$GC,3055,-1.07,-175.2,258.7,-7.8,259,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2080,3385
$GC,3363,-1.07,-175.2,286.3,-9.4,274,3367,0.00,2.38,0.00,0.000,4,0.000,0.039,2543,681,3383
$GC,3435,-1.07,-175.2,293.2,-9.4,277,3439,0.00,2.30,0.00,0.000,6,0.000,0.048,2543,2070,3383
$GC,3773,-1.07,-175.2,321.5,-8.2,288,3777,0.00,2.38,0.00,0.000,4,0.000,0.041,2544,683,3382
$GC,3811,-1.07,-175.2,324.7,-8.5,289,3815,0.00,2.30,0.00,0.000,6,0.000,0.025,2543,2085,3382
$GC,4140,-1.07,-175.2,352.0,-8.2,297,4144,0.00,2.40,0.00,0.000,4,0.000,0.042,2543,686,3380
$GC,4167,-1.07,-175.2,354.3,-8.3,297,4171,0.00,2.33,0.00,0.000,6,0.000,0.061,2543,2075,3380
$GC,4504,-1.07,-175.2,376.8,-6.2,306,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2079,3378
$GC,4829,-1.07,-175.2,399.4,-7.2,314,4833,0.00,2.40,0.00,0.000,4,0.000,0.044,2543,689,3376
$GC,4861,-1.07,-175.2,401.9,-7.9,314,4867,0.00,2.30,0.00,0.000,6,0.000,0.035,2543,2074,3376
$GC,5192,-1.07,-175.2,427.5,-7.9,323,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2078,3374
$GC,5517,-1.07,-175.2,449.6,-6.2,331,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2078,3371
$STATE,5555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5555,begin apogee
$GC,5560,-0.31,0.0,452.1,6.2,332,5705,0.85,0.00,141.57,0.887,6,0.064,0.000,2728,2078,2664
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5708,0.96,175.2,457.1,0.0,335,5861,1.20,2.50,144.15,0.864,4,0.040,0.053,3006,3474,1948
$GC,5900,0.83,175.2,452.6,9.5,339,5904,0.15,2.38,0.00,0.000,6,0.101,0.064,2977,2090,1946
$GC,6236,0.78,175.2,425.0,8.2,348,6240,0.00,2.50,0.00,0.000,4,0.000,0.050,2978,675,1936
$GC,6307,0.69,175.2,418.5,9.5,349,6313,0.15,2.38,0.00,0.000,6,0.098,0.031,2949,2076,1934
$GC,6638,0.70,182.9,394.4,6.9,357,6649,0.00,2.45,5.32,0.655,4,0.000,0.045,2949,3478,1917
$GC,6677,0.72,195.4,391.7,6.8,358,6696,0.00,2.40,12.60,0.795,6,0.000,0.066,2949,2073,1866
$GC,7004,0.75,218.8,370.1,6.5,366,7032,0.00,2.55,21.48,0.827,4,0.000,0.048,2949,675,1770
$GC,7066,0.75,218.8,365.6,7.6,367,7071,0.00,2.40,0.00,0.000,6,0.000,0.031,2948,2075,1766
$GC,7415,0.81,241.3,343.1,6.5,376,7438,0.10,0.00,20.40,0.812,6,0.064,0.000,2975,2079,1680
$GC,7739,0.81,241.3,318.1,7.8,384,7743,0.00,2.45,0.00,0.000,4,0.000,0.061,2975,677,1674
$GC,7861,0.81,241.3,307.6,8.8,386,7868,0.00,2.40,0.00,0.000,6,0.000,0.030,2975,2085,1671
$GC,8175,0.81,241.3,284.0,7.3,399,8180,0.00,2.47,0.00,0.000,4,0.000,0.046,2975,673,1671
$GC,8260,0.81,241.3,277.5,7.9,403,8264,0.00,2.38,0.00,0.000,6,0.000,0.062,2975,2088,1668
$GC,8588,0.81,241.3,253.0,8.1,419,8592,0.00,2.47,0.00,0.000,4,0.000,0.050,2975,672,1669
$GC,8620,0.81,241.3,250.0,8.8,420,8627,0.00,2.38,0.00,0.000,6,0.000,0.070,2975,2077,1667
$GC,8935,0.81,241.3,225.2,7.9,436,8940,0.00,2.40,0.00,0.000,4,0.000,0.039,2975,3477,1667
$GC,8991,0.85,241.3,220.7,8.2,438,8997,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2053,1667
$GC,9307,0.88,265.8,197.6,6.5,455,9341,0.00,2.42,22.98,0.664,4,0.000,0.074,2975,680,1578
$GC,9417,0.88,265.8,189.9,7.4,465,9421,0.00,2.33,0.00,0.000,6,0.000,0.033,2975,2083,1574
$GC,9742,1.01,318.3,169.3,5.7,495,9792,0.17,0.00,46.62,0.686,6,0.047,0.000,3022,2088,1365
$GC,10110,1.01,318.3,133.5,9.6,530,10114,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,679,1359
$GC,10193,1.01,318.3,123.7,10.9,537,10198,0.00,2.30,0.00,0.000,6,0.000,0.022,3022,2082,1357
$GC,10518,1.01,318.3,95.2,8.5,567,10522,0.00,2.42,0.00,0.000,4,0.000,0.038,3022,671,1357
$GC,10556,1.01,318.3,91.5,9.4,570,10560,0.00,1.83,0.00,0.000,6,0.000,0.064,3022,1829,1356
$GC,10888,1.04,318.3,61.7,8.1,601,10893,0.00,2.78,0.00,0.000,4,0.000,0.033,3022,3475,1356
$GC,10995,1.09,318.3,51.9,9.2,610,10999,0.00,2.30,0.00,0.000,6,0.000,0.022,3022,2072,1357
$GC,11324,1.23,376.2,26.1,5.6,646,11381,0.15,2.45,48.65,0.544,4,0.044,0.071,3076,680,1129
$GC,11511,1.18,376.2,5.7,12.0,679,11518,0.12,2.25,0.00,0.000,6,0.081,0.019,3050,2088,1124
$STATE,11534,end climb,SURFACE_DEPTH_REACHED
$STATE,11534,begin surface coast
$FINISH,0.5,1.022773
$STATE,11563,end surface coast,CONTROL_FINISHED_OK
$STATE,11563,begin surface
$SM_CCo,11643,0.00,0.000,0,0,1120,378.74
$SM_GC,0.65,11.38,0.00,0.00,0.035,0.000,0.000,423,2090,1120,-10.82,0.34,378.74
$IRIDIUM_FIX,2054.83,-15749.62,071097,060649
$TT8_MAMPS,0.029146
$HUMID,1863
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,22.80
$XPDR_PINGS,660
$24V_AH,23.4,34.284
$10V_AH,10.2,19.888
$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,26.875,107.925,463.775,0.000,0.000,29.501,28.375,250.258,165.000,0.000,0.000,11.070,1217.068,8292.369,531.706,1526.816,494.827,33.361,1312.756,0.000,1525.198,0.000,0.470
$DEVICE_MAMPS,711.776,73.632,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.695,451.809,768.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34905,688
$CAP_FILE_SIZE,101186,11
$CFSIZE,260165632,256245760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130708,132931,2103.834,-15748.553,30,1.0,41,9.8