version: 66.03
glider: 139
mission: 3
dive: 99
start: 7 23 108 14 52 10
data:
$ID,139
$MISSION,3
$DIVE,99
$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,543.09418
$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,-1272547.1
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,143108,2108.697,-15753.467,47,1.2,47,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.1
$GPS2,145121,2108.814,-15753.752,19,1.3,19,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.059,0.183
$KALMAN_X,-13690.9,-326.6,835.1,11549.3,-803.7
$KALMAN_Y,-17937.6,-141.4,-55.9,3579.9,-984.9
$MHEAD_RNG_PITCHd_Wd,332.4,2038,-17.2,-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,-1.19,-92.8,0.0,0.0,0,75,0.00,0.00,-54.15,0.000,2,0.000,0.000,427,2071,2853
$GC,78,-1.22,-118.3,3.5,-5.8,10,102,11.70,2.33,-5.18,0.000,4,0.152,0.039,2519,3477,3150
$GC,343,-1.22,-118.3,52.1,-13.9,43,350,0.00,2.30,0.00,0.000,6,0.000,0.021,2519,2084,3151
$GC,668,-1.22,-118.3,98.8,-15.2,74,672,0.00,2.33,0.00,0.000,4,0.000,0.029,2519,3478,3151
$GC,792,-1.22,-118.3,115.2,-12.8,85,796,0.00,2.30,0.00,0.000,6,0.000,0.021,2519,2071,3151
$GC,1117,-1.22,-118.3,153.3,-10.5,115,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3152
$GC,1435,-1.22,-118.3,185.4,-10.2,145,1439,0.00,2.35,0.00,0.000,4,0.000,0.036,2519,674,3152
$GC,1473,-1.22,-118.3,189.5,-11.0,148,1478,0.00,2.28,0.00,0.000,6,0.000,0.048,2519,2090,3152
$GC,1791,-1.22,-118.3,220.0,-8.9,168,1795,0.00,2.30,0.00,0.000,4,0.000,0.033,2519,3469,3152
$GC,1862,-1.22,-118.3,226.1,-8.6,171,1867,0.00,2.30,0.00,0.000,6,0.000,0.021,2519,2079,3152
$GC,2184,-1.22,-118.3,251.9,-8.7,187,2188,0.00,2.33,0.00,0.000,4,0.000,0.034,2519,3463,3152
$GC,2232,-1.22,-118.3,256.9,-9.5,189,2237,0.00,2.30,0.00,0.000,6,0.000,0.028,2519,2083,3151
$GC,2554,-1.22,-118.3,287.8,-10.3,205,2558,0.00,2.38,0.00,0.000,4,0.000,0.039,2519,682,3150
$GC,2603,-1.22,-118.3,293.1,-10.5,207,2608,0.00,2.30,0.00,0.000,6,0.000,0.058,2519,2071,3150
$GC,2921,-1.22,-118.3,321.8,-8.7,217,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2075,3148
$GC,3246,-1.22,-118.3,346.2,-7.3,225,3250,0.00,2.38,0.00,0.000,4,0.000,0.038,2519,3473,3146
$GC,3334,-1.22,-118.3,353.4,-7.9,227,3338,0.00,2.35,0.00,0.000,6,0.000,0.032,2519,2082,3146
$GC,3658,-1.22,-118.3,380.4,-8.4,235,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2080,3143
$GC,3983,-1.22,-122.3,404.2,-6.9,243,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2081,3141
$GC,4308,-1.22,-122.3,428.9,-7.3,251,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2080,3139
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4636,-0.31,0.0,452.4,7.1,259,4734,0.55,0.00,95.72,0.890,6,0.212,0.000,2646,2081,2664
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4737,1.22,122.3,455.1,0.0,261,4847,1.90,2.50,101.78,0.864,4,0.097,0.077,3062,3456,2164
$GC,4864,1.26,155.1,453.1,5.5,264,4899,0.00,2.35,28.95,0.828,6,0.000,0.065,3061,2086,2030
$GC,5242,1.26,155.1,419.7,8.6,274,5246,0.00,2.47,0.00,0.000,4,0.000,0.048,3061,675,2020
$GC,5280,1.26,155.1,415.8,10.3,275,5285,0.00,2.35,0.00,0.000,6,0.000,0.029,3061,2069,2017
$GC,5604,1.26,155.1,387.1,8.7,283,5608,0.00,2.45,0.00,0.000,4,0.000,0.044,3061,3475,2016
$GC,5642,1.26,155.1,383.6,9.2,284,5646,0.00,2.38,0.00,0.000,6,0.000,0.031,3061,2080,2016
$GC,5965,1.26,155.1,357.2,8.2,292,5969,0.00,2.45,0.00,0.000,4,0.000,0.044,3061,3482,2013
$GC,6042,1.26,155.1,350.8,8.4,293,6048,0.00,2.40,0.00,0.000,6,0.000,0.055,3061,2074,2013
$GC,6373,1.26,155.1,320.0,10.1,302,6377,0.00,2.45,0.00,0.000,4,0.000,0.044,3062,3478,2011
$GC,6422,1.26,155.1,314.7,10.4,303,6426,0.00,2.40,0.00,0.000,6,0.000,0.061,3061,2085,2011
$GC,6742,1.26,155.1,287.3,7.5,314,6747,0.00,2.42,0.00,0.000,4,0.000,0.045,3061,3477,2010
$GC,6939,1.26,155.1,273.4,7.4,323,6943,0.00,2.38,0.00,0.000,6,0.000,0.038,3061,2075,2010
$GC,7265,1.26,155.1,249.1,8.3,339,7269,0.00,2.42,0.00,0.000,4,0.000,0.041,3062,3485,2008
$GC,7313,1.26,155.1,244.8,8.6,341,7318,0.00,2.40,0.00,0.000,6,0.000,0.028,3061,2077,2008
$GC,7641,1.27,160.7,220.8,6.9,357,7645,0.00,2.40,0.00,0.000,4,0.000,0.043,3061,677,2007
$GC,7729,1.28,170.0,214.6,6.7,361,7746,0.00,2.35,9.65,0.673,6,0.000,0.059,3061,2094,1970
$GC,8056,1.31,189.8,196.0,6.1,380,8081,0.00,2.42,18.27,0.696,4,0.000,0.049,3062,3468,1890
$GC,8126,1.31,195.7,191.1,6.8,386,8138,0.00,2.35,6.80,0.594,6,0.000,0.025,3061,2058,1865
$GC,8456,1.31,195.7,164.0,7.4,417,8460,0.00,2.35,0.00,0.000,4,0.000,0.039,3061,680,1862
$GC,8597,1.31,195.7,153.4,7.7,429,8601,0.00,2.33,0.00,0.000,6,0.000,0.060,3061,2094,1859
$GC,8924,1.31,195.7,130.6,8.1,459,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2098,1859
$GC,9240,1.39,257.2,113.6,4.0,489,9303,0.15,2.53,53.17,0.624,4,0.048,0.038,3111,676,1613
$GC,9330,1.39,257.2,106.1,11.0,497,9337,0.00,2.33,0.00,0.000,6,0.000,0.021,3111,2080,1609
$GC,9657,1.39,257.2,69.8,12.0,528,9661,0.00,2.33,0.00,0.000,4,0.000,0.067,3111,3465,1608
$GC,9786,1.39,257.2,54.1,11.7,539,9790,0.00,2.28,0.00,0.000,6,0.000,0.021,3112,2075,1608
$GC,10112,1.40,266.1,28.2,6.7,571,10125,0.00,2.40,8.10,0.479,4,0.000,0.066,3112,3471,1579
$GC,10222,1.40,266.1,18.7,8.2,590,10229,0.00,2.28,0.00,0.000,6,0.000,0.021,3112,2073,1578
$GC,10342,1.40,266.1,7.1,9.5,611,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2071,1577
$STATE,10380,end climb,SURFACE_DEPTH_REACHED
$STATE,10380,begin surface coast
$FINISH,0.3,1.003062
$STATE,10409,end surface coast,CONTROL_FINISHED_OK
$STATE,10410,begin surface
$SM_CCo,10429,222.10,0.520,0,0,449,543.09
$SM_GC,0.79,0.00,0.00,222.10,0.000,0.000,0.520,431,2066,449,-10.87,-0.37,543.09
$IRIDIUM_FIX,2101.76,-15756.04,171097,141435
$TT8_MAMPS,0.029146
$HUMID,1810
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.70
$XPDR_PINGS,604
$24V_AH,23.4,43.933
$10V_AH,10.2,25.470
$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,25.850,94.650,322.450,222.100,0.000,143.080,146.003,525.733,151.000,0.000,0.000,20.844,1117.199,7650.871,625.383,1452.838,1005.703,33.366,1336.790,0.000,1437.930,0.000,0.471
$DEVICE_MAMPS,212.459,77.467,890.487,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.501,407.863,695.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31618,623
$CAP_FILE_SIZE,98278,8
$CFSIZE,260165632,252628992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230708,175122,2109.783,-15754.293,43,2.4,62,9.8