version: 66.03
glider: 139
mission: 3
dive: 7
start: 7 10 108 5 24 57
data:
$ID,139
$MISSION,3
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,110
$T_MISSION,150
$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,533.09418
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1270481.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2770
$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,42
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,051807,2114.164,-15751.735,27,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-65.3
$GPS2,052409,2114.164,-15751.744,12,1.1,12,9.8
$SPEED_LIMITS,0.157,0.277
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,-0.248
$KALMAN_X,962.7,512.0,-57.4,422.9,-252.0
$KALMAN_Y,506.0,115.5,-41.5,-5230.0,131.3
$MHEAD_RNG_PITCHd_Wd,143.6,23475,-15.1,-9.091
$D_GRID,300
$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,-1.16,-175.2,0.0,0.0,0,113,0.00,0.00,-91.20,0.000,2,0.000,0.000,430,2099,3022
$GC,115,-1.16,-175.2,3.4,-9.1,17,140,11.55,2.38,-5.97,0.000,4,0.153,0.050,2510,684,3380
$GC,174,-1.16,-175.2,24.0,-21.0,27,180,0.00,2.22,0.00,0.000,6,0.000,0.019,2510,2075,3381
$GC,288,-1.16,-175.2,44.3,-18.5,41,292,0.00,2.28,0.00,0.000,4,0.000,0.028,2510,3466,3381
$GC,366,-1.16,-175.2,56.6,-14.7,47,373,0.00,2.28,0.00,0.000,6,0.000,0.021,2510,2082,3381
$GC,691,-1.16,-175.2,110.3,-13.5,78,695,0.00,2.28,0.00,0.000,4,0.000,0.029,2510,3464,3383
$GC,752,-1.16,-175.2,117.8,-12.2,83,756,0.00,2.25,0.00,0.000,6,0.000,0.021,2510,2072,3383
$GC,1078,-1.16,-175.2,155.4,-11.7,113,1082,0.00,2.33,0.00,0.000,4,0.000,0.059,2510,682,3384
$GC,1110,-1.16,-175.2,159.6,-11.6,115,1116,0.00,2.25,0.00,0.000,6,0.000,0.020,2510,2079,3384
$GC,1437,-1.16,-175.2,195.1,-10.2,146,1441,0.00,2.35,0.00,0.000,4,0.000,0.073,2510,682,3384
$GC,1469,-1.16,-175.2,198.7,-10.1,148,1476,0.00,2.25,0.00,0.000,6,0.000,0.021,2510,2075,3384
$GC,1795,-1.16,-175.2,227.4,-9.8,165,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2080,3384
$GC,2104,-1.16,-175.2,260.5,-9.9,180,2108,0.00,2.35,0.00,0.000,4,0.000,0.041,2510,683,3382
$GC,2130,-1.16,-175.2,263.1,-9.8,181,2134,0.00,2.28,0.00,0.000,6,0.000,0.061,2510,2073,3382
$GC,2451,-1.16,-175.2,293.1,-10.1,197,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3381
$STATE,2532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2532,begin apogee
$GC,2537,-0.31,0.0,301.3,9.9,201,2678,0.88,0.00,138.43,0.725,6,0.155,0.000,2699,2077,2664
$STATE,2679,end apogee,CONTROL_FINISHED_OK
$STATE,2679,begin climb
$GC,2681,1.16,175.2,307.1,0.0,204,2829,1.42,2.45,139.15,0.712,4,0.037,0.074,3030,688,1947
$GC,2891,1.18,193.8,305.9,8.4,209,2912,0.00,2.33,16.00,0.659,6,0.000,0.049,3031,2078,1873
$GC,3228,1.21,216.0,276.9,8.3,224,3253,0.00,2.42,19.08,0.676,4,0.000,0.073,3030,3466,1783
$GC,3281,1.21,216.0,271.6,10.9,226,3285,0.00,2.33,0.00,0.000,6,0.000,0.064,3030,2090,1783
$GC,3602,1.21,216.0,240.2,9.9,242,3606,0.00,2.40,0.00,0.000,4,0.000,0.044,3030,680,1776
$GC,3650,1.21,216.0,235.3,9.6,244,3655,0.00,2.33,0.00,0.000,6,0.000,0.061,3031,2073,1774
$GC,3972,1.24,236.2,208.6,8.4,260,3992,0.00,0.00,17.02,0.660,6,0.000,0.000,3031,2078,1701
$GC,4308,1.26,254.5,178.2,8.5,287,4330,0.00,2.42,16.35,0.638,4,0.000,0.077,3031,674,1625
$GC,4376,1.26,254.5,172.0,10.0,293,4380,0.00,2.30,0.00,0.000,6,0.000,0.025,3030,2083,1622
$GC,4701,1.27,260.4,141.5,8.9,323,4714,0.00,2.42,6.15,0.520,4,0.000,0.075,3030,673,1601
$GC,4805,1.30,285.2,132.8,8.2,332,4836,0.00,2.30,22.12,0.616,6,0.000,0.024,3030,2091,1501
$GC,5154,1.34,316.9,107.3,8.0,365,5189,0.12,2.38,27.67,0.594,4,0.053,0.078,3070,3477,1372
$GC,5233,1.34,316.9,99.0,11.3,372,5240,0.00,2.33,0.00,0.000,6,0.000,0.024,3069,2077,1371
$GC,5561,1.34,316.9,67.8,9.8,403,5565,0.00,2.35,0.00,0.000,4,0.000,0.039,3069,680,1368
$GC,5611,1.34,316.9,62.4,10.6,407,5615,0.00,2.22,0.00,0.000,6,0.000,0.021,3070,2083,1365
$GC,5938,1.34,316.9,27.1,9.9,440,5944,0.00,2.30,0.00,0.000,4,0.000,0.031,3070,3488,1365
$GC,6001,1.34,316.9,20.2,10.9,451,6007,0.00,2.28,0.00,0.000,6,0.000,0.021,3069,2074,1365
$GC,6120,1.36,337.7,8.6,8.4,472,6144,0.00,2.35,18.08,0.499,4,0.000,0.044,3069,680,1286
$STATE,6176,end climb,SURFACE_DEPTH_REACHED
$STATE,6176,begin surface coast
$FINISH,0.7,1.022753
$STATE,6194,end surface coast,CONTROL_FINISHED_OK
$STATE,6194,begin surface
$SM_CCo,6216,110.18,0.500,0,0,489,533.28
$SM_GC,0.46,0.00,0.00,110.18,0.000,0.000,0.500,431,2104,489,-10.76,0.71,533.28
$IRIDIUM_FIX,2108.69,-15749.15,041097,030318
$TT8_MAMPS,0.029146
$HUMID,1891
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,23.20
$XPDR_PINGS,436
$24V_AH,23.8,31.052
$10V_AH,10.3,18.089
$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,25.325,69.675,420.050,110.175,0.000,27.968,26.442,209.826,109.000,0.000,0.000,14.222,821.020,3843.953,598.922,1049.715,383.365,33.331,1148.303,0.000,1044.937,0.000,0.472
$DEVICE_MAMPS,154.934,78.234,724.815,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.607,351.005,632.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,485
$CAP_FILE_SIZE,65636,6
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100708,071109,2113.593,-15752.079,8,2.0,9,9.8