version: 66.03
glider: 139
mission: 3
dive: 12
start: 7 10 108 18 39 45
data:
$ID,139
$MISSION,3
$DIVE,12
$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,166
$T_MISSION,200
$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,-1270577.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,37
$R_STBD_OVSHOOT,49
$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
$GPS1,183238,2109.224,-15749.521,57,1.2,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-69.6
$GPS2,183856,2109.284,-15749.557,31,1.2,31,9.8
$SPEED_LIMITS,0.157,0.276
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,-0.264
$KALMAN_X,-65.2,-725.6,-141.7,6540.0,-57.9
$KALMAN_Y,2576.1,59.9,2.2,-16324.0,479.3
$MHEAD_RNG_PITCHd_Wd,153.1,13689,-15.0,-9.036
$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,-1.16,-175.2,0.0,0.0,0,81,0.00,0.00,-59.78,0.000,2,0.000,0.000,430,2088,3084
$GC,83,-1.16,-175.2,4.1,-11.2,11,107,11.88,2.40,-4.72,0.000,4,0.162,0.052,2509,679,3383
$GC,175,-1.16,-175.2,35.6,-20.5,25,179,0.00,2.25,0.00,0.000,6,0.000,0.019,2509,2093,3384
$GC,501,-1.16,-175.2,90.6,-17.4,55,505,0.00,2.40,0.00,0.000,4,0.000,0.072,2509,680,3385
$GC,518,-1.16,-175.2,93.8,-17.4,56,522,0.00,2.25,0.00,0.000,6,0.000,0.019,2509,2088,3385
$GC,843,-1.16,-175.2,139.7,-11.7,86,847,0.00,2.28,0.00,0.000,4,0.000,0.039,2509,3458,3387
$GC,886,-1.16,-175.2,144.8,-11.0,89,893,0.00,2.28,0.00,0.000,6,0.000,0.021,2509,2081,3387
$GC,1213,-1.16,-175.2,182.1,-11.2,120,1217,0.00,2.33,0.00,0.000,4,0.000,0.056,2509,3467,3387
$GC,1244,-1.16,-175.2,186.0,-10.7,122,1251,0.00,2.30,0.00,0.000,6,0.000,0.021,2509,2076,3387
$GC,1564,-1.16,-175.2,219.4,-10.8,144,1568,0.00,2.35,0.00,0.000,4,0.000,0.039,2509,680,3388
$GC,1620,-1.16,-175.2,226.0,-11.5,146,1626,0.00,2.22,0.00,0.000,6,0.000,0.021,2509,2075,3388
$GC,1934,-1.16,-175.2,261.0,-9.7,162,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2078,3388
$GC,2244,-1.16,-175.2,289.7,-9.4,177,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2079,3387
$GC,2570,-1.16,-175.2,319.8,-9.2,188,2574,0.00,2.38,0.00,0.000,4,0.000,0.041,2509,683,3386
$GC,2636,-1.16,-175.2,326.4,-10.1,189,2641,0.00,2.30,0.00,0.000,6,0.000,0.030,2509,2068,3386
$GC,2979,-1.16,-175.2,357.5,-8.8,198,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3384
$GC,3304,-1.16,-175.2,383.4,-7.9,206,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2072,3382
$GC,3628,-1.16,-175.2,413.6,-9.7,214,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3380
$GC,3953,-1.16,-175.2,445.0,-9.5,222,3957,0.00,2.40,0.00,0.000,4,0.000,0.045,2509,3468,3378
$GC,3975,-1.16,-175.2,447.1,-9.5,222,3979,0.00,2.33,0.00,0.000,6,0.000,0.037,2509,2079,3378
$STATE,4031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4031,begin apogee
$GC,4035,-0.31,0.0,452.3,9.3,224,4181,0.90,0.00,142.60,0.876,6,0.072,0.000,2702,2077,2664
$STATE,4182,end apogee,CONTROL_FINISHED_OK
$STATE,4182,begin climb
$GC,4184,1.16,175.2,458.0,0.0,227,4339,1.45,2.55,143.95,0.851,4,0.094,0.067,3029,677,1947
$GC,4377,1.16,175.2,454.0,10.1,232,4382,0.00,2.40,0.00,0.000,6,0.000,0.063,3029,2072,1941
$GC,4725,1.16,175.2,421.0,9.1,241,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2077,1937
$GC,5050,1.16,175.2,389.7,9.7,249,5054,0.00,2.45,0.00,0.000,4,0.000,0.046,3029,3481,1934
$GC,5127,1.16,175.2,381.5,10.5,250,5134,0.00,2.40,0.00,0.000,6,0.000,0.067,3029,2080,1935
$GC,5458,1.16,175.2,349.5,9.3,259,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2080,1932
$GC,5783,1.16,175.2,319.1,9.7,267,5788,0.00,2.45,0.00,0.000,4,0.000,0.080,3029,674,1930
$GC,5810,1.16,175.2,316.1,10.9,267,5815,0.00,2.40,0.00,0.000,6,0.000,0.045,3030,2086,1929
$GC,6129,1.18,195.0,286.7,8.4,279,6151,0.00,2.50,14.82,0.761,4,0.000,0.077,3029,677,1866
$GC,6264,1.18,195.0,273.9,9.8,285,6268,0.00,2.35,0.00,0.000,6,0.000,0.030,3029,2081,1863
$GC,6590,1.18,197.6,245.0,8.9,301,6594,0.00,2.40,0.00,0.000,4,0.000,0.054,3029,3479,1863
$GC,6617,1.18,197.6,242.2,10.4,302,6621,0.00,2.38,0.00,0.000,6,0.000,0.042,3029,2083,1863
$GC,6938,1.22,226.8,213.7,8.0,318,6968,0.00,0.00,28.25,0.732,6,0.000,0.000,3029,2082,1738
$GC,7273,1.28,273.1,187.2,7.4,342,7319,0.00,2.47,40.72,0.706,4,0.000,0.075,3029,677,1549
$GC,7398,1.28,273.1,174.6,12.1,353,7402,0.00,2.35,0.00,0.000,6,0.000,0.026,3029,2087,1542
$GC,7723,1.28,273.1,139.7,10.0,383,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2092,1540
$GC,8041,1.36,341.5,115.4,6.7,413,8106,0.15,2.47,57.95,0.632,4,0.049,0.058,3074,671,1270
$GC,8219,1.36,341.5,97.5,10.5,429,8223,0.00,2.33,0.00,0.000,6,0.000,0.022,3075,2092,1263
$GC,8550,1.36,341.5,61.3,10.9,460,8554,0.00,2.33,0.00,0.000,4,0.000,0.070,3075,3472,1263
$GC,8570,1.36,341.5,59.0,10.2,461,8578,0.00,2.33,0.00,0.000,6,0.000,0.023,3075,2080,1263
$GC,8899,1.36,341.5,22.0,11.2,498,8905,0.00,2.38,0.00,0.000,4,0.000,0.039,3075,679,1262
$GC,8922,1.36,341.5,19.3,11.3,502,8929,0.00,2.25,0.00,0.000,6,0.000,0.025,3075,2088,1261
$GC,9042,1.36,341.5,6.5,10.5,523,9048,0.00,2.38,0.00,0.000,4,0.000,0.037,3074,681,1261
$STATE,9075,end climb,SURFACE_DEPTH_REACHED
$STATE,9075,begin surface coast
$FINISH,-0.1,1.022828
$STATE,9104,end surface coast,CONTROL_FINISHED_OK
$STATE,9104,begin surface
$SM_CCo,9186,0.00,0.000,0,0,1259,344.65
$SM_GC,0.83,11.48,0.00,0.00,0.041,0.000,0.000,426,2091,1259,-10.71,0.34,344.65
$IRIDIUM_FIX,2101.76,-15753.03,041097,151558
$TT8_MAMPS,0.029146
$HUMID,1891
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,22.30
$XPDR_PINGS,458
$24V_AH,23.5,31.709
$10V_AH,10.2,18.416
$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,25.850,80.300,428.300,0.000,0.000,29.691,32.265,184.922,114.500,0.000,0.000,33.201,931.965,6573.460,482.093,1181.959,384.513,33.339,1089.352,0.000,1158.902,0.000,0.470
$DEVICE_MAMPS,161.837,79.768,875.914,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.826,341.738,587.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,534
$CAP_FILE_SIZE,74806,12
$CFSIZE,260165632,257277952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100708,211401,2108.179,-15749.055,31,1.8,35,9.8