version: 66.03
glider: 139
mission: 3
dive: 14
start: 7 11 108 0 27 53
data:
$ID,139
$MISSION,3
$DIVE,14
$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,180
$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,-1270626.4
$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,37
$R_STBD_OVSHOOT,74
$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
$GPS1,002137,2106.937,-15748.877,35,1.8,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-67.9
$GPS2,002703,2106.907,-15748.883,15,1.7,15,9.8
$SPEED_LIMITS,0.144,0.269
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.008,-0.269
$KALMAN_X,-360.4,486.2,-82.7,6733.1,962.5
$KALMAN_Y,3593.8,37.0,81.8,-21800.3,234.1
$MHEAD_RNG_PITCHd_Wd,168.6,9156,-13.9,-8.333
$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,17,begin dive
$GC,19,-1.09,-175.2,0.0,0.0,0,81,0.00,0.00,-59.65,0.000,2,0.000,0.000,430,2096,3079
$GC,83,-1.09,-175.2,4.0,-9.1,11,107,12.10,2.40,-4.82,0.000,4,0.162,0.049,2549,679,3381
$GC,179,-1.09,-175.2,31.4,-16.1,27,186,0.00,2.25,0.00,0.000,6,0.000,0.054,2548,2061,3383
$GC,504,-1.09,-175.2,74.3,-12.9,58,508,0.00,2.33,0.00,0.000,4,0.000,0.038,2549,678,3383
$GC,538,-1.09,-175.2,78.3,-11.7,61,542,0.00,2.25,0.00,0.000,6,0.000,0.018,2549,2088,3383
$GC,862,-1.09,-175.2,112.4,-9.9,91,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2092,3385
$GC,1181,-1.09,-175.2,144.4,-10.4,121,1185,0.00,2.30,0.00,0.000,4,0.000,0.032,2549,3468,3385
$GC,1232,-1.09,-175.2,149.9,-11.2,125,1236,0.00,2.28,0.00,0.000,6,0.000,0.027,2549,2075,3385
$GC,1557,-1.09,-175.2,181.6,-8.0,155,1561,0.00,2.33,0.00,0.000,4,0.000,0.044,2548,684,3386
$GC,1607,-1.09,-175.2,185.4,-7.1,159,1613,0.00,2.25,0.00,0.000,6,0.000,0.056,2549,2079,3386
$GC,1929,-1.09,-175.2,207.5,-6.8,185,1933,0.00,2.33,0.00,0.000,4,0.000,0.034,2549,3471,3386
$GC,1973,-1.09,-175.2,210.9,-8.1,187,1977,0.00,2.28,0.00,0.000,6,0.000,0.021,2549,2075,3386
$GC,2300,-1.09,-175.2,240.1,-8.3,203,2303,0.00,2.35,0.00,0.000,4,0.000,0.038,2548,681,3386
$GC,2322,-1.09,-175.2,241.9,-7.9,204,2326,0.00,2.28,0.00,0.000,6,0.000,0.028,2549,2085,3386
$GC,2648,-1.09,-175.2,268.2,-7.7,220,2652,0.00,2.38,0.00,0.000,4,0.000,0.039,2549,686,3385
$GC,2714,-1.09,-175.2,273.4,-7.3,223,2718,0.00,2.25,0.00,0.000,6,0.000,0.059,2549,2077,3386
$GC,3041,-1.09,-175.2,295.9,-6.8,239,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2081,3385
$GC,3346,-1.09,-175.2,317.3,-7.1,248,3351,0.00,2.35,0.00,0.000,4,0.000,0.039,2549,3467,3383
$GC,3373,-1.09,-175.2,319.5,-7.6,248,3378,0.00,2.30,0.00,0.000,6,0.000,0.049,2549,2078,3383
$GC,3710,-1.09,-175.2,339.8,-5.8,257,3714,0.00,2.38,0.00,0.000,4,0.000,0.042,2548,682,3382
$GC,3760,-1.09,-175.2,342.9,-6.4,258,3764,0.00,2.30,0.00,0.000,6,0.000,0.063,2549,2077,3381
$GC,4078,-1.09,-175.2,359.8,-5.4,266,4082,0.00,2.40,0.00,0.000,4,0.000,0.043,2549,675,3380
$GC,4100,-1.09,-175.2,361.3,-6.8,266,4104,0.00,2.33,0.00,0.000,6,0.000,0.028,2549,2083,3380
$GC,4436,-1.09,-175.2,381.5,-6.1,275,4440,0.00,2.40,0.00,0.000,4,0.000,0.044,2549,682,3378
$GC,4462,-1.09,-175.2,383.3,-6.4,275,4466,0.00,2.33,0.00,0.000,6,0.000,0.066,2549,2085,3378
$GC,4805,-1.09,-175.2,406.4,-6.9,284,4809,0.00,2.38,0.00,0.000,4,0.000,0.044,2549,3474,3376
$GC,4844,-1.09,-175.2,409.3,-7.4,285,4848,0.00,2.33,0.00,0.000,6,0.000,0.065,2549,2082,3376
$GC,5167,-1.09,-175.2,431.7,-7.0,293,5171,0.00,2.42,0.00,0.000,4,0.000,0.048,2548,678,3374
$GC,5206,-1.09,-175.2,434.6,-7.4,294,5211,0.00,2.33,0.00,0.000,6,0.000,0.031,2549,2076,3374
$STATE,5447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5447,begin apogee
$GC,5451,-0.31,0.0,451.0,6.7,300,5596,0.82,0.00,141.60,0.887,6,0.067,0.000,2727,2080,2664
$STATE,5597,end apogee,CONTROL_FINISHED_OK
$STATE,5597,begin climb
$GC,5599,1.09,175.2,456.7,0.0,303,5752,1.35,2.50,144.07,0.864,4,0.040,0.062,3035,681,1948
$GC,5864,1.09,175.2,446.1,10.9,309,5868,0.00,2.40,0.00,0.000,6,0.000,0.031,3035,2092,1938
$GC,6176,1.09,175.2,417.1,8.8,317,6181,0.00,2.42,0.00,0.000,4,0.000,0.047,3035,3481,1936
$GC,6242,1.09,175.2,410.8,9.8,318,6247,0.00,2.40,0.00,0.000,6,0.000,0.066,3035,2083,1936
$GC,6585,1.09,175.2,380.3,8.8,327,6589,0.00,2.45,0.00,0.000,4,0.000,0.051,3035,3482,1933
$GC,6729,1.09,175.2,366.5,9.3,330,6734,0.00,2.40,0.00,0.000,6,0.000,0.066,3035,2086,1933
$GC,7048,1.09,175.2,338.8,8.5,338,7052,0.00,2.47,0.00,0.000,4,0.000,0.058,3035,669,1931
$GC,7113,1.09,175.2,332.9,9.2,339,7118,0.00,2.40,0.00,0.000,6,0.000,0.064,3035,2081,1929
$GC,7456,1.12,201.2,307.2,7.5,348,7481,0.00,2.50,20.38,0.798,4,0.000,0.077,3035,677,1842
$GC,7508,1.12,201.2,302.6,9.5,349,7513,0.00,2.40,0.00,0.000,6,0.000,0.056,3035,2078,1839
$GC,7826,1.12,201.2,273.0,9.8,363,7830,0.00,2.42,0.00,0.000,4,0.000,0.043,3035,3482,1837
$GC,8026,1.12,201.2,253.5,9.4,372,8031,0.00,2.40,0.00,0.000,6,0.000,0.060,3035,2074,1837
$GC,8353,1.12,201.2,227.1,8.6,388,8357,0.00,2.42,0.00,0.000,4,0.000,0.046,3035,672,1835
$GC,8446,1.12,201.2,218.0,9.9,392,8451,0.00,2.38,0.00,0.000,6,0.000,0.028,3035,2085,1833
$GC,8765,1.23,293.5,196.4,5.4,410,8850,0.12,2.47,78.80,0.719,4,0.058,0.072,3070,3474,1467
$GC,8966,1.23,293.5,174.2,12.1,428,8973,0.00,2.38,0.00,0.000,6,0.000,0.061,3070,2084,1462
$GC,9293,1.23,293.5,132.4,10.7,459,9297,0.00,2.42,0.00,0.000,4,0.000,0.067,3069,677,1458
$GC,9347,1.23,293.5,126.7,10.3,463,9354,0.00,2.35,0.00,0.000,6,0.000,0.024,3070,2085,1456
$GC,9675,1.23,293.5,92.5,11.6,494,9679,0.00,2.42,0.00,0.000,4,0.000,0.067,3070,677,1456
$GC,9793,1.23,293.5,79.2,10.1,504,9797,0.00,2.30,0.00,0.000,6,0.000,0.022,3070,2090,1454
$GC,10118,1.23,293.5,48.2,9.5,534,10122,0.00,1.95,0.00,0.000,4,0.000,0.071,3070,3280,1454
$GC,10163,1.23,293.5,43.5,11.0,538,10167,0.00,1.98,0.00,0.000,6,0.000,0.022,3070,2070,1454
$GC,10497,1.23,293.5,12.4,8.7,585,10504,0.00,2.35,0.00,0.000,4,0.000,0.038,3070,676,1454
$GC,10577,1.23,293.5,4.5,9.7,599,10584,0.00,2.25,0.00,0.000,6,0.000,0.019,3070,2089,1454
$STATE,10593,end climb,SURFACE_DEPTH_REACHED
$STATE,10593,begin surface coast
$FINISH,-0.2,1.018657
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$SM_CCo,10648,21.02,0.513,0,0,1359,320.12
$SM_GC,0.15,0.00,0.00,21.02,0.000,0.000,0.513,429,2092,1359,-10.88,0.37,320.12
$IRIDIUM_FIX,2059.45,-15753.03,041097,212138
$TT8_MAMPS,0.029146
$HUMID,1888
$INTERNAL_PRESSURE,8.62932
$TCM_TEMP,22.50
$XPDR_PINGS,541
$24V_AH,23.5,31.955
$10V_AH,10.2,18.553
$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,25.850,117.300,384.850,21.025,0.000,25.517,28.174,161.383,135.250,0.000,0.000,16.914,1128.396,7524.422,474.529,1497.003,365.892,33.342,1236.076,0.000,1480.649,0.000,0.470
$DEVICE_MAMPS,161.837,77.467,887.419,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.656,392.363,657.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,608
$CAP_FILE_SIZE,93883,10
$CFSIZE,260165632,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110708,032701,2105.811,-15748.424,41,0.9,41,9.8