version: 66.03
glider: 139
mission: 3
dive: 15
start: 7 11 108 3 33 47
data:
$ID,139
$MISSION,3
$DIVE,15
$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,-1270641.6
$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
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,032701,2105.811,-15748.424,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-69.7
$GPS2,033257,2105.787,-15748.475,13,1.4,13,9.8
$SPEED_LIMITS,0.144,0.269
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.219
$KALMAN_X,-705.8,773.9,589.8,6822.6,-979.9
$KALMAN_Y,4481.6,107.9,-43.7,-24712.3,671.0
$MHEAD_RNG_PITCHd_Wd,134.9,6967,-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,-59.45,0.000,2,0.000,0.000,429,2092,3072
$GC,83,-1.09,-175.2,3.9,-9.1,11,107,12.15,2.40,-4.88,0.000,4,0.161,0.049,2549,676,3382
$GC,186,-1.09,-175.2,34.2,-17.7,27,191,0.00,2.25,0.00,0.000,6,0.000,0.019,2550,2077,3383
$GC,512,-1.09,-175.2,81.6,-12.9,57,516,0.00,2.38,0.00,0.000,4,0.000,0.070,2549,676,3384
$GC,538,-1.09,-175.2,85.3,-13.0,59,546,0.00,2.28,0.00,0.000,6,0.000,0.050,2550,2079,3383
$GC,864,-1.09,-175.2,119.5,-10.0,90,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2083,3386
$GC,1182,-1.09,-175.2,152.4,-10.4,120,1186,0.00,2.38,0.00,0.000,4,0.000,0.036,2549,675,3386
$GC,1232,-1.09,-175.2,157.6,-10.1,124,1236,0.00,2.25,0.00,0.000,6,0.000,0.043,2549,2087,3386
$GC,1563,-1.09,-175.2,190.3,-10.3,155,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2091,3387
$GC,1884,-1.09,-175.2,222.0,-7.9,175,1888,0.00,2.30,0.00,0.000,4,0.000,0.035,2550,3460,3387
$GC,1917,-1.09,-175.2,224.6,-7.5,176,1924,0.00,2.25,0.00,0.000,6,0.000,0.022,2549,2073,3387
$GC,2232,-1.09,-175.2,246.8,-7.5,192,2237,0.00,2.35,0.00,0.000,4,0.000,0.039,2549,683,3387
$GC,2287,-1.09,-175.2,251.4,-8.5,194,2294,0.00,2.28,0.00,0.000,6,0.000,0.024,2550,2066,3387
$GC,2603,-1.09,-175.2,278.2,-9.1,210,2607,0.00,2.35,0.00,0.000,4,0.000,0.037,2550,3464,3386
$GC,2635,-1.09,-175.2,281.0,-9.0,211,2642,0.00,2.30,0.00,0.000,6,0.000,0.025,2549,2084,3386
$GC,2950,-1.09,-175.2,304.0,-6.7,226,2954,0.00,2.35,0.00,0.000,4,0.000,0.038,2550,3466,3385
$GC,3005,-1.09,-175.2,307.9,-6.9,227,3009,0.00,2.30,0.00,0.000,6,0.000,0.061,2549,2076,3385
$GC,3318,-1.09,-175.2,329.4,-7.1,235,3322,0.00,2.38,0.00,0.000,4,0.000,0.042,2549,683,3384
$GC,3361,-1.09,-175.2,332.7,-7.5,236,3366,0.00,2.28,0.00,0.000,6,0.000,0.026,2549,2071,3383
$GC,3686,-1.09,-175.2,354.8,-6.7,244,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2075,3382
$GC,4011,-1.09,-175.2,374.3,-6.0,252,4015,0.00,2.40,0.00,0.000,4,0.000,0.044,2549,679,3380
$GC,4039,-1.09,-175.2,376.3,-7.3,252,4043,0.00,2.33,0.00,0.000,6,0.000,0.028,2549,2084,3380
$GC,4370,-1.09,-175.2,398.5,-6.6,260,4374,0.00,2.38,0.00,0.000,4,0.000,0.044,2550,3473,3378
$GC,4402,-1.09,-175.2,400.8,-6.5,260,4406,0.00,2.33,0.00,0.000,6,0.000,0.029,2550,2079,3377
$GC,4739,-1.09,-175.2,418.7,-5.4,269,4743,0.00,2.40,0.00,0.000,4,0.000,0.046,2549,680,3376
$GC,4794,-1.09,-175.2,422.1,-6.5,270,4798,0.00,2.33,0.00,0.000,6,0.000,0.030,2549,2076,3375
$GC,5107,-1.09,-175.2,442.2,-6.5,278,5111,0.00,2.42,0.00,0.000,4,0.000,0.057,2550,3479,3374
$GC,5133,-1.09,-175.2,444.1,-7.1,278,5137,0.00,2.35,0.00,0.000,6,0.000,0.051,2549,2080,3373
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5269,-0.31,0.0,452.3,6.2,282,5414,0.82,0.00,141.85,0.892,6,0.166,0.000,2727,2078,2664
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5415,begin climb
$GC,5417,1.09,175.2,457.5,0.0,285,5571,1.35,2.50,144.55,0.866,4,0.041,0.081,3034,3474,1948
$GC,5621,1.09,175.2,453.6,9.3,290,5626,0.00,2.40,0.00,0.000,6,0.000,0.054,3034,2080,1945
$GC,5945,1.09,175.2,422.3,9.5,298,5949,0.00,2.47,0.00,0.000,4,0.000,0.049,3034,670,1937
$GC,5994,1.09,175.2,417.4,9.6,299,5999,0.00,2.42,0.00,0.000,6,0.000,0.046,3034,2077,1934
$GC,6318,1.09,175.2,388.5,8.7,307,6322,0.00,2.45,0.00,0.000,4,0.000,0.051,3034,3478,1933
$GC,6379,1.09,175.2,383.2,8.4,308,6383,0.00,2.40,0.00,0.000,6,0.000,0.065,3035,2085,1934
$GC,6727,1.09,175.2,352.6,9.1,317,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2085,1932
$GC,7051,1.09,175.2,322.5,9.0,325,7056,0.00,2.42,0.00,0.000,4,0.000,0.048,3034,3477,1930
$GC,7092,1.09,175.2,318.8,9.6,326,7096,0.00,2.38,0.00,0.000,6,0.000,0.031,3034,2073,1931
$GC,7416,1.17,242.4,295.7,6.2,335,7479,0.00,2.50,55.95,0.806,4,0.000,0.050,3034,3481,1674
$GC,7570,1.17,242.4,283.7,9.1,342,7574,0.00,2.40,0.00,0.000,6,0.000,0.031,3034,2072,1671
$GC,7901,1.17,242.4,250.4,9.9,358,7905,0.00,2.42,0.00,0.000,4,0.000,0.046,3034,678,1665
$GC,7962,1.17,242.4,243.8,11.5,361,7967,0.00,2.35,0.00,0.000,6,0.000,0.065,3035,2085,1662
$GC,8294,1.17,242.4,211.5,8.8,377,8298,0.00,2.45,0.00,0.000,4,0.000,0.048,3034,676,1663
$GC,8338,1.17,242.4,207.5,8.7,379,8342,0.00,2.35,0.00,0.000,6,0.000,0.027,3034,2078,1661
$GC,8661,1.17,242.4,175.9,10.1,405,8665,0.00,2.42,0.00,0.000,4,0.000,0.042,3034,676,1661
$GC,8699,1.17,242.4,171.4,12.0,408,8707,0.00,2.35,0.00,0.000,6,0.000,0.046,3034,2076,1660
$GC,9027,1.19,260.9,141.6,7.7,439,9045,0.00,0.00,14.85,0.640,6,0.000,0.000,3034,2081,1600
$GC,9366,1.24,295.9,112.8,7.2,471,9403,0.12,2.40,31.42,0.624,4,0.054,0.041,3072,3473,1456
$GC,9530,1.24,295.9,95.8,10.3,485,9538,0.00,2.35,0.00,0.000,6,0.000,0.058,3073,2076,1454
$GC,9858,1.24,295.9,64.6,8.7,516,9863,0.00,2.38,0.00,0.000,4,0.000,0.046,3072,680,1452
$GC,9936,1.24,295.9,56.9,9.2,522,9943,0.00,2.33,0.00,0.000,6,0.000,0.056,3073,2092,1449
$GC,10262,1.26,315.4,29.4,7.7,553,10286,0.00,2.33,17.38,0.525,4,0.000,0.047,3073,3472,1377
$GC,10337,1.26,315.4,21.7,11.0,566,10343,0.00,2.28,0.00,0.000,6,0.000,0.059,3072,2076,1377
$GC,10456,1.26,315.4,9.7,11.2,587,10463,0.00,2.35,0.00,0.000,4,0.000,0.038,3072,683,1375
$GC,10508,1.26,315.4,4.5,9.6,596,10514,0.00,2.25,0.00,0.000,6,0.000,0.025,3073,2088,1373
$STATE,10524,end climb,SURFACE_DEPTH_REACHED
$STATE,10524,begin surface coast
$FINISH,-0.2,1.022898
$STATE,10554,end surface coast,CONTROL_FINISHED_OK
$STATE,10554,begin surface
$SM_CCo,10574,4.15,0.364,0,0,1359,320.12
$SM_GC,1.69,0.00,0.00,4.15,0.000,0.000,0.364,431,2090,1359,-10.87,0.31,320.12
$IRIDIUM_FIX,2059.45,-15750.89,051097,000002
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.62932
$TCM_TEMP,22.40
$XPDR_PINGS,549
$24V_AH,23.5,32.081
$10V_AH,10.2,18.620
$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,25.875,113.325,406.000,4.150,0.000,23.416,26.686,196.095,137.250,0.000,0.000,14.607,1099.139,7536.434,479.821,1401.574,410.205,33.343,1213.273,0.000,1394.901,0.000,0.470
$DEVICE_MAMPS,165.672,80.535,892.021,363.558,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.168,389.976,661.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31742,604
$CAP_FILE_SIZE,91700,11
$CFSIZE,260165632,257126400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,063131,2104.656,-15747.867,49,1.6,49,9.8