version: 66.03
glider: 139
mission: 3
dive: 16
start: 7 11 108 6 38 23
data:
$ID,139
$MISSION,3
$DIVE,16
$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,-1270653.6
$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
$GPS1,063131,2104.656,-15747.867,49,1.6,49,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-69.2
$GPS2,063733,2104.679,-15747.917,9,1.9,9,9.8
$SPEED_LIMITS,0.144,0.269
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.203
$KALMAN_X,-670.7,551.4,54.0,8503.4,-1234.9
$KALMAN_Y,4786.0,111.6,-18.9,-27089.6,428.2
$MHEAD_RNG_PITCHd_Wd,129.1,4705,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.09,-175.2,0.0,0.0,0,83,0.00,0.00,-60.25,0.000,2,0.000,0.000,432,2091,3099
$GC,85,-1.09,-175.2,4.1,-9.5,11,109,11.98,2.42,-4.40,0.000,4,0.156,0.051,2549,668,3382
$GC,177,-1.09,-175.2,33.7,-18.5,26,181,0.00,2.25,0.00,0.000,6,0.000,0.018,2549,2077,3384
$GC,502,-1.09,-175.2,80.4,-13.2,56,506,0.00,2.30,0.00,0.000,4,0.000,0.047,2549,3463,3384
$GC,564,-1.09,-175.2,87.8,-10.9,61,568,0.00,2.25,0.00,0.000,6,0.000,0.021,2549,2079,3384
$GC,888,-1.09,-175.2,122.3,-10.3,91,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2075,3386
$GC,1207,-1.09,-175.2,153.9,-10.1,121,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2075,3387
$GC,1525,-1.09,-175.2,182.5,-9.1,151,1529,0.00,2.33,0.00,0.000,4,0.000,0.032,2549,3461,3387
$GC,1546,-1.09,-175.2,184.7,-9.3,152,1554,0.00,2.30,0.00,0.000,6,0.000,0.021,2549,2072,3387
$GC,1878,-1.09,-175.2,212.0,-7.6,177,1882,0.00,2.35,0.00,0.000,4,0.000,0.038,2549,677,3387
$GC,1933,-1.09,-175.2,216.2,-7.5,179,1937,0.00,2.28,0.00,0.000,6,0.000,0.041,2549,2083,3387
$GC,2255,-1.09,-175.2,237.3,-6.8,195,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2087,3387
$GC,2564,-1.09,-175.2,258.8,-7.5,210,2568,0.00,2.38,0.00,0.000,4,0.000,0.039,2549,686,3386
$GC,2596,-1.09,-175.2,261.5,-8.3,211,2602,0.00,2.30,0.00,0.000,6,0.000,0.023,2549,2077,3386
$GC,2912,-1.09,-175.2,285.0,-7.0,227,2916,0.00,2.35,0.00,0.000,4,0.000,0.038,2549,3469,3386
$GC,2961,-1.09,-175.2,288.6,-7.4,229,2965,0.00,2.30,0.00,0.000,6,0.000,0.061,2549,2073,3385
$GC,3300,-1.09,-175.2,313.1,-7.1,242,3304,0.00,2.38,0.00,0.000,4,0.000,0.039,2549,3475,3383
$GC,3327,-1.09,-175.2,315.2,-7.4,242,3332,0.00,2.33,0.00,0.000,6,0.000,0.054,2549,2074,3383
$GC,3670,-1.09,-175.2,338.7,-6.8,251,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2072,3382
$GC,3995,-1.09,-175.2,361.4,-6.8,259,3999,0.00,2.38,0.00,0.000,4,0.000,0.044,2549,679,3381
$GC,4016,-1.09,-175.2,362.8,-6.5,259,4020,0.00,2.33,0.00,0.000,6,0.000,0.063,2549,2096,3380
$GC,4357,-1.09,-175.2,387.2,-7.3,268,4361,0.00,2.42,0.00,0.000,4,0.000,0.044,2548,679,3378
$GC,4396,-1.09,-175.2,390.1,-7.8,268,4402,0.00,2.33,0.00,0.000,6,0.000,0.029,2549,2082,3378
$GC,4727,-1.09,-175.2,414.0,-7.2,277,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2086,3377
$GC,5052,-1.09,-175.2,436.0,-6.7,285,5056,0.00,2.42,0.00,0.000,4,0.000,0.068,2549,678,3374
$GC,5095,-1.09,-175.2,439.1,-6.8,286,5100,0.00,2.33,0.00,0.000,6,0.000,0.038,2549,2077,3374
$STATE,5296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5296,begin apogee
$GC,5300,-0.31,0.0,451.3,6.0,291,5446,0.82,0.00,141.98,0.890,6,0.067,0.000,2728,2081,2664
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5448,1.09,175.2,456.1,0.0,294,5598,0.10,0.00,144.50,0.862,6,0.517,0.000,2766,2081,1948
$GC,5936,1.17,246.7,435.4,6.1,306,6002,1.30,0.00,61.67,0.854,6,0.111,0.000,3053,2081,1657
$GC,6301,1.17,246.7,394.0,11.8,315,6305,0.00,2.47,0.00,0.000,4,0.000,0.081,3053,679,1648
$GC,6333,1.17,246.7,389.8,13.3,315,6339,0.00,2.40,0.00,0.000,6,0.000,0.032,3053,2077,1645
$GC,6664,1.17,246.7,348.5,12.1,324,6668,0.00,2.45,0.00,0.000,4,0.000,0.046,3053,3482,1645
$GC,6691,1.17,246.7,345.2,11.8,324,6696,0.00,2.38,0.00,0.000,6,0.000,0.067,3053,2087,1644
$GC,7022,1.17,246.7,306.9,11.7,332,7026,0.00,2.45,0.00,0.000,4,0.000,0.053,3053,677,1643
$GC,7037,1.17,246.7,304.9,11.7,332,7041,0.00,2.40,0.00,0.000,6,0.000,0.064,3053,2081,1641
$GC,7354,1.17,246.7,267.5,11.2,346,7358,0.00,2.42,0.00,0.000,4,0.000,0.047,3053,3479,1641
$GC,7402,1.17,246.7,261.7,11.8,348,7407,0.00,2.38,0.00,0.000,6,0.000,0.031,3053,2072,1641
$GC,7723,1.17,246.7,228.0,10.7,364,7728,0.00,2.42,0.00,0.000,4,0.000,0.046,3053,677,1640
$GC,7812,1.17,246.7,217.6,11.7,368,7816,0.00,2.38,0.00,0.000,6,0.000,0.054,3053,2081,1638
$GC,8134,1.17,246.7,184.4,10.5,390,8138,0.00,2.45,0.00,0.000,4,0.000,0.043,3053,671,1637
$GC,8173,1.17,246.7,179.9,11.6,393,8177,0.00,2.35,0.00,0.000,6,0.000,0.027,3053,2086,1637
$GC,8498,1.17,246.7,146.3,10.1,423,8502,0.00,2.38,0.00,0.000,4,0.000,0.066,3053,3477,1637
$GC,8518,1.17,246.7,143.9,10.1,424,8526,0.00,2.35,0.00,0.000,6,0.000,0.025,3053,2078,1637
$GC,8846,1.17,246.7,115.4,8.6,455,8850,0.00,2.40,0.00,0.000,4,0.000,0.049,3053,3484,1637
$GC,8975,1.17,246.7,103.3,8.8,466,8980,0.00,2.33,0.00,0.000,6,0.000,0.034,3054,2075,1637
$GC,9303,1.26,317.6,78.2,6.1,496,9367,0.00,2.40,58.38,0.599,4,0.000,0.049,3053,684,1368
$GC,9417,1.26,317.6,68.7,9.0,506,9423,0.00,2.33,0.00,0.000,6,0.000,0.056,3054,2086,1363
$GC,9745,1.26,317.9,40.8,8.3,537,9749,0.00,2.40,0.00,0.000,4,0.000,0.073,3053,683,1362
$GC,9799,1.26,317.9,35.2,10.2,541,9806,0.00,2.30,0.00,0.000,6,0.000,0.020,3053,2085,1360
$GC,10138,1.26,317.9,6.3,9.4,596,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2089,1360
$STATE,10178,end climb,SURFACE_DEPTH_REACHED
$STATE,10178,begin surface coast
$FINISH,-0.1,1.022932
$STATE,10211,end surface coast,CONTROL_FINISHED_OK
$STATE,10211,begin surface
$SM_CCo,10291,0.00,0.000,0,0,1356,320.85
$SM_GC,0.73,11.38,0.00,0.00,0.039,0.000,0.000,428,2088,1356,-10.82,0.25,320.85
$IRIDIUM_FIX,2059.45,-15748.75,051097,030324
$TT8_MAMPS,0.029146
$HUMID,1881
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.00
$XPDR_PINGS,526
$24V_AH,23.4,32.206
$10V_AH,10.2,18.688
$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,25.575,94.525,406.525,0.000,0.000,24.911,28.407,197.856,131.500,0.000,0.000,11.396,1081.679,7360.195,481.942,1318.406,401.847,33.354,1151.094,0.000,1316.246,0.000,0.470
$DEVICE_MAMPS,516.958,81.302,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.315,395.769,688.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31732,609
$CAP_FILE_SIZE,84567,11
$CFSIZE,260165632,257093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,093108,2103.500,-15747.437,39,0.9,39,9.8