version: 66.03
glider: 139
mission: 3
dive: 17
start: 7 11 108 9 45 25
data:
$ID,139
$MISSION,3
$DIVE,17
$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,200
$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,-1270668.6
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,56
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,093108,2103.500,-15747.437,39,0.9,39,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-71.5
$GPS2,094433,2103.573,-15747.449,12,1.1,12,9.8
$SPEED_LIMITS,0.130,0.259
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,-0.216
$KALMAN_X,-656.3,11.8,-523.9,10415.0,-44.0
$KALMAN_Y,5026.3,31.2,-29.6,-29288.4,243.0
$MHEAD_RNG_PITCHd_Wd,150.8,2502,-14.8,-7.500
$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,-132.2,0.0,0.0,0,82,0.00,0.00,-59.53,0.000,2,0.000,0.000,428,2088,3089
$GC,84,-1.09,-132.2,4.1,-9.6,11,104,12.20,2.45,-1.85,0.000,4,0.162,0.048,2550,679,3206
$GC,161,-0.91,-132.2,29.9,-19.2,24,167,0.22,2.22,0.00,0.000,6,0.088,0.018,2595,2080,3208
$GC,272,-0.91,-132.2,42.7,-10.6,35,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2084,3208
$GC,591,-0.91,-132.2,73.4,-8.8,65,595,0.00,2.30,0.00,0.000,4,0.000,0.031,2595,3468,3209
$GC,619,-0.96,-132.2,75.9,-9.2,67,623,0.00,2.28,0.00,0.000,6,0.000,0.020,2594,2069,3209
$GC,945,-1.02,-132.2,102.6,-8.4,97,949,0.00,2.33,0.00,0.000,4,0.000,0.071,2594,685,3210
$GC,994,-1.12,-132.2,106.9,-8.1,101,1001,0.12,2.25,0.00,0.000,6,0.031,0.018,2537,2077,3210
$GC,1319,-1.07,-132.2,140.6,-9.8,132,1324,0.12,2.30,0.00,0.000,4,0.087,0.031,2562,3460,3211
$GC,1392,-1.13,-132.2,146.8,-8.4,138,1396,0.00,2.25,0.00,0.000,6,0.000,0.021,2562,2069,3211
$GC,1724,-1.16,-132.2,174.4,-8.1,169,1728,0.00,2.35,0.00,0.000,4,0.000,0.038,2562,3465,3212
$GC,1780,-1.23,-132.2,179.3,-7.8,173,1787,0.15,2.25,0.00,0.000,6,0.044,0.021,2513,2078,3211
$GC,2103,-1.17,-132.2,211.0,-10.0,199,2108,0.12,2.35,0.00,0.000,4,0.085,0.063,2538,686,3212
$GC,2213,-1.17,-132.2,221.0,-8.2,204,2218,0.00,2.25,0.00,0.000,6,0.000,0.021,2538,2064,3211
$GC,2540,-1.18,-139.8,244.8,-7.2,220,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2068,3211
$GC,2850,-1.21,-139.8,266.0,-7.9,235,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2068,3210
$GC,3159,-1.25,-140.8,290.6,-7.5,250,3164,0.00,2.38,0.00,0.000,4,0.000,0.038,2539,3471,3210
$GC,3203,-1.30,-140.8,293.9,-7.5,252,3208,0.12,2.30,0.00,0.000,6,0.051,0.025,2498,2077,3210
$GC,3526,-1.25,-140.8,321.4,-8.7,262,3531,0.10,2.38,0.00,0.000,4,0.091,0.038,2521,3469,3208
$GC,3580,-1.25,-140.8,325.7,-7.7,263,3584,0.00,2.33,0.00,0.000,6,0.000,0.026,2520,2084,3207
$GC,3893,-1.26,-148.5,347.9,-7.2,271,3897,0.00,2.35,0.00,0.000,4,0.000,0.040,2521,3461,3205
$GC,3948,-1.26,-148.5,352.2,-7.7,272,3952,0.00,2.33,0.00,0.000,6,0.000,0.028,2520,2083,3205
$GC,4261,-1.26,-148.5,377.0,-8.0,280,4265,0.00,2.42,0.00,0.000,4,0.000,0.045,2520,672,3203
$GC,4300,-1.26,-148.5,380.4,-9.2,281,4304,0.00,2.33,0.00,0.000,6,0.000,0.028,2521,2074,3202
$GC,4623,-1.26,-148.5,406.2,-7.9,289,4627,0.00,2.40,0.00,0.000,4,0.000,0.044,2520,3473,3201
$GC,4683,-1.29,-148.5,411.4,-8.8,290,4687,0.00,2.33,0.00,0.000,6,0.000,0.030,2521,2080,3200
$GC,5031,-1.29,-148.5,438.4,-7.5,299,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2078,3198
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5196,-0.31,0.0,450.7,7.6,303,5306,0.98,0.00,107.15,0.881,6,0.071,0.000,2729,2079,2664
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5309,1.11,148.5,453.3,0.0,305,5439,0.17,2.53,122.57,0.856,4,0.171,0.076,2783,3473,2058
$GC,5565,1.71,227.4,450.0,4.5,311,5640,1.73,2.38,67.53,0.847,6,0.087,0.030,3173,2073,1736
$GC,5972,1.42,227.4,386.9,16.3,321,5977,0.32,2.45,0.00,0.000,4,0.103,0.081,3106,682,1725
$GC,5994,1.17,227.4,383.3,15.9,321,5999,0.28,2.38,0.00,0.000,6,0.105,0.064,3054,2083,1722
$GC,6330,1.10,227.4,345.2,11.5,330,6334,0.00,2.42,0.00,0.000,4,0.000,0.053,3055,3475,1720
$GC,6407,1.05,227.4,335.9,11.8,331,6414,0.17,2.38,0.00,0.000,6,0.122,0.031,3023,2076,1720
$GC,6738,1.05,227.4,305.7,8.7,340,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2075,1718
$GC,7046,1.05,227.4,278.3,9.4,353,7050,0.00,2.42,0.00,0.000,4,0.000,0.075,3023,3477,1718
$GC,7085,1.05,227.4,274.2,10.3,355,7089,0.00,2.38,0.00,0.000,6,0.000,0.029,3023,2070,1718
$GC,7410,1.05,227.4,242.5,10.0,371,7414,0.00,2.42,0.00,0.000,4,0.000,0.081,3023,674,1716
$GC,7465,1.05,227.4,236.7,10.4,373,7470,0.00,2.38,0.00,0.000,6,0.000,0.028,3023,2083,1713
$GC,7787,1.05,227.4,208.6,8.8,389,7791,0.00,2.38,0.00,0.000,4,0.000,0.039,3023,3475,1713
$GC,7826,1.05,227.4,205.3,8.4,391,7830,0.00,2.35,0.00,0.000,6,0.000,0.027,3023,2070,1713
$GC,8150,1.08,227.4,179.9,8.2,418,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2068,1713
$GC,8467,1.12,227.4,154.4,7.8,448,8471,0.00,2.40,0.00,0.000,4,0.000,0.036,3023,3478,1713
$GC,8624,1.15,227.4,140.4,8.2,461,8631,0.10,2.30,0.00,0.000,6,0.064,0.058,3052,2074,1713
$GC,8948,1.15,227.4,110.1,9.0,492,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2072,1713
$GC,9267,1.17,242.7,83.5,6.9,522,9279,0.00,0.00,10.57,0.549,6,0.000,0.000,3052,2072,1674
$GC,9598,1.17,242.7,59.4,8.6,553,9602,0.00,2.38,0.00,0.000,4,0.000,0.071,3052,674,1672
$GC,9670,1.17,242.7,52.8,8.4,559,9674,0.00,2.30,0.00,0.000,6,0.000,0.057,3052,2096,1670
$GC,9998,1.23,252.8,28.7,7.1,591,10015,0.00,2.45,10.02,0.494,4,0.000,0.068,3052,686,1632
$GC,10072,1.25,267.4,23.5,6.9,604,10096,0.00,2.25,14.10,0.506,6,0.000,0.020,3052,2094,1573
$GC,10210,1.34,286.7,14.4,6.8,628,10234,0.15,2.30,17.58,0.505,4,0.048,0.061,3101,3458,1493
$GC,10263,1.34,286.7,9.6,9.6,637,10269,0.00,2.25,0.00,0.000,6,0.000,0.021,3101,2076,1493
$STATE,10335,end climb,SURFACE_DEPTH_REACHED
$STATE,10335,begin surface coast
$FINISH,-0.2,1.022758
$STATE,10370,end surface coast,CONTROL_FINISHED_OK
$STATE,10371,begin surface
$SM_CCo,10390,27.20,0.504,0,0,1358,320.12
$SM_GC,0.80,0.00,0.00,27.20,0.000,0.000,0.504,426,2071,1358,-10.89,-0.23,320.12
$IRIDIUM_FIX,2054.83,-15807.20,051097,090917
$TT8_MAMPS,0.029146
$HUMID,1860
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.80
$XPDR_PINGS,605
$24V_AH,21.4,32.339
$10V_AH,10.2,18.764
$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,28.625,98.575,349.525,27.200,0.000,77.276,97.683,385.477,151.250,0.000,0.000,14.337,1180.084,7389.491,441.328,1477.614,728.447,33.351,1176.518,0.000,1466.835,0.000,0.470
$DEVICE_MAMPS,171.041,80.535,880.516,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.566,437.424,768.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34754,656
$CAP_FILE_SIZE,101974,11
$CFSIZE,260165632,257024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110708,124025,2102.378,-15747.060,45,1.5,45,9.8