version: 66.03
glider: 139
mission: 3
dive: 24
start: 7 12 108 9 59 47
data:
$ID,139
$MISSION,3
$DIVE,24
$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,210
$T_MISSION,300
$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,-1270774
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,094325,2109.079,-15754.187,37,1.4,37,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-68.6
$GPS2,095857,2109.103,-15754.260,9,1.4,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034,0.119
$KALMAN_X,-166.5,13.0,-170.0,-2186.1,-395.6
$KALMAN_Y,5364.1,-45.8,-90.4,-19244.5,-159.1
$MHEAD_RNG_PITCHd_Wd,334.2,1036,-27.5,-7.143
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.77,-37.4,0.0,0.0,0,75,0.00,0.00,-52.78,0.000,6,0.000,0.000,433,2096,2818
$GC,77,-1.79,-53.8,2.8,-5.1,10,96,11.20,2.30,-1.27,0.000,4,0.156,0.040,2401,3481,2885
$GC,350,-1.79,-53.8,67.0,-18.9,42,354,0.00,2.30,0.00,0.000,6,0.000,0.022,2400,2076,2887
$GC,675,-1.79,-53.8,130.9,-18.9,72,679,0.00,2.33,0.00,0.000,4,0.000,0.064,2401,3472,2888
$GC,932,-1.84,-53.8,170.4,-15.9,94,939,0.00,2.30,0.00,0.000,6,0.000,0.021,2401,2081,2889
$GC,1264,-1.90,-53.8,218.2,-14.0,120,1268,0.00,2.33,0.00,0.000,4,0.000,0.031,2400,3472,2889
$GC,1523,-1.99,-53.8,249.0,-11.0,131,1530,0.17,2.28,0.00,0.000,6,0.048,0.023,2353,2080,2889
$GC,1838,-1.99,-53.8,287.5,-12.2,147,1842,0.00,2.35,0.00,0.000,4,0.000,0.034,2354,3477,2889
$GC,2095,-1.99,-53.8,322.8,-12.2,155,2102,0.00,2.33,0.00,0.000,6,0.000,0.025,2354,2088,2888
$GC,2427,-1.99,-53.8,366.4,-13.3,164,2431,0.00,2.35,0.00,0.000,4,0.000,0.038,2354,3471,2887
$GC,2639,-1.99,-53.8,394.7,-13.8,168,2645,0.00,2.35,0.00,0.000,6,0.000,0.027,2354,2082,2885
$GC,2970,-1.99,-53.8,436.6,-12.4,177,2974,0.00,2.38,0.00,0.000,4,0.000,0.041,2354,3467,2883
$STATE,3079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3079,begin apogee
$GC,3087,-0.31,0.0,450.5,12.2,179,3135,1.67,0.00,44.83,0.850,6,0.120,0.000,2707,2080,2664
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3138,1.79,53.8,452.0,0.0,180,3188,2.08,0.00,45.00,0.830,6,0.041,0.000,3192,2080,2444
$GC,3503,1.77,100.3,446.5,1.2,189,3547,0.00,2.50,38.83,0.843,4,0.000,0.075,3192,3463,2255
$GC,3615,1.71,100.3,439.8,9.6,191,3620,0.12,2.35,0.00,0.000,6,0.122,0.031,3171,2079,2253
$GC,3950,1.71,100.3,408.9,8.4,200,3955,0.00,2.42,0.00,0.000,4,0.000,0.044,3172,3470,2249
$GC,4207,1.71,100.3,386.9,8.7,205,4214,0.00,2.38,0.00,0.000,6,0.000,0.031,3171,2081,2247
$GC,4539,1.71,100.7,362.3,7.1,214,4543,0.00,2.42,0.00,0.000,4,0.000,0.044,3171,3471,2244
$GC,4795,1.71,100.7,343.0,7.3,219,4802,0.00,2.38,0.00,0.000,6,0.000,0.031,3171,2080,2243
$GC,5127,1.72,106.9,322.0,6.3,228,5136,0.00,2.42,4.62,0.591,4,0.000,0.077,3171,3464,2228
$GC,5389,1.74,125.6,308.0,4.8,233,5413,0.00,2.35,17.35,0.777,6,0.000,0.047,3171,2071,2151
$GC,5725,1.78,125.6,280.7,8.6,247,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2069,2147
$GC,6033,1.78,129.4,259.0,6.7,262,6042,0.00,2.47,3.80,0.499,4,0.000,0.077,3171,3467,2136
$GC,6054,1.78,129.4,257.4,7.9,263,6059,0.00,2.35,0.00,0.000,6,0.000,0.028,3172,2071,2136
$GC,6382,1.83,131.5,236.7,6.9,279,6386,0.00,2.40,0.00,0.000,4,0.000,0.053,3171,677,2134
$GC,6638,1.83,131.5,215.1,8.5,290,6645,0.00,2.33,0.00,0.000,6,0.000,0.026,3171,2071,2133
$GC,6957,1.90,150.8,196.4,4.7,309,6982,0.15,2.45,19.23,0.697,4,0.058,0.039,3208,684,2047
$GC,7023,1.84,156.5,192.8,6.4,315,7035,0.00,2.33,6.35,0.580,6,0.000,0.061,3208,2085,2025
$GC,7352,1.84,156.5,165.5,9.2,346,7356,0.00,2.42,0.00,0.000,4,0.000,0.038,3208,672,2022
$GC,7610,1.81,156.5,141.1,11.0,368,7616,0.00,2.30,0.00,0.000,6,0.000,0.023,3209,2086,2021
$GC,7938,1.82,161.6,118.0,6.5,399,7950,0.00,2.33,5.50,0.504,4,0.000,0.034,3209,3467,2005
$GC,8201,1.82,166.8,101.6,6.5,422,8212,0.00,2.33,6.43,0.509,6,0.000,0.043,3208,2068,1983
$GC,8533,1.88,176.8,80.1,5.9,453,8547,0.00,2.38,10.05,0.538,4,0.000,0.060,3208,680,1942
$GC,8802,1.89,186.2,64.7,5.9,477,8817,0.00,2.28,9.40,0.514,6,0.000,0.025,3209,2092,1904
$GC,9143,2.00,212.8,46.3,3.8,509,9176,0.00,2.35,23.80,0.539,4,0.000,0.032,3209,3451,1795
$GC,9430,2.09,212.8,25.2,7.3,540,9436,0.17,2.22,0.00,0.000,6,0.052,0.021,3253,2074,1794
$GC,9549,2.09,212.8,14.9,10.9,561,9555,0.00,2.30,0.00,0.000,4,0.000,0.031,3253,3457,1794
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9639,begin surface coast
$FINISH,0.7,1.022811
$STATE,9662,end surface coast,CONTROL_FINISHED_OK
$STATE,9663,begin surface
$SM_CCo,9685,87.12,0.513,0,0,1359,320.12
$SM_GC,0.43,0.00,0.00,87.12,0.000,0.000,0.513,431,2082,1359,-10.87,0.08,320.12
$IRIDIUM_FIX,2059.45,-15756.04,061097,101022
$TT8_MAMPS,0.028379
$HUMID,1799
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,652
$24V_AH,23.5,33.293
$10V_AH,10.2,19.318
$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,27.875,84.700,235.175,87.125,0.000,118.394,143.924,362.780,163.000,0.000,0.000,10.484,1121.429,6661.857,397.430,1710.428,803.588,33.348,1203.959,0.000,1706.564,0.000,0.471
$DEVICE_MAMPS,156.468,76.700,849.836,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.764,390.258,669.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31703,581
$CAP_FILE_SIZE,96729,7
$CFSIZE,260165632,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120708,124356,2109.372,-15754.325,39,1.3,39,9.8