version: 66.03
glider: 139
mission: 3
dive: 30
start: 7 13 108 6 40 59
data:
$ID,139
$MISSION,3
$DIVE,30
$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,-1270882.9
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,062632,2103.851,-15748.646,38,1.4,38,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-69.7
$GPS2,064009,2103.875,-15748.676,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.113
$KALMAN_X,-2073.1,331.8,231.3,8638.7,-1054.8
$KALMAN_Y,4964.5,412.1,82.5,-29163.2,-345.9
$MHEAD_RNG_PITCHd_Wd,106.5,4170,-11.9,-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,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-59.47,0.000,2,0.000,0.000,434,2086,3041
$GC,83,-0.96,-175.2,4.2,-8.5,11,108,12.25,2.38,-5.32,0.000,4,0.160,0.048,2574,680,3381
$GC,191,-0.82,-175.2,33.9,-13.9,28,198,0.12,2.28,0.00,0.000,6,0.064,0.018,2616,2078,3382
$GC,517,-0.82,-175.2,61.9,-8.1,59,520,0.00,1.92,0.00,0.000,4,0.000,0.070,2616,3254,3382
$GC,544,-0.87,-175.2,64.1,-7.4,61,551,0.00,1.95,0.00,0.000,6,0.000,0.019,2616,2064,3382
$GC,870,-0.90,-175.2,86.4,-7.3,92,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2062,3383
$GC,1189,-0.95,-175.2,109.1,-7.0,122,1194,0.12,2.30,0.00,0.000,4,0.046,0.069,2579,688,3384
$GC,1221,-0.95,-175.2,112.0,-8.7,124,1228,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2077,3384
$GC,1547,-0.95,-175.2,136.9,-7.7,155,1551,0.00,2.33,0.00,0.000,4,0.000,0.038,2578,3469,3384
$GC,1621,-0.99,-175.2,142.9,-8.0,161,1625,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2077,3384
$GC,1946,-0.99,-175.2,168.1,-7.5,191,1950,0.00,2.33,0.00,0.000,4,0.000,0.069,2578,690,3384
$GC,2002,-1.03,-175.2,172.6,-8.3,196,2007,0.00,2.22,0.00,0.000,6,0.000,0.019,2578,2077,3385
$GC,2328,-1.03,-175.2,194.2,-7.7,226,2332,0.00,2.35,0.00,0.000,4,0.000,0.053,2578,690,3384
$GC,2356,-1.07,-175.2,196.5,-8.4,228,2359,0.00,2.22,0.00,0.000,6,0.000,0.052,2578,2084,3384
$GC,2678,-1.11,-175.2,219.5,-6.9,246,2682,0.12,2.30,0.00,0.000,4,0.055,0.040,2543,3462,3384
$GC,2715,-1.11,-175.2,222.6,-8.4,247,2722,0.00,2.28,0.00,0.000,6,0.000,0.058,2543,2088,3383
$GC,3032,-1.07,-175.2,249.5,-8.1,263,3036,0.00,2.15,0.00,0.000,4,0.000,0.058,2543,778,3383
$GC,3167,-1.07,-175.2,260.9,-8.6,269,3171,0.00,2.10,0.00,0.000,6,0.000,0.022,2543,2077,3382
$GC,3488,-1.07,-175.2,284.6,-6.7,285,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2081,3381
$GC,3816,-1.07,-175.2,306.0,-6.3,299,3820,0.00,2.38,0.00,0.000,4,0.000,0.041,2543,689,3380
$GC,3854,-1.07,-175.2,308.8,-7.3,300,3858,0.00,2.28,0.00,0.000,6,0.000,0.060,2543,2076,3380
$GC,4178,-1.07,-175.2,331.4,-7.3,308,4182,0.00,2.38,0.00,0.000,4,0.000,0.039,2544,3476,3378
$GC,4227,-1.07,-175.2,335.2,-7.7,309,4231,0.00,2.33,0.00,0.000,6,0.000,0.045,2543,2080,3377
$GC,4545,-1.07,-175.2,360.2,-8.0,317,4549,0.00,2.40,0.00,0.000,4,0.000,0.043,2543,676,3376
$GC,4577,-1.07,-175.2,363.1,-8.8,317,4584,0.00,2.33,0.00,0.000,6,0.000,0.027,2544,2070,3376
$GC,4909,-1.07,-175.2,389.5,-7.5,326,4913,0.00,2.40,0.00,0.000,4,0.000,0.043,2544,3474,3374
$GC,4948,-1.11,-175.2,392.2,-6.7,327,4953,0.00,2.33,0.00,0.000,6,0.000,0.034,2543,2082,3373
$GC,5272,-1.11,-175.2,412.0,-6.0,335,5276,0.00,2.42,0.00,0.000,4,0.000,0.046,2543,679,3372
$GC,5305,-1.11,-175.2,414.1,-6.4,335,5311,0.00,2.33,0.00,0.000,6,0.000,0.029,2543,2077,3371
$GC,5636,-1.11,-175.2,436.5,-6.7,344,5640,0.00,2.42,0.00,0.000,4,0.000,0.046,2543,672,3368
$GC,5662,-1.11,-175.2,438.5,-7.3,344,5667,0.00,2.38,0.00,0.000,6,0.000,0.035,2544,2073,3368
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5885,-0.31,0.0,452.3,6.1,350,6030,0.85,0.00,140.93,0.894,6,0.162,0.000,2726,2077,2664
$STATE,6030,end apogee,CONTROL_FINISHED_OK
$STATE,6030,begin climb
$GC,6032,0.96,175.2,457.3,0.0,353,6186,1.23,2.50,144.62,0.868,4,0.102,0.078,3008,680,1947
$GC,6320,0.81,175.2,444.1,9.4,359,6327,0.17,2.38,0.00,0.000,6,0.097,0.031,2975,2078,1936
$GC,6652,0.78,175.2,420.2,7.2,368,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2081,1934
$GC,6977,0.75,187.2,397.7,6.8,376,6989,0.00,0.00,9.00,0.764,6,0.000,0.000,2975,2082,1900
$GC,7304,0.72,187.2,372.2,8.0,384,7309,0.12,2.45,0.00,0.000,4,0.100,0.045,2953,3482,1896
$GC,7381,0.72,187.2,365.9,8.3,385,7388,0.00,2.38,0.00,0.000,6,0.000,0.038,2952,2083,1896
$GC,7712,0.77,235.2,345.2,5.8,394,7762,0.00,2.55,42.42,0.841,4,0.000,0.079,2952,680,1704
$GC,7813,0.77,235.2,338.2,7.5,396,7817,0.00,2.38,0.00,0.000,6,0.000,0.031,2952,2083,1699
$GC,8126,0.81,235.2,315.0,7.7,404,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2086,1696
$GC,8432,0.87,242.1,293.5,7.0,413,8444,0.15,2.47,5.97,0.669,4,0.052,0.046,2991,676,1676
$GC,8473,0.81,242.1,289.9,9.4,415,8477,0.00,2.38,0.00,0.000,6,0.000,0.065,2991,2082,1674
$GC,8799,0.81,242.1,264.3,7.7,431,8803,0.00,2.45,0.00,0.000,4,0.000,0.046,2991,672,1674
$GC,8860,0.77,242.1,259.0,8.8,433,8867,0.15,2.38,0.00,0.000,6,0.091,0.028,2962,2090,1671
$GC,9176,0.82,251.7,238.0,6.9,449,9191,0.00,2.50,9.45,0.696,4,0.000,0.045,2962,676,1636
$GC,9247,0.82,251.7,232.5,8.0,452,9251,0.00,2.38,0.00,0.000,6,0.000,0.060,2962,2077,1634
$GC,9574,0.92,290.1,209.4,6.1,468,9617,0.15,2.50,34.92,0.732,4,0.051,0.045,3006,675,1479
$GC,9662,0.92,290.1,201.9,9.9,472,9666,0.00,2.35,0.00,0.000,6,0.000,0.026,3006,2081,1476
$GC,9993,0.92,290.1,171.3,7.5,502,9997,0.00,2.30,0.00,0.000,4,0.000,0.071,3006,3447,1474
$GC,10019,0.92,290.1,168.9,8.4,504,10026,0.00,2.33,0.00,0.000,6,0.000,0.026,3006,2074,1474
$GC,10347,0.92,290.1,141.2,9.1,535,10351,0.00,2.40,0.00,0.000,4,0.000,0.047,3006,679,1473
$GC,10412,0.92,290.1,135.0,8.8,540,10419,0.00,2.33,0.00,0.000,6,0.000,0.023,3006,2077,1471
$GC,10740,0.93,296.1,110.0,7.0,571,10752,0.00,2.35,5.45,0.512,4,0.000,0.033,3006,3472,1455
$GC,10787,0.97,296.1,106.7,7.3,575,10791,0.00,2.33,0.00,0.000,6,0.000,0.056,3007,2077,1455
$GC,11112,1.06,322.5,84.8,6.4,605,11144,0.00,2.45,24.50,0.591,4,0.000,0.071,3006,684,1348
$GC,11295,1.11,322.5,70.3,8.5,621,11303,0.10,2.30,0.00,0.000,6,0.037,0.055,3045,2085,1344
$GC,11620,1.11,322.5,42.2,8.6,652,11624,0.00,2.40,0.00,0.000,4,0.000,0.037,3045,676,1344
$GC,11648,1.11,322.5,39.7,9.2,654,11652,0.00,2.25,0.00,0.000,6,0.000,0.020,3045,2079,1343
$GC,11983,1.18,376.2,15.6,5.7,702,12033,0.00,0.00,46.05,0.528,6,0.000,0.000,3045,2084,1130
$STATE,12127,end climb,SURFACE_DEPTH_REACHED
$STATE,12128,begin surface coast
$FINISH,-0.1,1.022719
$STATE,12156,end surface coast,CONTROL_FINISHED_OK
$STATE,12156,begin surface
$SM_CCo,12236,0.00,0.000,0,0,1123,378.01
$SM_GC,0.71,11.30,0.00,0.00,0.030,0.000,0.000,432,2083,1123,-10.80,0.11,378.01
$IRIDIUM_FIX,2054.83,-15749.62,071097,060650
$TT8_MAMPS,0.029146
$HUMID,1842
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,23.20
$XPDR_PINGS,703
$24V_AH,23.4,34.142
$10V_AH,10.2,19.812
$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,26.850,121.400,463.325,0.000,0.000,86.326,94.926,379.871,175.750,0.000,0.000,13.107,1310.320,8749.957,529.084,1688.267,760.408,33.357,1386.116,0.000,1678.238,0.000,0.470
$DEVICE_MAMPS,161.837,79.001,894.322,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.043,480.514,836.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,733
$CAP_FILE_SIZE,113230,13
$CFSIZE,260165632,256294912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130708,100608,2102.784,-15747.628,38,1.5,38,9.8