version: 66.03
glider: 139
mission: 3
dive: 35
start: 7 14 108 0 6 47
data:
$ID,139
$MISSION,3
$DIVE,35
$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,-1270972
$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,29
$R_STBD_OVSHOOT,87
$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
$GPS1,235938,2107.206,-15751.355,31,1.2,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-70.3
$GPS2,000557,2107.244,-15751.398,13,1.4,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224,0.120
$KALMAN_X,-375.8,393.3,-282.8,2692.7,831.6
$KALMAN_Y,3874.6,242.3,-50.4,-21529.7,-6.5
$MHEAD_RNG_PITCHd_Wd,288.4,7029,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-55.10,0.000,2,0.000,0.000,434,2119,2967
$GC,80,-0.96,-175.2,3.8,-7.6,10,105,12.25,2.25,-6.82,0.000,4,0.160,0.059,2576,3435,3383
$GC,356,-0.91,-175.2,48.6,-10.5,44,363,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2071,3386
$GC,682,-0.82,-175.2,84.6,-10.3,75,684,0.20,0.00,0.00,0.000,6,0.084,0.000,2618,2069,3386
$GC,1000,-0.87,-175.2,106.0,-7.2,105,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2068,3387
$GC,1319,-0.96,-175.2,128.6,-6.7,135,1321,0.15,0.00,0.00,0.000,6,0.043,0.000,2577,2068,3387
$GC,1637,-0.96,-175.2,153.1,-7.5,165,1641,0.00,2.35,0.00,0.000,4,0.000,0.071,2577,681,3388
$GC,1675,-0.96,-175.2,155.8,-6.8,168,1679,0.00,2.20,0.00,0.000,6,0.000,0.019,2577,2054,3388
$GC,2000,-0.96,-175.2,179.4,-7.5,198,2005,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,3467,3388
$GC,2045,-0.99,-175.2,183.3,-8.3,201,2051,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2068,3388
$GC,2367,-0.99,-175.2,206.1,-6.8,228,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2066,3389
$GC,2677,-0.99,-175.2,226.0,-6.5,243,2681,0.00,2.35,0.00,0.000,4,0.000,0.072,2576,677,3388
$GC,2720,-1.05,-175.2,229.3,-7.9,245,2724,0.00,2.28,0.00,0.000,6,0.000,0.067,2576,2082,3388
$GC,3048,-1.08,-175.2,251.6,-6.3,261,3052,0.00,2.33,0.00,0.000,4,0.000,0.053,2576,3463,3387
$GC,3081,-1.16,-175.2,253.7,-6.1,262,3087,0.15,2.25,0.00,0.000,6,0.057,0.025,2537,2077,3387
$GC,3396,-1.11,-175.2,276.2,-7.4,278,3400,0.00,2.35,0.00,0.000,4,0.000,0.039,2536,689,3386
$GC,3484,-1.11,-175.2,283.3,-7.7,282,3488,0.00,2.25,0.00,0.000,6,0.000,0.023,2536,2071,3386
$GC,3810,-1.07,-175.2,306.5,-6.7,296,3812,0.12,0.00,0.00,0.000,6,0.083,0.000,2562,2076,3384
$GC,4135,-1.07,-175.2,326.0,-6.4,304,4139,0.00,2.38,0.00,0.000,4,0.000,0.040,2562,3470,3383
$GC,4167,-1.12,-175.2,328.1,-6.8,304,4172,0.00,2.30,0.00,0.000,6,0.000,0.025,2562,2078,3383
$GC,4498,-1.15,-175.2,352.0,-7.2,312,4502,0.00,2.38,0.00,0.000,4,0.000,0.042,2562,683,3381
$GC,4548,-1.22,-175.2,355.6,-7.2,313,4552,0.15,2.30,0.00,0.000,6,0.048,0.061,2518,2078,3381
$GC,4867,-1.14,-175.2,382.9,-9.1,321,4868,0.12,0.00,0.00,0.000,6,0.086,0.000,2543,2083,3378
$GC,5191,-1.14,-175.2,408.2,-7.4,329,5195,0.00,2.40,0.00,0.000,4,0.000,0.044,2543,682,3377
$GC,5239,-1.14,-175.2,411.8,-7.5,330,5244,0.00,2.35,0.00,0.000,6,0.000,0.046,2543,2074,3377
$GC,5558,-1.14,-175.2,432.9,-6.6,338,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2079,3374
$STATE,5840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5840,begin apogee
$GC,5845,-0.31,0.0,451.6,6.7,345,5990,0.85,0.00,142.00,0.889,6,0.066,0.000,2726,2079,2664
$STATE,5991,end apogee,CONTROL_FINISHED_OK
$STATE,5991,begin climb
$GC,5993,0.96,175.2,456.6,0.0,348,6147,1.25,2.53,144.88,0.862,4,0.037,0.046,3011,684,1947
$GC,6171,0.80,175.2,453.8,9.0,353,6175,0.22,2.38,0.00,0.000,6,0.095,0.030,2968,2085,1942
$GC,6488,0.80,175.2,429.0,7.7,361,6492,0.00,2.42,0.00,0.000,4,0.000,0.045,2968,3476,1937
$GC,6542,0.75,175.2,424.3,8.6,362,6547,0.00,2.38,0.00,0.000,6,0.000,0.057,2969,2081,1936
$GC,6855,0.75,175.2,401.5,7.2,370,6859,0.00,2.45,0.00,0.000,4,0.000,0.048,2968,679,1934
$GC,6888,0.71,188.4,399.1,6.8,370,6903,0.00,2.35,10.23,0.772,6,0.000,0.031,2969,2083,1895
$GC,7216,0.71,188.4,375.4,7.3,379,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2084,1892
$GC,7541,0.74,211.4,353.5,6.5,387,7567,0.00,2.50,21.05,0.819,4,0.000,0.077,2968,679,1801
$GC,7630,0.70,211.4,346.9,8.4,389,7634,0.00,2.35,0.00,0.000,6,0.000,0.030,2968,2076,1795
$GC,7947,0.70,211.4,323.2,7.4,397,7951,0.00,2.42,0.00,0.000,4,0.000,0.043,2969,3475,1795
$GC,7991,0.70,211.4,320.0,7.4,398,7995,0.00,2.38,0.00,0.000,6,0.000,0.029,2968,2071,1795
$GC,8316,0.71,216.7,297.2,7.0,407,8326,0.00,2.45,4.90,0.604,4,0.000,0.049,2968,678,1780
$GC,8381,0.72,224.5,292.4,6.9,410,8399,0.00,2.35,8.75,0.713,6,0.000,0.036,2968,2082,1747
$GC,8707,0.75,247.5,272.8,6.5,426,8735,0.00,2.50,21.70,0.770,4,0.000,0.076,2968,675,1652
$GC,8842,0.75,247.5,262.4,8.6,432,8847,0.00,2.35,0.00,0.000,6,0.000,0.060,2968,2070,1647
$GC,9170,0.79,247.5,239.2,7.2,448,9174,0.00,2.42,0.00,0.000,4,0.000,0.043,2969,677,1646
$GC,9196,0.79,247.5,237.1,7.9,449,9200,0.00,2.38,0.00,0.000,6,0.000,0.027,2968,2085,1644
$GC,9518,0.83,247.5,212.3,8.2,465,9522,0.00,2.45,0.00,0.000,4,0.000,0.050,2968,677,1645
$GC,9574,0.83,247.5,207.3,9.6,467,9580,0.00,2.33,0.00,0.000,6,0.000,0.025,2968,2085,1643
$GC,9896,0.89,247.5,181.5,8.6,493,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2089,1643
$GC,10215,1.02,299.4,159.0,5.7,523,10265,0.22,0.00,44.97,0.680,6,0.043,0.000,3027,2089,1442
$GC,10582,1.02,299.4,122.8,10.8,558,10586,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,669,1437
$GC,10700,0.98,299.4,110.8,10.1,568,10704,0.00,2.33,0.00,0.000,6,0.000,0.021,3027,2088,1434
$GC,11024,0.98,299.4,84.0,8.5,598,11029,0.00,2.33,0.00,0.000,4,0.000,0.034,3028,3466,1434
$GC,11092,0.98,299.4,78.1,8.5,603,11098,0.00,2.00,0.00,0.000,6,0.000,0.061,3027,2223,1434
$GC,11417,0.98,299.4,52.1,7.4,634,11422,0.00,2.65,0.00,0.000,4,0.000,0.066,3027,667,1434
$GC,11517,0.98,299.4,44.2,7.2,642,11524,0.00,2.33,0.00,0.000,6,0.000,0.019,3027,2093,1433
$GC,11849,1.05,309.8,22.3,6.9,683,11866,0.00,2.47,9.40,0.486,4,0.000,0.068,3027,671,1399
$GC,11940,1.05,310.8,15.6,7.1,699,11947,0.00,2.30,0.00,0.000,6,0.000,0.054,3028,2085,1397
$GC,12061,1.15,352.3,7.5,6.0,720,12105,0.00,0.00,37.47,0.518,6,0.000,0.000,3027,2086,1226
$STATE,12120,end climb,SURFACE_DEPTH_REACHED
$STATE,12120,begin surface coast
$FINISH,0.4,1.022751
$STATE,12167,end surface coast,CONTROL_FINISHED_OK
$STATE,12167,begin surface
$SM_CCo,12246,0.00,0.000,0,0,1218,354.21
$SM_GC,0.55,11.30,0.00,0.00,0.043,0.000,0.000,425,2085,1218,-10.81,0.17,354.21
$IRIDIUM_FIX,2057.14,-15751.76,071097,202016
$TT8_MAMPS,0.029146
$HUMID,1849
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.30
$XPDR_PINGS,711
$24V_AH,23.4,34.827
$10V_AH,10.2,20.207
$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,27.000,103.825,445.350,0.000,0.000,29.294,32.142,197.633,177.750,0.000,0.000,14.668,1309.824,8695.553,519.445,1641.103,446.242,33.372,1330.502,0.000,1640.290,0.000,0.470
$DEVICE_MAMPS,160.303,77.467,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.123,492.593,836.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37870,739
$CAP_FILE_SIZE,104869,14
$CFSIZE,260165632,256024576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140708,033208,2108.072,-15752.609,40,1.6,40,9.8