version: 66.03
glider: 139
mission: 3
dive: 36
start: 7 14 108 3 40 4
data:
$ID,139
$MISSION,3
$DIVE,36
$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,-1271006.1
$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,32
$R_STBD_OVSHOOT,66
$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
$GPS1,033208,2108.072,-15752.609,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-68.8
$GPS2,033914,2108.092,-15752.617,25,1.5,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.214,0.138
$KALMAN_X,74.6,421.5,-32.3,-134.4,514.3
$KALMAN_Y,3684.4,583.2,-144.6,-20016.2,-78.6
$MHEAD_RNG_PITCHd_Wd,293.0,4402,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-60.30,0.000,2,0.000,0.000,425,2085,2928
$GC,85,-0.96,-175.2,3.1,-5.6,11,110,12.38,2.35,-7.62,0.000,4,0.163,0.071,2575,3457,3382
$GC,324,-0.90,-175.2,41.4,-11.1,44,329,0.12,2.28,0.00,0.000,6,0.100,0.021,2599,2061,3383
$GC,648,-0.86,-175.2,76.6,-10.4,74,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2059,3384
$GC,967,-0.86,-175.2,103.9,-7.9,104,971,0.00,2.33,0.00,0.000,4,0.000,0.030,2600,3455,3386
$GC,1007,-0.91,-175.2,107.1,-8.3,107,1011,0.00,2.25,0.00,0.000,6,0.000,0.055,2600,2068,3386
$GC,1333,-0.95,-175.2,129.2,-6.2,137,1337,0.00,2.33,0.00,0.000,4,0.000,0.070,2599,684,3386
$GC,1361,-1.01,-175.2,131.2,-6.6,139,1366,0.12,2.22,0.00,0.000,6,0.046,0.018,2566,2077,3386
$GC,1686,-1.01,-175.2,158.3,-7.5,169,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2081,3387
$GC,2005,-1.01,-175.2,183.7,-7.1,199,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2081,3387
$GC,2330,-1.01,-175.2,208.2,-7.5,225,2334,0.00,2.35,0.00,0.000,4,0.000,0.037,2565,689,3387
$GC,2386,-1.04,-175.2,212.5,-7.5,227,2392,0.00,2.22,0.00,0.000,6,0.000,0.021,2565,2070,3387
$GC,2701,-1.04,-175.2,234.8,-7.3,243,2705,0.00,2.35,0.00,0.000,4,0.000,0.035,2565,3472,3386
$GC,2728,-1.09,-175.2,237.1,-8.6,244,2732,0.00,2.28,0.00,0.000,6,0.000,0.022,2564,2081,3386
$GC,3049,-1.09,-175.2,260.2,-7.2,260,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2080,3385
$GC,3359,-1.09,-175.2,280.2,-5.9,275,3363,0.00,2.38,0.00,0.000,4,0.000,0.040,2565,685,3383
$GC,3414,-1.14,-175.2,283.4,-6.1,277,3420,0.00,2.28,0.00,0.000,6,0.000,0.024,2565,2083,3383
$GC,3728,-1.14,-175.2,302.8,-6.6,292,3732,0.00,2.35,0.00,0.000,4,0.000,0.038,2565,3467,3382
$GC,3761,-1.21,-175.2,305.2,-6.7,292,3768,0.15,2.30,0.00,0.000,6,0.061,0.031,2525,2076,3382
$GC,4092,-1.14,-175.2,332.9,-8.1,301,4097,0.10,2.38,0.00,0.000,4,0.092,0.041,2544,685,3380
$GC,4125,-1.14,-175.2,335.3,-6.7,301,4131,0.00,2.30,0.00,0.000,6,0.000,0.027,2544,2080,3380
$GC,4456,-1.14,-175.2,353.1,-5.5,310,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2083,3378
$GC,4781,-1.14,-175.2,371.6,-6.0,318,4785,0.00,2.40,0.00,0.000,4,0.000,0.044,2544,682,3376
$GC,4820,-1.14,-175.2,374.4,-7.3,319,4824,0.00,2.33,0.00,0.000,6,0.000,0.030,2545,2083,3376
$GC,5143,-1.14,-175.2,396.1,-6.6,327,5147,0.00,2.40,0.00,0.000,4,0.000,0.044,2544,686,3374
$GC,5170,-1.14,-175.2,398.1,-7.4,327,5174,0.00,2.35,0.00,0.000,6,0.000,0.064,2544,2082,3374
$GC,5507,-1.14,-175.2,423.0,-7.4,336,5511,0.00,2.42,0.00,0.000,4,0.000,0.045,2544,680,3372
$GC,5533,-1.14,-175.2,425.0,-7.5,336,5537,0.00,2.35,0.00,0.000,6,0.000,0.029,2544,2078,3371
$GC,5870,-1.14,-175.2,446.2,-5.9,345,5874,0.00,2.40,0.00,0.000,4,0.000,0.079,2544,686,3370
$GC,5891,-1.14,-175.2,447.4,-5.8,345,5895,0.00,2.33,0.00,0.000,6,0.000,0.030,2544,2081,3369
$STATE,5946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5951,-0.31,0.0,450.6,5.7,347,6096,0.85,0.00,141.60,0.893,6,0.155,0.000,2734,2084,2664
$STATE,6097,end apogee,CONTROL_FINISHED_OK
$STATE,6097,begin climb
$GC,6099,0.96,175.2,455.0,0.0,350,6253,1.23,2.55,144.90,0.867,4,0.103,0.046,3012,3481,1948
$GC,6317,0.82,175.2,449.8,8.9,356,6322,0.20,2.38,0.00,0.000,6,0.101,0.038,2974,2089,1945
$GC,6641,0.78,175.2,426.0,7.2,364,6645,0.00,2.50,0.00,0.000,4,0.000,0.082,2974,673,1937
$GC,6707,0.70,175.2,420.5,8.4,365,6712,0.12,2.38,0.00,0.000,6,0.098,0.031,2951,2078,1935
$GC,7043,0.71,179.5,396.9,7.0,374,7048,0.00,2.45,0.00,0.000,4,0.000,0.048,2950,677,1934
$GC,7082,0.71,179.5,393.9,8.1,375,7087,0.00,2.38,0.00,0.000,6,0.000,0.031,2951,2083,1932
$GC,7406,0.72,191.1,371.3,6.8,383,7425,0.00,2.58,11.88,0.793,4,0.000,0.077,2950,669,1884
$GC,7459,0.73,196.7,367.7,7.0,384,7470,0.00,2.40,6.53,0.693,6,0.000,0.031,2950,2088,1862
$GC,7813,0.76,196.7,339.7,8.2,393,7817,0.00,2.47,0.00,0.000,4,0.000,0.047,2951,674,1858
$GC,7867,0.76,196.7,335.2,8.0,394,7872,0.00,2.38,0.00,0.000,6,0.000,0.058,2951,2086,1856
$GC,8181,0.79,196.7,311.1,8.0,402,8185,0.00,2.47,0.00,0.000,4,0.000,0.054,2950,670,1856
$GC,8212,0.79,196.7,308.3,8.2,402,8219,0.00,2.40,0.00,0.000,6,0.000,0.030,2951,2081,1855
$GC,8527,0.93,280.0,289.5,4.9,415,8609,0.20,2.50,73.00,0.805,4,0.048,0.077,3000,3471,1521
$GC,8619,0.93,280.0,282.4,8.4,419,8624,0.00,2.40,0.00,0.000,6,0.000,0.029,3000,2085,1520
$GC,8941,0.93,280.0,252.6,9.4,435,8945,0.00,2.47,0.00,0.000,4,0.000,0.047,3000,670,1513
$GC,9103,0.90,280.0,236.5,9.8,442,9107,0.00,2.35,0.00,0.000,6,0.000,0.028,3000,2079,1509
$GC,9423,0.90,280.0,206.8,9.5,458,9427,0.00,2.45,0.00,0.000,4,0.000,0.044,3001,676,1509
$GC,9477,0.87,280.0,201.1,10.7,460,9484,0.00,2.33,0.00,0.000,6,0.000,0.026,3000,2084,1507
$GC,9802,0.87,280.0,171.3,9.2,490,9806,0.00,2.45,0.00,0.000,4,0.000,0.077,3000,675,1507
$GC,9845,0.87,280.0,167.0,10.0,493,9852,0.00,2.35,0.00,0.000,6,0.000,0.025,3000,2083,1506
$GC,10170,0.87,280.0,138.8,8.9,524,10174,0.00,2.45,0.00,0.000,4,0.000,0.041,3000,669,1506
$GC,10254,0.87,280.0,131.1,9.0,531,10258,0.00,2.33,0.00,0.000,6,0.000,0.023,3000,2084,1505
$GC,10582,0.91,280.9,107.3,7.1,561,10585,0.00,1.62,0.00,0.000,4,0.000,0.057,3001,3078,1505
$GC,10661,0.96,280.9,100.9,8.5,568,10665,0.00,1.67,0.00,0.000,6,0.000,0.072,3000,2061,1505
$GC,10993,1.02,280.9,75.6,7.4,599,10997,0.00,2.35,0.00,0.000,4,0.000,0.072,3000,680,1505
$GC,11066,1.09,308.4,70.3,6.4,605,11099,0.12,2.28,23.58,0.580,6,0.718,0.020,3037,2096,1405
$GC,11416,1.11,328.7,45.3,6.6,638,11437,0.00,0.00,18.25,0.542,6,0.000,0.000,3037,2096,1323
$GC,11763,1.15,328.7,16.8,7.6,684,11770,0.00,2.38,0.00,0.000,4,0.000,0.053,3038,677,1321
$GC,11815,1.17,342.5,13.0,6.8,693,11834,0.00,2.22,13.05,0.502,6,0.000,0.019,3037,2084,1266
$STATE,11939,end climb,SURFACE_DEPTH_REACHED
$STATE,11939,begin surface coast
$FINISH,-0.2,1.004665
$STATE,11979,end surface coast,CONTROL_FINISHED_OK
$STATE,11979,begin surface
$SM_CCo,12059,0.00,0.000,0,0,1261,344.16
$SM_GC,0.35,11.23,0.00,0.00,0.028,0.000,0.000,432,2082,1261,-10.81,0.08,344.16
$IRIDIUM_FIX,2101.76,-15753.03,081097,000020
$TT8_MAMPS,0.029913
$HUMID,1846
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.20
$XPDR_PINGS,703
$24V_AH,23.4,34.964
$10V_AH,10.2,20.287
$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,26.825,121.825,432.775,0.000,0.000,29.474,40.809,213.638,175.750,0.000,0.000,33.511,1296.863,8542.407,522.670,1648.823,457.896,33.367,1331.004,0.000,1614.568,0.000,0.470
$DEVICE_MAMPS,717.912,82.069,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.188,470.821,820.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38175,722
$CAP_FILE_SIZE,107976,11
$CFSIZE,260165632,255963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140708,070232,2108.824,-15753.947,54,1.2,54,9.8