version: 66.03
glider: 139
mission: 3
dive: 38
start: 7 14 108 10 6 45
data:
$ID,139
$MISSION,3
$DIVE,38
$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,-1271066.5
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,095932,2109.552,-15754.626,6,1.6,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-70.2
$GPS2,100556,2109.565,-15754.668,42,1.0,42,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.149
$KALMAN_X,880.1,-310.8,-95.0,-3684.5,159.2
$KALMAN_Y,3014.2,-66.8,79.6,-16193.1,-904.0
$MHEAD_RNG_PITCHd_Wd,116.1,18945,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-55.03,0.000,2,0.000,0.000,427,2080,2958
$GC,79,-0.96,-175.2,3.6,-7.1,10,104,12.20,2.45,-6.85,0.000,4,0.157,0.049,2576,676,3383
$GC,199,-0.86,-175.2,32.2,-12.2,29,206,0.08,2.30,0.00,0.000,6,0.085,0.018,2607,2091,3384
$GC,526,-0.86,-175.2,64.1,-8.8,60,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2095,3385
$GC,842,-0.86,-175.2,88.4,-7.7,90,845,0.00,2.40,0.00,0.000,4,0.000,0.035,2606,672,3386
$GC,864,-0.86,-175.2,90.0,-7.3,92,868,0.00,2.25,0.00,0.000,6,0.000,0.018,2607,2082,3386
$GC,1195,-0.90,-175.2,113.6,-8.1,123,1198,0.00,1.75,0.00,0.000,4,0.000,0.061,2607,3161,3387
$GC,1244,-0.97,-175.2,117.7,-8.6,127,1251,0.08,1.77,0.00,0.000,6,0.040,0.019,2577,2068,3387
$GC,1569,-0.97,-175.2,141.6,-6.3,158,1573,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,685,3388
$GC,1624,-0.97,-175.2,145.3,-6.4,162,1631,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2073,3388
$GC,1950,-0.97,-175.2,169.4,-7.3,193,1955,0.00,2.33,0.00,0.000,4,0.000,0.060,2576,3460,3388
$GC,1989,-0.97,-175.2,172.4,-7.4,196,1994,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2078,3388
$GC,2315,-0.97,-175.2,197.0,-6.9,226,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3388
$GC,2635,-0.97,-175.2,216.9,-6.9,244,2639,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,680,3388
$GC,2684,-1.02,-175.2,220.5,-6.9,246,2688,0.00,1.88,0.00,0.000,6,0.000,0.052,2575,1886,3388
$GC,3005,-1.02,-175.2,243.4,-7.4,262,3009,0.00,2.65,0.00,0.000,4,0.000,0.034,2576,3464,3387
$GC,3061,-1.09,-175.2,247.6,-7.4,264,3067,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2072,3387
$GC,3376,-1.14,-175.2,268.3,-7.2,280,3381,0.17,2.35,0.00,0.000,4,0.381,0.038,2519,684,3386
$GC,3408,-1.08,-175.2,271.5,-10.2,281,3415,0.20,2.25,0.00,0.000,6,0.071,0.022,2561,2069,3386
$GC,3724,-1.08,-175.2,294.1,-7.2,297,3728,0.00,2.35,0.00,0.000,4,0.000,0.039,2561,689,3385
$GC,3756,-1.11,-175.2,296.6,-7.7,298,3763,0.00,2.30,0.00,0.000,6,0.000,0.025,2561,2079,3386
$GC,4088,-1.11,-175.2,319.2,-6.5,308,4092,0.00,2.35,0.00,0.000,4,0.000,0.038,2561,3469,3383
$GC,4120,-1.16,-175.2,321.4,-6.3,308,4127,0.00,2.30,0.00,0.000,6,0.000,0.060,2561,2074,3383
$GC,4451,-1.16,-175.2,342.1,-6.1,317,4455,0.00,2.38,0.00,0.000,4,0.000,0.042,2561,682,3382
$GC,4480,-1.19,-175.2,343.7,-6.2,317,4485,0.12,2.30,0.00,0.000,6,0.051,0.025,2523,2084,3382
$GC,4811,-1.13,-175.2,370.2,-8.5,325,4813,0.12,0.00,0.00,0.000,6,0.084,0.000,2549,2088,3379
$GC,5136,-1.13,-175.2,391.0,-5.9,333,5140,0.00,2.42,0.00,0.000,4,0.000,0.044,2548,677,3377
$GC,5157,-1.13,-175.2,392.4,-5.9,333,5161,0.00,2.33,0.00,0.000,6,0.000,0.028,2549,2084,3376
$GC,5500,-1.13,-175.2,412.5,-6.2,342,5504,0.00,2.40,0.00,0.000,4,0.000,0.044,2548,686,3375
$GC,5521,-1.13,-175.2,414.0,-6.7,342,5525,0.00,2.33,0.00,0.000,6,0.000,0.028,2549,2088,3375
$GC,5863,-1.13,-175.2,437.6,-7.3,351,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2092,3373
$STATE,6024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6024,begin apogee
$GC,6028,-0.31,0.0,450.0,7.7,355,6173,0.70,0.00,141.98,0.887,6,0.093,0.000,2712,2092,2664
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6174,begin climb
$GC,6176,0.96,175.2,456.5,0.0,358,6330,1.33,2.47,144.48,0.861,4,0.101,0.081,3012,3474,1949
$GC,6337,0.84,175.2,456.5,7.9,362,6342,0.17,2.38,0.00,0.000,6,0.106,0.067,2980,2088,1948
$GC,6668,0.79,175.2,430.7,8.1,370,6672,0.00,2.47,0.00,0.000,4,0.000,0.048,2980,678,1937
$GC,6717,0.70,175.2,426.6,8.3,371,6721,0.17,2.38,0.00,0.000,6,0.093,0.030,2947,2084,1936
$GC,7035,0.74,208.3,406.1,6.2,379,7070,0.00,2.55,27.62,0.841,4,0.000,0.048,2947,679,1813
$GC,7103,0.74,208.3,401.0,8.0,380,7108,0.00,2.40,0.00,0.000,6,0.000,0.030,2947,2079,1810
$GC,7446,0.78,208.3,375.0,7.4,389,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2083,1807
$GC,7772,0.83,222.3,351.8,6.8,397,7792,0.12,2.53,12.40,0.782,4,0.058,0.061,2980,679,1756
$GC,7842,0.78,222.3,346.5,7.5,398,7846,0.00,2.38,0.00,0.000,6,0.000,0.059,2980,2084,1752
$GC,8184,0.83,263.5,326.0,6.0,407,8230,0.00,0.00,39.03,0.786,6,0.000,0.000,2980,2089,1590
$GC,8530,0.83,263.5,297.7,8.6,416,8534,0.00,2.47,0.00,0.000,4,0.000,0.047,2980,672,1583
$GC,8578,0.83,263.5,293.4,9.2,418,8583,0.00,2.40,0.00,0.000,6,0.000,0.028,2980,2081,1582
$GC,8899,0.83,263.5,265.5,8.9,434,8903,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,675,1581
$GC,8967,0.83,263.5,259.1,9.9,437,8971,0.00,2.35,0.00,0.000,6,0.000,0.061,2980,2083,1579
$GC,9292,0.83,263.5,230.5,8.9,453,9296,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,670,1579
$GC,9325,0.83,263.5,227.2,9.6,454,9329,0.00,2.38,0.00,0.000,6,0.000,0.027,2980,2079,1578
$GC,9646,0.86,263.5,200.9,8.0,470,9650,0.00,2.45,0.00,0.000,4,0.000,0.043,2980,668,1578
$GC,9702,0.86,263.5,196.1,8.7,474,9706,0.00,2.35,0.00,0.000,6,0.000,0.025,2980,2088,1576
$GC,10028,0.95,293.3,172.9,6.3,504,10061,0.00,2.50,25.40,0.687,4,0.000,0.051,2980,670,1467
$GC,10111,0.99,297.8,166.9,7.0,511,10122,0.12,2.35,5.12,0.520,6,0.053,0.058,3014,2092,1449
$GC,10441,0.99,297.8,137.9,9.3,542,10445,0.00,2.33,0.00,0.000,4,0.000,0.035,3015,3466,1447
$GC,10463,0.99,297.8,135.6,10.2,544,10467,0.00,2.33,0.00,0.000,6,0.000,0.039,3014,2074,1447
$GC,10792,0.99,297.8,107.9,8.2,575,10796,0.00,2.38,0.00,0.000,4,0.000,0.039,3014,680,1447
$GC,10961,0.99,297.8,92.7,9.4,589,10967,0.00,2.28,0.00,0.000,6,0.000,0.021,3014,2089,1445
$GC,11287,1.03,298.4,69.9,7.1,620,11291,0.00,2.42,0.00,0.000,4,0.000,0.062,3014,673,1445
$GC,11348,1.04,311.0,65.3,6.8,625,11370,0.00,2.28,12.82,0.547,6,0.000,0.051,3014,2088,1395
$GC,11689,1.16,345.1,41.3,6.2,657,11722,0.15,0.00,30.65,0.548,6,0.046,0.000,3062,2089,1256
$GC,12048,1.16,345.1,8.1,9.6,710,12055,0.00,2.40,0.00,0.000,4,0.000,0.071,3062,674,1253
$GC,12078,1.16,345.1,4.8,10.9,715,12085,0.00,2.28,0.00,0.000,6,0.000,0.019,3063,2078,1251
$STATE,12095,end climb,SURFACE_DEPTH_REACHED
$STATE,12095,begin surface coast
$FINISH,-0.2,1.022788
$STATE,12124,end surface coast,CONTROL_FINISHED_OK
$STATE,12124,begin surface
$SM_CCo,12204,0.00,0.000,0,0,1248,347.34
$SM_GC,0.78,11.35,0.00,0.00,0.030,0.000,0.000,431,2082,1248,-10.80,0.08,347.34
$IRIDIUM_FIX,2059.45,-15758.18,081097,070701
$TT8_MAMPS,0.028379
$HUMID,1842
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.10
$XPDR_PINGS,692
$24V_AH,23.4,35.204
$10V_AH,10.2,20.438
$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,27.100,121.625,439.500,0.000,0.000,25.457,30.548,179.824,173.000,0.000,0.000,44.391,1290.650,8743.209,516.612,1605.884,420.603,33.364,1321.477,0.000,1569.378,0.000,0.470
$DEVICE_MAMPS,381.199,81.302,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.704,477.146,815.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37951,723
$CAP_FILE_SIZE,105442,14
$CFSIZE,260165632,255864832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,140708,133125,2108.353,-15754.000,36,1.1,41,9.8