version: 66.03
glider: 139
mission: 3
dive: 40
start: 7 14 108 16 58 5
data:
$ID,139
$MISSION,3
$DIVE,40
$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,-1271095
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,165126,2107.306,-15752.759,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-68.6
$GPS2,165715,2107.280,-15752.737,11,1.2,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.211
$KALMAN_X,-293.8,-626.8,-89.7,1136.1,677.0
$KALMAN_Y,3369.4,-438.9,90.6,-20422.1,371.6
$MHEAD_RNG_PITCHd_Wd,136.1,13604,-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,-60.20,0.000,2,0.000,0.000,425,2085,2990
$GC,84,-0.96,-175.2,4.0,-8.0,11,109,12.27,2.38,-6.22,0.000,4,0.159,0.048,2575,682,3380
$GC,188,-0.82,-175.2,31.5,-13.9,28,193,0.20,2.22,0.00,0.000,6,0.083,0.018,2617,2074,3382
$GC,514,-0.82,-175.2,59.1,-7.5,58,518,0.00,1.65,0.00,0.000,4,0.000,0.074,2617,3101,3383
$GC,537,-0.82,-175.2,60.8,-6.8,60,541,0.00,1.65,0.00,0.000,6,0.000,0.020,2617,2070,3383
$GC,868,-0.86,-175.2,84.3,-7.3,91,872,0.00,2.33,0.00,0.000,4,0.000,0.048,2617,684,3384
$GC,920,-0.93,-175.2,88.0,-6.4,95,925,0.12,2.25,0.00,0.000,6,0.045,0.018,2582,2092,3384
$GC,1244,-0.93,-175.2,115.6,-8.9,125,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2097,3385
$GC,1563,-0.93,-175.2,142.0,-8.9,155,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2096,3385
$GC,1882,-0.93,-175.2,163.4,-6.8,185,1886,0.00,2.28,0.00,0.000,4,0.000,0.032,2581,3459,3386
$GC,1910,-0.96,-175.2,165.5,-7.4,187,1914,0.00,2.25,0.00,0.000,6,0.000,0.021,2581,2076,3386
$GC,2236,-0.96,-175.2,185.9,-5.8,217,2240,0.00,2.35,0.00,0.000,4,0.000,0.070,2581,680,3386
$GC,2268,-1.01,-175.2,188.1,-6.6,219,2274,0.00,2.25,0.00,0.000,6,0.000,0.020,2581,2084,3386
$GC,2600,-1.04,-175.2,210.0,-6.5,244,2604,0.00,2.38,0.00,0.000,4,0.000,0.070,2581,682,3386
$GC,2645,-1.11,-175.2,213.2,-7.0,246,2649,0.12,2.25,0.00,0.000,6,0.059,0.035,2547,2080,3386
$GC,2965,-1.07,-175.2,237.6,-7.5,262,2969,0.00,2.33,0.00,0.000,4,0.000,0.035,2547,3466,3385
$GC,3048,-1.07,-175.2,243.9,-7.8,266,3052,0.00,2.28,0.00,0.000,6,0.000,0.036,2547,2075,3385
$GC,3374,-1.07,-175.2,269.6,-7.9,282,3378,0.00,2.35,0.00,0.000,4,0.000,0.039,2546,687,3384
$GC,3446,-1.07,-175.2,275.4,-7.8,285,3450,0.00,2.28,0.00,0.000,6,0.000,0.023,2546,2067,3384
$GC,3773,-1.07,-175.2,300.5,-7.2,301,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2072,3383
$GC,4098,-1.07,-175.2,322.4,-6.7,309,4102,0.00,2.38,0.00,0.000,4,0.000,0.039,2547,3467,3381
$GC,4136,-1.07,-175.2,325.3,-7.6,310,4141,0.00,2.30,0.00,0.000,6,0.000,0.025,2547,2078,3381
$GC,4460,-1.07,-175.2,349.5,-7.6,318,4464,0.00,2.40,0.00,0.000,4,0.000,0.042,2546,675,3379
$GC,4486,-1.07,-175.2,351.5,-7.8,318,4490,0.00,2.33,0.00,0.000,6,0.000,0.026,2547,2068,3380
$GC,4823,-1.07,-175.2,373.9,-6.3,327,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2074,3377
$GC,5147,-1.07,-175.2,397.0,-7.3,335,5152,0.00,2.40,0.00,0.000,4,0.000,0.044,2547,680,3376
$GC,5174,-1.07,-175.2,399.1,-7.8,335,5178,0.00,2.35,0.00,0.000,6,0.000,0.063,2547,2075,3376
$GC,5511,-1.07,-175.2,422.8,-6.9,344,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2080,3373
$GC,5836,-1.07,-175.2,443.5,-6.4,352,5840,0.00,2.40,0.00,0.000,4,0.000,0.046,2546,676,3371
$GC,5862,-1.07,-175.2,445.3,-6.8,352,5867,0.00,2.35,0.00,0.000,6,0.000,0.030,2547,2086,3371
$STATE,5959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5959,begin apogee
$GC,5964,-0.31,0.0,451.4,6.2,355,6108,0.82,0.00,141.62,0.890,6,0.064,0.000,2726,2089,2664
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6111,0.96,175.2,456.3,0.0,358,6265,1.23,2.50,144.62,0.864,4,0.101,0.079,3009,684,1947
$GC,6328,0.80,175.2,449.9,9.9,363,6333,0.20,2.38,0.00,0.000,6,0.092,0.030,2972,2087,1939
$GC,6640,0.76,175.2,426.1,7.3,371,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2091,1936
$GC,6965,0.79,198.0,404.2,6.5,379,6989,0.00,2.55,18.52,0.824,4,0.000,0.051,2972,684,1855
$GC,7028,0.74,205.8,399.6,6.9,380,7043,0.00,2.38,8.12,0.729,6,0.000,0.056,2972,2086,1825
$GC,7374,0.74,205.8,374.4,7.2,389,7378,0.00,2.47,0.00,0.000,4,0.000,0.048,2972,676,1819
$GC,7401,0.72,218.0,372.5,6.8,389,7425,0.00,2.38,13.57,0.696,6,0.000,0.030,2972,2090,1774
$GC,7739,0.74,237.7,350.6,6.6,398,7763,0.00,2.55,18.33,0.811,4,0.000,0.083,2972,683,1694
$GC,7875,0.74,237.7,338.6,9.7,401,7879,0.00,2.38,0.00,0.000,6,0.000,0.062,2972,2074,1689
$GC,8199,0.74,237.7,312.5,7.6,409,8203,0.00,2.42,0.00,0.000,4,0.000,0.043,2972,3479,1688
$GC,8220,0.74,237.7,310.7,8.8,409,8224,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2084,1688
$GC,8545,0.74,237.7,284.8,7.5,422,8549,0.00,2.45,0.00,0.000,4,0.000,0.046,2972,671,1687
$GC,8576,0.74,237.7,282.1,7.8,423,8583,0.00,2.38,0.00,0.000,6,0.000,0.051,2972,2076,1685
$GC,8892,0.74,237.7,257.7,8.0,439,8897,0.00,2.42,0.00,0.000,4,0.000,0.044,2972,674,1685
$GC,9022,0.74,237.7,245.6,9.9,445,9026,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2086,1683
$GC,9348,0.77,237.7,218.5,7.6,461,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2090,1683
$GC,9657,0.90,302.8,200.8,5.4,476,9718,0.00,0.00,56.65,0.728,6,0.000,0.000,2972,2091,1429
$GC,10036,0.99,302.8,174.2,7.8,511,10041,0.17,2.45,0.00,0.000,4,0.046,0.041,3021,674,1421
$GC,10166,0.95,302.8,161.4,9.7,522,10170,0.00,2.05,0.00,0.000,6,0.000,0.061,3021,1945,1419
$GC,10497,0.95,302.8,129.8,9.1,553,10502,0.00,2.60,0.00,0.000,4,0.000,0.065,3021,3477,1419
$GC,10551,0.95,302.8,124.7,9.0,557,10559,0.00,2.35,0.00,0.000,6,0.000,0.024,3021,2075,1419
$GC,10880,0.95,302.8,94.1,9.5,588,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2074,1419
$GC,11197,1.01,319.2,68.8,6.7,618,11217,0.00,0.00,14.15,0.559,6,0.000,0.000,3022,2074,1362
$GC,11538,1.06,319.2,43.7,7.9,650,11542,0.00,2.38,0.00,0.000,4,0.000,0.041,3021,675,1360
$GC,11599,1.06,319.2,38.4,8.5,655,11604,0.00,2.30,0.00,0.000,6,0.000,0.019,3021,2103,1358
$GC,11938,1.13,319.2,13.7,7.3,704,11944,0.00,2.40,0.00,0.000,4,0.000,0.035,3021,676,1358
$GC,12018,1.17,319.2,7.1,8.5,718,12025,0.12,2.22,0.00,0.000,6,0.049,0.018,3066,2082,1358
$STATE,12064,end climb,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$FINISH,-0.1,1.022792
$STATE,12097,end surface coast,CONTROL_FINISHED_OK
$STATE,12098,begin surface
$SM_CCo,12177,0.00,0.000,0,0,1355,320.85
$SM_GC,0.52,11.40,0.00,0.00,0.036,0.000,0.000,426,2086,1355,-10.81,0.20,320.85
$IRIDIUM_FIX,2101.76,-15753.03,081097,131359
$TT8_MAMPS,0.029146
$HUMID,1840
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,703
$24V_AH,23.4,35.472
$10V_AH,10.2,20.596
$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,26.675,107.050,415.600,0.000,0.000,25.440,27.655,178.240,175.750,0.000,0.000,13.328,1313.326,8681.907,489.049,1625.930,402.941,33.366,1293.870,0.000,1615.536,0.000,0.470
$DEVICE_MAMPS,158.769,82.836,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.677,480.549,827.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,732
$CAP_FILE_SIZE,103360,9
$CFSIZE,260165632,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140708,202208,2106.099,-15751.490,31,1.1,31,9.8