version: 66.03
glider: 139
mission: 3
dive: 50
start: 7 16 108 5 17 7
data:
$ID,139
$MISSION,3
$DIVE,50
$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,-1271308.1
$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
$PITCH_ADJ_DBAND,0
$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,38
$R_STBD_OVSHOOT,58
$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
$GPS1,050938,2107.529,-15752.158,59,1.0,59,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-69.9
$GPS2,051615,2107.515,-15752.159,11,1.1,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.177,0.183
$KALMAN_X,-2663.0,480.3,-203.7,3501.1,229.6
$KALMAN_Y,444.2,658.9,-168.4,-17896.7,-558.1
$MHEAD_RNG_PITCHd_Wd,306.0,5691,-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,-55.10,0.000,2,0.000,0.000,429,2099,2980
$GC,79,-0.96,-175.2,3.9,-7.9,10,104,12.27,2.35,-6.50,0.000,4,0.160,0.068,2577,3473,3380
$GC,273,-0.96,-175.2,39.7,-11.7,37,277,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2076,3383
$GC,598,-0.96,-175.2,72.0,-9.1,67,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2074,3383
$GC,916,-0.96,-175.2,104.6,-10.1,97,920,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,677,3384
$GC,959,-0.96,-175.2,109.1,-10.3,100,966,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2077,3384
$GC,1285,-0.96,-175.2,140.0,-8.5,131,1289,0.00,2.35,0.00,0.000,4,0.000,0.057,2576,673,3385
$GC,1306,-0.96,-175.2,142.0,-8.9,132,1313,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2074,3385
$GC,1633,-0.96,-175.2,167.7,-7.4,163,1636,0.00,2.03,0.00,0.000,4,0.000,0.069,2577,3314,3386
$GC,1722,-0.96,-175.2,174.6,-7.4,171,1726,0.00,2.03,0.00,0.000,6,0.000,0.021,2576,2065,3386
$GC,2055,-0.96,-175.2,195.4,-5.9,202,2059,0.00,2.33,0.00,0.000,4,0.000,0.071,2576,685,3386
$GC,2105,-0.96,-175.2,199.0,-6.3,206,2109,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2081,3386
$GC,2420,-0.96,-175.2,219.4,-7.2,222,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3385
$GC,2730,-0.96,-175.2,242.8,-6.8,237,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3385
$GC,3039,-0.96,-175.2,262.4,-5.6,252,3043,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,685,3384
$GC,3066,-0.96,-175.2,263.9,-6.0,253,3070,0.00,2.28,0.00,0.000,6,0.000,0.022,2577,2082,3384
$GC,3388,-0.96,-175.2,279.3,-4.9,269,3392,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,690,3383
$GC,3420,-0.96,-175.2,281.2,-6.0,270,3427,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2071,3383
$GC,3736,-0.96,-175.2,297.9,-5.5,286,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3381
$GC,4061,-0.96,-175.2,319.8,-7.5,295,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3380
$GC,4386,-0.96,-175.2,343.0,-6.8,303,4390,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,688,3378
$GC,4413,-0.96,-175.2,344.8,-6.9,303,4417,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2080,3378
$GC,4750,-0.96,-175.2,364.0,-5.3,312,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2084,3376
$GC,5075,-0.96,-175.2,381.7,-5.5,320,5079,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,685,3374
$GC,5107,-0.96,-175.2,383.6,-6.2,320,5113,0.00,2.33,0.00,0.000,6,0.000,0.061,2577,2085,3374
$GC,5438,-0.96,-175.2,402.2,-5.6,329,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2090,3372
$GC,5763,-0.96,-175.2,420.1,-5.5,337,5767,0.00,2.40,0.00,0.000,4,0.000,0.045,2576,693,3370
$GC,5784,-0.96,-175.2,421.4,-5.9,337,5788,0.00,2.30,0.00,0.000,6,0.000,0.029,2577,2076,3370
$GC,6126,-0.96,-175.2,446.8,-8.1,346,6130,0.00,2.42,0.00,0.000,4,0.000,0.046,2577,3481,3368
$STATE,6167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6167,begin apogee
$GC,6175,-0.31,0.0,450.3,8.3,347,6320,0.68,0.00,141.50,0.898,6,0.173,0.000,2727,2088,2664
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6321,begin climb
$GC,6323,0.96,175.2,460.1,0.0,350,6476,1.25,2.53,146.18,0.874,4,0.104,0.067,3010,680,1948
$GC,6559,0.96,175.2,457.0,8.7,356,6564,0.00,2.40,0.00,0.000,6,0.000,0.037,3010,2072,1939
$GC,6902,0.96,175.2,428.8,8.2,365,6906,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,3475,1936
$GC,6951,0.96,175.2,424.6,8.6,366,6955,0.00,2.40,0.00,0.000,6,0.000,0.057,3010,2088,1936
$GC,7269,0.96,175.2,400.6,7.4,374,7274,0.00,2.47,0.00,0.000,4,0.000,0.048,3010,677,1933
$GC,7313,0.96,175.2,396.8,8.9,375,7317,0.00,2.40,0.00,0.000,6,0.000,0.031,3010,2079,1932
$GC,7637,0.96,175.2,371.3,7.8,383,7641,0.00,2.47,0.00,0.000,4,0.000,0.080,3010,671,1931
$GC,7669,0.96,175.2,368.6,8.7,383,7675,0.00,2.38,0.00,0.000,6,0.000,0.031,3010,2080,1930
$GC,8000,0.96,175.2,340.6,8.8,392,8004,0.00,2.45,0.00,0.000,4,0.000,0.046,3010,675,1929
$GC,8054,0.96,175.2,335.5,9.9,393,8059,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2074,1928
$GC,8367,0.96,175.2,311.4,7.2,401,8371,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,3475,1928
$GC,8461,0.98,190.5,304.7,6.7,403,8477,0.00,2.35,10.82,0.755,6,0.000,0.061,3010,2075,1887
$GC,8797,0.98,190.5,274.3,9.1,418,8801,0.00,2.42,0.00,0.000,4,0.000,0.047,3011,680,1884
$GC,8949,0.98,190.5,259.5,9.9,425,8953,0.00,2.35,0.00,0.000,6,0.000,0.028,3010,2084,1882
$GC,9281,0.98,194.1,235.0,7.0,441,9290,0.00,2.47,4.12,0.525,4,0.000,0.076,3010,674,1872
$GC,9370,0.98,194.1,228.1,7.2,445,9374,0.00,2.35,0.00,0.000,6,0.000,0.063,3010,2083,1870
$GC,9696,1.00,203.5,205.6,6.9,461,9711,0.00,2.42,9.90,0.672,4,0.000,0.048,3010,3479,1833
$GC,9861,1.00,203.5,190.8,9.0,471,9868,0.00,2.38,0.00,0.000,6,0.000,0.060,3010,2082,1833
$GC,10186,1.00,203.5,169.0,7.2,502,10190,0.00,2.42,0.00,0.000,4,0.000,0.041,3010,668,1831
$GC,10229,1.00,203.5,165.8,7.7,505,10236,0.00,2.35,0.00,0.000,6,0.000,0.057,3010,2090,1830
$GC,10556,1.00,203.5,141.5,7.3,536,10560,0.00,2.35,0.00,0.000,4,0.000,0.044,3010,3475,1830
$GC,10629,1.00,206.2,136.2,7.1,542,10633,0.00,2.33,0.00,0.000,6,0.000,0.024,3010,2072,1830
$GC,10955,1.04,241.5,116.8,6.2,572,11001,0.00,2.42,35.88,0.611,4,0.000,0.071,3009,682,1678
$GC,11031,1.04,241.5,111.4,7.5,579,11035,0.00,2.30,0.00,0.000,6,0.000,0.059,3010,2084,1675
$GC,11355,1.06,255.7,88.6,6.8,609,11377,0.00,2.45,13.00,0.568,4,0.000,0.037,3010,691,1619
$GC,11416,1.07,267.7,84.5,6.8,614,11434,0.00,2.30,11.85,0.554,6,0.000,0.025,3010,2087,1571
$GC,11751,1.11,296.7,61.1,6.4,646,11785,0.12,2.42,25.83,0.565,4,0.050,0.041,3051,683,1453
$GC,11887,1.11,296.7,49.6,8.4,658,11891,0.00,2.00,0.00,0.000,6,0.000,0.058,3052,1942,1448
$GC,12214,1.12,301.8,26.1,7.0,693,12227,0.00,2.55,5.18,0.416,4,0.000,0.052,3051,3462,1433
$GC,12283,1.12,301.8,20.6,7.6,705,12290,0.00,2.25,0.00,0.000,6,0.000,0.021,3052,2075,1433
$GC,12403,1.12,301.8,11.1,8.1,726,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2074,1433
$STATE,12496,end climb,SURFACE_DEPTH_REACHED
$STATE,12497,begin surface coast
$FINISH,0.0,1.022756
$STATE,12532,end surface coast,CONTROL_FINISHED_OK
$STATE,12532,begin surface
$SM_CCo,12551,16.40,0.497,0,0,1358,320.12
$SM_GC,0.79,0.00,0.00,16.40,0.000,0.000,0.497,430,2069,1358,-10.87,-0.28,320.12
$IRIDIUM_FIX,2057.14,-15748.75,101097,010119
$TT8_MAMPS,0.029146
$HUMID,1852
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,712
$24V_AH,23.4,36.954
$10V_AH,10.2,21.431
$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,25.650,122.350,404.250,16.400,0.000,26.461,26.828,220.351,178.000,0.000,0.000,13.102,1335.170,8952.780,516.871,1687.354,463.769,33.389,1352.255,0.000,1677.208,0.000,0.471
$DEVICE_MAMPS,172.575,79.768,898.157,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.448,490.844,836.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38062,749
$CAP_FILE_SIZE,107182,15
$CFSIZE,260165632,255209472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160708,084807,2108.625,-15753.099,54,0.8,54,9.8