version: 66.03
glider: 139
mission: 3
dive: 53
start: 7 16 108 16 21 11
data:
$ID,139
$MISSION,3
$DIVE,53
$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,-1271357.6
$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,41
$R_STBD_OVSHOOT,65
$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
$GPS1,161402,2108.782,-15753.795,46,1.4,46,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-69.1
$GPS2,162021,2108.771,-15753.797,10,1.5,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.221
$KALMAN_X,-2401.1,-758.0,-676.6,2137.1,1188.4
$KALMAN_Y,306.3,-352.4,-23.2,-14573.9,-30.2
$MHEAD_RNG_PITCHd_Wd,140.5,16841,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,78,0.00,0.00,-54.88,0.000,2,0.000,0.000,427,2086,2944
$GC,81,-0.96,-175.2,3.6,-6.6,10,106,12.25,2.45,-7.15,0.000,4,0.159,0.051,2577,685,3382
$GC,209,-0.96,-175.2,32.3,-12.3,31,212,0.00,1.75,0.00,0.000,6,0.000,0.063,2578,1834,3384
$GC,539,-0.96,-175.2,72.5,-11.7,62,543,0.00,2.70,0.00,0.000,4,0.000,0.029,2578,3458,3385
$GC,712,-0.96,-175.2,91.2,-10.6,77,716,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2076,3385
$GC,1043,-0.96,-175.2,123.8,-8.6,108,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2074,3386
$GC,1360,-0.96,-175.2,151.7,-8.3,138,1365,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,680,3387
$GC,1382,-0.96,-175.2,153.5,-7.9,139,1388,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2067,3388
$GC,1707,-0.96,-175.2,176.4,-7.6,170,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2072,3387
$GC,2025,-0.96,-175.2,200.7,-8.3,200,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2073,3387
$GC,2335,-0.96,-175.2,221.2,-5.4,215,2339,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,681,3387
$GC,2379,-0.96,-175.2,223.6,-5.6,217,2383,0.00,2.25,0.00,0.000,6,0.000,0.035,2578,2073,3387
$GC,2706,-0.96,-175.2,242.4,-6.8,233,2710,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,680,3386
$GC,2738,-0.96,-175.2,245.0,-7.1,234,2742,0.00,2.28,0.00,0.000,6,0.000,0.056,2578,2084,3386
$GC,3060,-0.96,-175.2,265.6,-5.5,250,3063,0.00,2.33,0.00,0.000,4,0.000,0.036,2578,3464,3385
$GC,3098,-0.96,-175.2,268.1,-6.0,251,3104,0.00,2.28,0.00,0.000,6,0.000,0.058,2578,2079,3385
$GC,3414,-0.96,-175.2,289.2,-6.8,267,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3383
$GC,3741,-0.96,-175.2,311.2,-6.2,279,3745,0.00,2.35,0.00,0.000,4,0.000,0.040,2578,687,3382
$GC,3786,-0.96,-175.2,314.1,-6.0,280,3790,0.00,2.28,0.00,0.000,6,0.000,0.025,2578,2078,3382
$GC,4109,-0.96,-175.2,330.0,-4.4,288,4113,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3470,3380
$GC,4130,-0.96,-175.2,331.0,-4.8,288,4134,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2073,3380
$GC,4478,-0.96,-175.2,349.0,-5.4,297,4482,0.00,2.38,0.00,0.000,4,0.000,0.042,2578,683,3379
$GC,4505,-0.96,-175.2,350.6,-6.3,297,4509,0.00,2.30,0.00,0.000,6,0.000,0.057,2578,2079,3379
$GC,4842,-0.96,-175.2,369.5,-5.9,306,4846,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3480,3376
$GC,4882,-0.96,-175.2,371.7,-6.0,307,4886,0.00,2.33,0.00,0.000,6,0.000,0.064,2578,2084,3376
$GC,5205,-0.96,-175.2,389.0,-5.2,315,5210,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,673,3375
$GC,5245,-0.96,-175.2,391.1,-6.1,316,5249,0.00,2.35,0.00,0.000,6,0.000,0.063,2578,2087,3375
$GC,5569,-0.96,-175.2,410.3,-6.0,324,5573,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,3473,3372
$GC,5641,-0.96,-175.2,414.5,-5.7,325,5645,0.00,2.33,0.00,0.000,6,0.000,0.035,2578,2068,3372
$GC,5977,-0.96,-175.2,434.8,-6.4,334,5981,0.00,2.38,0.00,0.000,4,0.000,0.045,2578,683,3369
$GC,6015,-0.96,-175.2,437.6,-7.4,334,6021,0.00,2.35,0.00,0.000,6,0.000,0.062,2578,2079,3370
$STATE,6181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6182,begin apogee
$GC,6186,-0.31,0.0,450.1,7.5,339,6331,0.68,0.00,141.70,0.896,6,0.170,0.000,2730,2080,2664
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6334,0.96,175.2,459.1,0.0,342,6490,1.20,2.55,145.32,0.871,4,0.041,0.078,3006,683,1946
$GC,6664,0.96,175.2,442.2,10.7,349,6668,0.00,2.35,0.00,0.000,6,0.000,0.038,3006,2071,1936
$GC,7000,0.96,175.2,409.3,9.7,358,7004,0.00,2.45,0.00,0.000,4,0.000,0.047,3006,679,1935
$GC,7065,0.96,175.2,402.5,10.4,359,7070,0.00,2.40,0.00,0.000,6,0.000,0.037,3006,2077,1933
$GC,7408,0.96,175.2,373.6,7.6,368,7412,0.00,2.45,0.00,0.000,4,0.000,0.077,3006,3481,1933
$GC,7463,0.97,184.2,369.5,6.9,369,7474,0.00,2.38,6.15,0.696,6,0.000,0.030,3006,2076,1913
$GC,7815,0.97,184.2,341.8,8.2,378,7820,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,3483,1911
$GC,7848,0.97,184.2,339.1,7.9,378,7854,0.00,2.38,0.00,0.000,6,0.000,0.030,3006,2081,1911
$GC,8179,0.97,186.0,315.8,7.1,387,8183,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,3477,1909
$GC,8207,0.97,186.0,313.5,7.9,387,8211,0.00,2.35,0.00,0.000,6,0.000,0.030,3006,2079,1909
$GC,8519,0.97,186.0,288.3,7.7,398,8523,0.00,2.42,0.00,0.000,4,0.000,0.047,3006,676,1908
$GC,8575,0.97,186.0,284.1,7.7,400,8581,0.00,2.35,0.00,0.000,6,0.000,0.061,3006,2090,1906
$GC,8889,0.99,200.2,261.7,6.8,416,8911,0.00,2.42,14.75,0.751,4,0.000,0.048,3006,3474,1846
$GC,9017,0.99,200.2,251.9,7.7,421,9024,0.00,2.35,0.00,0.000,6,0.000,0.028,3006,2077,1845
$GC,9333,0.99,200.2,227.9,8.4,437,9337,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,674,1843
$GC,9439,0.99,200.2,218.1,8.9,442,9443,0.00,2.35,0.00,0.000,6,0.000,0.061,3006,2086,1840
$GC,9757,1.01,216.2,193.1,6.7,462,9789,0.00,2.53,16.75,0.634,4,0.000,0.041,3007,677,1780
$GC,9823,1.01,216.2,188.1,8.1,468,9827,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2092,1778
$GC,10148,1.03,228.1,163.3,6.8,498,10165,0.00,2.38,11.57,0.648,4,0.000,0.050,3006,3470,1733
$GC,10210,1.03,228.1,158.5,8.1,503,10215,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2066,1733
$GC,10536,1.05,245.8,136.0,6.7,533,10559,0.00,2.42,16.75,0.638,4,0.000,0.038,3006,3477,1661
$GC,10665,1.05,245.8,126.2,7.8,544,10672,0.00,2.35,0.00,0.000,6,0.000,0.051,3006,2079,1660
$GC,10992,1.07,265.1,104.2,6.6,575,11015,0.10,2.47,18.08,0.601,4,0.058,0.038,3037,680,1582
$GC,11087,1.07,265.1,95.8,9.4,583,11094,0.00,2.33,0.00,0.000,6,0.000,0.028,3037,2084,1578
$GC,11416,1.07,267.6,69.8,7.1,614,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2089,1578
$GC,11740,1.07,267.6,44.5,7.3,645,11744,0.00,2.40,0.00,0.000,4,0.000,0.036,3037,674,1578
$GC,11862,1.09,276.8,36.2,6.9,655,11880,0.00,2.30,10.75,0.507,6,0.000,0.055,3037,2086,1535
$GC,12211,1.10,286.7,13.5,6.9,709,12229,0.00,2.42,10.15,0.481,4,0.000,0.068,3037,687,1493
$GC,12252,1.10,286.7,10.5,7.3,716,12258,0.00,2.22,0.00,0.000,6,0.000,0.018,3037,2080,1492
$STATE,12358,end climb,SURFACE_DEPTH_REACHED
$STATE,12358,begin surface coast
$FINISH,-0.1,1.022860
$STATE,12406,end surface coast,CONTROL_FINISHED_OK
$STATE,12406,begin surface
$SM_CCo,12425,28.65,0.511,0,0,1359,320.12
$SM_GC,0.82,0.00,0.00,28.65,0.000,0.000,0.511,422,2084,1359,-10.92,0.14,320.12
$IRIDIUM_FIX,2101.76,-15750.89,101097,121250
$TT8_MAMPS,0.029146
$HUMID,1830
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.30
$XPDR_PINGS,714
$24V_AH,23.4,37.361
$10V_AH,10.2,21.679
$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,25.450,127.500,391.975,28.650,0.000,26.986,33.286,202.919,178.500,0.000,0.000,11.733,1342.516,8793.006,511.663,1729.123,444.591,33.362,1375.216,0.000,1720.890,0.000,0.471
$DEVICE_MAMPS,170.274,78.234,895.856,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.032,487.655,832.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37882,743
$CAP_FILE_SIZE,108067,12
$CFSIZE,260165632,255045632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160708,194953,2107.813,-15752.738,10,3.4,29,9.8