version: 66.03
glider: 139
mission: 3
dive: 56
start: 7 17 108 3 16 28
data:
$ID,139
$MISSION,3
$DIVE,56
$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,-1271433
$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,39
$R_STBD_OVSHOOT,60
$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
$GPS1,030325,2105.706,-15751.449,61,0.9,61,9.8
$_CALLS,3
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-69.0
$GPS2,031538,2105.740,-15751.557,11,1.0,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.148
$KALMAN_X,-5401.1,245.4,-436.7,7756.0,-541.3
$KALMAN_Y,1377.5,474.5,-149.2,-21953.7,211.0
$MHEAD_RNG_PITCHd_Wd,115.7,10197,-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,-53.95,0.000,2,0.000,0.000,424,2084,2918
$GC,78,-0.96,-175.2,3.3,-6.5,10,108,12.35,2.42,-7.72,0.000,4,0.162,0.049,2577,685,3383
$GC,188,-0.96,-175.2,29.2,-13.8,29,195,0.00,2.08,0.00,0.000,6,0.000,0.056,2577,2007,3384
$GC,300,-0.96,-175.2,42.2,-11.1,40,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2011,3384
$GC,619,-0.96,-175.2,71.7,-9.1,70,623,0.00,2.40,0.00,0.000,4,0.000,0.030,2577,3461,3385
$GC,668,-0.96,-175.2,76.4,-8.8,74,675,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2078,3385
$GC,993,-0.96,-175.2,105.3,-8.4,105,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3386
$GC,1312,-0.96,-175.2,132.1,-6.7,135,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3387
$GC,1630,-0.96,-175.2,155.9,-8.6,165,1634,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,684,3387
$GC,1662,-0.96,-175.2,158.9,-9.0,167,1668,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2073,3386
$GC,1988,-0.96,-175.2,184.5,-6.7,198,1992,0.00,2.33,0.00,0.000,4,0.000,0.066,2577,3461,3387
$GC,2005,-0.96,-175.2,185.6,-6.3,199,2009,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2079,3387
$GC,2338,-0.96,-175.2,204.9,-5.3,226,2342,0.00,2.35,0.00,0.000,4,0.000,0.061,2577,683,3387
$GC,2365,-0.96,-175.2,206.6,-5.8,227,2369,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2082,3386
$GC,2686,-0.96,-175.2,225.0,-6.7,243,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3386
$GC,2995,-0.96,-175.2,244.5,-6.3,258,2999,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,680,3385
$GC,3038,-0.96,-175.2,247.6,-7.3,260,3042,0.00,2.30,0.00,0.000,6,0.000,0.022,2577,2098,3385
$GC,3365,-0.96,-175.2,270.9,-6.9,276,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2101,3383
$GC,3674,-0.96,-175.2,289.0,-5.7,291,3679,0.00,2.40,0.00,0.000,4,0.000,0.040,2577,687,3382
$GC,3718,-0.96,-175.2,291.7,-6.4,293,3722,0.00,2.28,0.00,0.000,6,0.000,0.034,2577,2080,3381
$GC,4063,-0.96,-175.2,312.8,-5.9,305,4067,0.00,2.35,0.00,0.000,4,0.000,0.039,2577,3468,3380
$GC,4123,-0.96,-175.2,316.2,-5.6,306,4127,0.00,2.28,0.00,0.000,6,0.000,0.061,2577,2081,3380
$GC,4472,-0.96,-175.2,336.7,-6.2,315,4476,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,679,3377
$GC,4526,-0.96,-175.2,340.5,-6.9,316,4530,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2080,3377
$GC,4839,-0.96,-175.2,363.9,-7.9,324,4843,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,3473,3375
$GC,4899,-0.96,-175.2,369.0,-8.6,325,4904,0.00,2.33,0.00,0.000,6,0.000,0.035,2577,2085,3375
$GC,5247,-0.96,-175.2,397.0,-7.8,334,5251,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,679,3373
$GC,5318,-0.96,-175.2,401.9,-6.8,335,5322,0.00,2.30,0.00,0.000,6,0.000,0.027,2577,2079,3373
$GC,5655,-0.96,-175.2,421.0,-5.5,344,5659,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,3468,3371
$GC,5705,-0.96,-175.2,423.8,-4.9,345,5709,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2082,3371
$GC,6023,-0.96,-175.2,445.5,-7.6,353,6027,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3476,3369
$GC,6038,-0.96,-175.2,446.9,-8.0,353,6043,0.00,2.35,0.00,0.000,6,0.000,0.055,2577,2085,3369
$STATE,6100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6100,begin apogee
$GC,6105,-0.31,0.0,452.1,8.5,355,6250,0.68,0.00,141.60,0.896,6,0.049,0.000,2731,2083,2664
$STATE,6251,end apogee,CONTROL_FINISHED_OK
$STATE,6251,begin climb
$GC,6253,0.96,175.2,461.9,0.0,358,6407,1.20,2.47,145.30,0.871,4,0.039,0.076,3010,3470,1948
$GC,6593,0.96,175.2,448.3,9.2,366,6597,0.00,2.35,0.00,0.000,6,0.000,0.066,3009,2086,1942
$GC,6922,0.96,175.2,418.9,9.0,374,6926,0.00,2.47,0.00,0.000,4,0.000,0.049,3009,675,1936
$GC,6961,0.96,175.2,415.0,9.9,375,6965,0.00,2.38,0.00,0.000,6,0.000,0.044,3010,2081,1934
$GC,7283,0.96,175.2,385.0,8.9,383,7288,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3477,1933
$GC,7344,0.96,175.2,380.0,8.0,384,7348,0.00,2.40,0.00,0.000,6,0.000,0.066,3009,2084,1933
$GC,7692,0.96,175.2,353.8,7.7,393,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2083,1931
$GC,8017,0.96,175.2,327.5,7.8,401,8021,0.00,2.47,0.00,0.000,4,0.000,0.081,3009,667,1929
$GC,8082,0.96,175.2,322.2,8.1,402,8087,0.00,2.40,0.00,0.000,6,0.000,0.029,3009,2081,1928
$GC,8425,1.00,205.5,299.0,6.3,411,8454,0.00,2.50,23.75,0.805,4,0.000,0.076,3009,3477,1826
$GC,8591,1.00,205.5,284.2,9.4,418,8595,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2069,1824
$GC,8911,1.00,205.5,255.2,8.8,434,8915,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,3477,1820
$GC,8931,1.00,205.5,253.3,8.7,435,8936,0.00,2.38,0.00,0.000,6,0.000,0.043,3009,2084,1820
$GC,9258,1.00,205.5,225.0,9.0,451,9263,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,676,1819
$GC,9302,1.00,205.5,220.7,10.3,453,9306,0.00,2.38,0.00,0.000,6,0.000,0.026,3009,2088,1817
$GC,9620,1.02,223.5,197.4,6.7,470,9642,0.00,2.35,16.05,0.703,4,0.000,0.053,3010,3478,1751
$GC,9687,1.02,223.5,192.3,8.2,476,9691,0.00,2.35,0.00,0.000,6,0.000,0.026,3009,2074,1751
$GC,10012,1.02,223.5,168.6,7.7,506,10016,0.00,2.40,0.00,0.000,4,0.000,0.077,3009,680,1748
$GC,10096,1.02,223.5,161.6,9.0,513,10100,0.00,2.33,0.00,0.000,6,0.000,0.032,3009,2084,1746
$GC,10421,1.04,237.5,138.1,6.8,543,10443,0.00,2.50,13.02,0.627,4,0.000,0.071,3009,675,1693
$GC,10499,1.04,237.5,132.2,7.6,550,10503,0.00,2.08,0.00,0.000,6,0.000,0.060,3009,1961,1691
$GC,10831,1.08,273.2,109.9,6.2,581,10873,0.00,2.60,32.05,0.625,4,0.000,0.053,3009,3474,1548
$GC,10908,1.08,273.2,104.5,7.2,588,10912,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2073,1548
$GC,11232,1.08,273.2,76.0,7.7,618,11236,0.00,2.38,0.00,0.000,4,0.000,0.038,3009,674,1544
$GC,11305,1.08,273.2,70.3,8.0,624,11309,0.00,2.30,0.00,0.000,6,0.000,0.020,3009,2100,1542
$GC,11636,1.11,295.7,46.0,6.5,655,11661,0.12,2.47,20.02,0.552,4,0.049,0.038,3051,676,1457
$GC,11797,1.11,295.7,30.4,10.3,669,11800,0.00,1.70,0.00,0.000,6,0.000,0.064,3051,1779,1452
$GC,12139,1.11,295.7,3.8,7.8,729,12146,0.00,2.70,0.00,0.000,4,0.000,0.050,3051,3438,1453
$STATE,12150,end climb,SURFACE_DEPTH_REACHED
$STATE,12150,begin surface coast
$FINISH,-0.1,1.010060
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12212,20.77,0.509,0,0,1358,320.12
$SM_GC,0.68,0.00,0.00,20.77,0.000,0.000,0.509,424,2082,1358,-10.91,0.08,320.12
$IRIDIUM_FIX,2101.76,-15756.04,101097,232313
$TT8_MAMPS,0.029146
$HUMID,1850
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,730
$24V_AH,23.4,37.785
$10V_AH,10.2,21.926
$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,25.725,127.025,391.800,20.775,0.000,92.342,85.272,315.028,182.500,0.000,0.000,13.025,1331.937,8730.864,485.752,1718.005,687.697,33.362,1344.748,0.000,1712.446,0.000,0.471
$DEVICE_MAMPS,161.837,80.535,895.856,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.807,494.685,836.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38025,738
$CAP_FILE_SIZE,110471,15
$CFSIZE,260165632,254885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170708,064137,2105.135,-15750.535,38,1.3,38,9.8