version: 66.03
glider: 139
mission: 3
dive: 75
start: 7 20 108 0 30 36
data:
$ID,139
$MISSION,3
$DIVE,75
$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,-1271924.4
$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,40
$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
$GPS1,001355,2102.853,-15747.372,70,1.3,70,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-69.9
$GPS2,002945,2102.853,-15747.479,13,1.5,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.116,0.227
$KALMAN_X,-17599.1,377.8,696.2,25722.5,-1429.1
$KALMAN_Y,-182.1,-60.9,156.0,-25508.5,32.6
$MHEAD_RNG_PITCHd_Wd,323.1,17498,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.83,0.000,2,0.000,0.000,425,2090,2935
$GC,78,-0.96,-175.2,3.5,-6.2,10,103,12.30,2.35,-7.45,0.000,4,0.160,0.061,2577,3466,3382
$GC,240,-0.96,-175.2,34.4,-11.9,35,244,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2074,3385
$GC,564,-0.96,-175.2,67.7,-9.0,65,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3385
$GC,883,-0.96,-175.2,95.0,-8.5,95,887,0.00,2.33,0.00,0.000,4,0.000,0.031,2578,3466,3386
$GC,915,-0.96,-175.2,97.8,-8.1,97,922,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2080,3385
$GC,1243,-0.96,-175.2,124.5,-8.3,128,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3386
$GC,1558,-0.96,-175.2,151.0,-7.3,158,1562,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,682,3386
$GC,1586,-0.96,-175.2,153.0,-7.1,160,1591,0.00,2.25,0.00,0.000,6,0.000,0.054,2577,2084,3386
$GC,1911,-0.96,-175.2,176.2,-7.0,190,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2089,3386
$GC,2229,-0.96,-175.2,199.6,-7.6,220,2233,0.00,2.38,0.00,0.000,4,0.000,0.036,2577,682,3386
$GC,2249,-0.96,-175.2,201.2,-7.4,221,2254,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2076,3386
$GC,2577,-0.96,-175.2,226.5,-6.9,237,2581,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,687,3385
$GC,2604,-0.96,-175.2,228.5,-7.4,238,2608,0.00,2.28,0.00,0.000,6,0.000,0.056,2578,2073,3385
$GC,2925,-0.96,-175.2,249.2,-5.9,254,2929,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,3466,3385
$GC,2971,-0.96,-175.2,251.9,-6.2,256,2975,0.00,2.28,0.00,0.000,6,0.000,0.022,2577,2074,3385
$GC,3297,-0.96,-175.2,272.7,-6.9,272,3301,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,684,3383
$GC,3335,-0.96,-175.2,275.5,-7.5,274,3340,0.00,2.28,0.00,0.000,6,0.000,0.057,2578,2085,3384
$GC,3662,-0.96,-175.2,294.8,-5.3,290,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3382
$GC,3968,-0.96,-175.2,313.2,-6.3,300,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2088,3380
$GC,4293,-0.96,-175.2,335.8,-6.8,308,4297,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,681,3379
$GC,4325,-0.96,-175.2,338.3,-7.9,308,4329,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2072,3379
$GC,4662,-0.96,-175.2,362.5,-7.4,317,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2076,3378
$GC,4987,-0.96,-175.2,384.9,-6.4,325,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2075,3376
$GC,5312,-0.96,-175.2,402.3,-5.2,333,5316,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,684,3374
$GC,5338,-0.96,-175.2,403.8,-5.9,333,5343,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2077,3374
$GC,5675,-0.96,-175.2,422.3,-5.4,342,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3372
$GC,6000,-0.96,-175.2,436.8,-4.2,350,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3370
$STATE,6323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6323,begin apogee
$GC,6328,-0.31,0.0,451.0,4.5,358,6473,0.68,0.00,141.75,0.890,6,0.058,0.000,2726,2081,2663
$STATE,6473,end apogee,CONTROL_FINISHED_OK
$STATE,6473,begin climb
$GC,6475,0.96,175.2,456.6,0.0,361,6630,1.25,2.50,145.82,0.865,4,0.103,0.079,3011,699,1946
$GC,6642,0.96,175.2,456.3,7.2,365,6648,0.00,2.33,0.00,0.000,6,0.000,0.029,3011,2075,1943
$GC,6972,0.96,175.2,427.0,9.1,374,6976,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,3474,1937
$GC,7037,0.96,175.2,420.5,10.1,375,7042,0.00,2.38,0.00,0.000,6,0.000,0.064,3011,2096,1937
$GC,7380,0.96,175.2,388.3,9.3,384,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2095,1934
$GC,7705,0.96,175.2,360.6,8.2,392,7709,0.00,2.47,0.00,0.000,4,0.000,0.047,3011,677,1932
$GC,7765,0.96,175.2,355.2,9.3,393,7769,0.00,2.38,0.00,0.000,6,0.000,0.029,3011,2074,1930
$GC,8113,0.96,175.2,326.3,8.4,402,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2077,1930
$GC,8438,0.96,175.2,299.5,7.8,410,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2078,1929
$GC,8750,0.96,175.2,274.3,8.9,425,8754,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,3481,1928
$GC,8804,0.96,175.2,268.8,9.7,427,8811,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2078,1928
$GC,9121,0.96,176.9,242.6,7.1,443,9125,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,676,1926
$GC,9164,0.99,200.3,239.6,6.5,445,9189,0.00,2.35,19.05,0.739,6,0.000,0.033,3011,2089,1846
$GC,9511,0.99,200.3,216.5,7.8,462,9515,0.00,2.35,0.00,0.000,4,0.000,0.039,3011,3470,1842
$GC,9556,0.99,200.3,212.7,8.6,464,9560,0.00,2.33,0.00,0.000,6,0.000,0.026,3011,2079,1842
$GC,9875,1.03,228.4,191.9,6.4,485,9907,0.00,2.45,25.40,0.696,4,0.000,0.048,3011,679,1730
$GC,9975,1.03,228.4,184.1,8.7,494,9979,0.00,2.33,0.00,0.000,6,0.000,0.025,3011,2083,1725
$GC,10300,1.03,228.4,156.5,8.0,524,10304,0.00,2.42,0.00,0.000,4,0.000,0.075,3011,677,1725
$GC,10339,1.03,228.4,153.0,9.0,527,10343,0.00,2.30,0.00,0.000,6,0.000,0.058,3011,2084,1724
$GC,10670,1.03,228.4,126.1,7.7,558,10674,0.00,2.35,0.00,0.000,4,0.000,0.039,3011,3473,1724
$GC,10743,1.03,228.4,120.7,7.2,564,10748,0.00,2.33,0.00,0.000,6,0.000,0.023,3011,2067,1723
$GC,11069,1.05,250.7,99.6,6.5,594,11091,0.00,0.00,19.70,0.601,6,0.000,0.000,3011,2065,1641
$GC,11408,1.07,263.5,76.8,6.8,626,11423,0.00,0.00,12.55,0.553,6,0.000,0.000,3011,2065,1589
$GC,11739,1.07,263.5,53.6,7.3,657,11743,0.00,1.58,0.00,0.000,4,0.000,0.077,3011,3039,1586
$GC,11790,1.07,263.5,49.7,7.6,661,11796,0.00,1.60,0.00,0.000,6,0.000,0.022,3011,2068,1586
$GC,12117,1.09,278.7,26.1,6.7,697,12140,0.00,2.40,14.38,0.515,4,0.000,0.070,3011,687,1525
$GC,12231,1.09,280.1,17.8,7.1,717,12237,0.00,2.25,0.00,0.000,6,0.000,0.019,3011,2099,1522
$GC,12350,1.14,319.5,10.4,6.1,738,12390,0.15,0.00,35.92,0.520,6,0.042,0.000,3063,2103,1360
$STATE,12439,end climb,SURFACE_DEPTH_REACHED
$STATE,12440,begin surface coast
$FINISH,0.2,1.022857
$STATE,12481,end surface coast,CONTROL_FINISHED_OK
$STATE,12482,begin surface
$SM_CCo,12561,0.00,0.000,0,0,1352,321.83
$SM_GC,0.71,11.38,0.00,0.00,0.034,0.000,0.000,432,2101,1352,-10.80,0.62,321.83
$IRIDIUM_FIX,2054.83,-16022.32,141097,000012
$TT8_MAMPS,0.029146
$HUMID,1854
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,698
$24V_AH,23.4,40.483
$10V_AH,10.2,23.507
$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,25.750,92.425,414.575,0.000,0.000,86.046,117.759,492.747,174.500,0.000,0.000,14.536,1305.980,9278.277,477.682,1552.033,884.194,33.371,1241.644,0.000,1549.077,0.000,0.471
$DEVICE_MAMPS,160.303,79.001,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.211,499.868,867.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38086,761
$CAP_FILE_SIZE,103684,8
$CFSIZE,260165632,253874176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200708,040108,2103.804,-15748.353,36,1.1,36,9.8