version: 66.03
glider: 139
mission: 3
dive: 90
start: 7 22 108 6 0 9
data:
$ID,139
$MISSION,3
$DIVE,90
$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,-1272289.6
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,054737,2101.676,-15746.865,29,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,2
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-65.6
$GPS2,055920,2101.761,-15746.841,14,1.5,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.123,0.223
$KALMAN_X,-18739.7,653.3,-404.9,28786.4,-844.2
$KALMAN_Y,-9577.1,131.2,-416.9,-17747.2,-256.6
$MHEAD_RNG_PITCHd_Wd,321.4,19717,-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,-175.2,0.0,0.0,0,108,0.00,0.00,-86.03,0.000,2,0.000,0.000,422,2061,2940
$GC,111,-0.96,-175.2,3.8,-6.9,16,136,12.30,2.40,-7.20,0.000,4,0.158,0.039,2577,3472,3383
$GC,304,-0.96,-175.2,38.3,-10.3,44,309,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2080,3384
$GC,629,-0.96,-175.2,71.4,-9.5,74,633,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,680,3384
$GC,679,-0.96,-175.2,76.3,-9.4,78,683,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2090,3385
$GC,1004,-0.96,-175.2,109.4,-10.9,108,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2093,3385
$GC,1322,-0.96,-175.2,138.2,-7.6,138,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2093,3385
$GC,1640,-0.96,-175.2,161.3,-6.3,168,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2093,3385
$GC,1959,-0.96,-175.2,182.3,-6.9,198,1963,0.00,2.38,0.00,0.000,4,0.000,0.036,2577,684,3385
$GC,2004,-0.96,-175.2,185.3,-6.6,201,2010,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2086,3385
$GC,2327,-0.96,-175.2,205.5,-6.5,228,2331,0.00,2.38,0.00,0.000,4,0.000,0.056,2577,683,3384
$GC,2359,-0.96,-175.2,208.0,-8.0,229,2365,0.00,2.28,0.00,0.000,6,0.000,0.054,2578,2076,3384
$GC,2675,-0.96,-175.2,231.6,-6.7,245,2679,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,684,3383
$GC,2715,-0.96,-175.2,234.3,-6.5,247,2719,0.00,2.25,0.00,0.000,6,0.000,0.021,2578,2077,3383
$GC,3041,-0.96,-175.2,252.4,-5.0,263,3045,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,679,3382
$GC,3067,-0.96,-175.2,253.8,-5.4,264,3071,0.00,2.28,0.00,0.000,6,0.000,0.030,2578,2082,3382
$GC,3389,-0.96,-175.2,272.8,-5.9,280,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3381
$GC,3698,-0.96,-175.2,293.4,-6.5,295,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3379
$GC,4025,-0.96,-175.2,309.2,-4.2,306,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3377
$GC,4350,-0.96,-175.2,327.3,-6.0,314,4354,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,679,3375
$GC,4382,-0.96,-175.2,329.6,-6.9,314,4389,0.00,2.28,0.00,0.000,6,0.000,0.025,2578,2071,3375
$GC,4713,-0.96,-175.2,349.7,-5.9,323,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2074,3373
$GC,5038,-0.96,-175.2,369.8,-5.9,331,5042,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3473,3371
$GC,5071,-0.96,-175.2,371.7,-5.7,331,5075,0.00,2.30,0.00,0.000,6,0.000,0.028,2578,2087,3371
$GC,5408,-0.96,-175.2,388.7,-5.0,340,5412,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,680,3369
$GC,5447,-0.96,-175.2,391.1,-6.0,341,5451,0.00,2.33,0.00,0.000,6,0.000,0.028,2578,2081,3368
$GC,5771,-0.96,-175.2,411.5,-5.9,349,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2084,3366
$GC,6095,-0.96,-175.2,427.0,-4.6,357,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3364
$GC,6420,-0.96,-175.2,443.3,-5.2,365,6424,0.00,2.40,0.00,0.000,4,0.000,0.046,2577,3473,3362
$GC,6452,-0.96,-175.2,445.3,-6.1,365,6459,0.00,2.35,0.00,0.000,6,0.000,0.038,2578,2073,3362
$STATE,6537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6537,begin apogee
$GC,6542,-0.31,0.0,450.2,5.7,368,6685,0.38,0.00,140.43,0.904,6,0.101,0.000,2664,2071,2664
$STATE,6686,end apogee,CONTROL_FINISHED_OK
$STATE,6686,begin climb
$GC,6688,0.96,175.2,455.3,0.0,371,6845,1.52,2.55,145.40,0.874,4,0.050,0.047,3003,677,1947
$GC,6923,0.96,175.2,445.4,10.6,376,6927,0.00,2.40,0.00,0.000,6,0.000,0.064,3003,2069,1938
$GC,7265,0.96,175.2,416.9,7.6,385,7269,0.00,2.47,0.00,0.000,4,0.000,0.045,3003,3481,1935
$GC,7376,0.96,175.2,408.2,7.8,387,7381,0.00,2.38,0.00,0.000,6,0.000,0.031,3003,2080,1935
$GC,7719,0.96,175.2,380.6,8.5,396,7723,0.00,2.45,0.00,0.000,4,0.000,0.049,3003,677,1933
$GC,7904,0.96,175.2,363.0,9.8,400,7908,0.00,2.38,0.00,0.000,6,0.000,0.030,3003,2091,1929
$GC,8215,0.96,175.2,335.1,8.8,408,8219,0.00,2.42,0.00,0.000,4,0.000,0.050,3003,3484,1929
$GC,8264,0.96,175.2,330.4,9.6,409,8269,0.00,2.40,0.00,0.000,6,0.000,0.065,3003,2085,1929
$GC,8583,0.96,175.2,305.0,7.2,417,8587,0.00,2.47,0.00,0.000,4,0.000,0.051,3004,667,1927
$GC,8677,0.96,175.2,298.1,7.2,419,8681,0.00,2.38,0.00,0.000,6,0.000,0.029,3003,2088,1926
$GC,8998,0.98,194.8,278.3,6.6,435,9020,0.00,2.45,14.30,0.770,4,0.000,0.050,3003,3477,1869
$GC,9058,0.98,194.8,273.9,7.7,437,9065,0.00,2.38,0.00,0.000,6,0.000,0.028,3003,2077,1868
$GC,9374,0.98,194.8,251.1,7.2,453,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2075,1866
$GC,9683,0.98,194.8,229.5,7.3,468,9687,0.00,2.42,0.00,0.000,4,0.000,0.055,3003,677,1864
$GC,9776,0.98,194.8,222.8,7.2,472,9781,0.00,2.35,0.00,0.000,6,0.000,0.026,3003,2076,1862
$GC,10097,0.98,194.8,199.1,8.2,488,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2080,1862
$GC,10417,1.02,222.0,174.4,6.4,518,10448,0.00,0.00,24.33,0.699,6,0.000,0.000,3003,2080,1758
$GC,10766,1.06,259.4,153.8,6.1,551,10809,0.10,2.45,33.17,0.671,4,0.060,0.036,3032,3471,1605
$GC,10836,1.06,259.4,147.8,9.2,557,10843,0.00,2.38,0.00,0.000,6,0.000,0.025,3032,2072,1605
$GC,11164,1.06,259.4,119.5,9.3,588,11168,0.00,2.40,0.00,0.000,4,0.000,0.064,3032,676,1600
$GC,11195,1.06,259.4,116.1,9.8,590,11202,0.00,2.33,0.00,0.000,6,0.000,0.021,3032,2084,1598
$GC,11522,1.06,259.4,90.1,7.2,621,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2088,1598
$GC,11839,1.07,261.3,64.6,7.1,651,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2088,1598
$GC,12158,1.07,261.3,40.5,7.5,681,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2088,1598
$GC,12485,1.07,261.3,16.9,7.4,726,12491,0.00,2.38,0.00,0.000,4,0.000,0.036,3032,677,1599
$GC,12627,1.11,299.4,7.3,6.1,751,12667,0.00,2.25,34.42,0.525,6,0.000,0.025,3032,2091,1443
$STATE,12710,end climb,SURFACE_DEPTH_REACHED
$STATE,12710,begin surface coast
$FINISH,-0.0,1.003027
$STATE,12758,end surface coast,CONTROL_FINISHED_OK
$STATE,12758,begin surface
$SM_CCo,12777,16.58,0.505,0,0,1359,320.12
$SM_GC,0.91,0.00,0.00,16.58,0.000,0.000,0.505,431,2089,1359,-10.87,0.28,320.12
$IRIDIUM_FIX,2054.83,-15749.62,161097,020223
$TT8_MAMPS,0.029146
$HUMID,1874
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,713
$24V_AH,23.3,42.551
$10V_AH,10.2,24.718
$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,25.550,94.700,392.050,16.575,0.000,28.567,41.363,486.301,178.250,0.000,0.000,33.273,1333.163,9213.380,500.233,1696.736,740.696,33.364,1322.707,0.000,1668.047,0.000,0.470
$DEVICE_MAMPS,158.002,65.195,903.526,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.174,507.444,860.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41131,774
$CAP_FILE_SIZE,108069,5
$CFSIZE,260165632,253083648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220708,093507,2103.044,-15747.404,66,1.3,66,9.8