version: 66.03
glider: 139
mission: 3
dive: 100
start: 7 23 108 18 1 23
data:
$ID,139
$MISSION,3
$DIVE,100
$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,-1272564.4
$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,44
$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
$GPS1,175122,2109.783,-15754.293,43,2.4,62,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.5
$GPS2,180032,2109.860,-15754.428,15,1.2,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.191
$KALMAN_X,-12850.5,-394.1,-368.1,10813.1,689.3
$KALMAN_Y,-18449.4,-110.7,43.3,5892.5,-644.8
$MHEAD_RNG_PITCHd_Wd,128.7,19052,-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,20,-0.96,-175.2,0.0,0.0,0,109,0.00,0.00,-86.53,0.000,2,0.000,0.000,431,2067,2911
$GC,111,-0.96,-175.2,3.2,-4.9,16,141,12.23,2.40,-8.18,0.000,4,0.159,0.051,2575,687,3383
$GC,192,-0.96,-175.2,24.2,-15.3,30,199,0.00,2.22,0.00,0.000,6,0.000,0.025,2576,2082,3384
$GC,307,-0.96,-175.2,39.8,-12.6,44,311,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3465,3384
$GC,329,-0.96,-175.2,42.8,-13.2,46,334,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2084,3384
$GC,655,-0.96,-175.2,80.8,-11.1,76,659,0.00,2.38,0.00,0.000,4,0.000,0.071,2576,677,3384
$GC,689,-0.96,-175.2,84.7,-11.8,79,693,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2081,3384
$GC,1014,-0.96,-175.2,118.8,-9.3,109,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3385
$GC,1332,-0.96,-175.2,149.1,-9.0,139,1336,0.00,2.30,0.00,0.000,4,0.000,0.031,2576,3466,3385
$GC,1416,-0.96,-175.2,156.2,-7.7,146,1420,0.00,2.28,0.00,0.000,6,0.000,0.041,2576,2069,3385
$GC,1741,-0.96,-175.2,178.3,-6.8,176,1745,0.00,2.33,0.00,0.000,4,0.000,0.071,2575,685,3385
$GC,1809,-0.96,-175.2,182.8,-6.6,182,1813,0.00,2.22,0.00,0.000,6,0.000,0.019,2576,2078,3385
$GC,2148,-0.96,-175.2,205.1,-7.3,211,2152,0.00,2.30,0.00,0.000,4,0.000,0.032,2576,3460,3385
$GC,2169,-0.96,-175.2,206.9,-7.9,212,2173,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2079,3385
$GC,2495,-0.96,-175.2,233.5,-8.1,228,2500,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,681,3385
$GC,2534,-0.96,-175.2,236.4,-7.8,230,2539,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2078,3384
$GC,2861,-0.96,-175.2,255.0,-5.5,246,2865,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3467,3384
$GC,2883,-0.96,-175.2,256.4,-6.0,247,2887,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2072,3383
$GC,3209,-0.96,-175.2,279.6,-7.4,263,3213,0.00,2.33,0.00,0.000,4,0.000,0.038,2576,687,3382
$GC,3241,-0.96,-175.2,282.0,-7.6,264,3246,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2070,3382
$GC,3563,-0.96,-175.2,300.9,-5.4,280,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2074,3381
$GC,3888,-0.96,-175.2,318.1,-5.4,288,3892,0.00,2.35,0.00,0.000,4,0.000,0.040,2575,688,3379
$GC,3920,-0.96,-175.2,320.2,-5.9,288,3927,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2081,3379
$GC,4252,-0.96,-175.2,338.4,-5.7,297,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3377
$GC,4576,-0.96,-175.2,358.7,-6.4,305,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3375
$GC,4901,-0.96,-175.2,381.4,-7.0,313,4905,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,689,3373
$GC,4923,-0.96,-175.2,382.9,-6.8,313,4927,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2077,3373
$GC,5265,-0.96,-175.2,403.3,-6.3,322,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3370
$GC,5589,-0.96,-175.2,423.0,-5.9,330,5593,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,690,3369
$GC,5611,-0.96,-175.2,424.4,-6.5,330,5615,0.00,2.30,0.00,0.000,6,0.000,0.028,2576,2079,3369
$GC,5948,-0.96,-175.2,443.6,-5.8,339,5952,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,682,3366
$GC,5974,-0.96,-175.2,445.4,-6.8,339,5978,0.00,2.33,0.00,0.000,6,0.000,0.028,2575,2082,3366
$STATE,6065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6065,begin apogee
$GC,6070,-0.31,0.0,450.6,5.8,342,6214,0.70,0.00,140.95,0.890,6,0.058,0.000,2730,2085,2664
$STATE,6214,end apogee,CONTROL_FINISHED_OK
$STATE,6214,begin climb
$GC,6216,0.96,175.2,456.8,0.0,345,6373,1.20,2.53,145.25,0.864,4,0.036,0.077,3010,691,1946
$GC,6456,0.96,175.2,450.3,9.4,350,6461,0.00,2.38,0.00,0.000,6,0.000,0.028,3010,2079,1938
$GC,6793,0.96,175.2,422.9,8.2,359,6797,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,690,1936
$GC,6825,0.96,175.2,420.4,7.4,359,6832,0.00,2.35,0.00,0.000,6,0.000,0.035,3010,2091,1934
$GC,7157,0.96,175.2,393.4,9.4,368,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2093,1933
$GC,7481,0.96,175.2,361.7,9.3,376,7485,0.00,2.40,0.00,0.000,4,0.000,0.074,3010,3475,1931
$GC,7513,0.96,175.2,358.7,9.2,376,7519,0.00,2.35,0.00,0.000,6,0.000,0.062,3010,2088,1931
$GC,7844,0.96,175.2,333.9,7.4,385,7848,0.00,2.40,0.00,0.000,4,0.000,0.042,3010,3474,1930
$GC,7870,0.96,175.2,331.4,9.1,385,7875,0.00,2.38,0.00,0.000,6,0.000,0.054,3010,2084,1930
$GC,8206,0.96,175.2,302.0,9.5,394,8210,0.00,2.45,0.00,0.000,4,0.000,0.077,3010,671,1928
$GC,8251,0.96,175.2,297.6,10.5,395,8255,0.00,2.35,0.00,0.000,6,0.000,0.038,3010,2082,1926
$GC,8583,0.97,185.8,271.1,6.9,411,8596,0.00,2.47,6.45,0.653,4,0.000,0.047,3010,3478,1906
$GC,8626,0.97,185.8,268.1,7.7,413,8630,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2071,1906
$GC,8953,0.97,185.8,244.5,7.9,429,8956,0.00,2.42,0.00,0.000,4,0.000,0.039,3010,3483,1904
$GC,9020,0.97,185.8,239.1,8.1,432,9024,0.00,2.35,0.00,0.000,6,0.000,0.026,3010,2076,1904
$GC,9345,1.01,213.2,215.9,6.4,448,9376,0.00,2.45,25.25,0.727,4,0.000,0.049,3010,680,1793
$GC,9436,1.01,213.2,208.8,9.1,452,9441,0.00,2.35,0.00,0.000,6,0.000,0.025,3010,2092,1788
$GC,9764,1.01,213.2,182.9,8.0,478,9768,0.00,2.35,0.00,0.000,4,0.000,0.036,3010,3477,1788
$GC,9813,1.01,213.2,179.0,7.9,482,9818,0.00,2.33,0.00,0.000,6,0.000,0.025,3010,2077,1788
$GC,10139,1.01,213.2,155.9,7.4,512,10143,0.00,2.40,0.00,0.000,4,0.000,0.074,3010,674,1787
$GC,10155,1.01,213.2,154.4,7.5,513,10159,0.00,2.05,0.00,0.000,6,0.000,0.060,3010,1961,1785
$GC,10486,1.06,253.6,133.1,6.0,544,10528,0.00,2.62,34.95,0.646,4,0.000,0.034,3010,3471,1629
$GC,10544,1.08,275.0,129.3,6.6,549,10573,0.00,2.35,19.73,0.617,6,0.000,0.050,3010,2077,1541
$GC,10890,1.11,297.6,102.8,6.5,582,10916,0.12,2.45,19.95,0.597,4,0.049,0.051,3053,685,1449
$GC,10934,1.11,297.6,99.3,8.9,586,10938,0.00,2.30,0.00,0.000,6,0.000,0.021,3053,2089,1447
$GC,11261,1.11,297.6,67.2,10.1,616,11266,0.00,2.40,0.00,0.000,4,0.000,0.061,3053,680,1445
$GC,11346,1.11,297.6,57.0,11.7,623,11350,0.00,2.28,0.00,0.000,6,0.000,0.020,3053,2081,1443
$GC,11671,1.11,297.6,27.2,9.0,655,11677,0.00,2.38,0.00,0.000,4,0.000,0.069,3054,678,1443
$GC,11689,1.11,297.6,25.6,8.9,658,11696,0.00,2.25,0.00,0.000,6,0.000,0.019,3053,2084,1443
$GC,11809,1.11,297.6,15.4,9.0,679,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2089,1443
$GC,11927,1.16,340.9,6.4,6.0,700,11968,0.00,0.40,37.25,0.523,3,0.000,0.089,3053,1834,1273
$STATE,11968,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,0.2,1.009776
$STATE,11996,end surface coast,CONTROL_FINISHED_OK
$STATE,11996,begin surface
$SM_CCo,12077,0.00,0.000,0,0,1266,342.93
$SM_GC,0.96,11.38,0.00,0.00,0.035,0.000,0.000,424,2126,1266,-10.82,1.33,342.93
$IRIDIUM_FIX,2059.45,-15750.89,171097,141413
$TT8_MAMPS,0.029146
$HUMID,1885
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.00
$XPDR_PINGS,654
$24V_AH,23.3,44.074
$10V_AH,10.2,25.549
$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,25.625,127.375,429.775,0.000,0.000,26.566,27.063,379.282,163.500,0.000,0.000,16.669,1248.709,8700.709,512.712,1538.052,616.683,33.372,1324.683,0.000,1525.741,0.000,0.470
$DEVICE_MAMPS,158.769,88.972,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.998,466.877,780.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,712
$CAP_FILE_SIZE,107074,13
$CFSIZE,260165632,252575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230708,212439,2108.399,-15753.099,84,1.0,84,9.8