version: 66.03
glider: 139
mission: 3
dive: 108
start: 7 24 108 22 41 51
data:
$ID,139
$MISSION,3
$DIVE,108
$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,543.09418
$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,-1272756.5
$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,75
$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
$GPS1,222331,2102.837,-15747.621,110,1.8,110,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.4
$GPS2,224101,2102.832,-15747.630,36,1.6,36,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,0.148
$KALMAN_X,-16898.6,372.7,-221.1,25676.9,454.6
$KALMAN_Y,-21329.8,-232.0,-280.6,-3788.3,348.9
$MHEAD_RNG_PITCHd_Wd,295.7,17342,-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,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.20,0.000,2,0.000,0.000,421,2093,2926
$GC,78,-0.96,-175.2,3.7,-6.4,10,103,12.15,2.30,-7.75,0.000,4,0.155,0.041,2577,3447,3382
$GC,254,-0.96,-175.2,36.9,-13.7,36,261,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2075,3384
$GC,579,-0.96,-175.2,71.4,-9.1,67,583,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,680,3384
$GC,636,-0.96,-175.2,76.2,-8.4,72,640,0.00,2.20,0.00,0.000,6,0.000,0.018,2577,2064,3385
$GC,961,-0.96,-175.2,106.8,-10.7,102,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2068,3385
$GC,1279,-0.96,-175.2,138.2,-8.3,132,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2068,3385
$GC,1597,-0.96,-175.2,165.9,-8.1,162,1601,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,673,3386
$GC,1624,-0.96,-175.2,168.0,-7.6,164,1629,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2075,3386
$GC,1949,-0.96,-175.2,191.6,-8.1,194,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3386
$GC,2261,-0.96,-175.2,216.1,-7.3,214,2265,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,683,3385
$GC,2283,-0.96,-175.2,217.7,-7.2,215,2287,0.00,2.25,0.00,0.000,6,0.000,0.026,2577,2078,3386
$GC,2610,-0.96,-175.2,239.9,-7.0,231,2614,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3466,3385
$GC,2636,-0.96,-175.2,242.1,-7.7,232,2640,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2074,3385
$GC,2963,-0.96,-175.2,263.5,-5.6,248,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2073,3384
$GC,3273,-0.96,-175.2,278.9,-5.0,263,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2074,3383
$GC,3582,-0.96,-175.2,298.0,-7.1,278,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3381
$GC,3907,-0.96,-175.2,318.2,-5.4,287,3911,0.00,2.35,0.00,0.000,4,0.000,0.041,2576,687,3379
$GC,3940,-0.96,-175.2,320.1,-5.7,287,3946,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2076,3379
$GC,4271,-0.96,-175.2,339.6,-6.2,296,4275,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3470,3377
$GC,4298,-0.96,-175.2,341.5,-6.5,296,4302,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2080,3377
$GC,4634,-0.96,-175.2,365.5,-7.4,305,4638,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,676,3375
$GC,4660,-0.96,-175.2,367.5,-7.1,305,4665,0.00,2.33,0.00,0.000,6,0.000,0.026,2577,2084,3375
$GC,4997,-0.96,-175.2,391.5,-6.8,314,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3373
$GC,5322,-0.96,-175.2,409.5,-5.4,322,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2088,3371
$GC,5647,-0.96,-175.2,424.9,-4.4,330,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3369
$GC,5972,-0.96,-175.2,440.5,-4.9,338,5976,0.00,2.42,0.00,0.000,4,0.000,0.044,2576,679,3367
$GC,6004,-0.96,-175.2,442.3,-6.0,338,6010,0.00,2.33,0.00,0.000,6,0.000,0.029,2577,2078,3367
$STATE,6130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6130,begin apogee
$GC,6135,-0.31,0.0,450.3,6.3,342,6279,0.68,0.00,141.25,0.897,6,0.172,0.000,2729,2078,2664
$STATE,6280,end apogee,CONTROL_FINISHED_OK
$STATE,6280,begin climb
$GC,6282,0.96,175.2,458.2,0.0,345,6435,0.10,2.47,144.82,0.873,4,0.291,0.055,2767,683,1947
$GC,6687,1.06,256.6,446.4,4.9,354,6773,1.17,2.35,72.15,0.846,6,0.045,0.050,3032,2086,1616
$GC,7115,1.06,256.6,401.0,11.2,365,7119,0.00,2.45,0.00,0.000,4,0.000,0.047,3032,684,1606
$GC,7259,1.06,256.6,384.5,11.0,368,7263,0.00,2.35,0.00,0.000,6,0.000,0.035,3032,2073,1602
$GC,7578,1.06,256.6,350.1,10.8,376,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2076,1602
$GC,7903,1.06,256.6,316.5,9.7,384,7906,0.00,1.70,0.00,0.000,4,0.000,0.084,3032,3079,1601
$GC,7957,1.06,256.6,311.0,9.9,385,7962,0.00,1.70,0.00,0.000,6,0.000,0.029,3032,2083,1601
$GC,8279,1.06,256.6,276.0,11.9,398,8283,0.00,2.45,0.00,0.000,4,0.000,0.046,3032,674,1599
$GC,8312,1.06,256.6,271.9,12.1,399,8318,0.00,2.35,0.00,0.000,6,0.000,0.028,3032,2082,1598
$GC,8627,1.06,256.6,241.2,8.9,415,8632,0.00,2.40,0.00,0.000,4,0.000,0.040,3032,3479,1598
$GC,8667,1.06,256.6,237.6,9.7,417,8671,0.00,2.38,0.00,0.000,6,0.000,0.061,3032,2069,1597
$GC,8993,1.06,256.6,207.6,9.2,433,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2067,1597
$GC,9307,1.06,256.6,180.3,8.4,458,9312,0.00,2.40,0.00,0.000,4,0.000,0.042,3032,676,1597
$GC,9380,1.06,256.6,173.8,8.7,464,9384,0.00,1.67,0.00,0.000,6,0.000,0.070,3032,1737,1595
$GC,9713,1.06,256.6,147.7,8.4,495,9717,0.00,1.67,0.00,0.000,4,0.000,0.074,3032,2783,1595
$GC,9972,1.06,256.6,125.6,8.5,518,9975,0.00,1.17,0.00,0.000,6,0.000,0.097,3032,2070,1595
$GC,10304,1.06,256.6,99.4,7.3,549,10308,0.00,2.40,0.00,0.000,4,0.000,0.065,3032,3484,1596
$GC,10422,1.06,256.6,89.5,8.4,559,10426,0.00,2.33,0.00,0.000,6,0.000,0.057,3032,2073,1596
$GC,10747,1.06,256.6,63.7,8.2,589,10752,0.00,2.35,0.00,0.000,4,0.000,0.051,3032,684,1597
$GC,10821,1.06,256.6,57.2,9.2,595,10825,0.00,2.28,0.00,0.000,6,0.000,0.020,3032,2098,1597
$GC,11145,1.18,357.4,37.1,4.4,625,11240,0.00,2.50,84.88,0.545,4,0.000,0.067,3032,685,1206
$GC,11298,1.18,357.4,27.9,7.6,641,11305,0.00,2.25,0.00,0.000,6,0.000,0.055,3032,2086,1201
$GC,11418,1.18,357.4,18.7,7.4,662,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2091,1200
$GC,11538,1.18,357.4,9.3,8.0,683,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2091,1200
$STATE,11615,end climb,SURFACE_DEPTH_REACHED
$STATE,11615,begin surface coast
$FINISH,0.6,1.022838
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11670,148.30,0.515,0,0,449,543.09
$SM_GC,0.92,0.00,0.00,148.30,0.000,0.000,0.515,424,2089,449,-10.90,0.28,543.09
$IRIDIUM_FIX,2057.14,-15748.75,181097,222239
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,22.90
$XPDR_PINGS,675
$24V_AH,23.3,45.325
$10V_AH,10.2,26.220
$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,25.250,85.325,443.100,148.300,0.000,145.887,154.918,315.628,168.750,0.000,0.000,38.257,1236.908,8526.418,635.138,1624.200,832.855,33.371,1429.674,0.000,1589.252,0.000,0.472
$DEVICE_MAMPS,291.460,97.409,897.390,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.617,459.602,797.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34803,703
$CAP_FILE_SIZE,97611,11
$CFSIZE,260165632,252137472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250708,020008,2103.349,-15748.740,41,1.4,41,9.8