version: 66.03
glider: 139
mission: 3
dive: 110
start: 7 25 108 5 40 4
data:
$ID,139
$MISSION,3
$DIVE,110
$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,-1272789
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,052931,2104.098,-15749.689,45,1.2,61,9.8
$_CALLS,1
$_XMS_NAKs,46
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.4
$GPS2,053914,2104.156,-15749.793,15,1.1,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.026,0.253
$KALMAN_X,-17382.8,354.1,52.7,22176.4,-1335.0
$KALMAN_Y,-24211.8,3.8,-106.8,1137.5,-1218.3
$MHEAD_RNG_PITCHd_Wd,344.4,13014,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,78,0.00,0.00,-54.65,0.000,2,0.000,0.000,423,2081,2944
$GC,80,-0.96,-175.2,3.9,-6.8,10,105,12.27,2.38,-7.28,0.000,4,0.159,0.041,2576,3469,3382
$GC,234,-0.96,-175.2,33.1,-11.7,35,241,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2068,3383
$GC,559,-0.96,-175.2,70.8,-10.5,66,563,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,682,3384
$GC,614,-0.96,-175.2,77.2,-11.4,70,620,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2072,3385
$GC,939,-0.96,-175.2,116.6,-10.9,101,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2076,3386
$GC,1257,-0.96,-175.2,144.0,-7.5,131,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3387
$GC,1576,-0.96,-175.2,169.1,-8.8,161,1580,0.00,2.33,0.00,0.000,4,0.000,0.031,2576,3466,3387
$GC,1603,-0.96,-175.2,171.6,-9.3,163,1608,0.00,2.25,0.00,0.000,6,0.000,0.046,2576,2073,3386
$GC,1928,-0.96,-175.2,197.7,-7.4,193,1932,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,683,3387
$GC,1960,-0.96,-175.2,200.3,-8.2,195,1967,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2087,3387
$GC,2276,-0.96,-175.2,220.0,-5.8,211,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2091,3387
$GC,2585,-0.96,-175.2,241.6,-7.6,226,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2091,3386
$GC,2895,-0.96,-175.2,265.4,-7.5,241,2899,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,686,3386
$GC,2934,-0.96,-175.2,268.3,-7.7,243,2938,0.00,1.67,0.00,0.000,6,0.000,0.068,2576,1764,3385
$GC,3266,-0.96,-175.2,286.4,-4.9,259,3271,0.00,2.88,0.00,0.000,4,0.000,0.062,2577,3467,3384
$GC,3355,-0.96,-175.2,291.4,-5.7,263,3359,0.00,2.28,0.00,0.000,6,0.000,0.023,2576,2078,3383
$GC,3694,-0.96,-175.2,309.4,-5.5,276,3698,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,686,3382
$GC,3732,-0.96,-175.2,311.9,-6.3,276,3738,0.00,2.22,0.00,0.000,6,0.000,0.058,2576,2073,3382
$GC,4063,-0.96,-175.2,329.1,-4.8,285,4067,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3473,3381
$GC,4084,-0.96,-175.2,330.3,-5.3,285,4089,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2083,3380
$GC,4422,-0.96,-175.2,349.1,-5.9,294,4426,0.00,2.40,0.00,0.000,4,0.000,0.074,2576,676,3379
$GC,4449,-0.96,-175.2,350.9,-6.6,294,4453,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2077,3379
$GC,4786,-0.96,-175.2,368.0,-4.5,303,4790,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3471,3377
$GC,4812,-0.96,-175.2,369.2,-4.8,303,4817,0.00,2.33,0.00,0.000,6,0.000,0.026,2576,2073,3377
$GC,5149,-0.96,-175.2,382.6,-3.9,312,5153,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,680,3375
$GC,5178,-0.96,-175.2,383.9,-5.1,312,5182,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2076,3374
$GC,5508,-0.96,-175.2,406.1,-7.5,320,5512,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3478,3372
$GC,5558,-0.96,-175.2,409.8,-7.1,321,5562,0.00,2.38,0.00,0.000,6,0.000,0.032,2576,2053,3372
$GC,5882,-0.96,-175.2,433.8,-7.4,329,5886,0.00,2.35,0.00,0.000,4,0.000,0.044,2576,683,3370
$GC,5920,-0.96,-175.2,436.7,-7.7,330,5924,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2083,3370
$STATE,6125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6126,begin apogee
$GC,6130,-0.31,0.0,451.0,7.0,335,6275,0.68,0.00,141.75,0.895,6,0.162,0.000,2737,2085,2664
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6276,begin climb
$GC,6278,0.96,175.2,457.6,0.0,338,6430,0.12,1.15,145.15,0.870,4,0.515,0.104,2779,2788,1948
$GC,6682,1.02,222.1,440.1,5.9,347,6728,1.02,1.20,40.33,0.852,6,0.045,0.095,3024,2079,1757
$GC,7035,1.02,222.1,405.2,9.9,356,7039,0.00,2.42,0.00,0.000,4,0.000,0.043,3024,3474,1750
$GC,7146,1.02,222.1,394.2,9.9,358,7150,0.00,2.38,0.00,0.000,6,0.000,0.031,3024,2081,1749
$GC,7488,1.02,222.1,363.9,8.7,367,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2080,1747
$GC,7813,1.02,222.1,334.3,9.2,375,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2080,1745
$GC,8138,1.02,222.1,302.3,10.3,383,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2080,1744
$GC,8447,1.02,222.1,271.6,9.2,397,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2080,1742
$GC,8756,1.02,222.1,246.3,8.5,412,8760,0.00,2.45,0.00,0.000,4,0.000,0.045,3023,670,1741
$GC,8817,1.02,222.1,240.7,9.5,415,8821,0.00,2.35,0.00,0.000,6,0.000,0.027,3024,2091,1739
$GC,9148,1.02,222.1,212.9,8.8,431,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2094,1739
$GC,9462,1.02,222.1,188.2,7.4,453,9466,0.00,2.47,0.00,0.000,4,0.000,0.041,3023,665,1739
$GC,9534,1.02,222.1,182.2,8.6,459,9539,0.00,2.35,0.00,0.000,6,0.000,0.025,3024,2084,1737
$GC,9860,1.02,222.1,155.4,8.6,489,9864,0.00,1.60,0.00,0.000,4,0.000,0.081,3024,3058,1737
$GC,10057,1.02,222.1,137.7,9.1,506,10063,0.00,1.65,0.00,0.000,6,0.000,0.025,3024,2068,1737
$GC,10382,1.02,222.1,111.9,7.6,537,10386,0.00,2.38,0.00,0.000,4,0.000,0.047,3024,679,1737
$GC,10501,1.02,225.3,103.1,7.1,547,10505,0.00,2.30,0.00,0.000,6,0.000,0.021,3023,2089,1737
$GC,10832,1.05,246.9,82.2,6.6,578,10865,0.00,0.90,21.48,0.548,4,0.000,0.111,3023,2686,1655
$GC,10903,1.12,301.4,78.0,5.7,584,10955,0.00,1.00,47.75,0.590,6,0.000,0.105,3024,2071,1434
$GC,11280,1.13,311.7,48.8,6.9,620,11295,0.00,2.38,9.32,0.506,4,0.000,0.071,3023,698,1392
$GC,11347,1.14,323.5,44.3,6.8,626,11364,0.00,2.25,11.48,0.515,6,0.000,0.058,3024,2092,1345
$GC,11687,1.16,334.3,22.4,6.8,666,11706,0.10,2.45,10.43,0.492,4,0.053,0.068,3063,690,1300
$GC,11723,1.16,334.3,19.0,9.2,672,11730,0.00,2.22,0.00,0.000,6,0.000,0.055,3064,2074,1298
$GC,11843,1.16,334.3,8.2,9.2,693,11849,0.00,2.30,0.00,0.000,4,0.000,0.029,3063,3468,1298
$GC,11866,1.18,355.4,6.6,6.6,697,11895,0.00,2.28,19.30,0.507,6,0.000,0.020,3063,2086,1214
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.4,1.015843
$STATE,11940,end surface coast,CONTROL_FINISHED_OK
$STATE,11940,begin surface
$SM_CCo,12020,0.00,0.000,0,0,1209,356.91
$SM_GC,1.14,11.32,0.00,0.00,0.031,0.000,0.000,419,2080,1209,-10.82,0.03,356.91
$IRIDIUM_FIX,2057.14,-15748.75,191097,020247
$TT8_MAMPS,0.029146
$HUMID,1859
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,688
$24V_AH,21.4,45.618
$10V_AH,10.2,26.381
$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,25.525,100.850,446.975,0.000,0.000,25.810,37.791,395.920,172.000,0.000,0.000,17.156,1258.088,8573.429,493.707,1626.773,638.259,33.366,1313.270,0.000,1615.906,0.000,0.470
$DEVICE_MAMPS,514.657,111.215,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.350,461.379,799.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34954,710
$CAP_FILE_SIZE,104353,14
$CFSIZE,260165632,252063744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,250708,090156,2104.885,-15750.355,57,0.9,57,9.8