version: 66.03
glider: 139
mission: 3
dive: 145
start: 7 30 108 11 3 13
data:
$ID,139
$MISSION,3
$DIVE,145
$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,-1273563.1
$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,55
$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
$GPS1,105533,2108.494,-15753.099,40,1.9,42,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.2
$GPS2,110221,2108.547,-15753.186,14,1.5,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.067,0.196
$KALMAN_X,-27631.4,-318.9,491.9,26803.5,-1676.5
$KALMAN_Y,-41488.0,-18.1,184.8,26270.4,-651.9
$MHEAD_RNG_PITCHd_Wd,331.3,3112,-15.7,-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,-1.11,-109.5,0.0,0.0,0,70,0.00,0.00,-49.30,0.000,2,0.000,0.000,426,2068,2659
$GC,73,-1.18,-167.2,3.3,-4.6,9,103,11.77,2.40,-13.20,0.000,4,0.152,0.077,2527,3466,3348
$GC,248,-1.18,-167.2,32.9,-15.1,38,255,0.00,2.30,0.00,0.000,6,0.000,0.021,2527,2081,3349
$GC,573,-1.18,-167.2,90.1,-17.0,69,577,0.00,2.33,0.00,0.000,4,0.000,0.028,2527,3474,3350
$GC,612,-1.18,-167.2,95.9,-14.5,72,616,0.00,2.30,0.00,0.000,6,0.000,0.021,2526,2066,3350
$GC,938,-1.18,-167.2,144.7,-15.7,102,942,0.00,2.35,0.00,0.000,4,0.000,0.056,2527,3473,3351
$GC,977,-1.18,-167.2,150.2,-13.4,105,981,0.00,2.25,0.00,0.000,6,0.000,0.021,2526,2078,3351
$GC,1309,-1.18,-167.2,188.0,-10.0,136,1313,0.00,2.35,0.00,0.000,4,0.000,0.049,2526,681,3352
$GC,1382,-1.18,-167.2,196.3,-11.4,142,1386,0.00,2.25,0.00,0.000,6,0.000,0.019,2526,2080,3352
$GC,1708,-1.18,-167.2,231.9,-10.4,159,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2084,3353
$GC,2017,-1.18,-167.2,263.8,-9.2,174,2021,0.00,2.33,0.00,0.000,4,0.000,0.034,2526,3469,3353
$GC,2073,-1.18,-167.2,268.4,-8.3,176,2079,0.00,2.30,0.00,0.000,6,0.000,0.023,2526,2057,3352
$GC,2388,-1.18,-167.2,294.0,-7.4,192,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2056,3351
$GC,2714,-1.18,-167.2,320.8,-8.4,202,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2056,3351
$GC,3039,-1.18,-167.2,350.3,-8.5,210,3043,0.00,2.40,0.00,0.000,4,0.000,0.038,2526,3461,3349
$GC,3071,-1.18,-167.2,353.1,-8.3,210,3075,0.00,2.30,0.00,0.000,6,0.000,0.025,2526,2087,3348
$GC,3407,-1.18,-167.2,382.2,-8.7,219,3412,0.00,2.35,0.00,0.000,4,0.000,0.038,2527,3462,3347
$GC,3440,-1.18,-167.2,385.0,-8.3,219,3446,0.00,2.30,0.00,0.000,6,0.000,0.026,2526,2078,3347
$GC,3771,-1.18,-167.2,409.8,-7.2,228,3775,0.00,2.40,0.00,0.000,4,0.000,0.043,2526,679,3344
$GC,3814,-1.18,-167.2,413.0,-7.6,229,3818,0.00,2.30,0.00,0.000,6,0.000,0.038,2527,2067,3344
$GC,4138,-1.18,-167.2,437.7,-8.0,237,4142,0.00,2.42,0.00,0.000,4,0.000,0.042,2526,3480,3342
$GC,4170,-1.18,-167.2,440.3,-8.0,237,4177,0.00,2.35,0.00,0.000,6,0.000,0.028,2526,2078,3342
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4341,-0.31,0.0,452.4,7.3,242,4480,0.93,0.00,135.77,0.874,6,0.150,0.000,2726,2076,2664
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4481,begin climb
$GC,4483,1.18,167.2,456.5,0.0,245,4629,1.42,2.50,138.05,0.851,4,0.034,0.057,3055,679,1981
$GC,4692,1.18,167.2,446.5,13.0,250,4697,0.00,2.35,0.00,0.000,6,0.000,0.035,3055,2079,1973
$GC,5021,1.18,167.2,407.2,11.3,258,5026,0.00,2.42,0.00,0.000,4,0.000,0.044,3055,3474,1970
$GC,5099,1.18,167.2,398.1,11.6,259,5105,0.00,2.38,0.00,0.000,6,0.000,0.030,3055,2079,1970
$GC,5430,1.18,167.2,364.4,9.6,268,5434,0.00,2.45,0.00,0.000,4,0.000,0.046,3055,677,1967
$GC,5456,1.18,167.2,361.8,9.7,268,5460,0.00,2.38,0.00,0.000,6,0.000,0.036,3055,2072,1965
$GC,5793,1.18,167.2,329.1,10.4,277,5797,0.00,2.42,0.00,0.000,4,0.000,0.052,3055,3475,1964
$GC,5943,1.18,167.2,312.1,10.4,280,5947,0.00,2.38,0.00,0.000,6,0.000,0.029,3055,2072,1964
$GC,6274,1.18,167.2,283.1,8.6,293,6278,0.00,2.42,0.00,0.000,4,0.000,0.045,3055,677,1961
$GC,6295,1.18,167.2,281.2,8.5,294,6299,0.00,2.35,0.00,0.000,6,0.000,0.028,3055,2084,1960
$GC,6621,1.18,167.2,255.8,7.5,310,6625,0.00,2.40,0.00,0.000,4,0.000,0.055,3055,3479,1960
$GC,6681,1.18,167.2,251.0,8.7,312,6688,0.00,2.40,0.00,0.000,6,0.000,0.028,3055,2074,1960
$GC,6997,1.19,168.7,229.0,7.1,328,7001,0.00,2.42,0.00,0.000,4,0.000,0.039,3055,3477,1959
$GC,7096,1.19,168.7,222.0,7.2,332,7103,0.00,2.38,0.00,0.000,6,0.000,0.059,3054,2077,1959
$GC,7412,1.21,189.5,202.9,6.2,348,7435,0.00,2.40,16.15,0.684,4,0.000,0.069,3055,3473,1890
$GC,7537,1.21,189.5,192.3,9.1,357,7541,0.00,2.35,0.00,0.000,6,0.000,0.025,3055,2070,1890
$GC,7862,1.23,203.7,168.6,6.5,387,7884,0.00,2.45,13.25,0.637,4,0.000,0.041,3055,679,1831
$GC,7930,1.23,203.7,163.4,8.3,393,7934,0.00,2.33,0.00,0.000,6,0.000,0.060,3055,2088,1828
$GC,8256,1.29,249.7,143.2,5.1,423,8310,0.00,2.45,42.50,0.622,4,0.000,0.045,3055,678,1643
$GC,8393,1.29,249.7,134.4,8.4,435,8400,0.00,2.33,0.00,0.000,6,0.000,0.057,3055,2074,1638
$GC,8719,1.29,249.7,106.0,7.9,466,8723,0.00,2.35,0.00,0.000,4,0.000,0.067,3055,3470,1638
$GC,8815,1.30,258.7,98.8,6.8,474,8829,0.10,2.30,8.30,0.524,6,0.053,0.021,3092,2067,1608
$GC,9154,1.30,258.7,71.1,8.3,506,9158,0.00,2.38,0.00,0.000,4,0.000,0.031,3092,3480,1607
$GC,9272,1.30,258.7,61.3,8.0,516,9276,0.00,2.30,0.00,0.000,6,0.000,0.061,3092,2077,1606
$GC,9598,1.32,276.2,35.6,6.4,546,9617,0.00,0.00,16.50,0.515,6,0.000,0.000,3092,2077,1537
$GC,9951,1.32,276.2,3.2,8.4,602,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2076,1535
$STATE,9960,end climb,SURFACE_DEPTH_REACHED
$STATE,9960,begin surface coast
$FINISH,0.7,1.011234
$STATE,10001,end surface coast,CONTROL_FINISHED_OK
$STATE,10001,begin surface
$SM_CCo,10021,36.67,0.509,0,0,1358,320.12
$SM_GC,1.67,0.00,0.00,36.67,0.000,0.000,0.509,421,2071,1358,-10.92,-0.20,320.12
$IRIDIUM_FIX,2101.76,-15753.03,241097,070722
$TT8_MAMPS,0.028379
$HUMID,1858
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.40
$XPDR_PINGS,594
$24V_AH,23.3,50.692
$10V_AH,10.2,29.211
$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,25.700,99.250,370.525,36.675,0.000,31.140,29.239,222.211,148.500,0.000,0.000,15.772,1089.941,7014.974,482.622,1416.851,452.066,33.360,1196.899,0.000,1405.599,0.000,0.473
$DEVICE_MAMPS,151.866,77.467,874.380,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.340,403.178,693.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31732,611
$CAP_FILE_SIZE,87086,12
$CFSIZE,260165632,250310656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300708,135226,2110.056,-15754.615,57,1.9,57,9.8