version: 66.03
glider: 139
mission: 3
dive: 147
start: 7 30 108 16 57 40
data:
$ID,139
$MISSION,3
$DIVE,147
$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,-1273593.4
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,164707,2109.935,-15755.164,31,1.6,31,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.4
$GPS2,165650,2109.951,-15755.204,9,1.6,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.039,-0.118
$KALMAN_X,-29250.6,-755.4,-573.2,26451.4,459.4
$KALMAN_Y,-39905.2,31.3,138.8,27276.8,716.0
$MHEAD_RNG_PITCHd_Wd,151.9,1239,-27.4,-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,-1.76,-37.9,0.0,0.0,0,71,0.00,0.00,-49.38,0.000,2,0.000,0.000,430,2083,2753
$GC,74,-1.78,-57.4,3.5,-4.7,9,93,11.00,2.42,-2.85,0.000,4,0.150,0.046,2402,680,2901
$GC,144,-1.78,-57.4,23.9,-24.3,21,150,0.00,2.28,0.00,0.000,6,0.000,0.054,2402,2102,2902
$GC,258,-1.78,-57.4,50.8,-23.8,34,262,0.00,2.25,0.00,0.000,4,0.000,0.028,2401,3467,2902
$GC,346,-1.78,-57.4,71.8,-23.8,41,353,0.00,2.30,0.00,0.000,6,0.000,0.022,2401,2085,2903
$GC,671,-1.78,-57.4,137.8,-20.8,72,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2084,2904
$GC,989,-1.78,-57.4,188.5,-14.2,102,993,0.00,2.30,0.00,0.000,4,0.000,0.030,2402,3467,2905
$GC,1246,-1.78,-57.4,225.2,-13.4,116,1254,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,2075,2906
$GC,1562,-1.78,-57.4,265.9,-13.6,132,1566,0.00,2.35,0.00,0.000,4,0.000,0.033,2402,3471,2906
$GC,1819,-1.78,-57.4,297.3,-11.9,143,1825,0.00,2.33,0.00,0.000,6,0.000,0.024,2402,2082,2906
$GC,2130,-1.78,-57.4,336.0,-12.4,152,2134,0.00,2.33,0.00,0.000,4,0.000,0.035,2401,3464,2905
$GC,2191,-1.78,-57.4,343.0,-11.3,153,2195,0.00,2.30,0.00,0.000,6,0.000,0.059,2402,2072,2905
$GC,2504,-1.78,-57.4,376.2,-11.2,161,2508,0.00,2.38,0.00,0.000,4,0.000,0.038,2402,3466,2904
$GC,2587,-1.78,-57.4,386.9,-12.2,163,2592,0.00,2.33,0.00,0.000,6,0.000,0.030,2402,2074,2903
$GC,2911,-1.78,-57.4,423.3,-11.3,171,2915,0.00,2.38,0.00,0.000,4,0.000,0.040,2401,3461,2901
$GC,3039,-1.78,-57.4,437.2,-11.3,173,3045,0.00,2.33,0.00,0.000,6,0.000,0.033,2402,2077,2900
$STATE,3165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3165,begin apogee
$GC,3169,-0.31,0.0,451.2,11.0,177,3222,1.58,0.00,48.33,0.853,6,0.137,0.000,2727,2076,2663
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3222,begin climb
$GC,3224,1.78,57.4,452.4,0.0,178,3277,1.95,0.00,48.28,0.834,6,0.035,0.000,3195,2076,2429
$GC,3590,1.82,90.0,445.0,3.0,187,3625,0.00,2.53,27.38,0.828,4,0.000,0.056,3196,676,2294
$GC,3721,1.82,90.0,436.2,9.5,190,3726,0.00,2.33,0.00,0.000,6,0.000,0.028,3196,2062,2292
$GC,4045,1.82,90.0,412.0,7.5,198,4049,0.00,2.45,0.00,0.000,4,0.000,0.044,3196,3477,2290
$GC,4094,1.84,101.7,408.9,5.7,199,4109,0.00,2.35,10.25,0.757,6,0.000,0.061,3196,2069,2249
$GC,4446,1.84,104.6,386.0,6.8,208,4450,0.00,2.45,0.00,0.000,4,0.000,0.043,3196,3478,2244
$GC,4703,1.84,104.6,364.9,9.4,213,4709,0.00,2.38,0.00,0.000,6,0.000,0.064,3196,2078,2243
$GC,5033,1.84,104.6,338.6,7.5,222,5037,0.00,2.42,0.00,0.000,4,0.000,0.042,3196,3477,2241
$GC,5173,1.84,104.6,325.8,9.3,225,5177,0.00,2.38,0.00,0.000,6,0.000,0.038,3196,2073,2241
$GC,5491,1.84,109.4,303.2,6.5,233,5504,0.00,2.45,6.70,0.668,4,0.000,0.048,3196,671,2215
$GC,5634,1.84,109.4,293.7,7.2,237,5638,0.00,2.35,0.00,0.000,6,0.000,0.027,3196,2082,2214
$GC,5956,1.86,122.4,274.0,5.5,253,5976,0.00,2.50,11.73,0.723,4,0.000,0.074,3196,3476,2165
$GC,6228,1.86,122.4,254.4,8.3,265,6233,0.00,2.38,0.00,0.000,6,0.000,0.038,3196,2080,2164
$GC,6556,1.88,135.7,237.0,5.5,281,6577,0.00,2.47,12.70,0.701,4,0.000,0.041,3196,680,2108
$GC,6629,1.88,135.7,230.5,9.5,284,6633,0.00,2.35,0.00,0.000,6,0.000,0.027,3196,2091,2106
$GC,6949,1.88,141.2,205.1,6.5,300,6958,0.00,0.70,5.88,0.578,4,0.000,0.141,3196,2556,2087
$GC,7212,1.89,144.1,187.3,6.8,319,7219,0.00,0.80,4.05,0.469,6,0.000,0.063,3196,2067,2076
$GC,7536,1.89,146.7,162.0,6.8,350,7540,0.00,2.35,0.00,0.000,4,0.000,0.038,3196,686,2075
$GC,7557,1.89,146.7,160.3,7.7,351,7567,0.00,2.33,3.90,0.442,6,0.000,0.024,3195,2086,2064
$GC,7893,1.94,183.9,148.6,2.5,383,7935,0.00,2.45,33.00,0.652,4,0.000,0.036,3196,3477,1914
$GC,8187,1.94,183.9,122.8,9.8,409,8194,0.00,2.33,0.00,0.000,6,0.000,0.056,3196,2089,1911
$GC,8513,1.94,189.6,99.0,6.4,440,8525,0.00,2.38,5.88,0.479,4,0.000,0.035,3195,682,1890
$GC,8616,1.94,189.6,90.7,7.9,449,8620,0.00,2.28,0.00,0.000,6,0.000,0.026,3196,2093,1887
$GC,8941,1.94,189.6,65.5,7.4,479,8946,0.00,2.40,0.00,0.000,4,0.000,0.044,3196,678,1887
$GC,9117,1.95,194.7,51.5,6.5,494,9130,0.10,2.28,5.75,0.441,6,0.057,0.027,3226,2084,1870
$GC,9448,1.95,194.7,28.4,7.3,526,9454,0.00,2.30,0.00,0.000,4,0.000,0.066,3226,3467,1870
$GC,9510,1.95,194.7,23.7,7.5,537,9517,0.00,2.25,0.00,0.000,6,0.000,0.020,3226,2070,1870
$GC,9630,1.95,194.7,16.0,7.4,558,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2070,1870
$GC,9749,1.95,194.7,4.6,10.1,579,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2070,1870
$STATE,9770,end climb,SURFACE_DEPTH_REACHED
$STATE,9770,begin surface coast
$FINISH,0.7,1.007984
$STATE,9805,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9825,103.35,0.515,0,0,1359,320.12
$SM_GC,1.54,0.00,0.00,103.35,0.000,0.000,0.515,432,2063,1359,-10.87,-0.45,320.12
$IRIDIUM_FIX,2059.45,-15756.04,241097,161650
$TT8_MAMPS,0.029146
$HUMID,1851
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.40
$XPDR_PINGS,645
$24V_AH,23.4,50.906
$10V_AH,10.2,29.355
$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,26.725,91.150,223.800,103.350,0.000,58.503,58.115,281.046,161.250,0.000,0.000,16.098,1123.504,6756.213,425.731,1625.889,570.963,33.371,1206.190,0.000,1612.406,0.000,0.471
$DEVICE_MAMPS,150.332,141.128,852.904,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.203,389.220,661.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31602,589
$CAP_FILE_SIZE,93897,10
$CFSIZE,260165632,250216448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300708,194437,2109.757,-15755.010,51,0.9,51,9.8