version: 66.03
glider: 139
mission: 3
dive: 148
start: 7 30 108 19 53 5
data:
$ID,139
$MISSION,3
$DIVE,148
$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,-1273610.5
$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,49
$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
$GPS1,194437,2109.757,-15755.010,51,0.9,51,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.6
$GPS2,195214,2109.763,-15755.062,10,1.0,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.189
$KALMAN_X,-30713.2,-379.7,252.3,26956.2,-626.8
$KALMAN_Y,-38942.0,236.5,123.6,25780.1,889.7
$MHEAD_RNG_PITCHd_Wd,128.3,19686,-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,16,begin dive
$GC,18,-0.96,-175.2,0.0,0.0,0,70,0.00,0.00,-49.25,0.000,2,0.000,0.000,432,2064,2725
$GC,73,-0.96,-175.2,3.1,-4.0,9,103,11.95,2.40,-12.55,0.000,4,0.149,0.051,2578,693,3381
$GC,148,-0.96,-175.2,19.0,-14.3,22,155,0.00,2.20,0.00,0.000,6,0.000,0.018,2578,2078,3383
$GC,266,-0.96,-175.2,34.8,-13.8,40,269,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,691,3384
$GC,288,-0.96,-175.2,37.9,-13.6,42,292,0.00,2.22,0.00,0.000,6,0.000,0.018,2578,2080,3383
$GC,618,-0.96,-175.2,77.8,-11.2,73,622,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,690,3384
$GC,657,-0.96,-175.2,82.3,-11.6,76,661,0.00,2.22,0.00,0.000,6,0.000,0.018,2578,2080,3384
$GC,981,-0.96,-175.2,115.0,-8.5,106,985,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,684,3385
$GC,1019,-0.96,-175.2,118.4,-8.6,109,1026,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2074,3385
$GC,1347,-0.96,-175.2,146.0,-8.0,140,1351,0.00,2.33,0.00,0.000,4,0.000,0.066,2578,3466,3386
$GC,1397,-0.96,-175.2,150.1,-7.4,144,1401,0.00,2.22,0.00,0.000,6,0.000,0.019,2578,2080,3385
$GC,1730,-0.96,-175.2,174.8,-7.3,175,1734,0.00,2.35,0.00,0.000,4,0.000,0.051,2577,686,3386
$GC,1780,-0.96,-175.2,178.8,-7.7,179,1784,0.00,1.62,0.00,0.000,6,0.000,0.067,2578,1752,3386
$GC,2110,-0.96,-175.2,203.6,-7.6,208,2114,0.00,2.88,0.00,0.000,4,0.000,0.051,2578,3464,3387
$GC,2197,-0.96,-175.2,210.8,-7.7,212,2202,0.00,2.28,0.00,0.000,6,0.000,0.021,2578,2082,3386
$GC,2524,-0.96,-175.2,233.5,-6.5,228,2529,0.00,2.33,0.00,0.000,4,0.000,0.032,2578,3466,3385
$GC,2564,-0.96,-175.2,236.2,-6.7,230,2568,0.00,2.28,0.00,0.000,6,0.000,0.037,2578,2080,3385
$GC,2890,-0.96,-175.2,255.9,-5.9,246,2894,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,685,3384
$GC,2935,-0.96,-175.2,258.7,-6.2,248,2938,0.00,1.70,0.00,0.000,6,0.000,0.047,2578,1776,3384
$GC,3267,-0.96,-175.2,278.4,-5.9,264,3271,0.00,2.78,0.00,0.000,4,0.000,0.049,2578,3456,3383
$GC,3355,-0.96,-175.2,283.0,-5.3,268,3359,0.00,2.28,0.00,0.000,6,0.000,0.023,2578,2071,3382
$GC,3704,-0.96,-175.2,302.6,-5.7,284,3708,0.00,2.35,0.00,0.000,4,0.000,0.041,2578,685,3381
$GC,3719,-0.96,-175.2,303.6,-5.8,284,3723,0.00,2.28,0.00,0.000,6,0.000,0.024,2578,2078,3381
$GC,4067,-0.96,-175.2,328.9,-7.7,293,4071,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,3474,3379
$GC,4155,-0.96,-175.2,335.7,-7.6,295,4159,0.00,2.30,0.00,0.000,6,0.000,0.030,2578,2082,3378
$GC,4479,-0.96,-175.2,359.7,-7.5,303,4483,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,681,3376
$GC,4523,-0.96,-175.2,363.0,-7.5,304,4527,0.00,2.33,0.00,0.000,6,0.000,0.025,2578,2074,3377
$GC,4847,-0.96,-175.2,387.4,-7.6,312,4852,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3476,3374
$GC,4880,-0.96,-175.2,389.8,-7.0,312,4886,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2085,3374
$GC,5211,-0.96,-175.2,413.0,-7.1,321,5215,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,682,3373
$GC,5266,-0.96,-175.2,417.0,-7.3,322,5270,0.00,2.35,0.00,0.000,6,0.000,0.027,2578,2082,3372
$GC,5579,-0.96,-175.2,442.9,-8.9,330,5584,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3477,3370
$GC,5618,-0.96,-175.2,446.5,-9.5,331,5623,0.00,2.33,0.00,0.000,6,0.000,0.033,2578,2083,3370
$STATE,5696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5696,begin apogee
$GC,5701,-0.31,0.0,453.5,8.9,333,5846,0.68,0.00,141.68,0.888,6,0.048,0.000,2732,2082,2664
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5849,0.96,175.2,463.3,0.0,336,6005,1.20,2.55,145.18,0.864,4,0.038,0.054,3010,681,1946
$GC,6173,0.96,175.2,446.4,9.9,343,6177,0.00,2.35,0.00,0.000,6,0.000,0.051,3010,2074,1936
$GC,6515,0.96,175.2,415.2,9.0,352,6519,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,3481,1934
$GC,6586,0.96,175.2,408.7,8.3,353,6591,0.00,2.38,0.00,0.000,6,0.000,0.029,3010,2083,1934
$GC,6923,0.96,175.2,382.8,7.5,362,6927,0.00,2.47,0.00,0.000,4,0.000,0.048,3010,669,1932
$GC,7000,0.96,175.2,375.9,9.2,363,7006,0.00,2.40,0.00,0.000,6,0.000,0.063,3010,2092,1930
$GC,7331,0.96,175.2,348.1,8.8,372,7335,0.00,2.42,0.00,0.000,4,0.000,0.079,3010,3485,1930
$GC,7363,0.96,175.2,345.4,8.2,372,7369,0.00,2.40,0.00,0.000,6,0.000,0.029,3010,2083,1930
$GC,7694,0.98,194.1,322.5,6.6,381,7714,0.00,2.47,13.98,0.775,4,0.000,0.042,3010,3475,1872
$GC,7787,0.98,194.1,314.9,8.8,383,7791,0.00,2.40,0.00,0.000,6,0.000,0.029,3010,2065,1872
$GC,8113,0.98,194.1,287.8,8.4,394,8117,0.00,2.42,0.00,0.000,4,0.000,0.046,3010,670,1869
$GC,8257,0.98,194.1,273.4,9.9,400,8264,0.00,2.38,0.00,0.000,6,0.000,0.027,3010,2079,1866
$GC,8572,0.98,194.1,247.0,8.7,416,8576,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,667,1866
$GC,8661,0.98,194.1,239.2,8.7,420,8665,0.00,2.35,0.00,0.000,6,0.000,0.026,3010,2085,1865
$GC,8988,1.05,246.6,217.8,5.7,436,9039,0.00,2.42,46.35,0.731,4,0.000,0.071,3010,3473,1657
$GC,9128,1.05,246.6,207.7,7.8,442,9135,0.00,2.38,0.00,0.000,6,0.000,0.026,3010,2077,1654
$GC,9450,1.05,246.6,182.2,8.1,468,9454,0.00,2.40,0.00,0.000,4,0.000,0.036,3010,3477,1650
$GC,9537,1.05,246.6,173.6,10.0,475,9544,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2079,1650
$GC,9864,1.09,279.9,149.3,6.2,506,9900,0.10,2.42,28.73,0.653,4,0.060,0.071,3044,3467,1522
$GC,9944,1.09,279.9,142.4,9.7,513,9951,0.00,2.35,0.00,0.000,6,0.000,0.024,3043,2073,1522
$GC,10273,1.09,279.9,111.7,10.5,544,10277,0.00,2.40,0.00,0.000,4,0.000,0.068,3044,3484,1518
$GC,10338,1.09,279.9,104.3,10.7,549,10346,0.00,2.35,0.00,0.000,6,0.000,0.058,3044,2084,1518
$GC,10667,1.09,279.9,73.4,8.2,580,10671,0.00,2.40,0.00,0.000,4,0.000,0.071,3044,674,1518
$GC,10852,1.09,279.9,57.8,8.6,596,10856,0.00,2.30,0.00,0.000,6,0.000,0.020,3044,2099,1515
$GC,11183,1.09,279.9,35.4,7.3,627,11187,0.00,2.30,0.00,0.000,4,0.000,0.059,3044,3474,1515
$GC,11222,1.09,279.9,32.4,7.9,630,11226,0.00,2.28,0.00,0.000,6,0.000,0.021,3044,2074,1515
$GC,11562,1.09,279.9,5.6,8.2,687,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2074,1515
$STATE,11594,end climb,SURFACE_DEPTH_REACHED
$STATE,11594,begin surface coast
$FINISH,0.7,1.019436
$STATE,11637,end surface coast,CONTROL_FINISHED_OK
$STATE,11637,begin surface
$SM_CCo,11656,33.80,0.512,0,0,1358,320.12
$SM_GC,1.96,0.00,0.00,33.80,0.000,0.000,0.512,425,2069,1358,-10.90,-0.28,320.12
$IRIDIUM_FIX,2101.76,-15756.04,241097,171756
$TT8_MAMPS,0.029146
$HUMID,1893
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.10
$XPDR_PINGS,711
$24V_AH,23.3,51.039
$10V_AH,10.2,29.436
$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,25.175,136.175,375.900,33.800,0.000,29.028,40.385,259.594,177.750,0.000,0.000,16.516,1299.716,8081.713,499.304,1736.587,521.103,33.370,1366.481,0.000,1718.248,0.000,0.471
$DEVICE_MAMPS,148.798,79.001,888.186,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.766,463.614,785.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34880,700
$CAP_FILE_SIZE,107571,11
$CFSIZE,260165632,250142720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300708,230939,2109.653,-15754.425,66,1.6,66,9.8