version: 66.03
glider: 139
mission: 3
dive: 150
start: 7 31 108 2 42 49
data:
$ID,139
$MISSION,3
$DIVE,150
$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,-1273641.5
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,023457,2109.345,-15754.085,48,1.9,48,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.7
$GPS2,024157,2109.444,-15754.112,14,1.9,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.168
$KALMAN_X,-34045.1,517.0,-408.6,31683.9,-1399.0
$KALMAN_Y,-35314.6,431.7,60.4,21433.6,1039.3
$MHEAD_RNG_PITCHd_Wd,121.5,18117,-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,-49.55,0.000,2,0.000,0.000,429,2085,2765
$GC,73,-0.96,-175.2,3.5,-4.9,9,103,11.98,2.38,-11.05,0.000,4,0.150,0.047,2576,679,3380
$GC,144,-0.96,-175.2,20.3,-15.5,21,150,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2085,3381
$GC,261,-0.96,-175.2,36.4,-13.4,38,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3382
$GC,579,-0.96,-175.2,77.8,-11.7,68,583,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3470,3382
$GC,618,-0.96,-175.2,82.5,-11.4,71,622,0.00,2.28,0.00,0.000,6,0.000,0.056,2576,2077,3382
$GC,943,-0.96,-175.2,111.1,-8.4,101,947,0.00,2.35,0.00,0.000,4,0.000,0.040,2576,676,3383
$GC,981,-0.96,-175.2,114.7,-9.1,104,988,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2080,3383
$GC,1309,-0.96,-175.2,146.3,-9.9,135,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3384
$GC,1626,-0.96,-175.2,173.6,-8.2,165,1630,0.00,2.30,0.00,0.000,4,0.000,0.038,2576,3460,3385
$GC,1680,-0.96,-175.2,177.8,-7.2,169,1687,0.00,2.28,0.00,0.000,6,0.000,0.019,2575,2075,3385
$GC,2016,-0.96,-175.2,202.1,-7.9,200,2020,0.00,2.00,0.00,0.000,4,0.000,0.061,2576,3294,3385
$GC,2054,-0.96,-175.2,205.2,-7.5,201,2061,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2084,3385
$GC,2370,-0.96,-175.2,228.6,-7.3,217,2374,0.00,2.38,0.00,0.000,4,0.000,0.037,2576,677,3385
$GC,2420,-0.96,-175.2,232.3,-6.3,219,2424,0.00,2.28,0.00,0.000,6,0.000,0.056,2576,2068,3385
$GC,2742,-0.96,-175.2,251.9,-5.9,235,2746,0.00,2.35,0.00,0.000,4,0.000,0.068,2576,3467,3385
$GC,2792,-0.96,-175.2,255.0,-5.8,237,2796,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2074,3385
$GC,3107,-0.96,-175.2,273.5,-6.5,252,3111,0.00,2.35,0.00,0.000,4,0.000,0.060,2575,686,3384
$GC,3139,-0.96,-175.2,275.8,-7.4,253,3146,0.00,2.28,0.00,0.000,6,0.000,0.041,2576,2070,3384
$GC,3456,-0.96,-175.2,294.9,-5.8,269,3460,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,685,3383
$GC,3483,-0.96,-175.2,296.6,-6.4,270,3487,0.00,2.28,0.00,0.000,6,0.000,0.032,2576,2080,3383
$GC,3800,-0.96,-175.2,315.2,-6.2,280,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3381
$GC,4125,-0.96,-175.2,336.5,-6.5,288,4129,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,679,3380
$GC,4153,-0.96,-175.2,338.5,-7.4,288,4158,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2082,3380
$GC,4484,-0.96,-175.2,359.8,-6.7,296,4488,0.00,2.35,0.00,0.000,4,0.000,0.040,2576,3471,3378
$GC,4505,-0.96,-175.2,361.3,-6.9,296,4509,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2086,3377
$GC,4853,-0.96,-175.2,383.6,-6.3,305,4857,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,681,3375
$GC,4907,-0.96,-175.2,387.7,-7.4,306,4912,0.00,2.33,0.00,0.000,6,0.000,0.026,2576,2066,3376
$GC,5220,-0.96,-175.2,409.7,-7.2,314,5225,0.00,2.42,0.00,0.000,4,0.000,0.042,2576,3481,3373
$GC,5247,-0.96,-175.2,411.8,-8.2,314,5251,0.00,2.35,0.00,0.000,6,0.000,0.044,2576,2076,3373
$GC,5584,-0.96,-175.2,441.0,-8.7,323,5588,0.00,2.42,0.00,0.000,4,0.000,0.043,2576,3479,3371
$GC,5599,-0.96,-175.2,442.4,-8.4,323,5603,0.00,2.38,0.00,0.000,6,0.000,0.027,2576,2076,3371
$STATE,5701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5701,begin apogee
$GC,5706,-0.31,0.0,450.4,7.9,326,5851,0.68,0.00,141.77,0.878,6,0.163,0.000,2729,2074,2664
$STATE,5852,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5854,0.96,175.2,459.6,0.0,329,6010,1.20,2.50,144.95,0.855,4,0.038,0.074,3011,3478,1948
$GC,6217,0.96,175.2,438.3,11.0,337,6222,0.00,2.38,0.00,0.000,6,0.000,0.055,3011,2087,1942
$GC,6565,0.96,175.2,407.0,8.7,346,6569,0.00,2.47,0.00,0.000,4,0.000,0.048,3011,675,1936
$GC,6614,0.96,175.2,402.1,9.7,347,6619,0.00,2.35,0.00,0.000,6,0.000,0.032,3011,2077,1934
$GC,6933,0.96,175.2,374.4,8.6,355,6937,0.00,2.47,0.00,0.000,4,0.000,0.045,3010,666,1933
$GC,7005,0.96,175.2,367.9,9.6,356,7009,0.00,2.40,0.00,0.000,6,0.000,0.061,3010,2079,1931
$GC,7342,0.96,175.2,340.7,7.9,365,7345,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,3477,1931
$GC,7379,0.96,175.2,337.5,8.5,365,7386,0.00,2.40,0.00,0.000,6,0.000,0.063,3010,2075,1931
$GC,7711,0.98,188.5,313.8,6.8,374,7725,0.00,2.47,9.45,0.729,4,0.000,0.075,3011,3477,1895
$GC,7776,0.98,188.5,308.9,7.9,375,7780,0.00,2.40,0.00,0.000,6,0.000,0.053,3010,2084,1895
$GC,8106,0.98,188.5,282.6,7.9,388,8110,0.00,2.42,0.00,0.000,4,0.000,0.064,3010,675,1892
$GC,8146,0.98,188.5,279.8,7.2,389,8152,0.00,2.35,0.00,0.000,6,0.000,0.027,3010,2088,1890
$GC,8461,0.99,196.9,257.4,6.9,405,8475,0.00,2.45,8.27,0.672,4,0.000,0.051,3011,3474,1861
$GC,8532,0.99,196.9,252.2,8.3,408,8536,0.00,2.40,0.00,0.000,6,0.000,0.035,3010,2070,1860
$GC,8859,1.01,214.0,230.0,6.7,424,8881,0.00,2.45,16.70,0.709,4,0.000,0.043,3011,3473,1790
$GC,8954,1.04,241.0,223.4,6.4,428,8984,0.00,2.35,24.95,0.712,6,0.000,0.032,3011,2077,1681
$GC,9302,1.04,241.0,196.5,8.1,447,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2076,1674
$GC,9620,1.04,241.0,170.6,7.3,477,9624,0.00,2.40,0.00,0.000,4,0.000,0.035,3011,3483,1673
$GC,9682,1.06,254.0,166.0,6.8,482,9698,0.00,2.35,11.45,0.617,6,0.000,0.027,3011,2070,1628
$GC,10017,1.06,254.0,144.5,7.6,513,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2068,1626
$GC,10336,1.06,254.0,121.5,7.5,543,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2067,1626
$GC,10655,1.08,274.1,98.5,6.6,573,10676,0.00,0.00,18.70,0.576,6,0.000,0.000,3011,2067,1546
$GC,10994,1.16,338.7,77.9,5.4,605,11057,0.17,2.45,56.35,0.574,4,0.039,0.040,3067,3477,1282
$GC,11074,1.16,338.7,71.1,9.8,613,11079,0.00,2.33,0.00,0.000,6,0.000,0.056,3067,2082,1282
$GC,11400,1.16,338.7,44.1,7.8,643,11404,0.00,2.40,0.00,0.000,4,0.000,0.060,3067,674,1278
$GC,11432,1.16,338.7,40.9,9.0,645,11440,0.00,2.33,0.00,0.000,6,0.000,0.025,3067,2091,1276
$GC,11769,1.16,338.7,8.3,8.2,695,11776,0.00,2.42,0.00,0.000,4,0.000,0.036,3067,663,1276
$GC,11787,1.16,338.7,6.6,9.3,698,11793,0.00,2.28,0.00,0.000,6,0.000,0.019,3067,2082,1275
$STATE,11826,end climb,SURFACE_DEPTH_REACHED
$STATE,11826,begin surface coast
$FINISH,0.6,1.007826
$STATE,11861,end surface coast,CONTROL_FINISHED_OK
$STATE,11861,begin surface
$SM_CCo,11941,0.00,0.000,0,0,1272,341.21
$SM_GC,1.45,11.35,0.00,0.00,0.032,0.000,0.000,422,2086,1272,-10.82,0.20,341.21
$IRIDIUM_FIX,2059.45,-15753.90,241097,232326
$TT8_MAMPS,0.028379
$HUMID,1884
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.00
$XPDR_PINGS,705
$24V_AH,23.3,51.308
$10V_AH,10.2,29.590
$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,25.375,122.225,432.600,0.000,0.000,23.422,30.347,240.112,176.250,0.000,0.000,16.172,1276.196,8482.062,507.762,1600.720,483.124,33.360,1317.402,0.000,1589.371,0.000,0.470
$DEVICE_MAMPS,163.371,75.166,878.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.164,472.204,795.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,711
$CAP_FILE_SIZE,102548,14
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310708,060332,2108.856,-15753.100,67,1.0,67,9.8