version: 66.03
glider: 139
mission: 3
dive: 28
start: 7 12 108 23 29 59
data:
$ID,139
$MISSION,3
$DIVE,28
$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,-1270855.6
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,232207,2105.926,-15751.384,31,1.3,31,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-68.4
$GPS2,232909,2105.982,-15751.386,9,1.9,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.188
$KALMAN_X,-1114.0,-61.0,-326.7,3962.6,523.9
$KALMAN_Y,4689.8,269.7,37.0,-24802.1,-8.3
$MHEAD_RNG_PITCHd_Wd,127.9,10260,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-55.08,0.000,2,0.000,0.000,430,2061,2942
$GC,79,-0.96,-175.2,3.3,-6.4,10,104,12.23,2.40,-7.30,0.000,4,0.159,0.049,2575,685,3382
$GC,155,-0.78,-175.2,24.9,-16.9,23,162,0.22,2.22,0.00,0.000,6,0.081,0.018,2622,2075,3384
$GC,271,-0.78,-175.2,37.6,-9.2,37,275,0.00,2.33,0.00,0.000,4,0.000,0.031,2622,3471,3384
$GC,309,-0.82,-175.2,40.9,-8.3,40,316,0.00,2.30,0.00,0.000,6,0.000,0.020,2622,2074,3385
$GC,636,-0.86,-175.2,63.6,-7.1,71,640,0.00,2.35,0.00,0.000,4,0.000,0.067,2621,676,3385
$GC,670,-0.94,-175.2,66.3,-7.6,74,675,0.15,2.25,0.00,0.000,6,0.042,0.018,2581,2092,3385
$GC,995,-0.87,-175.2,94.8,-9.3,104,999,0.12,2.28,0.00,0.000,4,0.081,0.029,2607,3463,3386
$GC,1022,-0.87,-175.2,97.1,-8.9,106,1026,0.00,2.25,0.00,0.000,6,0.000,0.036,2608,2075,3386
$GC,1350,-0.92,-175.2,120.4,-6.9,136,1354,0.00,2.33,0.00,0.000,4,0.000,0.070,2608,686,3387
$GC,1405,-1.00,-175.2,124.4,-7.0,140,1412,0.15,2.20,0.00,0.000,6,0.041,0.018,2565,2077,3387
$GC,1730,-0.96,-175.2,149.5,-7.8,171,1734,0.00,2.30,0.00,0.000,4,0.000,0.031,2564,3458,3387
$GC,1769,-0.96,-175.2,152.9,-8.6,174,1773,0.00,2.22,0.00,0.000,6,0.000,0.054,2564,2072,3387
$GC,2094,-0.96,-175.2,182.8,-8.1,204,2098,0.00,2.28,0.00,0.000,4,0.000,0.066,2564,3457,3388
$GC,2121,-0.96,-175.2,185.2,-8.6,206,2125,0.00,2.25,0.00,0.000,6,0.000,0.029,2564,2077,3388
$GC,2453,-0.96,-175.2,209.6,-7.5,231,2457,0.00,2.35,0.00,0.000,4,0.000,0.037,2563,680,3388
$GC,2485,-0.96,-175.2,212.4,-8.3,232,2492,0.00,2.28,0.00,0.000,6,0.000,0.035,2564,2073,3388
$GC,2800,-0.96,-175.2,237.4,-8.0,248,2804,0.00,2.33,0.00,0.000,4,0.000,0.034,2564,3462,3387
$GC,2850,-1.01,-175.2,241.6,-9.1,250,2854,0.00,2.25,0.00,0.000,6,0.000,0.045,2564,2075,3387
$GC,3171,-1.01,-175.2,262.9,-5.8,266,3175,0.00,2.35,0.00,0.000,4,0.000,0.038,2564,685,3386
$GC,3198,-1.05,-175.2,264.5,-5.9,267,3202,0.00,2.25,0.00,0.000,6,0.000,0.022,2564,2073,3386
$GC,3518,-1.05,-175.2,284.0,-6.6,283,3522,0.00,2.38,0.00,0.000,4,0.000,0.039,2564,680,3385
$GC,3541,-1.08,-175.2,285.7,-7.5,284,3545,0.00,2.28,0.00,0.000,6,0.000,0.024,2564,2077,3385
$GC,3864,-1.08,-175.2,310.1,-7.6,297,3868,0.00,2.38,0.00,0.000,4,0.000,0.040,2564,687,3384
$GC,3891,-1.13,-175.2,312.3,-7.9,297,3895,0.00,2.30,0.00,0.000,6,0.000,0.054,2564,2086,3384
$GC,4228,-1.16,-175.2,336.8,-7.6,306,4232,0.00,2.40,0.00,0.000,4,0.000,0.041,2564,688,3382
$GC,4262,-1.21,-175.2,339.3,-7.0,306,4268,0.15,2.28,0.00,0.000,6,0.054,0.025,2518,2079,3382
$GC,4592,-1.13,-175.2,366.5,-7.5,315,4594,0.15,0.00,0.00,0.000,6,0.080,0.000,2550,2083,3380
$GC,4917,-1.13,-175.2,385.1,-5.4,323,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2083,3378
$GC,5242,-1.13,-175.2,404.3,-6.1,331,5246,0.00,2.40,0.00,0.000,4,0.000,0.044,2549,683,3376
$GC,5275,-1.13,-175.2,406.5,-6.2,331,5281,0.00,2.30,0.00,0.000,6,0.000,0.028,2550,2075,3376
$GC,5606,-1.13,-175.2,426.0,-5.7,340,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2078,3374
$GC,5931,-1.13,-175.2,444.1,-5.5,348,5935,0.00,2.40,0.00,0.000,4,0.000,0.045,2550,683,3372
$GC,5964,-1.16,-175.2,446.1,-6.1,348,5970,0.00,2.33,0.00,0.000,6,0.000,0.058,2550,2076,3372
$STATE,6048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6049,begin apogee
$GC,6053,-0.31,0.0,450.7,5.4,351,6198,0.82,0.00,141.48,0.884,6,0.158,0.000,2728,2079,2664
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6201,0.96,175.2,455.2,0.0,354,6351,1.20,0.00,144.55,0.860,6,0.040,0.000,3006,2079,1948
$GC,6688,0.86,175.2,426.0,8.4,366,6693,0.12,2.45,0.00,0.000,4,0.100,0.047,2983,683,1937
$GC,6760,0.76,175.2,420.2,7.6,367,6765,0.12,2.38,0.00,0.000,6,0.100,0.031,2961,2086,1934
$GC,7091,0.80,214.4,399.9,6.1,375,7126,0.00,0.00,32.72,0.841,6,0.000,0.000,2961,2091,1790
$GC,7415,0.80,214.4,374.2,8.5,383,7420,0.00,2.45,0.00,0.000,4,0.000,0.048,2961,690,1783
$GC,7476,0.80,214.4,368.4,9.3,384,7480,0.00,2.38,0.00,0.000,6,0.000,0.031,2961,2079,1781
$GC,7824,0.80,214.4,338.1,8.6,393,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2083,1780
$GC,8149,0.82,230.5,313.2,6.7,401,8169,0.00,2.50,13.75,0.772,4,0.000,0.046,2961,692,1723
$GC,8208,0.86,262.2,309.5,6.3,402,8249,0.00,2.35,31.17,0.760,6,0.000,0.029,2961,2090,1595
$GC,8561,0.93,276.6,286.5,6.7,415,8583,0.15,2.53,13.35,0.749,4,0.054,0.051,3004,691,1535
$GC,8679,0.88,276.6,275.7,10.2,420,8683,0.00,2.33,0.00,0.000,6,0.000,0.028,3004,2084,1531
$GC,9005,0.88,276.6,244.4,9.8,436,9009,0.00,2.40,0.00,0.000,4,0.000,0.041,3004,3481,1530
$GC,9037,0.88,276.6,241.1,10.3,437,9044,0.00,2.35,0.00,0.000,6,0.000,0.063,3004,2086,1530
$GC,9353,0.88,276.6,211.1,9.2,453,9357,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,678,1529
$GC,9384,0.88,276.6,207.8,9.4,454,9391,0.00,2.35,0.00,0.000,6,0.000,0.059,3004,2080,1527
$GC,9707,0.88,276.6,179.6,7.8,481,9711,0.00,2.45,0.00,0.000,4,0.000,0.042,3004,671,1527
$GC,9792,0.85,276.6,172.3,8.4,488,9796,0.12,2.33,0.00,0.000,6,0.092,0.038,2980,2089,1526
$GC,10122,0.95,310.5,150.8,6.2,519,10157,0.00,2.50,29.73,0.663,4,0.000,0.048,2980,675,1397
$GC,10202,1.00,321.3,145.4,6.8,526,10220,0.15,2.30,10.68,0.611,6,0.048,0.022,3021,2089,1354
$GC,10537,1.00,321.3,117.0,8.5,558,10541,0.00,2.42,0.00,0.000,4,0.000,0.040,3021,676,1350
$GC,10597,1.00,321.3,110.9,10.5,563,10604,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2071,1349
$GC,10923,1.00,321.3,83.9,8.3,594,10927,0.00,2.40,0.00,0.000,4,0.000,0.052,3021,673,1349
$GC,10985,1.00,321.3,78.3,8.7,599,10989,0.00,2.28,0.00,0.000,6,0.000,0.021,3022,2081,1348
$GC,11316,1.05,321.3,51.6,7.5,630,11320,0.00,2.40,0.00,0.000,4,0.000,0.071,3021,676,1348
$GC,11348,1.10,321.3,48.8,8.0,632,11355,0.00,2.30,0.00,0.000,6,0.000,0.020,3021,2081,1348
$GC,11677,1.17,321.3,24.1,7.2,670,11683,0.12,0.00,0.00,0.000,6,0.050,0.000,3065,2086,1349
$GC,11798,1.17,321.3,13.2,9.4,691,11804,0.00,2.38,0.00,0.000,4,0.000,0.037,3065,676,1349
$GC,11844,1.12,321.3,8.4,10.4,699,11851,0.10,2.28,0.00,0.000,6,0.072,0.019,3039,2083,1349
$STATE,11901,end climb,SURFACE_DEPTH_REACHED
$STATE,11901,begin surface coast
$FINISH,-0.1,1.022538
$STATE,11936,end surface coast,CONTROL_FINISHED_OK
$STATE,11936,begin surface
$SM_CCo,12015,0.00,0.000,0,0,1345,323.31
$SM_GC,0.60,11.38,0.00,0.00,0.041,0.000,0.000,428,2086,1345,-10.83,0.20,323.31
$IRIDIUM_FIX,2059.45,-15750.89,061097,202034
$TT8_MAMPS,0.029146
$HUMID,1853
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,686
$24V_AH,23.4,33.848
$10V_AH,10.2,19.645
$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,27.475,126.375,417.425,0.000,0.000,24.381,32.949,248.219,171.500,0.000,0.000,12.406,1287.381,8575.585,511.972,1555.792,494.093,33.361,1309.966,0.000,1550.979,0.000,0.470
$DEVICE_MAMPS,158.769,71.331,884.351,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.392,472.093,810.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37926,715
$CAP_FILE_SIZE,109148,14
$CFSIZE,260165632,256409600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130708,025131,2104.847,-15750.065,37,1.4,42,9.8