version: 66.03
glider: 139
mission: 3
dive: 29
start: 7 13 108 2 59 0
data:
$ID,139
$MISSION,3
$DIVE,29
$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,-1270869.1
$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,0.029999999
$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,33
$R_STBD_OVSHOOT,65
$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
$GPS1,025131,2104.847,-15750.065,37,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-69.0
$GPS2,025809,2104.838,-15750.039,10,1.2,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.158
$KALMAN_X,-1747.8,231.8,175.6,6121.1,-384.9
$KALMAN_Y,4851.4,541.2,-136.8,-27177.3,111.8
$MHEAD_RNG_PITCHd_Wd,118.5,7112,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-54.88,0.000,2,0.000,0.000,428,2086,2919
$GC,78,-0.96,-175.2,3.3,-6.0,10,108,12.32,2.47,-7.65,0.000,4,0.161,0.051,2577,670,3383
$GC,120,0.04,-175.2,19.0,-36.0,17,127,0.40,2.25,0.00,0.000,6,0.128,0.018,2665,2084,3384
$GC,241,-0.06,-175.2,28.6,-6.1,38,248,0.50,2.30,0.00,0.000,4,0.050,0.046,2781,3462,3384
$GC,266,-0.29,-175.2,29.5,-4.3,42,273,0.22,2.25,0.00,0.000,6,0.058,0.018,2728,2047,3384
$GC,386,-0.68,-175.2,40.9,-11.4,54,388,0.38,0.00,0.00,0.000,6,0.049,0.000,2642,2046,3385
$GC,705,-1.02,-175.2,70.2,-8.9,84,710,0.28,2.25,0.00,0.000,4,0.048,0.067,2567,693,3385
$GC,794,-0.99,-175.2,78.7,-9.9,91,800,0.00,2.22,0.00,0.000,6,0.000,0.018,2567,2102,3385
$GC,1120,-0.93,-175.2,111.5,-9.8,122,1125,0.12,2.38,0.00,0.000,4,0.077,0.067,2594,693,3386
$GC,1141,-0.93,-175.2,113.5,-8.6,123,1148,0.00,2.25,0.00,0.000,6,0.000,0.018,2594,2082,3386
$GC,1470,-0.98,-175.2,137.0,-6.9,154,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2086,3387
$GC,1795,-1.04,-175.2,158.6,-7.4,185,1799,0.12,2.35,0.00,0.000,4,0.046,0.035,2551,692,3387
$GC,1838,-1.04,-175.2,162.9,-10.2,188,1845,0.00,2.25,0.00,0.000,6,0.000,0.019,2551,2076,3387
$GC,2164,-1.04,-175.2,188.4,-7.0,219,2168,0.00,2.35,0.00,0.000,4,0.000,0.071,2551,694,3387
$GC,2196,-1.04,-175.2,190.9,-7.3,221,2202,0.00,2.25,0.00,0.000,6,0.000,0.020,2551,2076,3387
$GC,2515,-1.04,-175.2,214.0,-7.4,243,2519,0.00,2.33,0.00,0.000,4,0.000,0.034,2551,3470,3387
$GC,2593,-1.04,-175.2,220.0,-7.6,246,2597,0.00,2.28,0.00,0.000,6,0.000,0.021,2551,2094,3387
$GC,2914,-1.04,-175.2,241.7,-6.1,262,2918,0.00,2.38,0.00,0.000,4,0.000,0.038,2551,688,3386
$GC,2963,-1.04,-175.2,245.0,-7.0,264,2967,0.00,2.28,0.00,0.000,6,0.000,0.022,2551,2073,3386
$GC,3284,-1.04,-175.2,266.8,-7.1,280,3288,0.00,2.35,0.00,0.000,4,0.000,0.037,2552,3467,3386
$GC,3350,-1.07,-175.2,271.1,-5.9,283,3355,0.00,2.28,0.00,0.000,6,0.000,0.023,2551,2079,3385
$GC,3671,-1.07,-175.2,287.8,-4.6,299,3675,0.00,2.38,0.00,0.000,4,0.000,0.040,2551,685,3384
$GC,3739,-1.12,-175.2,291.2,-5.0,302,3744,0.00,2.28,0.00,0.000,6,0.000,0.024,2551,2076,3384
$GC,4084,-1.12,-175.2,311.3,-6.3,315,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2080,3382
$GC,4409,-1.12,-175.2,331.9,-6.2,323,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2079,3381
$GC,4733,-1.12,-175.2,357.0,-7.7,331,4737,0.00,2.40,0.00,0.000,4,0.000,0.043,2551,679,3379
$GC,4759,-1.12,-175.2,359.1,-7.8,331,4764,0.00,2.33,0.00,0.000,6,0.000,0.028,2551,2066,3378
$GC,5096,-1.12,-175.2,381.3,-6.3,340,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2070,3377
$GC,5421,-1.12,-175.2,402.3,-6.5,348,5425,0.00,2.38,0.00,0.000,4,0.000,0.044,2551,687,3374
$GC,5455,-1.17,-175.2,404.7,-7.1,348,5461,0.00,2.30,0.00,0.000,6,0.000,0.029,2551,2077,3375
$GC,5785,-1.17,-175.2,426.8,-6.9,357,5789,0.00,2.40,0.00,0.000,4,0.000,0.045,2551,3474,3373
$GC,5813,-1.22,-175.2,428.5,-6.6,357,5817,0.00,2.33,0.00,0.000,6,0.000,0.054,2551,2087,3372
$GC,6149,-1.25,-175.2,446.3,-4.9,366,6154,0.12,2.45,0.00,0.000,4,0.055,0.080,2516,675,3371
$GC,6198,-1.25,-175.2,449.3,-6.3,367,6202,0.00,2.35,0.00,0.000,6,0.000,0.031,2517,2077,3370
$STATE,6212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6212,begin apogee
$GC,6217,-0.31,0.0,450.2,6.2,367,6362,0.95,0.00,141.55,0.895,6,0.067,0.000,2724,2079,2664
$STATE,6363,end apogee,CONTROL_FINISHED_OK
$STATE,6363,begin climb
$GC,6365,0.96,175.2,454.7,0.0,371,6521,1.23,2.50,145.07,0.867,4,0.062,0.061,3006,676,1946
$GC,6655,0.81,175.2,437.2,11.0,377,6662,0.17,2.40,0.00,0.000,6,0.099,0.067,2973,2083,1936
$GC,6986,0.77,175.2,411.1,7.6,386,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2086,1935
$GC,7312,0.75,191.7,387.7,6.7,394,7331,0.00,2.50,12.90,0.796,4,0.000,0.067,2973,3471,1882
$GC,7348,0.76,230.7,385.4,6.1,394,7389,0.00,2.38,35.58,0.836,6,0.000,0.066,2974,2080,1723
$GC,7714,0.76,230.7,357.1,8.3,403,7718,0.00,2.47,0.00,0.000,4,0.000,0.055,2973,672,1715
$GC,7747,0.72,230.7,354.1,8.9,403,7753,0.00,2.40,0.00,0.000,6,0.000,0.053,2973,2089,1712
$GC,8078,0.72,230.7,325.6,8.8,412,8082,0.00,2.50,0.00,0.000,4,0.000,0.048,2973,669,1712
$GC,8105,0.72,230.7,322.8,10.5,412,8110,0.00,2.38,0.00,0.000,6,0.000,0.030,2973,2082,1710
$GC,8416,0.72,230.7,294.9,8.9,420,8420,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,3482,1710
$GC,8470,0.72,230.7,289.6,9.8,422,8475,0.05,2.40,0.00,0.000,6,0.093,0.051,2953,2084,1710
$GC,8792,0.78,244.6,266.3,6.8,438,8812,0.00,2.47,11.45,0.738,4,0.000,0.077,2953,669,1664
$GC,8931,0.83,244.6,256.3,7.6,444,8936,0.10,2.38,0.00,0.000,6,0.061,0.028,2981,2086,1660
$GC,9251,0.83,244.6,232.8,8.2,460,9255,0.00,2.38,0.00,0.000,4,0.000,0.041,2982,3474,1660
$GC,9272,0.83,244.6,230.9,9.3,461,9276,0.00,2.38,0.00,0.000,6,0.000,0.037,2981,2083,1661
$GC,9599,0.83,244.6,204.0,7.7,477,9603,0.00,2.42,0.00,0.000,4,0.000,0.044,2981,677,1660
$GC,9664,0.83,244.6,198.5,8.2,480,9671,0.00,2.38,0.00,0.000,6,0.000,0.051,2981,2086,1658
$GC,9991,0.87,254.9,175.4,6.9,511,10005,0.00,2.40,9.65,0.651,4,0.000,0.038,2981,3478,1624
$GC,10040,0.92,254.9,171.5,7.6,515,10046,0.00,2.35,0.00,0.000,6,0.000,0.025,2981,2073,1624
$GC,10367,0.99,283.2,150.0,6.4,546,10400,0.12,2.42,26.23,0.667,4,0.054,0.047,3018,679,1507
$GC,10457,0.95,283.2,142.7,9.0,554,10462,0.00,2.33,0.00,0.000,6,0.000,0.024,3018,2083,1503
$GC,10789,0.95,283.2,117.3,8.1,585,10793,0.00,2.35,0.00,0.000,4,0.000,0.070,3018,3470,1502
$GC,10862,0.95,283.2,110.7,9.5,591,10866,0.00,2.33,0.00,0.000,6,0.000,0.024,3018,2069,1502
$GC,11187,1.01,335.2,87.5,5.7,621,11240,0.00,2.45,45.20,0.601,4,0.000,0.053,3017,683,1296
$GC,11374,1.01,335.2,72.6,8.8,638,11378,0.00,2.28,0.00,0.000,6,0.000,0.020,3018,2087,1291
$GC,11702,1.07,335.2,48.4,8.1,668,11706,0.00,2.42,0.00,0.000,4,0.000,0.046,3018,673,1291
$GC,11764,1.12,335.2,43.0,8.3,673,11768,0.00,2.28,0.00,0.000,6,0.000,0.019,3018,2080,1289
$GC,12096,1.22,337.9,19.0,7.1,716,12102,0.15,0.00,0.00,0.000,6,0.042,0.000,3073,2084,1290
$GC,12216,1.18,337.9,7.6,9.9,737,12222,0.00,2.38,0.00,0.000,4,0.000,0.071,3073,680,1290
$GC,12257,1.12,337.9,3.4,10.1,744,12264,0.10,2.28,0.00,0.000,6,0.071,0.018,3038,2083,1290
$STATE,12268,end climb,SURFACE_DEPTH_REACHED
$STATE,12268,begin surface coast
$FINISH,-0.2,0.999919
$STATE,12299,end surface coast,CONTROL_FINISHED_OK
$STATE,12299,begin surface
$SM_CCo,12379,0.00,0.000,0,0,1286,337.78
$SM_GC,0.71,11.27,0.00,0.00,0.036,0.000,0.000,433,2086,1286,-10.80,0.20,337.78
$IRIDIUM_FIX,2057.14,-15748.75,061097,232345
$TT8_MAMPS,0.029146
$HUMID,1849
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,718
$24V_AH,23.4,33.985
$10V_AH,10.2,19.727
$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,28.625,132.025,427.625,0.000,0.000,23.615,32.085,222.377,179.500,0.000,0.000,12.915,1353.280,8726.148,515.729,1689.860,479.223,33.358,1382.794,0.000,1685.082,0.000,0.472
$DEVICE_MAMPS,161.070,79.768,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.228,502.141,857.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,751
$CAP_FILE_SIZE,115419,13
$CFSIZE,260165632,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130708,062632,2103.851,-15748.646,38,1.4,38,9.8