version: 66.03
glider: 139
mission: 3
dive: 39
start: 7 14 108 13 38 35
data:
$ID,139
$MISSION,3
$DIVE,39
$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,-1271081
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,133125,2108.353,-15754.000,36,1.1,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-70.3
$GPS2,133745,2108.376,-15754.017,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.186
$KALMAN_X,132.3,-653.5,-491.9,-1061.0,547.4
$KALMAN_Y,3136.2,-433.8,5.8,-18080.2,-187.9
$MHEAD_RNG_PITCHd_Wd,127.0,16607,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,83,0.00,0.00,-59.70,0.000,2,0.000,0.000,432,2082,2965
$GC,86,-0.96,-175.2,3.6,-6.8,11,110,12.25,2.45,-6.72,0.000,4,0.160,0.051,2574,680,3383
$GC,156,-0.68,-175.2,26.3,-19.7,23,163,0.32,2.22,0.00,0.000,6,0.079,0.018,2642,2078,3384
$GC,277,-0.72,-175.2,36.7,-7.2,37,281,0.00,2.30,0.00,0.000,4,0.000,0.031,2642,3460,3385
$GC,303,-0.79,-175.2,38.7,-7.3,39,310,0.00,2.28,0.00,0.000,6,0.000,0.055,2642,2075,3384
$GC,630,-0.89,-175.2,61.0,-6.4,70,632,0.20,0.00,0.00,0.000,6,0.041,0.000,2590,2074,3386
$GC,948,-0.85,-175.2,89.0,-9.3,100,952,0.00,2.35,0.00,0.000,4,0.000,0.069,2590,680,3386
$GC,969,-0.85,-175.2,91.4,-10.0,101,976,0.00,2.25,0.00,0.000,6,0.000,0.054,2590,2071,3386
$GC,1295,-0.85,-175.2,116.7,-6.9,132,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2075,3387
$GC,1612,-0.85,-175.2,138.0,-7.4,162,1616,0.00,2.35,0.00,0.000,4,0.000,0.035,2590,685,3387
$GC,1645,-0.89,-175.2,140.5,-7.9,164,1652,0.00,2.25,0.00,0.000,6,0.000,0.019,2589,2070,3388
$GC,1971,-0.92,-175.2,163.6,-7.7,195,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2075,3388
$GC,2292,-0.97,-175.2,185.1,-5.9,225,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2075,3388
$GC,2625,-1.02,-175.2,205.0,-5.9,253,2629,0.00,2.35,0.00,0.000,4,0.000,0.048,2589,672,3388
$GC,2669,-1.11,-175.2,208.0,-7.0,255,2674,0.17,2.28,0.00,0.000,6,0.048,0.056,2537,2076,3388
$GC,2990,-1.06,-175.2,236.5,-9.2,271,2994,0.12,2.33,0.00,0.000,4,0.083,0.044,2562,3463,3387
$GC,3061,-1.11,-175.2,241.7,-6.3,274,3065,0.00,2.28,0.00,0.000,6,0.000,0.021,2562,2070,3387
$GC,3382,-1.11,-175.2,260.5,-6.4,290,3386,0.00,2.35,0.00,0.000,4,0.000,0.039,2562,684,3386
$GC,3439,-1.16,-175.2,264.5,-7.1,292,3446,0.00,2.25,0.00,0.000,6,0.000,0.022,2562,2079,3386
$GC,3754,-1.16,-175.2,287.9,-7.6,308,3758,0.00,2.38,0.00,0.000,4,0.000,0.039,2562,689,3385
$GC,3786,-1.20,-175.2,290.4,-7.7,309,3793,0.12,2.28,0.00,0.000,6,0.049,0.026,2521,2077,3385
$GC,4119,-1.13,-175.2,318.7,-8.5,321,4124,0.12,2.38,0.00,0.000,4,0.086,0.038,2546,3473,3383
$GC,4185,-1.13,-175.2,323.1,-6.1,322,4189,0.00,2.30,0.00,0.000,6,0.000,0.025,2546,2080,3383
$GC,4527,-1.13,-175.2,345.0,-7.1,331,4531,0.00,2.40,0.00,0.000,4,0.000,0.043,2546,676,3381
$GC,4576,-1.13,-175.2,349.2,-8.4,332,4580,0.00,2.33,0.00,0.000,6,0.000,0.026,2546,2073,3381
$GC,4895,-1.13,-175.2,372.1,-6.8,340,4899,0.00,2.40,0.00,0.000,4,0.000,0.042,2546,3478,3379
$GC,4934,-1.13,-175.2,374.7,-7.1,341,4938,0.00,2.33,0.00,0.000,6,0.000,0.064,2546,2084,3378
$GC,5257,-1.13,-175.2,394.8,-6.2,349,5261,0.00,2.42,0.00,0.000,4,0.000,0.045,2546,677,3377
$GC,5290,-1.13,-175.2,396.9,-6.0,349,5296,0.00,2.33,0.00,0.000,6,0.000,0.028,2546,2079,3377
$GC,5621,-1.13,-175.2,416.9,-6.0,358,5625,0.00,2.42,0.00,0.000,4,0.000,0.045,2546,678,3375
$GC,5647,-1.13,-175.2,418.6,-6.2,358,5652,0.00,2.33,0.00,0.000,6,0.000,0.048,2546,2077,3374
$GC,5984,-1.13,-175.2,439.8,-6.6,367,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2081,3373
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6145,begin apogee
$GC,6149,-0.31,0.0,450.4,6.5,371,6294,0.85,0.00,141.93,0.889,6,0.160,0.000,2729,2081,2664
$STATE,6295,end apogee,CONTROL_FINISHED_OK
$STATE,6295,begin climb
$GC,6297,0.96,175.2,455.9,0.0,374,6450,0.10,2.50,144.38,0.864,4,0.331,0.076,2768,3479,1948
$GC,6702,1.58,256.0,446.3,4.9,383,6779,1.67,2.38,69.32,0.858,6,0.091,0.029,3145,2075,1620
$GC,7087,1.28,256.0,379.3,19.8,393,7092,0.32,2.45,0.00,0.000,4,0.100,0.042,3078,3477,1610
$GC,7164,1.10,256.0,366.2,15.9,394,7171,0.22,2.38,0.00,0.000,6,0.115,0.038,3037,2086,1610
$GC,7495,0.98,256.0,325.6,11.4,403,7500,0.15,2.47,0.00,0.000,4,0.111,0.056,3010,675,1606
$GC,7539,0.91,256.0,320.9,10.2,404,7543,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2085,1604
$GC,7864,0.85,256.0,290.7,9.4,414,7869,0.15,2.40,0.00,0.000,4,0.107,0.042,2979,3475,1604
$GC,7896,0.85,256.0,287.6,9.3,415,7903,0.00,2.40,0.00,0.000,6,0.000,0.056,2979,2074,1604
$GC,8212,0.85,256.0,261.3,8.1,431,8216,0.00,2.42,0.00,0.000,4,0.000,0.046,2979,677,1602
$GC,8283,0.85,256.0,254.9,9.3,434,8288,0.00,2.38,0.00,0.000,6,0.000,0.028,2979,2102,1600
$GC,8604,0.85,256.0,227.0,7.8,450,8608,0.00,2.50,0.00,0.000,4,0.000,0.044,2979,669,1600
$GC,8704,0.85,256.0,218.9,8.2,454,8711,0.00,2.38,0.00,0.000,6,0.000,0.026,2979,2081,1599
$GC,9021,0.88,256.0,197.3,8.0,471,9025,0.00,2.45,0.00,0.000,4,0.000,0.043,2979,672,1599
$GC,9082,0.88,256.0,191.5,9.5,476,9086,0.00,2.33,0.00,0.000,6,0.000,0.025,2979,2081,1598
$GC,9408,0.96,278.0,165.1,6.5,506,9427,0.10,0.00,16.77,0.672,6,0.060,0.000,3010,2086,1530
$GC,9746,0.96,278.0,138.1,8.1,538,9750,0.00,2.42,0.00,0.000,4,0.000,0.048,3010,674,1528
$GC,9796,0.96,278.0,133.4,9.5,542,9800,0.00,2.03,0.00,0.000,6,0.000,0.061,3010,1951,1526
$GC,10127,0.96,278.0,106.7,7.9,573,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1956,1526
$GC,10445,1.00,309.2,82.2,6.3,603,10478,0.00,2.65,28.12,0.591,4,0.000,0.041,3010,3481,1402
$GC,10494,1.06,315.2,78.8,7.0,607,10506,0.00,2.33,6.85,0.495,6,0.000,0.057,3010,2068,1379
$GC,10825,1.17,347.7,55.9,6.3,638,10861,0.15,2.42,28.73,0.561,4,0.042,0.038,3062,684,1245
$GC,10940,1.13,347.7,45.4,11.0,648,10947,0.00,2.30,0.00,0.000,6,0.000,0.019,3062,2119,1242
$GC,11273,1.13,347.7,13.3,10.3,694,11279,0.00,2.45,0.00,0.000,4,0.000,0.037,3061,680,1241
$GC,11331,1.10,347.7,6.8,11.5,704,11338,0.12,2.22,0.00,0.000,6,0.083,0.018,3036,2082,1240
$STATE,11376,end climb,SURFACE_DEPTH_REACHED
$STATE,11376,begin surface coast
$FINISH,-0.1,1.010558
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11417,begin surface
$SM_CCo,11496,0.00,0.000,0,0,1237,350.29
$SM_GC,0.73,11.32,0.00,0.00,0.044,0.000,0.000,424,2087,1237,-10.82,0.23,350.29
$IRIDIUM_FIX,2101.76,-15753.03,081097,101001
$TT8_MAMPS,0.029146
$HUMID,1867
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,716
$24V_AH,23.4,35.341
$10V_AH,10.2,20.517
$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,28.500,113.175,436.100,0.000,0.000,26.156,40.707,195.480,179.000,0.000,0.000,13.819,1290.956,7983.188,510.017,1643.563,435.858,33.372,1331.639,0.000,1634.937,0.000,0.470
$DEVICE_MAMPS,330.577,75.933,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.499,479.395,837.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37961,719
$CAP_FILE_SIZE,106021,13
$CFSIZE,260165632,255811584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140708,165126,2107.306,-15752.759,40,1.2,40,9.8