version: 66.03
glider: 139
mission: 3
dive: 43
start: 7 15 108 3 29 5
data:
$ID,139
$MISSION,3
$DIVE,43
$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,-1271176.2
$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,37
$R_STBD_OVSHOOT,53
$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
$GPS1,032031,2104.262,-15749.800,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-70.7
$GPS2,032815,2104.258,-15749.849,10,1.0,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.139
$KALMAN_X,-2499.4,414.0,-499.1,7697.1,-113.1
$KALMAN_Y,3799.9,585.5,0.2,-27380.4,-115.8
$MHEAD_RNG_PITCHd_Wd,113.2,6184,-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,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-58.30,0.000,2,0.000,0.000,427,2103,3051
$GC,83,-0.96,-175.2,4.0,-7.6,11,108,12.27,2.42,-5.28,0.000,4,0.160,0.048,2576,673,3382
$GC,149,-0.61,-175.2,26.7,-24.2,22,156,0.40,2.05,0.00,0.000,6,0.074,0.056,2660,1983,3384
$GC,270,-0.71,-175.2,37.1,-6.7,35,274,0.00,2.17,0.00,0.000,4,0.000,0.065,2660,3308,3384
$GC,310,-0.84,-175.2,40.1,-7.1,38,315,0.22,2.00,0.00,0.000,6,0.040,0.018,2603,2066,3385
$GC,635,-0.84,-175.2,70.6,-9.1,68,639,0.00,2.30,0.00,0.000,4,0.000,0.056,2602,692,3386
$GC,702,-0.87,-175.2,76.5,-8.3,73,709,0.00,2.25,0.00,0.000,6,0.000,0.053,2602,2085,3386
$GC,1028,-0.90,-175.2,99.9,-6.4,104,1032,0.00,1.65,0.00,0.000,4,0.000,0.065,2602,3108,3386
$GC,1063,-0.96,-175.2,102.2,-6.7,107,1066,0.00,1.65,0.00,0.000,6,0.000,0.067,2602,2079,3387
$GC,1395,-1.01,-175.2,126.1,-7.1,138,1399,0.12,2.33,0.00,0.000,4,0.052,0.069,2569,693,3387
$GC,1483,-1.01,-175.2,133.9,-8.6,145,1490,0.00,2.25,0.00,0.000,6,0.000,0.018,2568,2080,3387
$GC,1809,-1.01,-175.2,160.1,-7.3,176,1813,0.00,2.35,0.00,0.000,4,0.000,0.071,2568,692,3388
$GC,1848,-1.01,-175.2,163.4,-8.5,179,1852,0.00,2.22,0.00,0.000,6,0.000,0.019,2568,2077,3388
$GC,2178,-1.01,-175.2,188.8,-6.3,210,2182,0.00,2.33,0.00,0.000,4,0.000,0.059,2568,3465,3388
$GC,2239,-1.04,-175.2,193.4,-7.6,215,2246,0.00,2.25,0.00,0.000,6,0.000,0.050,2568,2083,3388
$GC,2568,-1.04,-175.2,215.9,-7.1,236,2572,0.00,2.35,0.00,0.000,4,0.000,0.036,2568,686,3387
$GC,2630,-1.09,-175.2,220.1,-6.6,239,2635,0.00,2.25,0.00,0.000,6,0.000,0.058,2568,2076,3387
$GC,2957,-1.09,-175.2,240.0,-6.5,255,2961,0.00,2.33,0.00,0.000,4,0.000,0.035,2568,3465,3387
$GC,3006,-1.14,-175.2,243.5,-6.6,257,3010,0.00,2.25,0.00,0.000,6,0.000,0.022,2568,2080,3387
$GC,3328,-1.14,-175.2,262.6,-5.9,273,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2079,3386
$GC,3636,-1.14,-175.2,282.8,-7.0,288,3640,0.00,2.38,0.00,0.000,4,0.000,0.040,2568,680,3384
$GC,3676,-1.20,-175.2,285.6,-7.1,290,3681,0.17,2.28,0.00,0.000,6,0.044,0.024,2515,2074,3384
$GC,4020,-1.12,-175.2,315.0,-8.4,303,4025,0.15,2.38,0.00,0.000,4,0.077,0.038,2550,3473,3383
$GC,4064,-1.12,-175.2,318.4,-7.5,304,4068,0.00,2.30,0.00,0.000,6,0.000,0.035,2550,2086,3382
$GC,4388,-1.12,-175.2,341.9,-7.4,312,4392,0.00,2.40,0.00,0.000,4,0.000,0.042,2550,680,3381
$GC,4436,-1.12,-175.2,345.6,-7.7,313,4441,0.00,2.33,0.00,0.000,6,0.000,0.026,2550,2072,3381
$GC,4755,-1.12,-175.2,364.3,-5.7,321,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2076,3378
$GC,5080,-1.12,-175.2,384.8,-6.6,329,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2076,3377
$GC,5405,-1.12,-175.2,404.7,-5.9,337,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2076,3375
$GC,5730,-1.12,-175.2,424.8,-6.2,345,5734,0.00,2.40,0.00,0.000,4,0.000,0.045,2550,680,3373
$GC,5769,-1.15,-175.2,427.2,-6.5,346,5774,0.00,2.33,0.00,0.000,6,0.000,0.064,2550,2074,3372
$GC,6093,-1.15,-175.2,448.0,-6.6,354,6097,0.00,2.42,0.00,0.000,4,0.000,0.047,2550,676,3370
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6125,-0.31,0.0,450.0,7.5,354,6270,0.80,0.00,141.85,0.896,6,0.171,0.000,2726,2086,2664
$STATE,6271,end apogee,CONTROL_FINISHED_OK
$STATE,6271,begin climb
$GC,6273,0.96,175.2,457.7,0.0,358,6427,1.23,2.50,145.25,0.869,4,0.040,0.061,3007,684,1947
$GC,6494,0.81,175.2,453.2,8.6,363,6499,0.17,2.38,0.00,0.000,6,0.095,0.031,2974,2084,1939
$GC,6842,0.77,182.1,428.9,7.0,372,6852,0.00,2.47,5.20,0.642,4,0.000,0.062,2974,684,1920
$GC,6941,0.70,182.1,421.4,7.4,374,6946,0.15,2.35,0.00,0.000,6,0.096,0.031,2946,2078,1917
$GC,7289,0.78,247.0,402.5,5.4,383,7348,0.00,0.00,57.58,0.863,6,0.000,0.000,2946,2081,1657
$GC,7655,0.83,247.0,376.1,7.7,392,7660,0.12,2.45,0.00,0.000,4,0.056,0.079,2979,684,1647
$GC,7727,0.80,247.0,368.9,10.3,393,7731,0.00,2.35,0.00,0.000,6,0.000,0.031,2979,2079,1644
$GC,8057,0.80,247.0,338.7,8.9,401,8061,0.00,2.45,0.00,0.000,4,0.000,0.051,2979,683,1644
$GC,8128,0.80,247.0,332.2,9.3,402,8132,0.00,2.38,0.00,0.000,6,0.000,0.030,2979,2079,1642
$GC,8471,0.80,247.0,303.9,8.0,411,8475,0.00,2.38,0.00,0.000,4,0.000,0.078,2979,683,1642
$GC,8525,0.80,247.0,299.3,8.5,412,8530,0.00,2.38,0.00,0.000,6,0.000,0.029,2979,2084,1640
$GC,8843,0.80,247.0,276.2,7.5,427,8847,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,681,1640
$GC,8886,0.80,247.0,272.6,8.1,429,8890,0.00,2.38,0.00,0.000,6,0.000,0.028,2979,2086,1640
$GC,9213,0.80,247.0,246.8,8.2,445,9217,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,677,1639
$GC,9229,0.80,247.0,245.3,8.6,445,9235,0.00,2.35,0.00,0.000,6,0.000,0.042,2979,2086,1638
$GC,9544,0.80,247.0,221.4,7.6,461,9548,0.00,2.38,0.00,0.000,4,0.000,0.040,2979,3471,1638
$GC,9577,0.83,247.0,218.5,8.8,462,9584,0.00,2.35,0.00,0.000,6,0.000,0.027,2979,2086,1638
$GC,9895,0.83,247.0,193.2,7.5,482,9899,0.00,2.42,0.00,0.000,4,0.000,0.042,2979,678,1638
$GC,9979,0.83,247.0,186.3,8.5,489,9983,0.00,2.33,0.00,0.000,6,0.000,0.031,2979,2091,1637
$GC,10310,0.88,247.0,162.5,7.8,520,10314,0.00,2.45,0.00,0.000,4,0.000,0.052,2979,676,1637
$GC,10358,0.88,247.0,158.3,8.6,524,10365,0.00,2.35,0.00,0.000,6,0.000,0.048,2979,2084,1637
$GC,10685,0.95,263.1,136.3,6.7,555,10711,0.10,2.40,14.15,0.557,4,0.059,0.035,3010,3462,1591
$GC,10762,0.95,263.1,129.8,8.5,562,10766,0.00,2.30,0.00,0.000,6,0.000,0.038,3009,2073,1591
$GC,11092,0.99,293.0,107.4,6.3,593,11125,0.00,2.47,27.55,0.617,4,0.000,0.039,3009,678,1468
$GC,11193,0.99,293.0,100.1,7.7,602,11197,0.00,2.30,0.00,0.000,6,0.000,0.021,3009,2087,1463
$GC,11517,1.03,293.0,76.3,7.6,632,11521,0.00,2.40,0.00,0.000,4,0.000,0.038,3009,673,1463
$GC,11628,1.03,293.0,67.1,7.9,641,11635,0.00,2.30,0.00,0.000,6,0.000,0.020,3009,2080,1462
$GC,11955,1.16,346.3,46.9,5.7,672,12019,0.15,2.47,48.10,0.542,4,0.044,0.036,3062,681,1249
$GC,12102,1.12,346.3,32.1,11.4,685,12110,0.08,2.30,0.00,0.000,6,0.072,0.053,3041,2088,1247
$STATE,12431,end climb,SURFACE_DEPTH_REACHED
$STATE,12431,begin surface coast
$FINISH,-0.2,0.997800
$STATE,12473,end surface coast,CONTROL_FINISHED_OK
$STATE,12473,begin surface
$SM_CCo,12552,0.00,0.000,0,0,1241,348.82
$SM_GC,0.58,11.30,0.00,0.00,0.035,0.000,0.000,430,2088,1241,-10.81,0.25,348.82
$IRIDIUM_FIX,2057.14,-15748.75,091097,000045
$TT8_MAMPS,0.029146
$HUMID,1836
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.20
$XPDR_PINGS,714
$24V_AH,23.4,35.881
$10V_AH,10.2,20.842
$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,27.450,129.925,439.675,0.000,0.000,31.060,29.006,280.898,178.500,0.000,0.000,12.247,1350.882,8877.388,516.531,1728.364,528.357,33.363,1388.203,0.000,1716.669,0.000,0.471
$DEVICE_MAMPS,171.041,79.001,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.560,489.289,849.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,749
$CAP_FILE_SIZE,114076,14
$CFSIZE,260165632,255582208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,150708,065932,2103.296,-15748.479,40,0.9,40,9.8