version: 66.03
glider: 139
mission: 3
dive: 47
start: 7 15 108 18 27 52
data:
$ID,139
$MISSION,3
$DIVE,47
$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,543.09418
$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,-1271241.9
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,181738,2104.324,-15749.148,31,1.1,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-64.8
$GPS2,182702,2104.276,-15749.131,10,1.1,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.217,0.134
$KALMAN_X,-3955.5,0.2,166.8,10125.4,466.7
$KALMAN_Y,2622.8,-751.1,-192.5,-24633.5,627.5
$MHEAD_RNG_PITCHd_Wd,291.9,13617,-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,-175.2,0.0,0.0,0,115,0.00,0.00,-92.25,0.000,2,0.000,0.000,432,2087,3107
$GC,117,-0.96,-175.2,4.1,-7.4,17,142,12.23,2.30,-4.30,0.000,4,0.159,0.039,2576,3457,3382
$GC,326,-0.96,-175.2,44.4,-10.8,43,333,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2077,3384
$GC,651,-0.96,-175.2,79.2,-9.2,74,655,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,680,3384
$GC,674,-0.96,-175.2,81.5,-9.9,76,678,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2077,3384
$GC,1005,-0.96,-175.2,114.7,-9.1,107,1008,0.00,1.90,0.00,0.000,4,0.000,0.069,2576,3254,3385
$GC,1065,-0.96,-175.2,119.9,-8.1,112,1072,0.00,1.92,0.00,0.000,6,0.000,0.020,2576,2079,3385
$GC,1393,-0.96,-175.2,146.3,-7.5,143,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3385
$GC,1708,-0.96,-175.2,169.3,-7.7,173,1712,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,679,3385
$GC,1736,-0.96,-175.2,171.4,-7.7,175,1741,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2076,3385
$GC,2062,-0.96,-175.2,194.7,-7.5,205,2066,0.00,1.83,0.00,0.000,4,0.000,0.071,2576,3203,3385
$GC,2145,-0.96,-175.2,200.7,-6.4,212,2152,0.00,1.85,0.00,0.000,6,0.000,0.021,2576,2075,3385
$GC,2461,-0.96,-175.2,220.5,-7.0,228,2465,0.00,2.33,0.00,0.000,4,0.000,0.037,2576,690,3384
$GC,2510,-0.96,-175.2,224.3,-7.7,230,2514,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2082,3384
$GC,2837,-0.96,-175.2,245.9,-6.0,246,2841,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3465,3383
$GC,2858,-0.96,-175.2,247.2,-5.9,247,2862,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2077,3383
$GC,3185,-0.96,-175.2,267.1,-6.2,263,3189,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,686,3381
$GC,3217,-0.96,-175.2,269.2,-6.3,264,3224,0.00,2.25,0.00,0.000,6,0.000,0.059,2576,2082,3381
$GC,3532,-0.96,-175.2,285.9,-5.2,280,3536,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,684,3380
$GC,3554,-0.96,-175.2,287.3,-6.1,281,3558,0.00,2.28,0.00,0.000,6,0.000,0.023,2576,2082,3380
$GC,3879,-0.96,-175.2,304.4,-5.1,295,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2086,3378
$GC,4204,-0.96,-175.2,325.6,-6.7,303,4208,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,679,3377
$GC,4237,-0.96,-175.2,327.9,-6.6,303,4243,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2080,3376
$GC,4568,-0.96,-175.2,348.4,-6.2,312,4572,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3472,3375
$GC,4590,-0.96,-175.2,349.9,-7.0,312,4594,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2082,3375
$GC,4932,-0.96,-175.2,369.3,-5.1,321,4936,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,676,3373
$GC,4958,-0.96,-175.2,370.7,-5.1,321,4963,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2084,3373
$GC,5295,-0.96,-175.2,387.1,-5.3,330,5300,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,3474,3371
$GC,5328,-0.96,-175.2,389.1,-6.0,330,5334,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2079,3371
$GC,5659,-0.96,-175.2,410.8,-6.6,339,5663,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,3472,3368
$GC,5726,-0.96,-175.2,415.2,-6.4,340,5730,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2075,3368
$GC,6074,-0.96,-175.2,436.7,-6.2,349,6078,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,676,3366
$GC,6123,-0.96,-175.2,440.0,-6.5,350,6127,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2075,3366
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6277,begin apogee
$GC,6281,-0.31,0.0,450.5,6.8,354,6426,0.52,0.00,141.20,0.889,6,0.097,0.000,2701,2079,2664
$STATE,6426,end apogee,CONTROL_FINISHED_OK
$STATE,6426,begin climb
$GC,6428,0.96,175.2,458.9,0.0,357,6585,1.33,2.53,145.40,0.865,4,0.041,0.052,3005,3469,1949
$GC,6817,0.96,175.2,438.0,9.9,366,6821,0.00,2.35,0.00,0.000,6,0.000,0.046,3005,2087,1941
$GC,7140,0.96,175.2,409.2,8.6,374,7144,0.00,2.47,0.00,0.000,4,0.000,0.048,3004,670,1936
$GC,7206,0.96,175.2,403.2,9.6,375,7210,0.00,2.38,0.00,0.000,6,0.000,0.030,3005,2081,1933
$GC,7554,0.96,175.2,376.5,7.4,384,7558,0.00,2.42,0.00,0.000,4,0.000,0.046,3004,3475,1932
$GC,7602,0.96,175.2,372.5,8.5,385,7607,0.00,2.40,0.00,0.000,6,0.000,0.030,3004,2078,1933
$GC,7921,0.96,175.2,346.5,8.4,393,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2076,1930
$GC,8246,0.96,175.2,320.2,8.0,401,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2076,1929
$GC,8551,0.96,175.2,296.6,7.2,409,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2076,1928
$GC,8860,0.96,175.2,272.0,8.5,424,8864,0.00,2.42,0.00,0.000,4,0.000,0.041,3005,3478,1927
$GC,8943,0.96,175.2,264.7,8.5,428,8948,0.00,2.35,0.00,0.000,6,0.000,0.028,3005,2074,1927
$GC,9269,0.96,175.2,239.6,7.6,444,9273,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,672,1926
$GC,9307,0.96,175.2,236.4,8.4,445,9314,0.00,2.38,0.00,0.000,6,0.000,0.027,3005,2083,1925
$GC,9624,0.96,175.2,213.2,7.2,461,9628,0.00,2.38,0.00,0.000,4,0.000,0.040,3005,3476,1925
$GC,9685,0.96,175.2,208.6,7.9,464,9689,0.00,1.88,0.00,0.000,6,0.000,0.067,3005,2320,1925
$GC,10011,1.00,204.4,188.8,6.3,488,10044,0.00,2.92,22.20,0.701,4,0.000,0.067,3005,679,1827
$GC,10216,1.00,210.5,174.8,7.0,506,10227,0.00,2.35,5.95,0.565,6,0.000,0.044,3005,2080,1805
$GC,10547,1.00,210.5,153.5,7.1,537,10551,0.00,2.42,0.00,0.000,4,0.000,0.040,3005,670,1804
$GC,10642,1.00,210.5,145.3,8.9,545,10646,0.00,2.33,0.00,0.000,6,0.000,0.059,3005,2081,1802
$GC,10968,1.05,244.9,123.7,6.2,575,11004,0.00,2.40,30.95,0.637,4,0.000,0.035,3005,3472,1664
$GC,11094,1.08,271.0,115.6,6.4,586,11123,0.08,2.35,23.62,0.614,6,0.043,0.023,3039,2072,1559
$GC,11440,1.08,271.0,88.3,8.2,619,11444,0.00,2.35,0.00,0.000,4,0.000,0.038,3040,684,1552
$GC,11545,1.08,271.0,77.3,10.5,628,11553,0.00,2.30,0.00,0.000,6,0.000,0.056,3040,2080,1549
$GC,11872,1.09,279.2,52.0,6.9,659,11881,0.00,0.00,7.30,0.495,6,0.000,0.000,3040,2084,1525
$GC,12201,1.12,302.8,28.5,6.5,692,12229,0.00,0.00,21.67,0.527,6,0.000,0.000,3040,2084,1429
$GC,12342,1.12,302.8,18.1,7.6,717,12349,0.00,2.38,0.00,0.000,4,0.000,0.036,3040,674,1425
$GC,12388,1.12,302.8,14.3,8.5,725,12395,0.00,2.25,0.00,0.000,6,0.000,0.018,3040,2085,1423
$GC,12508,1.12,302.8,5.0,7.5,746,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2091,1424
$STATE,12535,end climb,SURFACE_DEPTH_REACHED
$STATE,12535,begin surface coast
$FINISH,0.0,1.022691
$STATE,12575,end surface coast,CONTROL_FINISHED_OK
$STATE,12575,begin surface
$SM_CCo,12595,150.77,0.509,0,0,449,543.09
$SM_GC,0.42,0.00,0.00,150.77,0.000,0.000,0.509,433,2088,449,-10.87,0.25,543.09
$IRIDIUM_FIX,2057.14,-15746.61,091097,181816
$TT8_MAMPS,0.029146
$HUMID,1788
$INTERNAL_PRESSURE,8.58049
$TCM_TEMP,23.40
$XPDR_PINGS,719
$24V_AH,23.4,36.565
$10V_AH,10.2,21.189
$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,25.375,120.350,398.300,150.775,0.000,53.786,67.502,255.556,179.750,0.000,0.000,16.981,1340.684,8992.872,651.700,1743.133,570.531,33.356,1531.627,0.000,1733.966,0.000,0.471
$DEVICE_MAMPS,158.769,70.564,888.953,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.188,503.117,847.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,758
$CAP_FILE_SIZE,110177,9
$CFSIZE,260165632,255369216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150708,220132,2105.157,-15750.021,37,1.3,37,9.8