version: 66.03
glider: 139
mission: 3
dive: 57
start: 7 17 108 6 53 35
data:
$ID,139
$MISSION,3
$DIVE,57
$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,-1271445.8
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,064137,2105.135,-15750.535,38,1.3,38,9.8
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-69.2
$GPS2,065245,2105.170,-15750.619,10,1.5,10,9.8
$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,-6472.1,192.6,-299.6,10358.8,-316.5
$KALMAN_Y,1997.1,429.8,73.5,-23809.5,153.3
$MHEAD_RNG_PITCHd_Wd,118.6,8275,-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,-53.97,0.000,2,0.000,0.000,424,2080,2908
$GC,78,-0.96,-175.2,3.4,-5.8,10,102,12.27,0.00,-7.85,0.000,6,0.159,0.000,2575,2082,3381
$GC,219,-0.96,-175.2,32.9,-12.0,33,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3383
$GC,538,-0.96,-175.2,67.6,-10.6,63,542,0.00,2.38,0.00,0.000,4,0.000,0.036,2576,675,3384
$GC,569,-0.96,-175.2,71.0,-9.9,65,577,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,895,-0.96,-175.2,100.6,-8.9,96,898,0.00,2.30,0.00,0.000,4,0.000,0.031,2576,3466,3385
$GC,917,-0.96,-175.2,102.6,-8.5,98,921,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2067,3386
$GC,1248,-0.96,-175.2,128.5,-8.6,129,1252,0.00,2.33,0.00,0.000,4,0.000,0.041,2575,685,3386
$GC,1276,-0.96,-175.2,131.0,-8.6,131,1280,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2088,3386
$GC,1603,-0.96,-175.2,156.5,-8.6,161,1607,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,683,3386
$GC,1641,-0.96,-175.2,160.0,-8.7,164,1645,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2085,3386
$GC,1967,-0.96,-175.2,184.9,-7.1,194,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3387
$GC,2281,-0.96,-175.2,207.2,-7.9,220,2285,0.00,2.38,0.00,0.000,4,0.000,0.037,2575,682,3386
$GC,2343,-0.96,-175.2,211.6,-7.1,223,2347,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2082,3387
$GC,2669,-0.96,-175.2,231.3,-6.0,239,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3386
$GC,2978,-0.96,-175.2,251.5,-6.2,254,2982,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,683,3386
$GC,2999,-0.96,-175.2,253.0,-6.7,255,3003,0.00,2.03,0.00,0.000,6,0.000,0.061,2576,1960,3385
$GC,3326,-0.96,-175.2,272.0,-5.6,271,3330,0.00,2.53,0.00,0.000,4,0.000,0.049,2575,3460,3384
$GC,3376,-0.96,-175.2,275.0,-6.2,273,3380,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2077,3384
$GC,3698,-0.96,-175.2,294.9,-6.5,289,3702,0.00,2.38,0.00,0.000,4,0.000,0.072,2576,3466,3382
$GC,3714,-0.96,-175.2,296.0,-6.4,290,3718,0.00,2.30,0.00,0.000,6,0.000,0.054,2576,2068,3382
$GC,4036,-0.96,-175.2,317.6,-6.7,300,4040,0.00,2.35,0.00,0.000,4,0.000,0.040,2575,686,3380
$GC,4096,-0.96,-175.2,321.6,-6.0,301,4100,0.00,2.25,0.00,0.000,6,0.000,0.025,2576,2064,3380
$GC,4444,-0.96,-175.2,342.5,-5.8,310,4448,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,3474,3378
$GC,4533,-0.96,-175.2,347.4,-5.3,312,4537,0.00,2.33,0.00,0.000,6,0.000,0.040,2575,2073,3377
$GC,4858,-0.96,-175.2,364.0,-5.2,320,4862,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,684,3375
$GC,4924,-0.96,-175.2,367.7,-5.5,321,4928,0.00,2.30,0.00,0.000,6,0.000,0.026,2575,2077,3375
$GC,5266,-0.96,-175.2,388.5,-6.5,330,5271,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,3480,3373
$GC,5316,-0.96,-175.2,391.9,-6.3,331,5320,0.00,2.35,0.00,0.000,6,0.000,0.031,2576,2069,3372
$GC,5635,-0.96,-175.2,414.0,-6.9,339,5639,0.00,2.42,0.00,0.000,4,0.000,0.044,2576,3473,3370
$GC,5650,-0.96,-175.2,415.0,-6.9,339,5654,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2074,3371
$GC,5998,-0.96,-175.2,437.1,-6.3,348,6002,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,677,3368
$GC,6053,-0.96,-175.2,440.6,-6.8,349,6057,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2076,3368
$STATE,6202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6202,begin apogee
$GC,6206,-0.31,0.0,450.2,6.5,353,6351,0.68,0.00,141.30,0.896,6,0.049,0.000,2729,2079,2664
$STATE,6351,end apogee,CONTROL_FINISHED_OK
$STATE,6351,begin climb
$GC,6353,0.96,175.2,458.3,0.0,356,6508,1.20,2.47,145.18,0.871,4,0.058,0.077,3006,685,1947
$GC,6755,0.96,175.2,436.8,9.4,365,6760,0.00,2.35,0.00,0.000,6,0.000,0.030,3006,2077,1935
$GC,7102,0.96,175.2,409.1,7.9,374,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2080,1934
$GC,7427,0.96,175.2,379.5,9.5,382,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2080,1932
$GC,7752,0.96,175.2,347.3,10.0,390,7756,0.00,2.45,0.00,0.000,4,0.000,0.078,3006,679,1931
$GC,7785,0.96,175.2,344.2,9.3,390,7791,0.00,2.35,0.00,0.000,6,0.000,0.030,3006,2081,1929
$GC,8116,0.96,175.2,318.3,7.5,399,8120,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,3480,1929
$GC,8159,0.96,175.2,314.7,8.3,400,8164,0.00,2.38,0.00,0.000,6,0.000,0.029,3006,2087,1929
$GC,8486,0.96,175.2,289.1,8.1,411,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2086,1927
$GC,8794,0.96,175.2,263.7,8.0,426,8799,0.00,2.40,0.00,0.000,4,0.000,0.042,3006,3475,1927
$GC,8933,0.96,175.2,252.5,8.2,432,8938,0.00,2.38,0.00,0.000,6,0.000,0.057,3006,2081,1927
$GC,9255,0.99,200.1,230.8,6.5,448,9280,0.00,2.50,18.58,0.744,4,0.000,0.077,3006,681,1846
$GC,9302,0.99,200.1,227.0,8.5,450,9307,0.00,2.38,0.00,0.000,6,0.000,0.027,3006,2080,1843
$GC,9629,0.99,200.1,201.9,8.1,466,9633,0.00,2.40,0.00,0.000,4,0.000,0.039,3006,3482,1843
$GC,9661,0.99,200.1,199.3,8.2,467,9667,0.00,2.35,0.00,0.000,6,0.000,0.059,3006,2077,1843
$GC,9987,1.03,229.8,179.4,6.3,498,10019,0.00,2.45,26.58,0.701,4,0.000,0.074,3006,674,1725
$GC,10233,1.03,229.8,160.0,7.9,520,10237,0.00,2.33,0.00,0.000,6,0.000,0.024,3006,2086,1720
$GC,10557,1.05,250.1,137.2,6.6,550,10580,0.00,2.53,18.05,0.639,4,0.000,0.046,3006,674,1643
$GC,10596,1.07,268.0,134.6,6.7,553,10618,0.00,2.35,17.17,0.624,6,0.000,0.032,3006,2084,1571
$GC,10937,1.07,268.0,108.0,8.0,585,10941,0.10,2.40,0.00,0.000,4,0.058,0.038,3038,673,1566
$GC,10951,1.07,268.0,106.5,8.8,586,10959,0.00,2.33,0.00,0.000,6,0.000,0.021,3038,2078,1565
$GC,11279,1.07,268.0,78.7,7.7,617,11283,0.00,1.67,0.00,0.000,4,0.000,0.076,3038,3107,1565
$GC,11347,1.08,272.7,73.6,7.0,623,11359,0.00,1.70,4.95,0.444,6,0.000,0.033,3038,2067,1551
$GC,11676,1.08,272.7,50.7,7.3,654,11680,0.00,2.33,0.00,0.000,4,0.000,0.037,3038,684,1551
$GC,11692,1.08,272.7,49.4,7.3,655,11699,0.00,2.30,0.00,0.000,6,0.000,0.047,3038,2089,1550
$GC,12019,1.09,281.3,27.3,6.9,689,12037,0.00,2.35,9.15,0.488,4,0.000,0.064,3038,3463,1516
$GC,12099,1.09,281.3,20.9,7.9,703,12106,0.00,2.25,0.00,0.000,6,0.000,0.021,3038,2074,1516
$GC,12219,1.09,281.3,11.4,8.5,724,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2073,1517
$STATE,12336,end climb,SURFACE_DEPTH_REACHED
$STATE,12336,begin surface coast
$FINISH,-0.2,1.021186
$STATE,12404,end surface coast,CONTROL_FINISHED_OK
$STATE,12404,begin surface
$SM_CCo,12423,33.25,0.516,0,0,1359,320.12
$SM_GC,1.12,0.00,0.00,33.25,0.000,0.000,0.516,429,2069,1359,-10.88,-0.28,320.12
$IRIDIUM_FIX,2057.14,-15751.76,111097,060618
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.20
$XPDR_PINGS,726
$24V_AH,23.4,37.928
$10V_AH,10.2,22.011
$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,25.450,120.975,380.950,33.250,0.000,53.900,64.461,364.101,181.500,0.000,0.000,12.086,1359.342,8851.810,495.023,1732.074,675.908,33.364,1353.449,0.000,1723.575,0.000,0.470
$DEVICE_MAMPS,158.769,78.234,895.856,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.522,503.263,859.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37960,757
$CAP_FILE_SIZE,112175,15
$CFSIZE,260165632,254824448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170708,102256,2104.517,-15749.732,66,1.0,66,9.8