version: 66.03
glider: 139
mission: 3
dive: 59
start: 7 17 108 14 1 56
data:
$ID,139
$MISSION,3
$DIVE,59
$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,-1271518.9
$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,67
$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
$GPS1,135437,2103.625,-15749.294,28,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-68.7
$GPS2,140107,2103.631,-15749.353,49,2.0,54,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.078
$KALMAN_X,-9308.7,-482.6,-156.8,15917.4,-1530.6
$KALMAN_Y,3052.3,-261.2,-194.2,-26748.1,78.7
$MHEAD_RNG_PITCHd_Wd,98.0,4830,-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,19,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-59.60,0.000,2,0.000,0.000,432,2084,3000
$GC,83,-0.96,-175.2,4.0,-7.5,11,107,12.10,2.38,-6.07,0.000,4,0.156,0.049,2577,684,3381
$GC,149,-0.96,-175.2,25.5,-21.3,22,155,0.00,2.20,0.00,0.000,6,0.000,0.018,2578,2068,3382
$GC,263,-0.96,-175.2,42.3,-14.9,35,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2071,3383
$GC,582,-0.96,-175.2,76.3,-9.0,65,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2072,3383
$GC,900,-0.96,-175.2,108.3,-9.2,95,904,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,675,3384
$GC,939,-0.96,-175.2,111.8,-9.0,98,942,0.00,1.62,0.00,0.000,6,0.000,0.052,2577,1754,3385
$GC,1270,-0.96,-175.2,141.6,-8.9,129,1274,0.00,2.85,0.00,0.000,4,0.000,0.058,2578,3463,3385
$GC,1380,-0.96,-175.2,151.6,-8.5,138,1387,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2074,3385
$GC,1707,-0.96,-175.2,177.0,-7.2,169,1711,0.00,2.35,0.00,0.000,4,0.000,0.067,2578,3471,3386
$GC,1750,-0.96,-175.2,180.3,-7.3,172,1757,0.00,2.30,0.00,0.000,6,0.000,0.021,2577,2079,3385
$GC,2075,-0.96,-175.2,203.2,-6.5,201,2079,0.00,2.33,0.00,0.000,4,0.000,0.066,2578,3463,3385
$GC,2097,-0.96,-175.2,204.7,-6.1,202,2101,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2077,3386
$GC,2418,-0.96,-175.2,225.0,-6.8,218,2422,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,685,3386
$GC,2467,-0.96,-175.2,228.3,-6.7,220,2471,0.00,2.25,0.00,0.000,6,0.000,0.050,2578,2077,3385
$GC,2788,-0.96,-175.2,248.4,-6.0,236,2792,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,3463,3385
$GC,2831,-0.96,-175.2,251.2,-6.6,238,2835,0.00,2.28,0.00,0.000,6,0.000,0.022,2577,2073,3385
$GC,3158,-0.96,-175.2,271.7,-5.9,254,3162,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,684,3384
$GC,3213,-0.96,-175.2,274.6,-4.8,256,3220,0.00,2.28,0.00,0.000,6,0.000,0.022,2578,2070,3384
$GC,3529,-0.96,-175.2,286.3,-4.3,272,3533,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,3466,3382
$GC,3555,-0.96,-175.2,287.6,-5.2,273,3559,0.00,2.28,0.00,0.000,6,0.000,0.024,2577,2080,3382
$GC,3875,-0.96,-175.2,305.6,-5.8,287,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3381
$GC,4200,-0.96,-175.2,321.6,-4.7,295,4204,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,684,3379
$GC,4232,-0.96,-175.2,323.2,-4.7,295,4239,0.00,2.28,0.00,0.000,6,0.000,0.025,2578,2074,3380
$GC,4563,-0.96,-175.2,339.9,-5.2,304,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3377
$GC,4888,-0.96,-175.2,354.8,-4.5,312,4892,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,679,3376
$GC,4915,-0.96,-175.2,356.2,-5.3,312,4919,0.00,2.30,0.00,0.000,6,0.000,0.062,2577,2078,3376
$GC,5258,-0.96,-175.2,375.0,-5.7,321,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3374
$GC,5583,-0.96,-175.2,394.6,-6.1,329,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2082,3372
$GC,5908,-0.96,-175.2,413.7,-5.9,337,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2082,3370
$GC,6233,-0.96,-175.2,431.3,-5.3,345,6237,0.00,2.40,0.00,0.000,4,0.000,0.045,2577,684,3369
$GC,6271,-0.96,-175.2,433.5,-5.7,346,6276,0.00,2.33,0.00,0.000,6,0.000,0.030,2577,2079,3368
$STATE,6552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6552,begin apogee
$GC,6557,-0.31,0.0,452.0,6.8,353,6701,0.68,0.00,141.32,0.904,6,0.049,0.000,2732,2083,2664
$STATE,6702,end apogee,CONTROL_FINISHED_OK
$STATE,6702,begin climb
$GC,6704,0.96,175.2,459.7,0.0,356,6861,1.20,2.55,145.30,0.877,4,0.040,0.047,3010,685,1946
$GC,6978,0.96,175.2,449.0,8.9,362,6982,0.00,2.40,0.00,0.000,6,0.000,0.064,3010,2076,1938
$GC,7326,0.96,175.2,421.7,7.7,371,7330,0.00,2.45,0.00,0.000,4,0.000,0.048,3010,683,1935
$GC,7352,0.96,175.2,419.3,8.9,371,7356,0.00,2.40,0.00,0.000,6,0.000,0.031,3010,2084,1934
$GC,7689,0.96,175.2,389.6,9.1,380,7693,0.00,2.42,0.00,0.000,4,0.000,0.078,3010,3477,1933
$GC,7727,0.96,175.2,386.1,9.1,381,7732,0.00,2.35,0.00,0.000,6,0.000,0.031,3010,2090,1933
$GC,8051,0.96,175.2,359.3,8.1,389,8055,0.00,2.47,0.00,0.000,4,0.000,0.048,3010,675,1931
$GC,8099,0.96,175.2,355.0,8.5,390,8104,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2073,1930
$GC,8418,0.96,175.2,330.5,7.6,398,8422,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,3475,1930
$GC,8472,0.96,175.2,325.8,8.6,399,8476,0.00,2.40,0.00,0.000,6,0.000,0.030,3010,2055,1930
$GC,8785,0.96,175.2,300.7,7.3,407,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2053,1928
$GC,9094,0.96,175.2,280.4,7.4,421,9098,0.00,2.47,0.00,0.000,4,0.000,0.074,3010,3484,1927
$GC,9193,0.96,175.2,271.9,9.1,425,9200,0.00,2.38,0.00,0.000,6,0.000,0.028,3010,2072,1927
$GC,9509,0.96,175.2,244.5,8.5,441,9513,0.00,2.42,0.00,0.000,4,0.000,0.045,3010,673,1926
$GC,9619,0.96,175.2,234.9,8.2,446,9624,0.00,2.38,0.00,0.000,6,0.000,0.026,3010,2087,1924
$GC,9947,1.01,219.0,214.3,5.9,462,9988,0.00,2.42,34.83,0.741,4,0.000,0.040,3010,3471,1771
$GC,10016,1.03,230.4,209.9,6.8,465,10033,0.00,2.35,11.60,0.674,6,0.000,0.062,3010,2074,1723
$GC,10348,1.03,230.4,183.5,8.0,490,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2073,1718
$GC,10665,1.03,230.4,157.8,8.8,520,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2073,1717
$GC,10984,1.03,230.4,130.7,8.4,550,10988,0.00,2.38,0.00,0.000,4,0.000,0.035,3010,3474,1717
$GC,11107,1.03,234.0,120.9,7.0,560,11113,0.00,2.35,0.00,0.000,6,0.000,0.024,3010,2074,1717
$GC,11435,1.03,235.9,100.5,7.1,591,11446,0.00,2.38,5.18,0.486,4,0.000,0.038,3010,678,1701
$GC,11548,1.03,235.9,91.1,8.1,601,11552,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2092,1699
$GC,11874,1.14,318.4,73.0,4.9,631,11951,0.15,2.47,71.62,0.590,4,0.044,0.044,3064,678,1364
$GC,12042,1.14,318.4,57.5,10.9,646,12047,0.10,2.28,0.00,0.000,6,0.088,0.020,3043,2084,1358
$GC,12366,1.14,318.4,29.7,7.7,676,12373,0.00,2.38,0.00,0.000,4,0.000,0.037,3043,681,1357
$GC,12463,1.14,318.4,20.8,9.2,693,12469,0.00,2.25,0.00,0.000,6,0.000,0.056,3043,2080,1355
$GC,12582,1.14,318.4,10.1,9.2,714,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2084,1355
$STATE,12665,end climb,SURFACE_DEPTH_REACHED
$STATE,12665,begin surface coast
$FINISH,-0.1,1.022841
$STATE,12694,end surface coast,CONTROL_FINISHED_OK
$STATE,12694,begin surface
$SM_CCo,12774,0.00,0.000,0,0,1352,321.59
$SM_GC,0.63,11.27,0.00,0.00,0.040,0.000,0.000,429,2085,1352,-10.81,0.17,321.59
$IRIDIUM_FIX,2057.14,-15750.89,111097,101042
$TT8_MAMPS,0.028379
$HUMID,1856
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,680
$24V_AH,23.4,38.195
$10V_AH,10.2,22.173
$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,25.500,112.850,409.850,0.000,0.000,24.322,32.990,176.287,170.000,0.000,0.000,55.804,1299.564,9266.330,486.347,1686.576,412.439,33.365,1312.696,0.000,1638.282,0.000,0.470
$DEVICE_MAMPS,155.701,78.234,904.293,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.527,479.382,800.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37902,734
$CAP_FILE_SIZE,102193,5
$CFSIZE,260165632,254726144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170708,173601,2103.008,-15748.255,36,1.4,36,9.8