version: 66.03
glider: 139
mission: 3
dive: 63
start: 7 18 108 4 58 27
data:
$ID,139
$MISSION,3
$DIVE,63
$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,-1271605.8
$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,42
$R_STBD_OVSHOOT,65
$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
$GPS1,045008,2104.332,-15748.833,48,1.3,48,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-68.3
$GPS2,045738,2104.354,-15748.912,34,1.4,34,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.200,0.158
$KALMAN_X,-11699.9,884.1,-330.2,17860.1,-428.9
$KALMAN_Y,2483.1,115.5,-628.7,-24783.8,864.5
$MHEAD_RNG_PITCHd_Wd,298.5,13784,-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,20,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.45,0.000,2,0.000,0.000,432,2095,2871
$GC,79,-0.96,-175.2,3.1,-5.3,10,109,12.15,2.30,-8.68,0.000,4,0.157,0.078,2576,3449,3381
$GC,205,-0.96,-175.2,29.7,-13.6,32,211,0.00,2.22,0.00,0.000,6,0.000,0.058,2575,2080,3383
$GC,317,-0.96,-175.2,43.7,-11.2,43,321,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,685,3383
$GC,338,-0.96,-175.2,46.1,-10.6,44,345,0.00,2.25,0.00,0.000,6,0.000,0.018,2575,2072,3383
$GC,663,-0.96,-175.2,79.1,-10.5,75,667,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3463,3384
$GC,697,-0.96,-175.2,82.5,-10.3,78,701,0.00,2.25,0.00,0.000,6,0.000,0.020,2575,2077,3384
$GC,1022,-0.96,-175.2,113.2,-9.3,108,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3385
$GC,1340,-0.96,-175.2,139.2,-8.0,138,1344,0.00,2.33,0.00,0.000,4,0.000,0.031,2575,3466,3385
$GC,1372,-0.96,-175.2,141.9,-8.4,140,1379,0.00,2.28,0.00,0.000,6,0.000,0.020,2575,2081,3385
$GC,1699,-0.96,-175.2,164.3,-6.9,171,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2079,3386
$GC,2016,-0.96,-175.2,186.9,-6.3,201,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3386
$GC,2341,-0.96,-175.2,210.0,-7.5,226,2345,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,687,3386
$GC,2379,-0.96,-175.2,212.8,-7.3,228,2383,0.00,2.25,0.00,0.000,6,0.000,0.049,2576,2079,3386
$GC,2705,-0.96,-175.2,233.7,-6.1,244,2709,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,680,3385
$GC,2732,-0.96,-175.2,235.5,-6.2,245,2736,0.00,2.28,0.00,0.000,6,0.000,0.056,2575,2083,3385
$GC,3053,-0.96,-175.2,256.3,-6.7,261,3057,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,685,3384
$GC,3080,-0.96,-175.2,258.2,-7.0,262,3084,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2084,3384
$GC,3401,-0.96,-175.2,280.3,-6.9,278,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3383
$GC,3711,-0.96,-175.2,298.6,-5.4,293,3715,0.00,2.40,0.00,0.000,4,0.000,0.040,2575,680,3381
$GC,3737,-0.96,-175.2,300.3,-6.4,294,3742,0.00,2.30,0.00,0.000,6,0.000,0.070,2575,2084,3381
$GC,4074,-0.96,-175.2,323.5,-7.2,303,4078,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,682,3380
$GC,4095,-0.96,-175.2,325.0,-6.7,303,4099,0.00,2.30,0.00,0.000,6,0.000,0.059,2575,2084,3380
$GC,4432,-0.96,-175.2,344.3,-5.2,312,4436,0.00,2.35,0.00,0.000,4,0.000,0.040,2575,3470,3377
$GC,4453,-0.96,-175.2,345.5,-5.1,312,4457,0.00,2.30,0.00,0.000,6,0.000,0.026,2575,2085,3377
$GC,4795,-0.96,-175.2,362.4,-5.2,321,4799,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,681,3375
$GC,4839,-0.96,-175.2,365.0,-6.2,322,4843,0.00,2.30,0.00,0.000,6,0.000,0.027,2575,2077,3375
$GC,5163,-0.96,-175.2,379.6,-4.1,330,5168,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3473,3374
$GC,5191,-0.96,-175.2,380.8,-4.4,330,5195,0.00,2.33,0.00,0.000,6,0.000,0.052,2575,2078,3374
$GC,5527,-0.96,-175.2,394.5,-4.3,339,5531,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,680,3371
$GC,5560,-0.96,-175.2,396.2,-4.9,339,5566,0.00,2.33,0.00,0.000,6,0.000,0.028,2575,2080,3371
$GC,5891,-0.96,-175.2,415.6,-5.8,348,5895,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3477,3369
$GC,5929,-0.96,-175.2,417.9,-5.5,348,5936,0.00,2.35,0.00,0.000,6,0.000,0.061,2575,2073,3369
$GC,6261,-0.96,-175.2,437.7,-6.4,357,6265,0.00,2.40,0.00,0.000,4,0.000,0.045,2575,677,3367
$GC,6315,-0.96,-175.2,441.5,-7.2,358,6319,0.00,2.35,0.00,0.000,6,0.000,0.029,2575,2072,3366
$STATE,6464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6464,begin apogee
$GC,6468,-0.31,0.0,451.9,7.1,362,6612,0.15,0.00,141.23,0.905,6,0.311,0.000,2622,2076,2664
$STATE,6613,end apogee,CONTROL_FINISHED_OK
$STATE,6613,begin climb
$GC,6615,0.96,175.2,459.2,0.0,365,6770,1.75,2.53,145.88,0.877,4,0.057,0.077,3001,683,1947
$GC,6810,0.96,175.2,456.3,8.0,369,6814,0.00,2.38,0.00,0.000,6,0.000,0.032,3001,2080,1941
$GC,7140,0.96,175.2,430.2,8.3,377,7144,0.00,2.45,0.00,0.000,4,0.000,0.045,3001,3478,1937
$GC,7178,0.96,175.2,426.7,9.2,378,7183,0.00,2.38,0.00,0.000,6,0.000,0.038,3001,2088,1937
$GC,7502,0.96,175.2,400.1,7.9,386,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2087,1934
$GC,7827,0.96,175.2,372.8,8.3,394,7831,0.00,2.47,0.00,0.000,4,0.000,0.060,3001,677,1932
$GC,7853,0.96,175.2,370.4,9.2,394,7857,0.00,2.40,0.00,0.000,6,0.000,0.057,3001,2079,1931
$GC,8189,0.96,175.2,344.6,7.2,403,8194,0.00,2.45,0.00,0.000,4,0.000,0.079,3001,676,1930
$GC,8233,0.96,175.2,341.4,7.6,404,8237,0.00,2.38,0.00,0.000,6,0.000,0.064,3001,2088,1929
$GC,8557,0.98,187.9,319.5,6.8,412,8571,0.00,2.45,8.88,0.745,4,0.000,0.076,3001,3467,1897
$GC,8605,0.98,187.9,316.1,7.6,413,8610,0.00,2.40,0.00,0.000,6,0.000,0.030,3001,2074,1897
$GC,8931,0.98,187.9,291.2,8.2,423,8935,0.00,2.42,0.00,0.000,4,0.000,0.046,3001,676,1894
$GC,9016,0.98,187.9,283.7,9.4,427,9019,0.00,1.65,0.00,0.000,6,0.000,0.075,3001,1702,1892
$GC,9347,0.98,187.9,256.9,7.8,443,9352,0.00,3.05,0.00,0.000,4,0.000,0.044,3001,3475,1892
$GC,9532,0.98,187.9,241.5,8.9,451,9536,0.00,2.35,0.00,0.000,6,0.000,0.028,3001,2072,1892
$GC,9852,0.98,187.9,217.4,7.4,467,9856,0.00,2.40,0.00,0.000,4,0.000,0.044,3001,678,1892
$GC,9914,1.00,204.8,212.9,6.7,470,9936,0.00,1.60,15.38,0.716,6,0.000,0.053,3001,1695,1827
$GC,10249,1.00,204.8,189.8,8.1,492,10253,0.00,3.05,0.00,0.000,4,0.000,0.063,3001,3477,1824
$GC,10412,1.00,204.8,176.5,7.9,506,10416,0.00,2.35,0.00,0.000,6,0.000,0.058,3001,2071,1824
$GC,10736,1.01,216.7,154.3,6.8,536,10757,0.00,2.47,11.62,0.636,4,0.000,0.072,3001,679,1778
$GC,10817,1.01,216.7,147.9,8.2,543,10825,0.00,2.35,0.00,0.000,6,0.000,0.056,3001,2091,1776
$GC,11143,1.02,225.2,126.6,6.9,574,11158,0.00,2.47,8.45,0.576,4,0.000,0.053,3001,683,1745
$GC,11180,1.02,225.2,123.9,7.4,577,11187,0.00,2.30,0.00,0.000,6,0.000,0.021,3001,2071,1744
$GC,11508,1.04,242.0,101.9,6.7,608,11531,0.00,2.38,16.55,0.597,4,0.000,0.040,3001,3467,1676
$GC,11599,1.04,242.0,94.9,7.7,616,11603,0.00,2.30,0.00,0.000,6,0.000,0.022,3001,2074,1676
$GC,11923,1.09,282.1,72.8,6.1,646,11967,0.12,2.42,35.20,0.584,4,0.049,0.032,3042,3467,1514
$GC,12024,1.09,282.1,64.3,8.6,655,12028,0.00,2.28,0.00,0.000,6,0.000,0.022,3042,2080,1513
$GC,12355,1.09,282.1,38.2,8.3,686,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2078,1511
$GC,12682,1.12,302.9,17.7,6.6,733,12705,0.00,0.00,18.62,0.518,6,0.000,0.000,3042,2079,1428
$GC,12818,1.12,302.9,7.5,9.0,757,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2079,1426
$STATE,12879,end climb,SURFACE_DEPTH_REACHED
$STATE,12879,begin surface coast
$FINISH,0.0,1.022864
$STATE,12919,end surface coast,CONTROL_FINISHED_OK
$STATE,12919,begin surface
$SM_CCo,12939,14.68,0.496,0,0,1359,320.12
$SM_GC,0.93,0.00,0.00,14.68,0.000,0.000,0.496,430,2074,1359,-10.88,-0.11,320.12
$IRIDIUM_FIX,2054.83,-15746.61,121097,010121
$TT8_MAMPS,0.029146
$HUMID,1869
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,723
$24V_AH,23.3,38.778
$10V_AH,10.2,22.518
$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,25.525,131.975,401.800,14.675,0.000,28.394,26.607,245.353,180.750,0.000,0.000,35.653,1379.118,9244.334,526.390,1745.826,493.787,33.367,1380.526,0.000,1710.552,0.000,0.470
$DEVICE_MAMPS,310.635,79.001,905.060,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.194,504.732,867.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41217,775
$CAP_FILE_SIZE,112372,19
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180708,083538,2105.332,-15749.750,40,1.9,40,9.8