version: 66.03
glider: 139
mission: 3
dive: 68
start: 7 18 108 23 16 13
data:
$ID,139
$MISSION,3
$DIVE,68
$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,-1271712
$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,64
$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
$GPS1,230526,2109.141,-15754.575,47,1.3,47,9.8
$_CALLS,1
$_XMS_NAKs,38
$_XMS_TOUTs,3
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.2
$GPS2,231522,2109.133,-15754.732,15,2.0,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.144
$KALMAN_X,-11228.8,-310.3,511.7,7710.0,30.2
$KALMAN_Y,-481.2,-37.3,262.5,-13705.1,-695.6
$MHEAD_RNG_PITCHd_Wd,114.8,18467,-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,18,-0.96,-175.2,0.0,0.0,0,81,0.00,0.00,-60.15,0.000,2,0.000,0.000,431,2088,3019
$GC,83,-0.96,-175.2,3.9,-7.6,11,108,12.00,2.40,-5.82,0.000,4,0.151,0.052,2573,681,3381
$GC,125,-0.96,-175.2,21.5,-39.7,18,131,0.00,1.95,0.00,0.000,6,0.000,0.041,2573,1953,3381
$GC,246,-0.96,-175.2,39.5,-13.8,34,250,0.00,2.50,0.00,0.000,4,0.000,0.029,2573,3455,3383
$GC,274,-0.96,-175.2,43.4,-14.2,36,278,0.00,2.25,0.00,0.000,6,0.000,0.020,2574,2067,3383
$GC,603,-0.96,-175.2,77.5,-10.1,67,607,0.00,2.33,0.00,0.000,4,0.000,0.035,2573,676,3384
$GC,631,-0.96,-175.2,80.3,-10.2,69,636,0.00,2.22,0.00,0.000,6,0.000,0.023,2574,2076,3384
$GC,957,-0.96,-175.2,109.5,-9.6,99,961,0.00,2.30,0.00,0.000,4,0.000,0.045,2573,3457,3384
$GC,1002,-0.96,-175.2,113.5,-8.7,103,1006,0.00,2.25,0.00,0.000,6,0.000,0.020,2573,2070,3384
$GC,1327,-0.96,-175.2,140.9,-7.9,133,1332,0.00,2.35,0.00,0.000,4,0.000,0.058,2573,675,3385
$GC,1400,-0.96,-175.2,146.9,-8.5,139,1405,0.00,2.25,0.00,0.000,6,0.000,0.018,2573,2083,3385
$GC,1726,-0.96,-175.2,171.8,-7.7,169,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2088,3385
$GC,2045,-0.96,-175.2,194.5,-6.0,199,2049,0.00,2.38,0.00,0.000,4,0.000,0.049,2573,681,3385
$GC,2067,-0.96,-175.2,195.9,-5.8,200,2074,0.00,2.28,0.00,0.000,6,0.000,0.055,2573,2074,3385
$GC,2384,-0.96,-175.2,217.4,-7.2,219,2388,0.00,2.33,0.00,0.000,4,0.000,0.033,2573,3467,3385
$GC,2428,-0.96,-175.2,220.6,-6.7,221,2432,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2076,3385
$GC,2755,-0.96,-175.2,238.7,-6.2,237,2759,0.00,2.33,0.00,0.000,4,0.000,0.038,2573,689,3384
$GC,2793,-0.96,-175.2,241.7,-7.7,238,2801,0.00,2.28,0.00,0.000,6,0.000,0.021,2573,2075,3384
$GC,3109,-0.96,-175.2,264.1,-5.7,254,3113,0.00,2.33,0.00,0.000,4,0.000,0.035,2573,3466,3384
$GC,3142,-0.96,-175.2,266.3,-6.6,255,3146,0.00,2.28,0.00,0.000,6,0.000,0.023,2573,2074,3383
$GC,3463,-0.96,-175.2,288.5,-7.0,271,3467,0.00,2.35,0.00,0.000,4,0.000,0.040,2573,685,3382
$GC,3501,-0.96,-175.2,291.2,-7.2,272,3509,0.00,2.30,0.00,0.000,6,0.000,0.023,2573,2076,3382
$GC,3834,-0.96,-175.2,315.7,-7.7,284,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2080,3380
$GC,4159,-0.96,-175.2,333.2,-4.7,292,4164,0.00,2.40,0.00,0.000,4,0.000,0.041,2573,679,3379
$GC,4199,-0.96,-175.2,335.1,-5.1,293,4203,0.00,2.30,0.00,0.000,6,0.000,0.026,2573,2077,3378
$GC,4522,-0.96,-175.2,351.9,-5.6,301,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2081,3376
$GC,4847,-0.96,-175.2,372.3,-6.5,309,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2081,3375
$GC,5172,-0.96,-175.2,392.5,-5.9,317,5176,0.00,2.40,0.00,0.000,4,0.000,0.044,2573,680,3373
$GC,5198,-0.96,-175.2,394.1,-5.5,317,5203,0.00,2.30,0.00,0.000,6,0.000,0.028,2573,2077,3373
$GC,5535,-0.96,-175.2,412.4,-5.7,326,5539,0.00,2.40,0.00,0.000,4,0.000,0.043,2573,3478,3370
$GC,5557,-0.96,-175.2,413.8,-6.6,326,5561,0.00,2.33,0.00,0.000,6,0.000,0.063,2573,2087,3370
$GC,5899,-0.96,-175.2,435.2,-6.1,335,5903,0.00,2.42,0.00,0.000,4,0.000,0.045,2573,679,3369
$GC,5942,-0.96,-175.2,437.9,-6.6,336,5946,0.00,2.33,0.00,0.000,6,0.000,0.062,2573,2075,3368
$STATE,6183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6183,begin apogee
$GC,6188,-0.31,0.0,450.9,5.3,342,6332,0.70,0.00,141.48,0.894,6,0.060,0.000,2728,2077,2664
$STATE,6333,end apogee,CONTROL_FINISHED_OK
$STATE,6333,begin climb
$GC,6335,0.96,175.2,455.6,0.0,345,6490,1.20,2.55,145.55,0.867,4,0.036,0.063,3010,678,1947
$GC,6541,0.96,175.2,448.9,9.8,350,6545,0.00,2.38,0.00,0.000,6,0.000,0.063,3010,2077,1940
$GC,6864,0.96,175.2,420.0,8.8,358,6867,0.00,2.45,0.00,0.000,4,0.000,0.047,3009,682,1936
$GC,6946,0.96,175.2,411.0,11.2,359,6953,0.00,2.40,0.00,0.000,6,0.000,0.062,3010,2081,1933
$GC,7278,0.96,175.2,378.2,9.9,368,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2084,1933
$GC,7603,0.96,175.2,347.9,9.2,376,7607,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,3481,1932
$GC,7714,0.96,175.2,338.1,8.6,378,7718,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2090,1931
$GC,8056,0.96,175.2,308.3,9.2,387,8060,0.00,2.47,0.00,0.000,4,0.000,0.052,3010,670,1929
$GC,8139,0.96,175.2,299.8,9.6,389,8144,0.00,2.35,0.00,0.000,6,0.000,0.028,3010,2083,1927
$GC,8466,0.96,175.2,271.5,8.4,405,8470,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,674,1927
$GC,8582,0.96,175.2,261.6,7.8,410,8586,0.00,2.38,0.00,0.000,6,0.000,0.027,3010,2079,1925
$GC,8909,0.96,178.4,238.7,7.1,426,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1925
$GC,9219,0.99,197.8,216.9,6.6,441,9241,0.00,2.47,16.55,0.720,4,0.000,0.047,3010,3475,1857
$GC,9347,0.99,197.8,206.7,8.1,446,9354,0.00,2.38,0.00,0.000,6,0.000,0.054,3010,2051,1856
$GC,9668,1.01,215.9,184.5,6.7,472,9691,0.00,2.55,16.90,0.686,4,0.000,0.045,3010,3481,1784
$GC,9747,1.01,215.9,178.7,8.0,479,9751,0.00,2.35,0.00,0.000,6,0.000,0.025,3009,2080,1783
$GC,10073,1.01,215.9,154.9,8.6,509,10077,0.00,2.40,0.00,0.000,4,0.000,0.069,3010,3485,1780
$GC,10100,1.01,215.9,152.3,9.2,511,10105,0.00,2.35,0.00,0.000,6,0.000,0.025,3010,2072,1780
$GC,10425,1.10,289.8,129.2,5.1,541,10499,0.10,2.47,63.88,0.651,4,0.060,0.041,3041,683,1480
$GC,10571,1.10,289.8,117.6,9.3,554,10578,0.00,2.35,0.00,0.000,6,0.000,0.057,3041,2089,1475
$GC,10899,1.10,289.8,87.8,9.3,585,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2094,1474
$GC,11214,1.10,289.8,58.4,9.3,615,11218,0.00,2.40,0.00,0.000,4,0.000,0.038,3041,681,1474
$GC,11282,1.10,289.8,52.4,9.5,621,11286,0.00,2.28,0.00,0.000,6,0.000,0.020,3041,2087,1472
$GC,11607,1.10,289.8,27.6,7.7,653,11614,0.00,2.38,0.00,0.000,4,0.000,0.035,3041,679,1471
$GC,11699,1.10,289.8,20.8,8.0,669,11705,0.00,2.25,0.00,0.000,6,0.000,0.019,3041,2085,1471
$GC,11818,1.10,289.8,10.5,8.2,690,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2090,1471
$STATE,11907,end climb,SURFACE_DEPTH_REACHED
$STATE,11907,begin surface coast
$FINISH,0.0,1.002519
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11942,begin surface
$SM_CCo,11961,24.83,0.515,0,0,1359,320.12
$SM_GC,0.53,0.00,0.00,24.83,0.000,0.000,0.515,430,2089,1359,-10.88,0.28,320.12
$IRIDIUM_FIX,2059.45,-15750.89,121097,191907
$TT8_MAMPS,0.029146
$HUMID,1861
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,688
$24V_AH,23.4,39.488
$10V_AH,10.2,22.927
$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,25.250,117.600,384.350,24.825,0.000,27.908,41.541,403.469,172.000,0.000,0.000,17.407,1268.674,8554.648,503.174,1601.913,644.594,33.364,1300.917,0.000,1585.676,0.000,0.470
$DEVICE_MAMPS,151.099,69.030,894.322,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.576,463.479,792.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,712
$CAP_FILE_SIZE,104138,12
$CFSIZE,260165632,254238720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190708,023824,2108.042,-15753.844,87,2.5,106,9.8