version: 66.03
glider: 139
mission: 3
dive: 70
start: 7 19 108 6 28 22
data:
$ID,139
$MISSION,3
$DIVE,70
$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,-1271776.8
$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,39
$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
$GPS1,061955,2107.317,-15753.106,54,0.9,54,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-67.7
$GPS2,062733,2107.309,-15753.155,18,2.0,18,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.183
$KALMAN_X,-13307.6,361.1,-778.9,13133.0,443.0
$KALMAN_Y,-495.4,290.2,-85.1,-17058.7,0.4
$MHEAD_RNG_PITCHd_Wd,126.2,14180,-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,-54.97,0.000,2,0.000,0.000,424,2089,2937
$GC,79,-0.96,-175.2,3.5,-6.3,10,104,12.18,2.47,-7.50,0.000,4,0.156,0.051,2576,674,3383
$GC,161,-0.96,-175.2,25.3,-14.5,24,167,0.00,2.25,0.00,0.000,6,0.000,0.024,2576,2085,3384
$GC,281,-0.96,-175.2,40.4,-13.2,39,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3385
$GC,599,-0.96,-175.2,75.4,-10.2,69,603,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,676,3386
$GC,644,-0.96,-175.2,79.7,-10.6,73,649,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2082,3386
$GC,971,-0.96,-175.2,113.1,-9.7,103,975,0.00,2.38,0.00,0.000,4,0.000,0.069,2576,678,3387
$GC,992,-0.96,-175.2,115.6,-10.0,104,999,0.00,2.28,0.00,0.000,6,0.000,0.053,2576,2077,3387
$GC,1319,-0.96,-175.2,145.3,-8.9,135,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3388
$GC,1636,-0.96,-175.2,169.0,-6.5,165,1640,0.00,2.33,0.00,0.000,4,0.000,0.032,2576,3466,3388
$GC,1658,-0.96,-175.2,170.8,-7.6,166,1664,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2073,3388
$GC,1984,-0.96,-175.2,194.5,-7.0,197,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2072,3388
$GC,2294,-0.96,-175.2,216.3,-7.2,216,2298,0.00,2.35,0.00,0.000,4,0.000,0.034,2576,3469,3388
$GC,2314,-0.96,-175.2,218.0,-7.9,217,2319,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2080,3388
$GC,2642,-0.96,-175.2,242.2,-7.1,233,2646,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,688,3388
$GC,2692,-0.96,-175.2,245.9,-7.5,235,2696,0.00,2.25,0.00,0.000,6,0.000,0.067,2576,2080,3387
$GC,3013,-0.96,-175.2,268.4,-7.0,251,3017,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3464,3386
$GC,3035,-0.96,-175.2,270.0,-7.1,252,3039,0.00,2.28,0.00,0.000,6,0.000,0.023,2576,2075,3386
$GC,3361,-0.96,-175.2,291.3,-6.6,268,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2073,3385
$GC,3668,-0.96,-175.2,311.0,-6.4,279,3672,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,680,3383
$GC,3695,-0.96,-175.2,312.8,-6.2,279,3699,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2068,3383
$GC,4031,-0.96,-175.2,331.2,-5.6,288,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2072,3381
$GC,4357,-0.96,-175.2,348.4,-5.1,296,4361,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,680,3380
$GC,4389,-0.96,-175.2,350.3,-5.5,296,4396,0.00,2.30,0.00,0.000,6,0.000,0.036,2576,2078,3380
$GC,4720,-0.96,-175.2,366.1,-4.7,305,4724,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3473,3377
$GC,4742,-0.96,-175.2,367.1,-4.9,305,4746,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2076,3377
$GC,5084,-0.96,-175.2,381.9,-4.5,314,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2074,3375
$GC,5409,-0.96,-175.2,399.3,-5.3,322,5413,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,3471,3374
$GC,5430,-0.96,-175.2,400.5,-5.4,322,5434,0.00,2.35,0.00,0.000,6,0.000,0.048,2576,2082,3374
$GC,5772,-0.96,-175.2,416.6,-4.8,331,5776,0.00,2.42,0.00,0.000,4,0.000,0.046,2576,678,3372
$GC,5811,-0.96,-175.2,418.8,-5.6,331,5817,0.00,2.33,0.00,0.000,6,0.000,0.029,2576,2075,3371
$GC,6141,-0.96,-175.2,441.9,-7.3,340,6146,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,679,3369
$GC,6181,-0.96,-175.2,444.7,-7.4,341,6185,0.00,2.35,0.00,0.000,6,0.000,0.029,2576,2092,3370
$STATE,6258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6258,begin apogee
$GC,6263,-0.31,0.0,450.2,6.9,343,6408,0.68,0.00,141.95,0.900,6,0.050,0.000,2729,2094,2664
$STATE,6409,end apogee,CONTROL_FINISHED_OK
$STATE,6409,begin climb
$GC,6411,0.96,175.2,458.2,0.0,346,6568,1.20,2.58,145.35,0.874,4,0.039,0.061,3007,681,1947
$GC,6780,0.96,175.2,437.8,10.1,354,6784,0.00,2.38,0.00,0.000,6,0.000,0.030,3007,2067,1936
$GC,7122,0.96,175.2,409.0,8.6,363,7127,0.00,2.45,0.00,0.000,4,0.000,0.080,3007,678,1934
$GC,7222,0.96,175.2,399.5,9.6,365,7226,0.00,2.40,0.00,0.000,6,0.000,0.059,3007,2080,1933
$GC,7535,0.96,175.2,374.1,7.7,373,7539,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,3477,1932
$GC,7601,0.96,175.2,369.2,7.2,374,7606,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2076,1933
$GC,7944,0.98,194.8,345.5,6.6,383,7964,0.00,2.47,15.27,0.807,4,0.000,0.074,3007,3476,1869
$GC,8042,0.98,194.8,337.1,9.3,385,8046,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2080,1868
$GC,8355,0.98,194.8,308.3,9.4,393,8359,0.00,2.45,0.00,0.000,4,0.000,0.081,3007,677,1865
$GC,8398,0.98,194.8,303.6,10.1,394,8402,0.00,2.38,0.00,0.000,6,0.000,0.029,3007,2077,1862
$GC,8727,0.98,194.8,274.3,9.0,409,8731,0.00,2.45,0.00,0.000,4,0.000,0.045,3007,670,1862
$GC,8775,0.98,194.8,269.6,9.6,411,8780,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2077,1861
$GC,9097,1.01,214.6,247.3,6.6,427,9122,0.00,2.47,17.80,0.752,4,0.000,0.071,3007,3468,1788
$GC,9211,1.01,214.6,238.1,8.7,432,9216,0.00,2.38,0.00,0.000,6,0.000,0.044,3007,2080,1788
$GC,9538,1.01,214.6,210.1,8.4,448,9542,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,673,1784
$GC,9587,1.01,214.6,206.4,7.2,450,9591,0.00,2.35,0.00,0.000,6,0.000,0.025,3007,2074,1782
$GC,9911,1.05,248.1,184.1,6.2,476,9950,0.00,2.42,30.05,0.704,4,0.000,0.048,3007,3478,1651
$GC,9984,1.05,248.1,178.5,7.9,483,9988,0.00,2.35,0.00,0.000,6,0.000,0.025,3007,2067,1651
$GC,10317,1.07,267.8,153.3,6.6,514,10342,0.00,2.45,17.95,0.654,4,0.000,0.047,3007,687,1571
$GC,10376,1.07,267.8,148.4,8.0,519,10383,0.00,2.30,0.00,0.000,6,0.000,0.023,3007,2090,1567
$GC,10702,1.11,294.4,123.6,6.4,550,10735,0.12,2.50,24.00,0.634,4,0.052,0.040,3046,683,1461
$GC,10762,1.11,294.4,118.0,9.4,555,10769,0.00,2.33,0.00,0.000,6,0.000,0.057,3046,2078,1459
$GC,11089,1.11,294.4,89.2,8.9,586,11093,0.00,2.40,0.00,0.000,4,0.000,0.042,3046,678,1459
$GC,11188,1.11,294.4,79.2,10.0,594,11195,0.00,2.30,0.00,0.000,6,0.000,0.021,3046,2078,1456
$GC,11515,1.12,303.1,51.3,6.9,625,11529,0.00,2.42,8.25,0.506,4,0.000,0.044,3046,685,1427
$GC,11641,1.12,303.1,40.9,7.6,636,11648,0.00,2.28,0.00,0.000,6,0.000,0.019,3046,2080,1424
$GC,11976,1.12,303.1,14.4,10.8,682,11983,0.00,2.38,0.00,0.000,4,0.000,0.035,3045,672,1425
$GC,12012,1.14,321.3,12.1,6.6,688,12035,0.00,2.25,17.27,0.513,6,0.000,0.018,3046,2086,1354
$STATE,12114,end climb,SURFACE_DEPTH_REACHED
$STATE,12114,begin surface coast
$FINISH,-0.0,1.022904
$STATE,12148,end surface coast,CONTROL_FINISHED_OK
$STATE,12148,begin surface
$SM_CCo,12227,0.00,0.000,0,0,1346,323.06
$SM_GC,0.91,11.30,0.00,0.00,0.030,0.000,0.000,430,2085,1346,-10.82,0.14,323.06
$IRIDIUM_FIX,2101.76,-15753.03,131097,020209
$TT8_MAMPS,0.029146
$HUMID,1861
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.10
$XPDR_PINGS,696
$24V_AH,23.3,39.764
$10V_AH,10.2,23.093
$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,25.475,127.875,417.900,0.000,0.000,32.805,34.627,261.967,174.000,0.000,0.000,20.088,1283.279,8716.646,502.057,1653.909,514.466,33.362,1338.765,0.000,1634.110,0.000,0.470
$DEVICE_MAMPS,155.701,80.535,900.458,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.023,457.466,777.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37996,712
$CAP_FILE_SIZE,106593,12
$CFSIZE,260165632,254124032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190708,095325,2106.247,-15751.983,41,1.4,41,9.8