version: 66.03
glider: 139
mission: 3
dive: 71
start: 7 19 108 10 12 26
data:
$ID,139
$MISSION,3
$DIVE,71
$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,-1271843
$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,36
$R_STBD_OVSHOOT,61
$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
$GPS1,095325,2106.247,-15751.983,41,1.4,41,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-67.8
$GPS2,101137,2106.073,-15752.117,58,0.9,64,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.079
$KALMAN_X,-14547.9,3.7,393.5,15349.0,-1241.5
$KALMAN_Y,-636.5,268.0,102.8,-19366.7,-424.7
$MHEAD_RNG_PITCHd_Wd,98.2,11340,-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,-54.75,0.000,2,0.000,0.000,429,2086,2920
$GC,79,-0.96,-175.2,3.2,-5.8,10,104,12.00,2.45,-7.85,0.000,4,0.151,0.048,2575,677,3381
$GC,138,-0.96,-175.2,21.5,-22.9,20,145,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2096,3383
$GC,260,-0.96,-175.2,36.5,-11.6,37,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2099,3383
$GC,578,-0.96,-175.2,72.2,-10.6,67,582,0.00,2.40,0.00,0.000,4,0.000,0.035,2575,673,3384
$GC,635,-0.96,-175.2,78.4,-10.9,72,639,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2081,3384
$GC,959,-0.96,-175.2,109.3,-9.2,102,963,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,674,3385
$GC,991,-0.96,-175.2,112.4,-8.9,104,998,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2080,3385
$GC,1318,-0.96,-175.2,138.1,-7.9,135,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3385
$GC,1635,-0.96,-175.2,162.5,-7.8,165,1639,0.00,2.38,0.00,0.000,4,0.000,0.036,2576,676,3385
$GC,1697,-0.96,-175.2,167.3,-7.6,170,1701,0.00,2.28,0.00,0.000,6,0.000,0.062,2576,2088,3385
$GC,2022,-0.96,-175.2,191.0,-7.8,200,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2092,3385
$GC,2334,-0.96,-175.2,214.2,-7.9,221,2338,0.00,2.30,0.00,0.000,4,0.000,0.035,2576,3460,3385
$GC,2383,-0.96,-175.2,218.5,-8.4,223,2387,0.00,2.28,0.00,0.000,6,0.000,0.040,2576,2071,3384
$GC,2704,-0.96,-175.2,244.7,-7.7,239,2708,0.00,2.33,0.00,0.000,4,0.000,0.038,2576,686,3383
$GC,2781,-0.96,-175.2,250.9,-7.8,242,2786,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2074,3383
$GC,3103,-0.96,-175.2,271.4,-5.9,258,3107,0.00,2.33,0.00,0.000,4,0.000,0.036,2576,3466,3382
$GC,3141,-0.96,-175.2,273.9,-6.6,259,3147,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2076,3382
$GC,3457,-0.96,-175.2,294.0,-6.5,275,3461,0.00,2.35,0.00,0.000,4,0.000,0.051,2576,684,3381
$GC,3500,-0.96,-175.2,297.2,-7.3,277,3504,0.00,2.28,0.00,0.000,6,0.000,0.058,2576,2080,3381
$GC,3843,-0.96,-175.2,318.7,-5.8,287,3847,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,3467,3379
$GC,3882,-0.96,-175.2,321.4,-7.2,288,3887,0.00,2.30,0.00,0.000,6,0.000,0.033,2576,2079,3379
$GC,4206,-0.96,-175.2,342.3,-6.2,296,4210,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,682,3377
$GC,4256,-0.96,-175.2,345.4,-6.0,297,4260,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2079,3377
$GC,4574,-0.96,-175.2,361.1,-4.8,305,4578,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3472,3375
$GC,4607,-0.96,-175.2,362.8,-4.9,305,4613,0.00,2.33,0.00,0.000,6,0.000,0.062,2576,2076,3375
$GC,4938,-0.96,-175.2,378.8,-5.3,314,4942,0.00,2.38,0.00,0.000,4,0.000,0.043,2576,682,3373
$GC,4977,-0.96,-175.2,381.0,-6.2,315,4981,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2078,3372
$GC,5300,-0.96,-175.2,399.1,-5.7,323,5304,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,3475,3370
$GC,5329,-0.96,-175.2,400.9,-6.1,323,5333,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2077,3370
$GC,5660,-0.96,-175.2,423.8,-7.1,331,5663,0.00,2.42,0.00,0.000,4,0.000,0.044,2576,3479,3368
$GC,5681,-0.96,-175.2,425.4,-7.3,331,5685,0.00,2.35,0.00,0.000,6,0.000,0.028,2576,2084,3368
$GC,6029,-0.96,-175.2,449.8,-7.1,340,6033,0.00,2.12,0.00,0.000,3,0.000,0.082,2576,836,3366
$STATE,6034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6034,begin apogee
$GC,6041,-0.31,0.0,450.2,7.0,340,6185,0.68,0.00,140.98,0.896,6,0.069,0.000,2729,2086,2664
$STATE,6186,end apogee,CONTROL_FINISHED_OK
$STATE,6186,begin climb
$GC,6188,0.96,175.2,457.7,0.0,343,6343,1.20,2.53,145.23,0.869,4,0.038,0.077,3008,3473,1948
$GC,6552,0.96,175.2,433.5,10.6,351,6556,0.00,2.40,0.00,0.000,6,0.000,0.031,3008,2086,1942
$GC,6900,0.96,175.2,401.0,8.6,360,6904,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,3474,1936
$GC,6971,0.96,175.2,394.7,8.6,361,6975,0.00,2.40,0.00,0.000,6,0.000,0.031,3008,2081,1936
$GC,7308,0.96,175.2,368.4,7.9,370,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2079,1933
$GC,7633,0.96,175.2,341.3,8.3,378,7637,0.00,2.45,0.00,0.000,4,0.000,0.048,3008,677,1932
$GC,7709,0.96,175.2,334.4,8.4,379,7716,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2076,1929
$GC,8040,0.96,175.2,310.3,7.3,388,8045,0.00,2.42,0.00,0.000,4,0.000,0.043,3008,3478,1929
$GC,8118,0.96,175.2,304.0,8.3,389,8124,0.00,2.40,0.00,0.000,6,0.000,0.034,3008,2077,1929
$GC,8433,0.98,192.8,282.7,6.7,403,8454,0.00,2.50,12.68,0.755,4,0.000,0.079,3008,679,1876
$GC,8509,0.98,192.8,276.3,8.6,406,8514,0.00,2.35,0.00,0.000,6,0.000,0.028,3008,2081,1874
$GC,8830,0.98,192.8,252.6,7.2,422,8835,0.00,2.40,0.00,0.000,4,0.000,0.041,3008,3481,1873
$GC,8885,0.98,192.8,248.2,8.2,424,8892,0.00,2.38,0.00,0.000,6,0.000,0.027,3008,2083,1873
$GC,9201,0.98,192.8,222.3,8.5,440,9205,0.00,2.42,0.00,0.000,4,0.000,0.043,3008,673,1872
$GC,9300,0.98,192.8,213.7,8.3,444,9307,0.00,2.35,0.00,0.000,6,0.000,0.025,3008,2083,1871
$GC,9619,0.99,199.4,190.5,7.0,466,9630,0.00,0.00,6.43,0.591,6,0.000,0.000,3008,2088,1851
$GC,9950,1.05,247.4,169.8,5.8,497,10002,0.00,2.45,43.20,0.685,4,0.000,0.039,3008,3473,1655
$GC,10085,1.05,247.4,160.1,7.8,509,10092,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2074,1652
$GC,10413,1.05,247.4,135.1,7.5,540,10417,0.00,2.40,0.00,0.000,4,0.000,0.074,3008,676,1649
$GC,10474,1.05,247.4,129.7,8.5,545,10479,0.00,2.30,0.00,0.000,6,0.000,0.022,3009,2084,1647
$GC,10799,1.05,247.4,103.2,7.7,575,10803,0.00,2.33,0.00,0.000,4,0.000,0.034,3008,3467,1647
$GC,10827,1.05,247.4,101.0,8.1,577,10831,0.00,2.30,0.00,0.000,6,0.000,0.058,3008,2075,1647
$GC,11153,1.08,272.6,79.2,6.5,607,11181,0.10,2.40,22.20,0.581,4,0.057,0.062,3042,683,1551
$GC,11243,1.08,272.6,71.0,9.9,614,11249,0.00,2.25,0.00,0.000,6,0.000,0.020,3043,2084,1546
$GC,11569,1.16,341.0,44.4,5.3,645,11633,0.00,2.47,58.72,0.560,4,0.000,0.077,3042,680,1272
$GC,11725,1.16,341.0,31.2,9.2,659,11729,0.00,2.28,0.00,0.000,6,0.000,0.025,3042,2081,1266
$STATE,12055,end climb,SURFACE_DEPTH_REACHED
$STATE,12055,begin surface coast
$FINISH,0.0,1.003544
$STATE,12088,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12168,0.00,0.000,0,0,1261,343.91
$SM_GC,0.74,11.27,0.00,0.00,0.038,0.000,0.000,429,2086,1261,-10.81,0.20,343.91
$IRIDIUM_FIX,2057.14,-15753.90,131097,101057
$TT8_MAMPS,0.029146
$HUMID,1869
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.00
$XPDR_PINGS,720
$24V_AH,23.4,39.921
$10V_AH,10.2,23.180
$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,25.250,126.875,429.425,0.000,0.000,97.280,123.827,497.506,180.000,0.000,0.000,65.666,1292.525,8783.010,496.419,1750.649,921.974,33.362,1354.429,0.000,1686.923,0.000,0.470
$DEVICE_MAMPS,151.099,82.069,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.706,473.805,805.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37939,722
$CAP_FILE_SIZE,113118,6
$CFSIZE,260165632,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190708,133637,2105.471,-15751.130,31,1.1,48,9.8