version: 66.03
glider: 139
mission: 3
dive: 74
start: 7 19 108 20 48 29
data:
$ID,139
$MISSION,3
$DIVE,74
$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,-1271909.2
$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,35
$R_STBD_OVSHOOT,54
$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
$GPS1,203837,2104.199,-15748.702,58,2.0,58,9.8
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-70.4
$GPS2,204739,2104.173,-15748.705,33,1.9,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.222
$KALMAN_X,-16880.2,-185.8,-4.0,24145.1,588.8
$KALMAN_Y,-291.5,-195.4,47.7,-22716.8,332.2
$MHEAD_RNG_PITCHd_Wd,140.7,4605,-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,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.15,0.000,2,0.000,0.000,430,2084,2905
$GC,78,-0.96,-175.2,3.4,-5.9,10,108,12.12,2.45,-8.10,0.000,4,0.156,0.050,2576,676,3383
$GC,159,-0.96,-175.2,24.2,-14.0,24,165,0.00,2.25,0.00,0.000,6,0.000,0.055,2576,2084,3384
$GC,274,-0.96,-175.2,38.1,-12.1,39,278,0.00,2.38,0.00,0.000,4,0.000,0.036,2576,677,3384
$GC,295,-0.96,-175.2,40.4,-10.4,40,301,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2075,3384
$GC,620,-0.96,-175.2,72.9,-10.3,71,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3385
$GC,938,-0.96,-175.2,103.3,-9.7,101,942,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,670,3386
$GC,960,-0.96,-175.2,105.6,-10.6,102,966,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2076,3386
$GC,1286,-0.96,-175.2,135.5,-8.5,133,1290,0.00,2.33,0.00,0.000,4,0.000,0.066,2576,3467,3387
$GC,1314,-0.96,-175.2,137.9,-7.9,135,1318,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2070,3387
$GC,1639,-0.96,-175.2,163.4,-7.5,165,1643,0.00,2.35,0.00,0.000,4,0.000,0.043,2576,680,3387
$GC,1667,-0.96,-175.2,165.5,-6.8,167,1671,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2086,3387
$GC,1993,-0.96,-175.2,187.2,-6.7,197,1997,0.00,2.28,0.00,0.000,4,0.000,0.049,2576,3456,3387
$GC,2027,-0.96,-175.2,189.9,-7.6,200,2031,0.00,2.25,0.00,0.000,6,0.000,0.034,2576,2079,3386
$GC,2355,-0.96,-175.2,216.6,-8.3,222,2360,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,683,3386
$GC,2395,-0.96,-175.2,219.6,-7.7,224,2399,0.00,2.25,0.00,0.000,6,0.000,0.058,2576,2077,3386
$GC,2721,-0.96,-175.2,239.6,-5.9,240,2725,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3470,3386
$GC,2753,-0.96,-175.2,241.7,-6.4,241,2757,0.00,2.28,0.00,0.000,6,0.000,0.041,2576,2080,3386
$GC,3075,-0.96,-175.2,262.0,-6.9,257,3079,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,687,3386
$GC,3120,-0.96,-175.2,265.2,-7.6,259,3124,0.00,2.25,0.00,0.000,6,0.000,0.059,2576,2073,3386
$GC,3446,-0.96,-175.2,288.4,-7.0,275,3450,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,688,3384
$GC,3490,-0.96,-175.2,291.5,-6.8,277,3493,0.00,2.28,0.00,0.000,6,0.000,0.028,2575,2080,3384
$GC,3834,-0.96,-175.2,314.2,-6.7,289,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2083,3382
$GC,4158,-0.96,-175.2,336.8,-7.1,297,4162,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,685,3381
$GC,4184,-0.96,-175.2,338.9,-8.3,297,4189,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2076,3381
$GC,4521,-0.96,-175.2,361.5,-6.8,306,4526,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,683,3379
$GC,4542,-0.96,-175.2,363.3,-7.8,306,4547,0.00,2.33,0.00,0.000,6,0.000,0.025,2576,2079,3378
$GC,4885,-0.96,-175.2,387.6,-6.9,315,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3377
$GC,5210,-0.96,-175.2,407.5,-6.2,323,5214,0.00,2.38,0.00,0.000,4,0.000,0.043,2576,685,3376
$GC,5243,-0.96,-175.2,409.8,-6.8,323,5247,0.00,2.30,0.00,0.000,6,0.000,0.028,2576,2078,3375
$GC,5580,-0.96,-175.2,430.3,-5.9,332,5584,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,3480,3373
$GC,5612,-0.96,-175.2,432.1,-5.8,332,5618,0.00,2.33,0.00,0.000,6,0.000,0.046,2576,2087,3373
$STATE,5941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5941,begin apogee
$GC,5946,-0.31,0.0,452.3,6.4,341,6091,0.68,0.00,142.40,0.889,6,0.048,0.000,2731,2085,2664
$STATE,6092,end apogee,CONTROL_FINISHED_OK
$STATE,6092,begin climb
$GC,6094,0.96,175.2,459.7,0.0,344,6249,1.20,2.53,145.27,0.864,4,0.041,0.044,3007,3471,1948
$GC,6328,0.96,175.2,450.7,10.3,349,6333,0.00,2.40,0.00,0.000,6,0.000,0.064,3007,2084,1944
$GC,6671,0.96,175.2,419.8,8.8,358,6675,0.00,2.47,0.00,0.000,4,0.000,0.048,3007,671,1937
$GC,6755,0.96,175.2,412.2,9.3,360,6759,0.00,2.38,0.00,0.000,6,0.000,0.029,3007,2081,1934
$GC,7084,0.97,180.4,387.1,7.0,368,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2085,1933
$GC,7409,0.97,180.4,363.4,7.5,376,7413,0.00,2.45,0.00,0.000,4,0.000,0.046,3007,677,1932
$GC,7447,0.97,180.4,360.1,8.5,377,7452,0.00,2.35,0.00,0.000,6,0.000,0.028,3007,2080,1930
$GC,7771,0.97,180.4,334.1,7.6,385,7775,0.00,2.45,0.00,0.000,4,0.000,0.077,3007,675,1930
$GC,7786,0.97,180.4,332.9,7.4,385,7790,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2081,1929
$GC,8134,0.98,190.7,308.6,6.9,394,8150,0.00,2.47,11.20,0.752,4,0.000,0.077,3007,677,1885
$GC,8173,0.98,190.7,305.4,7.9,395,8177,0.00,2.38,0.00,0.000,6,0.000,0.034,3007,2089,1883
$GC,8500,0.98,192.8,279.9,7.1,409,8504,0.00,2.38,0.00,0.000,4,0.000,0.045,3007,3473,1882
$GC,8532,0.98,192.8,277.4,7.4,410,8540,0.00,2.38,0.00,0.000,6,0.000,0.049,3007,2080,1882
$GC,8849,0.99,202.6,257.1,6.9,426,8862,0.00,0.00,11.43,0.717,6,0.000,0.000,3007,2079,1837
$GC,9158,0.99,202.6,231.8,7.8,441,9162,0.00,2.40,0.00,0.000,4,0.000,0.038,3007,3476,1834
$GC,9229,0.99,202.6,226.2,7.4,444,9234,0.00,2.38,0.00,0.000,6,0.000,0.062,3007,2077,1835
$GC,9550,0.99,202.6,203.2,7.7,460,9555,0.00,2.40,0.00,0.000,4,0.000,0.042,3007,679,1833
$GC,9623,0.99,202.6,197.1,8.5,465,9628,0.00,2.33,0.00,0.000,6,0.000,0.025,3007,2084,1831
$GC,9949,0.99,202.6,175.2,7.2,495,9953,0.00,2.35,0.00,0.000,4,0.000,0.070,3007,3471,1832
$GC,10014,0.99,202.6,169.1,9.4,500,10021,0.00,2.35,0.00,0.000,6,0.000,0.024,3007,2071,1832
$GC,10342,1.06,256.0,146.3,5.7,531,10406,0.00,2.47,48.83,0.647,4,0.000,0.049,3007,684,1618
$GC,10429,1.08,276.1,141.4,6.6,539,10455,0.10,2.33,18.50,0.626,6,0.058,0.057,3038,2092,1537
$GC,10779,1.08,276.1,108.7,9.9,572,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2093,1532
$GC,11098,1.08,276.1,84.2,7.8,602,11102,0.00,2.42,0.00,0.000,4,0.000,0.038,3037,676,1531
$GC,11159,1.08,276.1,78.9,8.8,607,11163,0.00,2.30,0.00,0.000,6,0.000,0.057,3038,2087,1528
$GC,11485,1.08,276.1,49.9,7.4,637,11489,0.00,2.40,0.00,0.000,4,0.000,0.071,3038,683,1528
$GC,11591,1.08,276.1,41.5,8.9,646,11596,0.00,2.28,0.00,0.000,6,0.000,0.054,3038,2090,1528
$GC,11923,1.13,315.6,21.0,6.1,688,11962,0.00,0.00,34.08,0.537,6,0.000,0.000,3038,2095,1376
$GC,12075,1.13,315.6,9.3,8.5,715,12082,0.00,2.40,0.00,0.000,4,0.000,0.039,3037,684,1373
$GC,12110,1.13,315.6,6.6,7.9,721,12117,0.00,2.28,0.00,0.000,6,0.000,0.019,3038,2085,1371
$STATE,12155,end climb,SURFACE_DEPTH_REACHED
$STATE,12155,begin surface coast
$FINISH,0.2,1.022898
$STATE,12195,end surface coast,CONTROL_FINISHED_OK
$STATE,12195,begin surface
$SM_CCo,12215,3.38,0.315,0,0,1359,320.12
$SM_GC,1.73,0.00,0.00,3.38,0.000,0.000,0.315,425,2088,1359,-10.90,0.25,320.12
$IRIDIUM_FIX,2057.14,-15748.75,131097,171720
$TT8_MAMPS,0.029146
$HUMID,1868
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.90
$XPDR_PINGS,700
$24V_AH,23.3,40.332
$10V_AH,10.2,23.420
$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,25.375,126.975,411.700,3.375,0.000,31.044,29.842,341.108,175.000,0.000,0.000,35.460,1297.871,8739.803,495.648,1636.189,580.246,33.363,1318.757,0.000,1602.437,0.000,0.470
$DEVICE_MAMPS,155.701,77.467,888.953,315.237,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.343,481.051,825.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37888,736
$CAP_FILE_SIZE,107306,10
$CFSIZE,260165632,253919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,200708,001355,2102.853,-15747.372,70,1.3,70,9.8