version: 66.03
glider: 139
mission: 3
dive: 79
start: 7 20 108 14 54 48
data:
$ID,139
$MISSION,3
$DIVE,79
$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,-1271988.2
$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,43
$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
$GPS1,144455,2106.161,-15751.085,40,1.2,40,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-71.8
$GPS2,145356,2106.173,-15751.239,13,1.9,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.094,0.237
$KALMAN_X,-15768.8,-269.7,155.8,18589.9,-936.1
$KALMAN_Y,-3729.0,-442.4,-130.5,-15140.1,-742.6
$MHEAD_RNG_PITCHd_Wd,328.5,8561,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-54.75,0.000,2,0.000,0.000,424,2091,2934
$GC,78,-0.96,-175.2,3.7,-6.5,10,103,12.20,2.35,-7.45,0.000,4,0.156,0.054,2578,3465,3383
$GC,283,-0.96,-175.2,41.1,-12.5,38,287,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2080,3384
$GC,607,-0.96,-175.2,75.6,-8.7,68,611,0.00,2.28,0.00,0.000,4,0.000,0.029,2578,3457,3386
$GC,708,-0.96,-175.2,84.6,-8.7,77,712,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2073,3386
$GC,1035,-0.96,-175.2,114.1,-8.4,107,1039,0.00,2.33,0.00,0.000,4,0.000,0.070,2578,687,3387
$GC,1107,-0.96,-175.2,120.6,-9.0,113,1111,0.00,2.20,0.00,0.000,6,0.000,0.018,2578,2075,3387
$GC,1439,-0.96,-175.2,146.2,-7.2,144,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3387
$GC,1756,-0.96,-175.2,167.1,-6.7,174,1760,0.00,2.33,0.00,0.000,4,0.000,0.031,2578,3467,3387
$GC,1777,-0.96,-175.2,168.6,-7.0,175,1783,0.00,2.25,0.00,0.000,6,0.000,0.021,2578,2080,3387
$GC,2104,-0.96,-175.2,192.6,-7.1,206,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3387
$GC,2423,-0.96,-175.2,219.8,-8.0,226,2427,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,682,3387
$GC,2445,-0.96,-175.2,221.4,-7.6,227,2450,0.00,2.20,0.00,0.000,6,0.000,0.056,2578,2074,3387
$GC,2772,-0.96,-175.2,242.4,-6.0,243,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3387
$GC,3081,-0.96,-175.2,262.4,-6.5,258,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3386
$GC,3391,-0.96,-175.2,280.2,-5.6,273,3395,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,680,3385
$GC,3412,-0.96,-175.2,281.6,-6.5,274,3416,0.00,2.28,0.00,0.000,6,0.000,0.058,2579,2074,3385
$GC,3759,-0.96,-175.2,302.8,-6.1,290,3763,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,685,3383
$GC,3780,-0.96,-175.2,304.1,-5.9,290,3784,0.00,2.28,0.00,0.000,6,0.000,0.024,2578,2078,3383
$GC,4122,-0.96,-175.2,323.8,-5.8,299,4126,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,690,3381
$GC,4166,-0.96,-175.2,326.6,-6.2,300,4170,0.00,2.28,0.00,0.000,6,0.000,0.025,2578,2079,3381
$GC,4490,-0.96,-175.2,345.2,-5.7,308,4495,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,3477,3379
$GC,4530,-0.96,-175.2,347.6,-5.6,309,4534,0.00,2.33,0.00,0.000,6,0.000,0.062,2578,2078,3379
$GC,4853,-0.96,-175.2,364.3,-4.8,317,4857,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,675,3377
$GC,4892,-0.96,-175.2,366.3,-5.5,318,4896,0.00,2.33,0.00,0.000,6,0.000,0.026,2578,2085,3378
$GC,5215,-0.96,-175.2,383.4,-5.4,326,5219,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3473,3376
$GC,5247,-0.96,-175.2,385.3,-5.6,326,5253,0.00,2.33,0.00,0.000,6,0.000,0.035,2578,2076,3375
$GC,5578,-0.96,-175.2,402.0,-5.0,335,5582,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,677,3374
$GC,5605,-0.96,-175.2,403.5,-6.2,335,5609,0.00,2.33,0.00,0.000,6,0.000,0.049,2578,2080,3374
$GC,5942,-0.96,-175.2,425.5,-6.7,344,5946,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3479,3372
$GC,5991,-0.96,-175.2,428.8,-6.5,345,5995,0.00,2.35,0.00,0.000,6,0.000,0.064,2578,2068,3372
$GC,6310,-0.96,-175.2,448.6,-6.2,353,6314,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,3473,3370
$GC,6325,-0.96,-175.2,449.7,-6.3,353,6329,0.00,2.33,0.00,0.000,6,0.000,0.028,2578,2076,3370
$STATE,6334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6338,-0.31,0.0,450.2,6.0,353,6484,0.65,0.00,142.12,0.894,6,0.056,0.000,2726,2075,2664
$STATE,6484,end apogee,CONTROL_FINISHED_OK
$STATE,6484,begin climb
$GC,6487,0.96,175.2,458.1,0.0,357,6643,1.23,2.55,145.40,0.866,4,0.041,0.049,3008,3471,1948
$GC,6676,0.96,175.2,454.2,8.7,361,6680,0.00,2.40,0.00,0.000,6,0.000,0.029,3008,2087,1946
$GC,7018,0.96,175.2,422.2,9.8,370,7022,0.00,2.47,0.00,0.000,4,0.000,0.048,3008,677,1938
$GC,7084,0.96,175.2,415.1,10.7,371,7089,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2070,1935
$GC,7426,0.96,175.2,383.3,8.9,380,7430,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,3481,1934
$GC,7486,0.96,175.2,378.3,8.2,381,7490,0.00,2.40,0.00,0.000,6,0.000,0.030,3009,2069,1934
$GC,7799,1.01,215.2,358.2,6.1,389,7841,0.00,2.53,33.55,0.831,4,0.000,0.075,3008,3467,1786
$GC,7868,1.01,215.2,353.3,7.2,390,7872,0.00,2.38,0.00,0.000,6,0.000,0.066,3008,2079,1785
$GC,8210,1.01,215.2,325.4,8.6,399,8214,0.00,2.42,0.00,0.000,4,0.000,0.075,3008,3478,1779
$GC,8254,1.01,215.2,321.4,8.5,400,8258,0.00,2.38,0.00,0.000,6,0.000,0.030,3008,2079,1779
$GC,8581,1.01,215.2,293.6,8.9,409,8585,0.00,2.45,0.00,0.000,4,0.000,0.079,3008,676,1777
$GC,8691,1.01,215.2,282.3,10.1,414,8696,0.00,2.35,0.00,0.000,6,0.000,0.028,3008,2082,1774
$GC,9018,1.01,215.2,251.5,8.9,430,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2085,1774
$GC,9328,1.04,238.5,227.5,6.5,445,9353,0.00,2.50,19.77,0.728,4,0.000,0.048,3008,674,1690
$GC,9397,1.04,238.5,222.3,9.1,448,9402,0.00,2.38,0.00,0.000,6,0.000,0.026,3008,2078,1687
$GC,9719,1.04,241.7,196.9,7.1,466,9724,0.00,2.38,0.00,0.000,4,0.000,0.038,3008,3474,1686
$GC,9792,1.04,241.7,191.2,7.9,472,9796,0.00,2.35,0.00,0.000,6,0.000,0.032,3008,2073,1686
$GC,10118,1.07,265.5,167.0,6.5,502,10150,0.00,2.47,24.30,0.673,4,0.000,0.041,3008,3476,1581
$GC,10211,1.07,265.5,159.5,8.8,510,10218,0.00,2.38,0.00,0.000,6,0.000,0.058,3008,2075,1580
$GC,10537,1.15,330.8,138.6,5.4,541,10602,0.17,2.42,57.15,0.649,4,0.045,0.044,3063,679,1313
$GC,10771,1.15,330.8,113.6,12.8,562,10775,0.00,2.33,0.00,0.000,6,0.000,0.021,3063,2099,1307
$GC,11102,1.15,330.8,77.8,9.7,593,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2105,1307
$GC,11420,1.15,330.8,47.0,8.7,623,11424,0.00,2.30,0.00,0.000,4,0.000,0.031,3063,3471,1306
$GC,11459,1.15,330.8,43.1,10.5,626,11463,0.00,2.30,0.00,0.000,6,0.000,0.021,3063,2072,1306
$GC,11795,1.15,330.8,6.4,9.0,676,11802,0.00,2.35,0.00,0.000,4,0.000,0.046,3063,684,1306
$GC,11825,1.15,330.8,3.4,10.2,681,11831,0.00,2.28,0.00,0.000,6,0.000,0.054,3063,2077,1305
$STATE,11835,end climb,SURFACE_DEPTH_REACHED
$STATE,11835,begin surface coast
$FINISH,0.0,1.000328
$STATE,11865,end surface coast,CONTROL_FINISHED_OK
$STATE,11865,begin surface
$SM_CCo,11945,0.00,0.000,0,0,1302,334.10
$SM_GC,0.90,11.35,0.00,0.00,0.029,0.000,0.000,432,2080,1302,-10.81,0.03,334.10
$IRIDIUM_FIX,2059.45,-15753.90,141097,141435
$TT8_MAMPS,0.029146
$HUMID,1864
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.50
$XPDR_PINGS,680
$24V_AH,23.3,41.028
$10V_AH,10.2,23.827
$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,25.600,122.650,422.300,0.000,0.000,61.205,93.352,208.870,170.000,0.000,0.000,14.692,1248.927,8605.562,478.982,1599.108,542.877,33.368,1296.869,0.000,1588.007,0.000,0.470
$DEVICE_MAMPS,156.468,79.001,893.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.465,448.013,742.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34788,688
$CAP_FILE_SIZE,102297,5
$CFSIZE,260165632,253677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200708,181507,2107.460,-15752.352,39,1.1,39,9.8