version: 66.03
glider: 139
mission: 3
dive: 81
start: 7 20 108 21 48 59
data:
$ID,139
$MISSION,3
$DIVE,81
$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,-1272013.6
$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,45
$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
$GPS1,214156,2107.973,-15752.869,40,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.2
$GPS2,214809,2107.915,-15752.895,10,1.4,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.210,0.144
$KALMAN_X,-14596.3,-400.2,240.4,14600.7,1565.9
$KALMAN_Y,-5666.2,-25.1,96.0,-10620.3,-746.0
$MHEAD_RNG_PITCHd_Wd,294.6,4255,-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,-175.2,0.0,0.0,0,81,0.00,0.00,-59.58,0.000,2,0.000,0.000,427,2100,3099
$GC,83,-0.96,-175.2,4.4,-8.1,11,108,12.20,2.40,-4.43,0.000,4,0.157,0.051,2577,689,3383
$GC,237,-0.96,-175.2,39.7,-11.8,31,243,0.00,2.22,0.00,0.000,6,0.000,0.026,2577,2085,3385
$GC,561,-0.96,-175.2,74.5,-9.3,62,565,0.00,2.28,0.00,0.000,4,0.000,0.031,2577,3464,3386
$GC,667,-0.96,-175.2,83.9,-9.0,71,674,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2083,3386
$GC,992,-0.96,-175.2,112.9,-8.8,102,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3387
$GC,1310,-0.96,-175.2,140.0,-8.4,132,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3387
$GC,1630,-0.96,-175.2,166.6,-8.1,162,1634,0.00,2.38,0.00,0.000,4,0.000,0.069,2577,680,3388
$GC,1669,-0.96,-175.2,169.9,-8.0,165,1673,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2078,3388
$GC,1995,-0.96,-175.2,191.9,-6.3,195,1999,0.00,2.33,0.00,0.000,4,0.000,0.067,2577,3464,3388
$GC,2046,-0.96,-175.2,195.5,-6.8,199,2050,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2066,3388
$GC,2363,-0.96,-175.2,217.1,-6.8,217,2367,0.00,2.33,0.00,0.000,4,0.000,0.037,2577,687,3388
$GC,2420,-0.96,-175.2,221.0,-6.5,219,2426,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2080,3388
$GC,2736,-0.96,-175.2,240.9,-5.8,235,2740,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,681,3387
$GC,2768,-0.96,-175.2,243.2,-7.4,236,2775,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2073,3387
$GC,3084,-0.96,-175.2,261.3,-5.8,252,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3386
$GC,3394,-0.96,-175.2,281.3,-6.2,267,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3384
$GC,3702,-0.96,-175.2,299.5,-5.4,282,3706,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,682,3383
$GC,3729,-0.96,-175.2,301.1,-5.7,283,3733,0.00,2.28,0.00,0.000,6,0.000,0.024,2577,2075,3383
$GC,4066,-0.96,-175.2,317.2,-4.4,292,4070,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,3476,3382
$GC,4088,-0.96,-175.2,318.4,-5.6,292,4092,0.00,2.30,0.00,0.000,6,0.000,0.059,2577,2087,3381
$GC,4430,-0.96,-175.2,344.0,-7.7,301,4434,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,682,3380
$GC,4473,-0.96,-175.2,347.1,-7.2,302,4477,0.00,2.30,0.00,0.000,6,0.000,0.054,2577,2078,3379
$GC,4797,-0.96,-175.2,367.7,-6.2,310,4801,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3472,3377
$GC,4837,-0.96,-175.2,370.0,-5.8,311,4841,0.00,2.33,0.00,0.000,6,0.000,0.026,2576,2072,3377
$GC,5161,-0.96,-175.2,387.1,-4.7,319,5165,0.00,2.38,0.00,0.000,4,0.000,0.044,2577,684,3376
$GC,5193,-0.96,-175.2,388.9,-5.8,319,5200,0.00,2.30,0.00,0.000,6,0.000,0.027,2577,2075,3375
$GC,5524,-0.96,-175.2,408.8,-6.1,328,5528,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3478,3374
$GC,5551,-0.96,-175.2,410.4,-6.3,328,5555,0.00,2.33,0.00,0.000,6,0.000,0.061,2577,2082,3374
$GC,5894,-0.96,-175.2,435.5,-7.6,337,5898,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3473,3372
$GC,5914,-0.96,-175.2,437.2,-7.7,337,5919,0.00,2.35,0.00,0.000,6,0.000,0.063,2577,2083,3372
$STATE,6092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6092,begin apogee
$GC,6097,-0.31,0.0,450.0,7.2,342,6242,0.68,0.00,142.23,0.893,6,0.049,0.000,2731,2082,2664
$STATE,6243,end apogee,CONTROL_FINISHED_OK
$STATE,6243,begin climb
$GC,6245,0.96,175.2,457.7,0.0,345,6400,1.20,2.55,145.32,0.868,4,0.040,0.077,3009,681,1946
$GC,6558,0.96,175.2,442.2,10.5,352,6562,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2069,1937
$GC,6871,0.96,175.2,413.4,9.1,360,6875,0.00,2.45,0.00,0.000,4,0.000,0.047,3009,678,1935
$GC,6959,0.96,175.2,404.9,9.4,362,6963,0.00,2.38,0.00,0.000,6,0.000,0.064,3009,2083,1933
$GC,7283,0.96,175.2,374.3,10.1,370,7287,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3477,1932
$GC,7394,0.96,175.2,363.0,9.6,372,7399,0.00,2.38,0.00,0.000,6,0.000,0.031,3009,2082,1932
$GC,7736,0.96,175.2,336.0,7.8,381,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2080,1930
$GC,8061,0.96,175.2,310.3,7.9,389,8066,0.00,2.42,0.00,0.000,4,0.000,0.075,3009,3482,1929
$GC,8111,0.96,175.2,306.3,7.6,390,8115,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2074,1929
$GC,8433,0.96,175.2,281.9,7.9,403,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2073,1928
$GC,8742,0.98,192.0,258.6,6.7,418,8763,0.00,2.53,11.80,0.731,4,0.000,0.073,3009,3480,1880
$GC,8825,0.99,196.9,253.2,7.0,421,8835,0.00,2.38,6.00,0.637,6,0.000,0.028,3008,2072,1861
$GC,9156,0.99,196.9,228.8,7.9,438,9160,0.00,2.40,0.00,0.000,4,0.000,0.044,3009,676,1857
$GC,9188,0.99,196.9,225.8,8.9,439,9193,0.00,2.38,0.00,0.000,6,0.000,0.051,3009,2082,1856
$GC,9510,0.99,196.9,199.1,7.4,455,9514,0.00,2.38,0.00,0.000,4,0.000,0.039,3009,3473,1856
$GC,9628,1.00,203.6,190.6,7.0,465,9640,0.00,2.35,6.75,0.608,6,0.000,0.061,3009,2072,1834
$GC,9957,1.00,203.6,167.7,8.7,496,9961,0.00,2.40,0.00,0.000,4,0.000,0.037,3009,3474,1832
$GC,10007,1.00,203.6,163.4,8.5,500,10011,0.00,2.33,0.00,0.000,6,0.000,0.025,3009,2076,1833
$GC,10331,1.11,295.8,143.4,4.6,530,10419,0.12,2.47,80.25,0.671,4,0.054,0.064,3046,688,1457
$GC,10504,1.11,295.8,128.4,10.7,546,10509,0.00,2.33,0.00,0.000,6,0.000,0.058,3046,2089,1451
$GC,10828,1.11,295.8,96.3,10.4,576,10833,0.00,2.35,0.00,0.000,4,0.000,0.034,3046,3474,1449
$GC,10917,1.11,295.8,87.1,9.8,583,10924,0.00,2.35,0.00,0.000,6,0.000,0.023,3046,2079,1449
$GC,11245,1.11,295.8,56.0,8.4,614,11249,0.00,2.40,0.00,0.000,4,0.000,0.071,3046,676,1448
$GC,11288,1.11,295.8,51.7,10.1,617,11295,0.00,2.33,0.00,0.000,6,0.000,0.054,3046,2086,1446
$GC,11616,1.11,295.8,25.1,7.8,653,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2091,1446
$GC,11736,1.11,295.8,16.0,7.8,674,11742,0.00,2.40,0.00,0.000,4,0.000,0.044,3046,674,1446
$GC,11771,1.11,295.8,13.1,7.8,680,11777,0.00,2.28,0.00,0.000,6,0.000,0.055,3046,2092,1445
$GC,11890,1.11,295.8,4.0,7.5,701,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2097,1445
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.1,1.009339
$STATE,11952,end surface coast,CONTROL_FINISHED_OK
$STATE,11952,begin surface
$SM_CCo,11971,19.48,0.518,0,0,1358,320.12
$SM_GC,0.71,0.00,0.00,19.48,0.000,0.000,0.518,428,2096,1358,-10.89,0.45,320.12
$IRIDIUM_FIX,2101.76,-15743.60,141097,181852
$TT8_MAMPS,0.029146
$HUMID,1891
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.80
$XPDR_PINGS,697
$24V_AH,23.3,41.286
$10V_AH,10.2,23.984
$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,25.525,117.875,392.350,19.475,0.000,31.521,28.411,200.961,174.250,0.000,0.000,11.599,1278.163,8495.219,494.545,1635.883,452.065,33.367,1323.983,0.000,1637.279,0.000,0.470
$DEVICE_MAMPS,157.235,77.467,892.788,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.576,471.499,789.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37988,712
$CAP_FILE_SIZE,102333,11
$CFSIZE,260165632,253571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210708,011008,2108.461,-15753.674,40,1.4,40,9.8