version: 66.03
glider: 139
mission: 3
dive: 82
start: 7 21 108 1 20 35
data:
$ID,139
$MISSION,3
$DIVE,82
$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,-1272026.8
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,011008,2108.461,-15753.674,40,1.4,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-71.5
$GPS2,011945,2108.475,-15753.723,11,1.5,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.095,0.236
$KALMAN_X,-14308.1,74.2,704.4,11953.8,-364.7
$KALMAN_Y,-6665.0,278.4,10.2,-8807.9,-1068.5
$MHEAD_RNG_PITCHd_Wd,328.3,2524,-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,-54.20,0.000,2,0.000,0.000,428,2095,2943
$GC,78,-0.96,-175.2,4.0,-7.5,10,103,12.25,2.47,-7.32,0.000,4,0.158,0.050,2576,680,3383
$GC,283,-0.96,-175.2,39.2,-9.9,39,287,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2084,3385
$GC,613,-0.96,-175.2,73.7,-11.3,70,617,0.00,2.30,0.00,0.000,4,0.000,0.031,2576,3466,3386
$GC,656,-0.96,-175.2,78.7,-10.6,73,663,0.00,2.30,0.00,0.000,6,0.000,0.020,2576,2075,3386
$GC,981,-0.96,-175.2,107.9,-8.9,104,985,0.00,2.35,0.00,0.000,4,0.000,0.031,2576,3471,3387
$GC,1024,-0.96,-175.2,111.8,-8.8,107,1031,0.00,2.30,0.00,0.000,6,0.000,0.020,2576,2076,3387
$GC,1350,-0.96,-175.2,137.2,-8.4,138,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2074,3388
$GC,1668,-0.96,-175.2,162.6,-7.6,168,1672,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,684,3388
$GC,1752,-0.96,-175.2,169.2,-7.4,175,1756,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2088,3388
$GC,2084,-0.96,-175.2,196.0,-7.8,206,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2092,3388
$GC,2402,-0.96,-175.2,221.9,-9.0,224,2406,0.00,2.38,0.00,0.000,4,0.000,0.037,2576,687,3388
$GC,2428,-0.96,-175.2,224.2,-8.3,225,2432,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2075,3387
$GC,2750,-0.96,-175.2,245.8,-6.9,241,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3387
$GC,3059,-0.96,-175.2,265.6,-5.5,256,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3386
$GC,3368,-0.96,-175.2,282.6,-5.6,271,3373,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,686,3385
$GC,3390,-0.96,-175.2,284.1,-6.3,272,3394,0.00,1.80,0.00,0.000,6,0.000,0.057,2576,1829,3385
$GC,3716,-0.96,-175.2,302.8,-5.6,287,3720,0.00,2.78,0.00,0.000,4,0.000,0.037,2576,3466,3383
$GC,3800,-0.96,-175.2,308.5,-7.0,289,3804,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2085,3383
$GC,4129,-0.96,-175.2,329.0,-6.1,297,4133,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,679,3381
$GC,4170,-0.96,-175.2,331.7,-7.3,298,4174,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2072,3381
$GC,4493,-0.96,-175.2,350.2,-5.3,306,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3379
$GC,4818,-0.96,-175.2,364.9,-4.3,314,4822,0.00,2.38,0.00,0.000,4,0.000,0.043,2576,683,3377
$GC,4844,-0.96,-175.2,366.1,-4.6,314,4849,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2077,3377
$GC,5187,-0.96,-175.2,383.7,-5.6,323,5191,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,3478,3376
$GC,5226,-0.96,-175.2,386.0,-6.3,324,5230,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2082,3375
$GC,5550,-0.96,-175.2,406.5,-6.3,332,5554,0.00,2.42,0.00,0.000,4,0.000,0.045,2576,676,3374
$GC,5577,-0.96,-175.2,408.1,-6.2,332,5581,0.00,2.35,0.00,0.000,6,0.000,0.063,2576,2085,3373
$GC,5914,-0.96,-175.2,430.0,-6.7,341,5918,0.00,2.40,0.00,0.000,4,0.000,0.045,2576,3478,3372
$GC,5963,-0.96,-175.2,433.9,-7.6,342,5967,0.00,2.35,0.00,0.000,6,0.000,0.028,2576,2073,3371
$STATE,6198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6198,begin apogee
$GC,6203,-0.31,0.0,451.1,7.2,348,6348,0.68,0.00,142.25,0.897,6,0.051,0.000,2729,2072,2664
$STATE,6349,end apogee,CONTROL_FINISHED_OK
$STATE,6349,begin climb
$GC,6351,0.96,175.2,458.5,0.0,351,6506,1.23,2.55,145.32,0.872,4,0.040,0.052,3009,677,1946
$GC,6669,0.96,175.2,439.8,10.9,358,6674,0.00,2.40,0.00,0.000,6,0.000,0.064,3009,2096,1937
$GC,7018,0.96,175.2,409.1,8.4,367,7022,0.00,2.42,0.00,0.000,4,0.000,0.045,3009,3482,1935
$GC,7067,0.96,175.2,405.0,8.4,368,7071,0.00,2.40,0.00,0.000,6,0.000,0.065,3010,2086,1935
$GC,7386,0.99,203.1,382.9,6.4,376,7415,0.00,2.50,22.85,0.830,4,0.000,0.053,3010,3475,1836
$GC,7488,1.04,236.4,376.8,6.2,378,7524,0.00,2.40,30.75,0.829,6,0.000,0.064,3010,2078,1700
$GC,7837,1.04,236.4,348.6,9.0,387,7841,0.00,2.47,0.00,0.000,4,0.000,0.050,3009,674,1692
$GC,7902,1.04,236.4,341.9,10.3,388,7907,0.00,2.40,0.00,0.000,6,0.000,0.029,3009,2079,1689
$GC,8245,1.04,236.4,312.4,8.3,397,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1689
$GC,8552,1.04,236.4,285.8,8.8,408,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2084,1687
$GC,8862,1.04,236.4,256.6,10.1,423,8866,0.00,2.45,0.00,0.000,4,0.000,0.045,3009,674,1686
$GC,8947,1.04,236.4,248.1,10.0,427,8951,0.00,2.35,0.00,0.000,6,0.000,0.027,3009,2084,1684
$GC,9273,1.04,243.5,222.6,6.9,443,9283,0.00,2.47,5.10,0.584,4,0.000,0.043,3010,666,1670
$GC,9321,1.04,243.5,218.9,7.9,445,9326,0.00,2.38,0.00,0.000,6,0.000,0.026,3010,2077,1668
$GC,9644,1.05,249.2,197.0,7.0,463,9656,0.00,2.45,6.45,0.595,4,0.000,0.047,3010,3474,1648
$GC,9695,1.05,249.2,192.9,8.4,467,9701,0.00,2.35,0.00,0.000,6,0.000,0.044,3009,2072,1648
$GC,10020,1.05,249.2,165.0,8.7,498,10025,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,673,1647
$GC,10122,1.05,249.2,155.5,9.5,506,10128,0.00,2.33,0.00,0.000,6,0.000,0.028,3009,2096,1645
$GC,10449,1.10,290.4,132.6,6.0,537,10493,0.10,2.47,37.60,0.642,4,0.059,0.073,3041,679,1478
$GC,10585,1.10,290.4,121.2,8.6,549,10589,0.00,2.30,0.00,0.000,6,0.000,0.056,3041,2080,1474
$GC,10909,1.10,290.4,90.9,9.2,579,10913,0.00,2.35,0.00,0.000,4,0.000,0.033,3041,3477,1473
$GC,10964,1.10,290.4,85.4,10.3,583,10971,0.00,2.35,0.00,0.000,6,0.000,0.022,3041,2070,1473
$GC,11290,1.10,290.4,55.9,9.8,614,11294,0.00,2.38,0.00,0.000,4,0.000,0.037,3041,3474,1474
$GC,11311,1.10,290.4,53.5,9.8,615,11318,0.00,2.33,0.00,0.000,6,0.000,0.031,3041,2084,1473
$GC,11639,1.10,290.4,29.3,7.6,646,11645,0.00,2.35,0.00,0.000,4,0.000,0.037,3041,680,1473
$GC,11685,1.10,290.4,25.1,8.9,654,11692,0.00,2.30,0.00,0.000,6,0.000,0.035,3042,2088,1472
$GC,11806,1.10,290.4,15.4,8.1,675,11813,0.00,2.30,0.00,0.000,4,0.000,0.031,3041,3470,1472
$GC,11847,1.10,290.4,12.1,8.0,682,11853,0.00,2.28,0.00,0.000,6,0.000,0.029,3041,2068,1473
$GC,11966,1.10,290.4,3.6,7.2,703,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2066,1472
$STATE,11976,end climb,SURFACE_DEPTH_REACHED
$STATE,11976,begin surface coast
$FINISH,0.0,1.014702
$STATE,12023,end surface coast,CONTROL_FINISHED_OK
$STATE,12023,begin surface
$SM_CCo,12042,24.88,0.512,0,0,1359,320.12
$SM_GC,0.93,0.00,0.00,24.88,0.000,0.000,0.512,431,2062,1359,-10.87,-0.48,320.12
$IRIDIUM_FIX,2059.45,-15753.90,151097,010145
$TT8_MAMPS,0.029146
$HUMID,1876
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.00
$XPDR_PINGS,698
$24V_AH,23.3,41.425
$10V_AH,10.0,24.064
$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,25.550,118.200,390.325,24.875,0.000,49.121,60.761,276.741,174.500,0.000,0.000,12.553,1290.945,8615.458,496.688,1646.014,581.636,33.369,1319.909,0.000,1638.684,0.000,0.470
$DEVICE_MAMPS,158.002,72.865,897.390,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.565,465.000,797.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,713
$CAP_FILE_SIZE,106072,10
$CFSIZE,260165632,253517824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210708,044256,2109.673,-15754.669,36,1.3,36,9.8