version: 66.03
glider: 139
mission: 3
dive: 85
start: 7 21 108 11 58 51
data:
$ID,139
$MISSION,3
$DIVE,85
$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,-1272087.6
$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,40
$R_STBD_OVSHOOT,62
$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
$GPS1,114755,2107.186,-15752.324,36,1.8,36,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-67.8
$GPS2,115802,2107.108,-15752.400,14,1.7,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.080
$KALMAN_X,-15261.2,-231.2,499.8,15702.0,-877.3
$KALMAN_Y,-8103.2,63.0,240.9,-9921.7,-1044.3
$MHEAD_RNG_PITCHd_Wd,98.4,12962,-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,-59.42,0.000,2,0.000,0.000,426,2100,2877
$GC,83,-0.96,-175.2,3.3,-5.3,11,113,12.12,2.45,-8.60,0.000,4,0.153,0.050,2576,687,3382
$GC,136,-0.96,-175.2,19.8,-25.3,20,143,0.00,2.22,0.00,0.000,6,0.000,0.019,2576,2076,3383
$GC,254,-0.96,-175.2,34.7,-13.3,38,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3383
$GC,572,-0.96,-175.2,69.0,-9.3,68,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3384
$GC,891,-0.96,-175.2,99.3,-9.3,98,895,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,682,3385
$GC,934,-0.96,-175.2,103.2,-9.2,101,941,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2084,3385
$GC,1260,-0.96,-175.2,128.1,-7.9,132,1264,0.00,2.30,0.00,0.000,4,0.000,0.067,2576,3460,3386
$GC,1304,-0.96,-175.2,131.6,-8.0,135,1311,0.00,2.28,0.00,0.000,6,0.000,0.055,2576,2079,3385
$GC,1631,-0.96,-175.2,156.5,-9.3,166,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3386
$GC,1947,-0.96,-175.2,184.7,-8.8,196,1951,0.00,2.33,0.00,0.000,4,0.000,0.037,2576,687,3386
$GC,2003,-0.96,-175.2,189.8,-9.0,201,2008,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2084,3386
$GC,2322,-0.96,-175.2,214.5,-7.2,222,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2088,3386
$GC,2632,-0.96,-175.2,237.0,-7.1,237,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2088,3385
$GC,2941,-0.96,-175.2,256.2,-6.0,252,2945,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,687,3384
$GC,2985,-0.96,-175.2,259.0,-6.5,254,2989,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2080,3384
$GC,3311,-0.96,-175.2,278.1,-5.0,270,3315,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,3471,3383
$GC,3344,-0.96,-175.2,279.9,-5.7,271,3350,0.00,2.30,0.00,0.000,6,0.000,0.023,2576,2073,3383
$GC,3679,-0.96,-175.2,303.7,-7.8,287,3683,0.00,2.35,0.00,0.000,4,0.000,0.040,2576,686,3381
$GC,3705,-0.96,-175.2,305.6,-7.4,287,3709,0.00,2.30,0.00,0.000,6,0.000,0.024,2576,2077,3381
$GC,4042,-0.96,-175.2,323.4,-4.4,296,4046,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,686,3380
$GC,4064,-0.96,-175.2,324.6,-5.2,296,4068,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2070,3380
$GC,4405,-0.96,-175.2,347.7,-7.3,305,4409,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,3470,3378
$GC,4432,-0.96,-175.2,349.6,-7.3,305,4436,0.00,2.33,0.00,0.000,6,0.000,0.062,2576,2087,3377
$GC,4775,-0.96,-175.2,368.2,-4.9,314,4779,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,682,3376
$GC,4819,-0.96,-175.2,370.4,-4.9,315,4823,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2076,3375
$GC,5143,-0.96,-175.2,386.7,-5.6,323,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3374
$GC,5468,-0.96,-175.2,406.9,-6.5,331,5472,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,683,3372
$GC,5496,-0.96,-175.2,409.0,-8.2,331,5500,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2081,3372
$GC,5827,-0.96,-175.2,430.1,-5.9,339,5830,0.00,2.40,0.00,0.000,4,0.000,0.045,2577,3473,3370
$GC,5854,-0.96,-175.2,431.7,-6.0,339,5858,0.00,2.33,0.00,0.000,6,0.000,0.038,2576,2083,3369
$STATE,6194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6194,begin apogee
$GC,6199,-0.31,0.0,450.5,5.2,348,6343,0.70,0.00,141.68,0.893,6,0.170,0.000,2730,2082,2664
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6344,begin climb
$GC,6346,0.96,175.2,456.2,0.0,351,6503,1.20,2.55,145.15,0.867,4,0.041,0.073,3006,3474,1948
$GC,6535,0.96,175.2,454.0,7.7,355,6540,0.00,2.40,0.00,0.000,6,0.000,0.030,3006,2088,1946
$GC,6878,0.96,175.2,423.8,9.4,364,6882,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,3472,1938
$GC,6916,0.96,175.2,420.0,10.0,365,6921,0.00,2.38,0.00,0.000,6,0.000,0.031,3006,2080,1938
$GC,7240,0.96,175.2,390.0,9.2,373,7244,0.00,2.47,0.00,0.000,4,0.000,0.051,3006,674,1935
$GC,7368,0.96,175.2,376.7,10.8,376,7372,0.00,2.38,0.00,0.000,6,0.000,0.030,3006,2081,1932
$GC,7697,0.96,175.2,345.7,9.3,384,7701,0.00,2.47,0.00,0.000,4,0.000,0.047,3006,670,1931
$GC,7724,0.96,175.2,343.1,9.8,384,7728,0.00,2.40,0.00,0.000,6,0.000,0.029,3006,2079,1930
$GC,8061,0.96,175.2,315.6,7.6,393,8065,0.00,2.42,0.00,0.000,4,0.000,0.046,3006,3479,1930
$GC,8121,0.96,175.2,310.7,7.9,394,8125,0.00,2.40,0.00,0.000,6,0.000,0.035,3005,2078,1930
$GC,8452,0.97,184.8,286.2,6.9,407,8460,0.00,0.00,6.07,0.653,6,0.000,0.000,3006,2077,1909
$GC,8760,0.97,184.8,261.1,8.1,422,8765,0.00,2.42,0.00,0.000,4,0.000,0.041,3006,3481,1908
$GC,8793,0.97,184.8,258.2,8.0,423,8799,0.00,2.40,0.00,0.000,6,0.000,0.028,3006,2075,1908
$GC,9109,0.97,184.8,235.6,7.2,439,9113,0.00,2.40,0.00,0.000,4,0.000,0.044,3006,679,1907
$GC,9215,0.97,184.8,227.1,8.2,444,9219,0.00,2.35,0.00,0.000,6,0.000,0.061,3006,2090,1905
$GC,9541,1.05,249.1,208.0,5.4,460,9604,0.00,2.50,56.55,0.726,4,0.000,0.073,3005,671,1646
$GC,9660,1.05,249.1,198.9,9.4,466,9664,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2082,1641
$GC,9985,1.05,249.1,170.7,7.9,496,9990,0.00,2.45,0.00,0.000,4,0.000,0.073,3005,674,1639
$GC,10025,1.05,249.1,167.0,8.8,499,10029,0.00,2.33,0.00,0.000,6,0.000,0.023,3006,2082,1637
$GC,10349,1.07,263.0,142.3,6.8,529,10375,0.00,2.40,13.93,0.550,4,0.000,0.035,3006,3462,1590
$GC,10404,1.09,280.4,138.6,6.7,534,10427,0.12,2.33,16.83,0.626,6,0.050,0.059,3048,2070,1519
$GC,10744,1.09,280.4,106.8,9.8,566,10748,0.00,2.38,0.00,0.000,4,0.000,0.040,3047,680,1515
$GC,10766,1.09,280.4,104.7,9.6,568,10770,0.00,2.30,0.00,0.000,6,0.000,0.057,3048,2084,1513
$GC,11097,1.09,280.4,72.1,9.9,599,11101,0.00,2.33,0.00,0.000,4,0.000,0.067,3048,3467,1513
$GC,11158,1.09,280.4,65.9,10.4,604,11162,0.00,2.30,0.00,0.000,6,0.000,0.022,3048,2069,1514
$GC,11486,1.16,335.7,41.2,5.6,634,11540,0.00,2.40,47.65,0.563,4,0.000,0.071,3048,676,1294
$GC,11675,1.16,335.7,25.4,9.1,655,11681,0.00,2.28,0.00,0.000,6,0.000,0.019,3048,2095,1289
$GC,11794,1.16,335.7,13.8,10.1,676,11801,0.00,2.40,0.00,0.000,4,0.000,0.039,3048,680,1288
$GC,11824,1.16,335.7,11.0,9.5,681,11830,0.00,2.25,0.00,0.000,6,0.000,0.028,3048,2084,1288
$STATE,11919,end climb,SURFACE_DEPTH_REACHED
$STATE,11919,begin surface coast
$FINISH,0.1,1.022839
$STATE,11955,end surface coast,CONTROL_FINISHED_OK
$STATE,11955,begin surface
$SM_CCo,12035,0.00,0.000,0,0,1283,338.51
$SM_GC,0.99,11.30,0.00,0.00,0.034,0.000,0.000,426,2088,1283,-10.81,0.28,338.51
$IRIDIUM_FIX,2101.76,-15748.75,151097,111139
$TT8_MAMPS,0.029146
$HUMID,1869
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.90
$XPDR_PINGS,676
$24V_AH,23.3,41.828
$10V_AH,10.2,24.304
$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,25.450,122.750,427.850,0.000,0.000,54.628,69.659,275.691,169.000,0.000,0.000,33.301,1251.462,8684.746,502.457,1599.801,588.454,33.374,1313.658,0.000,1572.866,0.000,0.470
$DEVICE_MAMPS,169.507,72.865,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.884,461.941,787.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34897,704
$CAP_FILE_SIZE,102589,6
$CFSIZE,260165632,253362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210708,152038,2106.123,-15751.385,37,1.4,37,9.8