version: 66.03
glider: 139
mission: 3
dive: 88
start: 7 21 108 22 33 57
data:
$ID,139
$MISSION,3
$DIVE,88
$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,-1272168.6
$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,60
$R_STBD_OVSHOOT,55
$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
$GPS1,222226,2104.153,-15748.999,53,1.9,53,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.2
$GPS2,223307,2104.128,-15749.013,31,1.3,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.195
$KALMAN_X,-16896.8,-164.6,15.6,23597.0,889.9
$KALMAN_Y,-8898.1,17.3,251.0,-14607.6,-331.6
$MHEAD_RNG_PITCHd_Wd,130.2,4915,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-54.15,0.000,2,0.000,0.000,430,2049,2922
$GC,78,-0.96,-175.2,3.7,-6.9,10,103,12.15,2.35,-7.68,0.000,4,0.155,0.051,2579,705,3382
$GC,121,-0.96,-175.2,19.6,-35.7,17,127,0.00,2.20,0.00,0.000,6,0.000,0.036,2580,2082,3384
$GC,243,-0.96,-175.2,35.9,-12.6,35,247,0.00,2.30,0.00,0.000,4,0.000,0.031,2579,3462,3384
$GC,275,-0.96,-175.2,39.4,-10.3,37,282,0.00,2.25,0.00,0.000,6,0.000,0.019,2579,2099,3384
$GC,600,-0.96,-175.2,71.7,-10.2,68,604,0.00,2.38,0.00,0.000,4,0.000,0.035,2579,682,3385
$GC,622,-0.96,-175.2,73.9,-9.4,70,626,0.00,2.22,0.00,0.000,6,0.000,0.018,2579,2077,3385
$GC,953,-0.96,-175.2,104.5,-9.2,101,957,0.00,2.38,0.00,0.000,4,0.000,0.051,2578,675,3386
$GC,996,-0.96,-175.2,108.4,-8.4,104,1003,0.00,2.28,0.00,0.000,6,0.000,0.018,2579,2077,3386
$GC,1322,-0.96,-175.2,137.0,-8.9,135,1326,0.00,2.38,0.00,0.000,4,0.000,0.054,2579,680,3387
$GC,1373,-0.96,-175.2,141.5,-8.5,139,1377,0.00,2.25,0.00,0.000,6,0.000,0.055,2579,2078,3387
$GC,1698,-0.96,-175.2,168.5,-8.4,169,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2082,3387
$GC,2016,-0.96,-175.2,194.4,-6.6,199,2020,0.00,2.38,0.00,0.000,4,0.000,0.043,2579,683,3387
$GC,2049,-0.96,-175.2,196.6,-6.7,201,2055,0.00,2.25,0.00,0.000,6,0.000,0.019,2579,2081,3387
$GC,2367,-0.96,-175.2,216.0,-6.5,220,2371,0.00,2.33,0.00,0.000,4,0.000,0.033,2579,3470,3387
$GC,2406,-0.96,-175.2,218.6,-6.2,222,2410,0.00,2.28,0.00,0.000,6,0.000,0.047,2579,2077,3387
$GC,2731,-0.96,-175.2,239.0,-6.0,238,2735,0.00,2.35,0.00,0.000,4,0.000,0.038,2579,683,3387
$GC,2758,-0.96,-175.2,240.8,-6.7,239,2763,0.00,2.25,0.00,0.000,6,0.000,0.021,2579,2073,3387
$GC,3080,-0.96,-175.2,263.9,-7.8,255,3084,0.00,2.35,0.00,0.000,4,0.000,0.036,2579,3470,3386
$GC,3106,-0.96,-175.2,266.2,-7.8,256,3110,0.00,2.30,0.00,0.000,6,0.000,0.029,2579,2085,3386
$GC,3428,-0.96,-175.2,286.1,-5.6,272,3432,0.00,2.38,0.00,0.000,4,0.000,0.039,2579,683,3385
$GC,3489,-0.96,-175.2,289.8,-5.8,275,3494,0.00,2.28,0.00,0.000,6,0.000,0.023,2579,2080,3384
$GC,3834,-0.96,-175.2,309.7,-5.8,288,3838,0.00,2.35,0.00,0.000,4,0.000,0.038,2579,3467,3383
$GC,3861,-0.96,-175.2,311.3,-6.0,288,3865,0.00,2.30,0.00,0.000,6,0.000,0.025,2579,2074,3383
$GC,4198,-0.96,-175.2,330.5,-5.7,297,4202,0.00,2.38,0.00,0.000,4,0.000,0.041,2579,679,3381
$GC,4238,-0.96,-175.2,333.0,-6.7,298,4242,0.00,2.30,0.00,0.000,6,0.000,0.061,2579,2077,3381
$GC,4561,-0.96,-175.2,358.3,-7.9,306,4565,0.00,2.38,0.00,0.000,4,0.000,0.041,2579,3471,3379
$GC,4661,-0.96,-175.2,365.1,-6.2,308,4665,0.00,2.30,0.00,0.000,6,0.000,0.025,2579,2079,3378
$GC,5008,-0.96,-175.2,386.3,-5.9,317,5013,0.00,2.40,0.00,0.000,4,0.000,0.042,2579,674,3377
$GC,5099,-0.96,-175.2,391.3,-5.9,319,5103,0.00,2.33,0.00,0.000,6,0.000,0.025,2579,2085,3376
$GC,5417,-0.96,-175.2,409.2,-5.9,327,5421,0.00,2.38,0.00,0.000,4,0.000,0.043,2579,3470,3374
$GC,5477,-0.96,-175.2,413.2,-6.2,328,5481,0.00,2.33,0.00,0.000,6,0.000,0.035,2579,2069,3374
$GC,5825,-0.96,-175.2,438.2,-7.5,337,5829,0.00,2.42,0.00,0.000,4,0.000,0.043,2579,3472,3372
$GC,5842,-0.96,-175.2,439.4,-7.4,337,5846,0.00,2.33,0.00,0.000,6,0.000,0.027,2579,2072,3372
$STATE,6019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6024,-0.31,0.0,451.0,6.4,342,6169,0.68,0.00,142.10,0.893,6,0.049,0.000,2733,2070,2664
$STATE,6170,end apogee,CONTROL_FINISHED_OK
$STATE,6170,begin climb
$GC,6172,0.96,175.2,458.7,0.0,345,6326,1.17,2.47,145.00,0.869,4,0.041,0.052,3005,679,1947
$GC,6471,0.96,175.2,446.2,8.5,352,6476,0.00,2.38,0.00,0.000,6,0.000,0.028,3004,2071,1937
$GC,6796,0.96,175.2,415.9,10.2,360,6800,0.00,2.45,0.00,0.000,4,0.000,0.046,3005,676,1935
$GC,6822,0.96,175.2,412.7,11.8,360,6826,0.00,2.40,0.00,0.000,6,0.000,0.038,3005,2080,1934
$GC,7159,0.96,175.2,380.9,8.9,369,7163,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,3476,1933
$GC,7236,0.96,175.2,373.8,8.6,370,7242,0.00,2.35,0.00,0.000,6,0.000,0.030,3005,2086,1933
$GC,7567,0.96,175.2,349.2,7.6,379,7571,0.00,2.47,0.00,0.000,4,0.000,0.054,3005,669,1930
$GC,7610,0.96,175.2,345.4,8.7,380,7614,0.00,2.40,0.00,0.000,6,0.000,0.029,3005,2080,1929
$GC,7934,0.96,175.2,320.6,7.5,388,7938,0.00,2.42,0.00,0.000,4,0.000,0.043,3005,3482,1929
$GC,8068,0.96,175.2,309.8,7.3,391,8072,0.00,2.40,0.00,0.000,6,0.000,0.028,3004,2077,1929
$GC,8395,0.98,193.1,288.0,6.7,403,8416,0.00,2.50,13.07,0.759,4,0.000,0.045,3005,680,1874
$GC,8439,0.98,193.1,284.6,8.4,405,8444,0.00,2.38,0.00,0.000,6,0.000,0.028,3004,2092,1873
$GC,8766,1.01,214.4,261.2,6.6,421,8791,0.00,2.53,19.80,0.764,4,0.000,0.044,3005,676,1789
$GC,8920,1.01,214.4,249.6,8.3,428,8924,0.00,2.35,0.00,0.000,6,0.000,0.027,3005,2085,1783
$GC,9240,1.01,214.4,224.6,7.3,444,9244,0.00,2.38,0.00,0.000,4,0.000,0.039,3005,3480,1783
$GC,9273,1.06,253.4,222.5,6.1,445,9314,0.00,2.35,34.85,0.739,6,0.000,0.026,3005,2075,1630
$GC,9627,1.06,253.4,196.3,8.5,464,9631,0.00,2.38,0.00,0.000,4,0.000,0.069,3004,3474,1624
$GC,9654,1.06,253.4,193.6,9.5,466,9658,0.00,2.35,0.00,0.000,6,0.000,0.061,3005,2075,1624
$GC,9979,1.06,253.4,166.8,8.8,496,9984,0.00,2.40,0.00,0.000,4,0.000,0.075,3004,678,1623
$GC,10001,1.06,253.4,164.7,9.2,497,10007,0.00,2.33,0.00,0.000,6,0.000,0.023,3004,2092,1620
$GC,10327,1.06,253.4,140.4,7.3,528,10331,0.00,2.45,0.00,0.000,4,0.000,0.058,3004,673,1620
$GC,10359,1.06,253.4,137.7,7.8,530,10365,0.00,2.33,0.00,0.000,6,0.000,0.022,3005,2075,1619
$GC,10687,1.12,305.3,116.5,5.7,561,10746,0.15,2.42,46.95,0.614,4,0.046,0.074,3052,678,1418
$GC,10769,1.12,305.3,110.5,8.2,569,10773,0.00,2.30,0.00,0.000,6,0.000,0.021,3052,2084,1415
$GC,11093,1.12,305.3,82.0,9.2,599,11097,0.00,2.40,0.00,0.000,4,0.000,0.038,3052,677,1412
$GC,11183,1.12,305.3,73.1,9.6,607,11187,0.00,2.28,0.00,0.000,6,0.000,0.020,3052,2078,1410
$GC,11509,1.12,305.3,46.2,11.6,637,11513,0.00,2.33,0.00,0.000,4,0.000,0.036,3052,3465,1411
$GC,11649,1.12,305.3,31.6,9.5,649,11653,0.00,2.30,0.00,0.000,6,0.000,0.021,3052,2063,1411
$STATE,11982,end climb,SURFACE_DEPTH_REACHED
$STATE,11982,begin surface coast
$FINISH,0.1,1.011525
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12019,begin surface
$SM_CCo,12038,11.93,0.496,0,0,1359,320.12
$SM_GC,1.84,0.00,0.00,11.93,0.000,0.000,0.496,425,2057,1359,-10.90,-0.65,320.12
$IRIDIUM_FIX,2057.14,-15751.76,151097,222207
$TT8_MAMPS,0.029146
$HUMID,1893
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.80
$XPDR_PINGS,722
$24V_AH,23.3,42.241
$10V_AH,10.2,24.543
$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,25.425,141.175,401.775,11.925,0.000,52.964,69.496,306.799,180.500,0.000,0.000,33.797,1309.523,8511.453,503.405,1725.708,630.061,33.367,1361.717,0.000,1693.363,0.000,0.471
$DEVICE_MAMPS,154.934,75.166,892.788,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.910,468.892,793.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37912,712
$CAP_FILE_SIZE,112003,10
$CFSIZE,260165632,253202432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220708,015617,2102.836,-15747.812,32,3.3,51,9.8