version: 66.03
glider: 139
mission: 3
dive: 89
start: 7 22 108 2 12 45
data:
$ID,139
$MISSION,3
$DIVE,89
$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,543.09418
$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,-1272255.8
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,015617,2102.836,-15747.812,32,3.3,51,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.2
$GPS2,021156,2102.935,-15747.941,84,1.0,84,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.054
$KALMAN_X,-18139.1,411.1,484.0,25650.3,-1447.5
$KALMAN_Y,-8768.9,189.1,192.9,-17061.9,-467.3
$MHEAD_RNG_PITCHd_Wd,92.4,2079,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,79,0.00,0.00,-55.25,0.000,2,0.000,0.000,425,2056,2979
$GC,81,-0.96,-175.2,4.0,-7.1,10,106,12.05,2.33,-6.43,0.000,4,0.154,0.048,2575,679,3381
$GC,151,-0.96,-175.2,27.8,-20.9,22,158,0.00,2.25,0.00,0.000,6,0.000,0.018,2574,2093,3382
$GC,265,-0.96,-175.2,45.1,-15.2,34,269,0.00,2.28,0.00,0.000,4,0.000,0.030,2574,3466,3383
$GC,315,-0.96,-175.2,51.7,-12.3,38,319,0.00,2.25,0.00,0.000,6,0.000,0.020,2574,2078,3383
$GC,639,-0.96,-175.2,88.7,-10.6,68,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2078,3384
$GC,958,-0.96,-175.2,118.1,-8.4,98,962,0.00,2.35,0.00,0.000,4,0.000,0.035,2574,678,3385
$GC,1001,-0.96,-175.2,121.6,-7.6,101,1008,0.00,2.25,0.00,0.000,6,0.000,0.018,2574,2072,3385
$GC,1327,-0.96,-175.2,149.2,-9.5,132,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2076,3385
$GC,1646,-0.96,-175.2,172.8,-6.6,162,1650,0.00,2.35,0.00,0.000,4,0.000,0.044,2574,666,3385
$GC,1701,-0.96,-175.2,176.4,-6.1,166,1708,0.00,2.30,0.00,0.000,6,0.000,0.019,2575,2079,3385
$GC,2029,-0.96,-175.2,196.9,-6.4,197,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2083,3385
$GC,2346,-0.96,-175.2,219.4,-6.5,215,2350,0.00,2.33,0.00,0.000,4,0.000,0.033,2574,3472,3384
$GC,2385,-0.96,-175.2,221.7,-5.6,217,2390,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2076,3384
$GC,2712,-0.96,-175.2,242.7,-9.0,233,2716,0.00,2.35,0.00,0.000,4,0.000,0.038,2574,679,3383
$GC,2738,-0.96,-175.2,245.2,-9.1,234,2743,0.00,2.30,0.00,0.000,6,0.000,0.021,2574,2078,3384
$GC,3066,-0.96,-175.2,267.9,-5.6,250,3069,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,3470,3382
$GC,3092,-0.96,-175.2,269.5,-6.2,251,3097,0.00,2.28,0.00,0.000,6,0.000,0.023,2574,2081,3382
$GC,3420,-0.96,-175.2,289.4,-5.8,267,3424,0.00,2.38,0.00,0.000,4,0.000,0.039,2574,682,3381
$GC,3458,-0.96,-175.2,291.8,-6.1,268,3465,0.00,2.30,0.00,0.000,6,0.000,0.023,2574,2074,3381
$GC,3791,-0.96,-175.2,312.1,-5.8,280,3795,0.00,2.38,0.00,0.000,4,0.000,0.040,2574,676,3380
$GC,3824,-0.96,-175.2,314.1,-6.2,280,3830,0.00,2.30,0.00,0.000,6,0.000,0.024,2574,2089,3379
$GC,4155,-0.96,-175.2,329.3,-3.5,289,4159,0.00,2.35,0.00,0.000,4,0.000,0.039,2574,3473,3378
$GC,4198,-0.96,-175.2,331.1,-3.9,290,4203,0.00,2.30,0.00,0.000,6,0.000,0.050,2574,2084,3377
$GC,4517,-0.96,-175.2,347.5,-5.6,298,4521,0.00,2.40,0.00,0.000,4,0.000,0.042,2574,679,3375
$GC,4549,-0.96,-175.2,349.5,-6.4,298,4555,0.00,2.30,0.00,0.000,6,0.000,0.033,2574,2076,3375
$GC,4880,-0.96,-175.2,369.1,-6.4,307,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3374
$GC,5205,-0.96,-175.2,391.0,-6.7,315,5209,0.00,2.40,0.00,0.000,4,0.000,0.043,2574,677,3371
$GC,5244,-0.96,-175.2,393.5,-6.7,316,5248,0.00,2.33,0.00,0.000,6,0.000,0.028,2574,2082,3372
$GC,5567,-0.96,-175.2,412.7,-5.5,324,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2086,3369
$GC,5892,-0.96,-175.2,427.8,-4.4,332,5896,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,3479,3367
$GC,5924,-0.96,-175.2,429.4,-5.0,332,5930,0.00,2.35,0.00,0.000,6,0.000,0.037,2574,2076,3367
$GC,6255,-0.96,-175.2,445.0,-4.7,341,6259,0.00,2.40,0.00,0.000,4,0.000,0.045,2574,677,3364
$GC,6311,-0.96,-175.2,448.2,-6.6,342,6316,0.00,2.33,0.00,0.000,6,0.000,0.029,2574,2076,3364
$STATE,6378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6378,begin apogee
$GC,6383,-0.31,0.0,452.3,6.0,344,6526,0.70,0.00,140.75,0.901,6,0.060,0.000,2728,2078,2664
$STATE,6527,end apogee,CONTROL_FINISHED_OK
$STATE,6527,begin climb
$GC,6529,0.96,175.2,459.3,0.0,347,6686,1.20,2.55,145.20,0.877,4,0.041,0.049,3005,680,1946
$GC,6741,0.96,175.2,456.1,8.1,352,6745,0.00,2.40,0.00,0.000,6,0.000,0.039,3005,2078,1939
$GC,7065,0.96,175.2,428.3,8.8,360,7069,0.00,2.47,0.00,0.000,4,0.000,0.047,3005,673,1936
$GC,7159,0.96,175.2,419.6,9.3,362,7163,0.00,2.40,0.00,0.000,6,0.000,0.063,3005,2078,1933
$GC,7477,0.96,175.2,392.8,8.0,370,7481,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,3475,1933
$GC,7611,0.96,175.2,381.7,8.9,373,7615,0.00,2.40,0.00,0.000,6,0.000,0.039,3005,2085,1933
$GC,7935,0.96,175.2,353.3,9.1,381,7939,0.00,2.47,0.00,0.000,4,0.000,0.048,3005,666,1931
$GC,7989,0.96,175.2,347.8,10.1,382,7994,0.00,2.40,0.00,0.000,6,0.000,0.029,3005,2096,1929
$GC,8302,0.96,175.2,321.7,8.3,390,8306,0.00,1.80,0.00,0.000,4,0.000,0.084,3005,3165,1929
$GC,8380,0.96,175.2,314.7,9.2,391,8384,0.00,1.88,0.00,0.000,6,0.000,0.030,3005,2071,1929
$GC,8697,0.96,175.2,289.8,7.2,402,8701,0.00,2.42,0.00,0.000,4,0.000,0.059,3005,677,1927
$GC,8769,0.96,176.9,284.7,7.1,405,8773,0.00,2.35,0.00,0.000,6,0.000,0.028,3005,2088,1926
$GC,9090,0.96,176.9,261.9,7.7,421,9095,0.00,2.45,0.00,0.000,4,0.000,0.044,3005,677,1926
$GC,9147,0.96,176.9,257.6,7.2,423,9153,0.00,2.33,0.00,0.000,6,0.000,0.027,3005,2082,1925
$GC,9462,1.01,211.8,237.3,6.2,439,9496,0.00,2.47,28.92,0.754,4,0.000,0.073,3005,3471,1800
$GC,9536,1.01,211.8,232.0,7.6,442,9540,0.00,2.38,0.00,0.000,6,0.000,0.038,3005,2083,1798
$GC,9857,1.01,211.8,207.2,7.3,458,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2081,1795
$GC,10174,1.01,211.8,181.2,7.5,483,10178,0.00,1.65,0.00,0.000,4,0.000,0.079,3005,3076,1795
$GC,10320,1.02,220.0,170.1,6.9,496,10332,0.00,1.67,7.70,0.606,6,0.000,0.025,3005,2063,1767
$GC,10649,1.02,220.0,148.3,7.2,527,10653,0.00,2.38,0.00,0.000,4,0.000,0.040,3005,676,1765
$GC,10807,1.03,232.1,137.1,6.8,540,10825,0.00,2.30,12.07,0.621,6,0.000,0.022,3005,2097,1717
$GC,11142,1.06,258.8,115.1,6.4,572,11172,0.00,0.00,24.62,0.621,6,0.000,0.000,3005,2099,1607
$GC,11493,1.10,289.2,90.9,6.3,605,11527,0.12,2.45,27.30,0.601,4,0.048,0.069,3048,681,1482
$GC,11645,1.10,289.2,74.4,12.8,618,11651,0.00,2.25,0.00,0.000,6,0.000,0.020,3048,2081,1477
$GC,11971,1.10,289.2,44.1,7.5,649,11975,0.00,2.33,0.00,0.000,4,0.000,0.067,3048,3470,1477
$GC,12003,1.10,289.2,41.2,8.8,651,12010,0.00,2.33,0.00,0.000,6,0.000,0.056,3048,2073,1477
$GC,12336,1.11,298.8,18.4,6.9,696,12350,0.00,2.40,8.55,0.479,4,0.000,0.065,3048,3471,1445
$GC,12430,1.11,298.8,11.2,8.6,712,12436,0.00,2.28,0.00,0.000,6,0.000,0.021,3049,2068,1445
$STATE,12547,end climb,SURFACE_DEPTH_REACHED
$STATE,12548,begin surface coast
$FINISH,0.2,1.022743
$STATE,12600,end surface coast,CONTROL_FINISHED_OK
$STATE,12600,begin surface
$SM_CCo,12619,196.57,0.519,0,0,450,543.09
$SM_GC,0.56,0.00,0.00,196.57,0.000,0.000,0.519,422,2061,450,-10.92,-0.51,543.09
$IRIDIUM_FIX,2057.14,-15751.76,161097,020222
$TT8_MAMPS,0.029146
$HUMID,1801
$INTERNAL_PRESSURE,8.60003
$TCM_TEMP,23.20
$XPDR_PINGS,736
$24V_AH,23.3,42.404
$10V_AH,10.2,24.631
$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,25.300,124.725,395.125,196.575,0.000,150.391,153.570,175.417,184.000,0.000,0.000,86.448,1341.704,9234.257,681.900,1793.213,691.035,33.372,1540.691,0.000,1706.677,0.000,0.471
$DEVICE_MAMPS,154.167,83.603,901.225,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.426,478.762,814.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,742
$CAP_FILE_SIZE,108663,11
$CFSIZE,260165632,253116416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220708,054737,2101.676,-15746.865,29,1.1,39,9.8