version: 66.03
glider: 139
mission: 3
dive: 104
start: 7 24 108 8 24 59
data:
$ID,139
$MISSION,3
$DIVE,104
$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,-1272651.6
$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,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
$GPS1,080555,2104.677,-15750.354,117,0.8,117,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.5
$GPS2,082409,2104.794,-15750.446,13,1.0,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.146
$KALMAN_X,-14389.3,-261.1,-771.7,19502.1,430.0
$KALMAN_Y,-19431.3,266.1,-119.4,-2716.1,-499.8
$MHEAD_RNG_PITCHd_Wd,115.1,7606,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,2,0.000,0.000,432,2087,2938
$GC,85,-0.96,-175.2,3.7,-5.9,11,110,12.07,2.45,-7.40,0.000,4,0.153,0.050,2576,682,3382
$GC,151,-0.96,-175.2,22.5,-18.2,22,157,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2085,3384
$GC,273,-0.96,-175.2,38.9,-13.8,38,277,0.00,2.30,0.00,0.000,4,0.000,0.036,2576,3466,3383
$GC,317,-0.96,-175.2,44.9,-12.4,41,324,0.00,2.30,0.00,0.000,6,0.000,0.019,2576,2069,3383
$GC,642,-0.96,-175.2,72.1,-8.5,72,646,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,679,3384
$GC,679,-0.96,-175.2,75.6,-9.2,75,686,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2070,3384
$GC,1005,-0.96,-175.2,106.5,-10.6,106,1009,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,685,3384
$GC,1027,-0.96,-175.2,108.7,-9.6,108,1031,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,1358,-0.96,-175.2,135.7,-7.0,139,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3385
$GC,1675,-0.96,-175.2,162.4,-8.0,169,1679,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,683,3385
$GC,1725,-0.96,-175.2,166.3,-7.4,173,1729,0.00,2.25,0.00,0.000,6,0.000,0.038,2576,2080,3385
$GC,2056,-0.96,-175.2,192.3,-7.3,204,2060,0.00,2.33,0.00,0.000,4,0.000,0.047,2576,3469,3385
$GC,2100,-0.96,-175.2,195.9,-7.5,207,2106,0.00,2.30,0.00,0.000,6,0.000,0.054,2576,2077,3385
$GC,2418,-0.96,-175.2,217.3,-6.8,226,2422,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,3463,3384
$GC,2457,-0.96,-175.2,220.1,-6.9,228,2461,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2080,3384
$GC,2782,-0.96,-175.2,241.3,-7.2,244,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3383
$GC,3093,-0.96,-175.2,260.4,-5.3,259,3097,0.00,2.25,0.00,0.000,4,0.000,0.072,2576,716,3382
$GC,3142,-0.96,-175.2,263.1,-5.3,261,3146,0.00,2.22,0.00,0.000,6,0.000,0.022,2576,2068,3381
$GC,3464,-0.96,-175.2,282.5,-7.4,277,3468,0.00,2.38,0.00,0.000,4,0.000,0.037,2576,3474,3380
$GC,3507,-0.96,-175.2,286.3,-8.4,279,3512,0.00,2.30,0.00,0.000,6,0.000,0.024,2576,2076,3380
$GC,3832,-0.96,-175.2,307.2,-5.8,292,3836,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,676,3378
$GC,3887,-0.96,-175.2,310.2,-5.2,293,3891,0.00,2.30,0.00,0.000,6,0.000,0.024,2576,2078,3378
$GC,4201,-0.96,-175.2,325.8,-5.0,301,4205,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3476,3376
$GC,4244,-0.96,-175.2,328.3,-5.4,302,4249,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2081,3376
$GC,4569,-0.96,-175.2,347.1,-6.2,310,4573,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,681,3375
$GC,4602,-0.96,-175.2,349.1,-6.6,310,4608,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2083,3375
$GC,4932,-0.96,-175.2,364.3,-4.2,319,4937,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3474,3372
$GC,4954,-0.96,-175.2,365.5,-5.4,319,4958,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2072,3372
$GC,5296,-0.96,-175.2,387.0,-6.3,328,5301,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,682,3370
$GC,5336,-0.96,-175.2,389.4,-6.1,329,5340,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2085,3370
$GC,5659,-0.96,-175.2,409.9,-6.4,337,5663,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,3474,3368
$GC,5680,-0.96,-175.2,411.3,-6.2,337,5684,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2070,3368
$GC,6023,-0.96,-175.2,434.3,-6.7,346,6027,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,685,3366
$GC,6061,-0.96,-175.2,436.7,-5.8,347,6066,0.00,2.33,0.00,0.000,6,0.000,0.030,2577,2079,3365
$STATE,6302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6302,begin apogee
$GC,6306,-0.31,0.0,450.9,5.9,353,6451,0.68,0.00,141.10,0.900,6,0.049,0.000,2729,2080,2663
$STATE,6451,end apogee,CONTROL_FINISHED_OK
$STATE,6451,begin climb
$GC,6454,0.96,175.2,457.8,0.0,356,6609,1.20,2.53,145.18,0.871,4,0.040,0.049,3009,3471,1949
$GC,6721,0.96,175.2,442.8,11.4,362,6726,0.00,2.38,0.00,0.000,6,0.000,0.065,3009,2083,1944
$GC,7034,0.96,175.2,413.1,9.4,370,7038,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3471,1937
$GC,7128,0.96,175.2,403.7,9.5,372,7133,0.00,2.40,0.00,0.000,6,0.000,0.053,3009,2080,1938
$GC,7447,0.96,175.2,377.2,8.1,380,7451,0.00,2.45,0.00,0.000,4,0.000,0.048,3008,678,1934
$GC,7524,0.96,175.2,369.8,9.7,381,7531,0.00,2.38,0.00,0.000,6,0.000,0.030,3009,2072,1931
$GC,7855,0.96,175.2,341.3,8.3,390,7859,0.00,2.45,0.00,0.000,4,0.000,0.046,3009,673,1931
$GC,7893,0.96,175.2,338.1,8.7,391,7897,0.00,2.38,0.00,0.000,6,0.000,0.031,3009,2089,1929
$GC,8217,0.96,175.2,312.9,7.4,399,8220,0.00,1.95,0.00,0.000,4,0.000,0.081,3008,3235,1929
$GC,8283,0.96,175.2,307.7,7.4,400,8287,0.00,1.98,0.00,0.000,6,0.000,0.036,3009,2079,1929
$GC,8614,0.96,175.2,283.8,8.2,413,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2077,1928
$GC,8923,0.97,184.8,259.8,6.9,428,8931,0.00,0.00,5.70,0.627,6,0.000,0.000,3009,2077,1910
$GC,9232,0.98,189.8,240.9,7.0,443,9243,0.00,2.42,6.03,0.626,4,0.000,0.043,3009,674,1889
$GC,9259,0.98,189.8,238.8,8.0,444,9263,0.00,2.38,0.00,0.000,6,0.000,0.067,3009,2084,1887
$GC,9581,1.01,218.3,216.2,6.4,460,9610,0.00,0.62,26.15,0.727,4,0.000,0.153,3009,2515,1774
$GC,9780,1.04,243.8,204.2,6.4,469,9808,0.00,0.73,23.38,0.705,6,0.000,0.029,3009,2066,1669
$GC,10127,1.04,243.8,177.1,8.7,498,10132,0.00,2.38,0.00,0.000,4,0.000,0.041,3008,686,1663
$GC,10193,1.04,243.8,171.3,8.2,503,10200,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2084,1661
$GC,10520,1.04,243.8,146.8,7.9,534,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2088,1661
$GC,10837,1.04,243.8,123.5,7.4,564,10841,0.00,2.40,0.00,0.000,4,0.000,0.038,3008,683,1661
$GC,10888,1.04,243.8,119.6,7.8,568,10892,0.00,2.28,0.00,0.000,6,0.000,0.021,3009,2084,1660
$GC,11212,1.04,243.8,95.1,7.3,598,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2088,1660
$GC,11531,1.14,320.5,74.6,5.1,628,11605,0.15,2.40,65.43,0.584,4,0.043,0.067,3063,3462,1356
$GC,11640,1.14,320.5,66.6,8.5,638,11644,0.00,2.28,0.00,0.000,6,0.000,0.022,3063,2084,1355
$GC,11964,1.14,320.5,33.7,13.4,668,11968,0.00,2.38,0.00,0.000,4,0.000,0.037,3064,680,1351
$GC,12027,1.14,320.5,27.7,9.1,675,12033,0.00,2.25,0.00,0.000,6,0.000,0.019,3064,2082,1348
$GC,12146,1.20,367.4,18.4,5.9,696,12192,0.00,2.35,39.70,0.532,4,0.000,0.065,3063,3470,1164
$GC,12210,1.20,367.4,13.6,7.6,707,12217,0.00,2.30,0.00,0.000,6,0.000,0.037,3064,2070,1164
$STATE,12323,end climb,SURFACE_DEPTH_REACHED
$STATE,12324,begin surface coast
$FINISH,0.3,1.022970
$STATE,12353,end surface coast,CONTROL_FINISHED_OK
$STATE,12353,begin surface
$SM_CCo,12433,0.00,0.000,0,0,1157,369.67
$SM_GC,1.20,11.40,0.00,0.00,0.041,0.000,0.000,422,2065,1157,-10.82,-0.42,369.67
$IRIDIUM_FIX,2057.14,-15756.04,181097,080809
$TT8_MAMPS,0.029146
$HUMID,1872
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.90
$XPDR_PINGS,726
$24V_AH,23.3,44.726
$10V_AH,10.2,25.890
$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,25.500,126.950,452.650,0.000,0.000,109.903,160.593,506.022,181.500,0.000,0.000,15.123,1316.022,8994.655,514.813,1704.063,984.307,33.370,1384.318,0.000,1690.664,0.000,0.470
$DEVICE_MAMPS,153.400,153.400,900.458,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.437,479.370,817.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38104,732
$CAP_FILE_SIZE,115764,8
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240708,115357,2103.639,-15749.032,51,2.0,70,9.8