version: 66.03
glider: 139
mission: 3
dive: 112
start: 7 25 108 13 0 54
data:
$ID,139
$MISSION,3
$DIVE,112
$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,-1272824.8
$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,41
$R_STBD_OVSHOOT,58
$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
$GPS1,124755,2105.646,-15751.132,25,1.2,42,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.1
$GPS2,130004,2105.593,-15751.122,10,1.2,17,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.117,0.226
$KALMAN_X,-17165.8,-340.6,280.2,20132.0,52.2
$KALMAN_Y,-27333.0,-231.8,22.1,7025.6,-1148.6
$MHEAD_RNG_PITCHd_Wd,322.9,9499,-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,-175.2,0.0,0.0,0,108,0.00,0.00,-86.05,0.000,2,0.000,0.000,426,2087,2911
$GC,111,-0.96,-175.2,3.5,-5.5,16,140,12.27,2.35,-7.93,0.000,4,0.158,0.055,2577,3464,3383
$GC,270,-0.96,-175.2,35.4,-12.0,41,274,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2073,3384
$GC,595,-0.96,-175.2,76.9,-9.2,71,599,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,683,3384
$GC,638,-0.96,-175.2,81.2,-10.0,74,645,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2073,3384
$GC,963,-0.96,-175.2,112.0,-9.6,105,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2077,3385
$GC,1282,-0.96,-175.2,141.4,-10.2,135,1286,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,682,3385
$GC,1309,-0.96,-175.2,144.3,-10.6,137,1313,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2082,3385
$GC,1635,-0.96,-175.2,172.5,-7.0,167,1639,0.00,2.38,0.00,0.000,4,0.000,0.068,2576,676,3385
$GC,1669,-0.96,-175.2,174.9,-7.4,170,1673,0.00,2.08,0.00,0.000,6,0.000,0.056,2577,1984,3385
$GC,2001,-0.96,-175.2,198.7,-7.7,201,2005,0.00,2.47,0.00,0.000,4,0.000,0.046,2577,3466,3385
$GC,2050,-0.96,-175.2,202.7,-7.4,203,2054,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2065,3384
$GC,2372,-0.96,-175.2,223.0,-5.3,219,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2063,3384
$GC,2680,-0.96,-175.2,238.3,-4.8,234,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2063,3384
$GC,2990,-0.96,-175.2,257.5,-7.2,249,2994,0.00,2.33,0.00,0.000,4,0.000,0.038,2577,684,3382
$GC,3016,-0.96,-175.2,259.6,-7.9,250,3020,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2071,3382
$GC,3337,-0.96,-175.2,281.3,-6.7,266,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3381
$GC,3646,-0.96,-175.2,303.1,-7.3,280,3650,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,686,3380
$GC,3678,-0.96,-175.2,305.5,-7.4,280,3684,0.00,2.28,0.00,0.000,6,0.000,0.059,2577,2083,3380
$GC,4009,-0.96,-175.2,326.4,-6.3,289,4013,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,3474,3378
$GC,4036,-0.96,-175.2,328.2,-7.4,289,4040,0.00,2.33,0.00,0.000,6,0.000,0.025,2576,2084,3378
$GC,4374,-0.96,-175.2,350.8,-7.0,298,4378,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,676,3376
$GC,4406,-0.96,-175.2,353.5,-8.6,298,4413,0.00,2.33,0.00,0.000,6,0.000,0.047,2577,2071,3376
$GC,4737,-0.96,-175.2,378.8,-7.4,307,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3374
$GC,5063,-0.96,-175.2,397.6,-4.9,315,5066,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,685,3372
$GC,5084,-0.96,-175.2,398.6,-4.2,315,5088,0.00,2.30,0.00,0.000,6,0.000,0.027,2577,2076,3372
$GC,5432,-0.96,-175.2,411.6,-3.9,324,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3370
$GC,5757,-0.96,-175.2,423.8,-3.5,332,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3368
$GC,6082,-0.96,-175.2,435.6,-3.7,340,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3366
$GC,6407,-0.96,-175.2,448.5,-4.1,348,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2080,3363
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6450,-0.31,0.0,450.2,4.2,349,6593,0.70,0.00,140.45,0.904,6,0.170,0.000,2730,2080,2664
$STATE,6594,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6596,0.96,175.2,454.9,0.0,352,6753,1.20,2.47,145.15,0.877,4,0.041,0.054,3006,686,1946
$GC,6836,0.96,175.2,447.3,8.9,357,6840,0.00,2.38,0.00,0.000,6,0.000,0.064,3006,2072,1938
$GC,7173,0.96,175.2,421.2,7.8,366,7177,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,3475,1935
$GC,7263,0.96,175.2,412.5,10.3,368,7267,0.00,2.35,0.00,0.000,6,0.000,0.031,3006,2091,1935
$GC,7580,0.96,175.2,380.6,9.8,376,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2089,1932
$GC,7905,0.96,175.2,351.7,8.6,384,7909,0.00,2.47,0.00,0.000,4,0.000,0.048,3006,673,1929
$GC,7959,0.96,175.2,347.2,8.0,385,7963,0.00,2.38,0.00,0.000,6,0.000,0.062,3006,2089,1928
$GC,8272,1.00,209.4,327.0,6.2,393,8301,0.00,0.00,27.48,0.834,6,0.000,0.000,3006,2092,1810
$GC,8597,1.00,209.4,301.0,9.3,401,8601,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,3477,1803
$GC,8618,1.00,209.4,298.7,10.5,401,8622,0.00,2.38,0.00,0.000,6,0.000,0.028,3006,2072,1803
$GC,8945,1.00,209.4,267.9,9.6,417,8949,0.00,2.42,0.00,0.000,4,0.000,0.045,3006,677,1801
$GC,9011,1.00,209.4,261.1,10.6,420,9015,0.00,2.35,0.00,0.000,6,0.000,0.027,3006,2089,1799
$GC,9337,1.00,209.4,233.6,7.4,436,9341,0.00,2.38,0.00,0.000,4,0.000,0.040,3007,3474,1799
$GC,9404,1.00,209.4,228.2,7.9,439,9408,0.00,2.35,0.00,0.000,6,0.000,0.036,3006,2076,1799
$GC,9730,1.00,209.4,204.1,7.7,455,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2073,1799
$GC,10047,1.04,240.4,183.1,6.3,482,10080,0.00,2.42,26.38,0.700,4,0.000,0.041,3006,3475,1683
$GC,10170,1.04,240.4,173.6,8.7,493,10175,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2072,1683
$GC,10495,1.04,240.4,148.1,7.7,523,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2070,1680
$GC,10815,1.06,258.7,125.0,6.6,553,10838,0.00,2.40,16.92,0.624,4,0.000,0.072,3006,679,1607
$GC,10899,1.06,258.7,118.8,7.3,560,10905,0.00,2.35,0.00,0.000,6,0.000,0.044,3006,2091,1603
$GC,11224,1.09,282.4,97.7,6.5,591,11251,0.12,2.47,21.40,0.600,4,0.048,0.070,3049,670,1511
$GC,11313,1.09,282.4,89.8,8.9,598,11320,0.00,2.30,0.00,0.000,6,0.000,0.021,3049,2090,1506
$GC,11639,1.09,282.4,61.3,9.2,629,11643,0.00,2.33,0.00,0.000,4,0.000,0.042,3049,3476,1506
$GC,11682,1.09,282.4,56.8,9.9,632,11689,0.00,2.33,0.00,0.000,6,0.000,0.021,3049,2080,1506
$GC,12009,1.09,282.4,28.1,7.6,665,12015,0.00,2.33,0.00,0.000,4,0.000,0.031,3049,3473,1506
$GC,12039,1.09,283.6,26.0,7.1,670,12046,0.00,2.28,0.00,0.000,6,0.000,0.021,3049,2070,1506
$GC,12159,1.09,283.6,17.5,7.6,691,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2069,1506
$GC,12278,1.09,283.6,8.7,7.2,712,12284,0.00,2.33,0.00,0.000,4,0.000,0.041,3049,684,1505
$GC,12290,1.11,294.2,7.7,6.9,714,12308,0.00,2.25,11.00,0.493,6,0.000,0.019,3049,2098,1464
$STATE,12357,end climb,SURFACE_DEPTH_REACHED
$STATE,12358,begin surface coast
$FINISH,0.3,1.000296
$STATE,12407,end surface coast,CONTROL_FINISHED_OK
$STATE,12407,begin surface
$SM_CCo,12426,21.23,0.516,0,0,1359,320.12
$SM_GC,0.69,0.00,0.00,21.23,0.000,0.000,0.516,427,2098,1359,-10.90,0.51,320.12
$IRIDIUM_FIX,2059.45,-15751.76,191097,121235
$TT8_MAMPS,0.029146
$HUMID,1883
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,672
$24V_AH,23.3,45.937
$10V_AH,10.2,26.549
$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,25.600,103.200,388.775,21.225,0.000,52.275,54.358,433.513,168.000,0.000,0.000,19.025,1276.601,9081.320,515.020,1559.865,733.002,33.368,1299.494,0.000,1552.381,0.000,0.470
$DEVICE_MAMPS,170.274,72.098,903.526,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.627,480.439,812.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37991,734
$CAP_FILE_SIZE,105838,10
$CFSIZE,260165632,251961344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250708,162955,2106.655,-15751.800,56,1.9,56,9.8