version: 66.03
glider: 139
mission: 3
dive: 118
start: 7 26 108 10 13 37
data:
$ID,139
$MISSION,3
$DIVE,118
$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,-1272940.5
$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,63
$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
$GPS1,095207,2108.852,-15753.252,68,0.9,68,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,101245,2108.863,-15753.521,13,1.4,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.169
$KALMAN_X,-15332.4,-188.5,-654.3,14954.2,534.6
$KALMAN_Y,-32873.0,-41.1,199.8,18241.7,-997.6
$MHEAD_RNG_PITCHd_Wd,122.0,16633,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.62,0.000,2,0.000,0.000,430,2078,2952
$GC,78,-0.96,-175.2,4.0,-6.7,10,103,12.05,2.42,-7.12,0.000,4,0.153,0.048,2577,683,3381
$GC,132,-0.96,-175.2,21.0,-25.5,19,138,0.00,2.22,0.00,0.000,6,0.000,0.054,2577,2079,3383
$GC,254,-0.96,-175.2,34.5,-10.9,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3383
$GC,573,-0.96,-175.2,66.7,-6.8,67,577,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,681,3383
$GC,610,-0.96,-175.2,69.6,-7.5,70,617,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2082,3384
$GC,936,-0.96,-175.2,95.8,-9.4,101,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3384
$GC,1254,-0.96,-175.2,126.3,-9.9,131,1258,0.00,2.38,0.00,0.000,4,0.000,0.035,2577,675,3384
$GC,1311,-0.96,-175.2,131.5,-8.8,136,1315,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2081,3384
$GC,1636,-0.96,-175.2,157.1,-7.6,166,1640,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,681,3384
$GC,1692,-0.96,-175.2,161.6,-8.2,170,1698,0.00,2.22,0.00,0.000,6,0.000,0.054,2578,2078,3384
$GC,2017,-0.96,-175.2,183.0,-6.9,201,2021,0.00,2.33,0.00,0.000,4,0.000,0.048,2577,3470,3384
$GC,2068,-0.96,-175.2,187.0,-8.2,205,2072,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2065,3384
$GC,2392,-0.96,-175.2,213.1,-8.4,228,2396,0.00,2.33,0.00,0.000,4,0.000,0.036,2577,684,3384
$GC,2442,-0.96,-175.2,217.7,-9.3,230,2446,0.00,2.25,0.00,0.000,6,0.000,0.055,2577,2077,3384
$GC,2763,-0.96,-175.2,240.7,-6.9,246,2767,0.00,2.30,0.00,0.000,4,0.000,0.033,2577,3464,3383
$GC,2818,-0.96,-175.2,243.8,-5.0,248,2822,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2078,3383
$GC,3139,-0.96,-175.2,260.1,-5.5,264,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2076,3383
$GC,3449,-0.96,-175.2,279.0,-6.3,279,3453,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,3466,3381
$GC,3492,-0.96,-175.2,282.3,-7.3,281,3497,0.00,2.30,0.00,0.000,6,0.000,0.023,2577,2080,3382
$GC,3819,-0.96,-175.2,303.5,-5.7,296,3823,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,680,3380
$GC,3868,-0.96,-175.2,306.9,-6.8,297,3872,0.00,2.28,0.00,0.000,6,0.000,0.024,2577,2071,3380
$GC,4187,-0.96,-175.2,328.3,-6.8,305,4191,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3470,3378
$GC,4226,-0.96,-175.2,331.2,-7.2,306,4230,0.00,2.30,0.00,0.000,6,0.000,0.060,2577,2083,3378
$GC,4549,-0.96,-175.2,354.0,-6.6,314,4553,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,676,3375
$GC,4581,-0.96,-175.2,356.0,-6.5,314,4587,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2076,3375
$GC,4912,-0.96,-175.2,378.1,-6.8,323,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3374
$GC,5237,-0.96,-175.2,394.8,-5.0,331,5241,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,682,3371
$GC,5253,-0.96,-175.2,395.8,-5.3,331,5257,0.00,2.33,0.00,0.000,6,0.000,0.064,2577,2083,3371
$GC,5566,-0.96,-175.2,412.7,-5.1,339,5570,0.00,2.38,0.00,0.000,4,0.000,0.043,2577,3473,3369
$GC,5599,-0.96,-175.2,414.4,-5.1,339,5605,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2083,3369
$GC,5930,-0.96,-175.2,429.8,-4.9,348,5934,0.00,2.42,0.00,0.000,4,0.000,0.045,2577,679,3366
$GC,5951,-0.96,-175.2,431.0,-5.4,348,5955,0.00,2.33,0.00,0.000,6,0.000,0.064,2578,2078,3366
$STATE,6250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6250,begin apogee
$GC,6255,-0.31,0.0,451.5,7.0,356,6399,0.68,0.00,140.48,0.904,6,0.050,0.000,2730,2080,2664
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6402,0.96,175.2,460.1,0.0,359,6556,1.20,2.47,144.82,0.879,4,0.041,0.078,3006,3471,1948
$GC,6583,0.96,175.2,459.4,7.4,363,6587,0.00,2.40,0.00,0.000,6,0.000,0.064,3006,2088,1946
$GC,6931,0.96,175.2,426.3,9.7,372,6935,0.00,2.47,0.00,0.000,4,0.000,0.048,3007,676,1937
$GC,6974,0.96,175.2,421.8,9.9,373,6978,0.00,2.40,0.00,0.000,6,0.000,0.062,3006,2077,1935
$GC,7298,0.96,175.2,393.4,8.5,381,7302,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,3477,1934
$GC,7388,0.96,175.2,385.2,9.5,383,7392,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2077,1934
$GC,7711,0.97,186.5,360.7,6.8,391,7725,0.00,2.53,8.07,0.746,4,0.000,0.079,3007,672,1902
$GC,7764,0.97,186.5,356.7,8.4,392,7768,0.00,2.40,0.00,0.000,6,0.000,0.028,3006,2079,1900
$GC,8083,0.97,186.5,329.9,8.5,400,8087,0.00,2.45,0.00,0.000,4,0.000,0.078,3007,674,1899
$GC,8137,0.97,186.5,325.1,8.2,401,8141,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2071,1897
$GC,8450,0.99,199.3,302.6,6.8,409,8464,0.00,0.00,11.95,0.769,6,0.000,0.000,3006,2076,1851
$GC,8759,0.99,199.3,278.9,8.0,423,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2076,1848
$GC,9068,1.00,205.9,255.2,7.0,438,9082,0.00,2.50,6.80,0.664,4,0.000,0.050,3006,3478,1823
$GC,9166,1.00,205.9,247.9,8.6,442,9171,0.00,2.40,0.00,0.000,6,0.000,0.028,3007,2074,1823
$GC,9488,1.01,216.4,224.1,6.9,458,9500,0.00,0.00,10.98,0.700,6,0.000,0.000,3006,2072,1781
$GC,9797,1.03,229.4,203.6,6.8,473,9818,0.00,2.50,12.43,0.686,4,0.000,0.068,3007,3477,1728
$GC,9864,1.03,229.4,198.8,8.0,476,9868,0.00,2.35,0.00,0.000,6,0.000,0.060,3007,2074,1728
$GC,10196,1.03,229.4,173.1,8.7,507,10200,0.00,2.40,0.00,0.000,4,0.000,0.052,3007,677,1726
$GC,10240,1.03,229.4,168.8,9.2,510,10247,0.00,2.35,0.00,0.000,6,0.000,0.058,3006,2089,1723
$GC,10567,1.08,272.4,145.6,6.0,541,10611,0.10,2.42,38.38,0.663,4,0.056,0.074,3040,3477,1552
$GC,10634,1.08,272.4,139.6,9.4,547,10638,0.00,2.35,0.00,0.000,6,0.000,0.023,3040,2070,1552
$GC,10959,1.08,272.4,110.6,9.0,577,10963,0.00,2.38,0.00,0.000,4,0.000,0.071,3040,681,1548
$GC,11003,1.08,272.4,106.1,9.9,580,11010,0.00,2.33,0.00,0.000,6,0.000,0.028,3039,2083,1545
$GC,11331,1.08,272.4,80.7,8.1,611,11335,0.00,2.40,0.00,0.000,4,0.000,0.071,3040,681,1545
$GC,11499,1.08,272.4,64.2,9.4,625,11505,0.00,2.25,0.00,0.000,6,0.000,0.020,3039,2082,1544
$GC,11824,1.08,272.4,40.8,7.4,656,11828,0.00,2.40,0.00,0.000,4,0.000,0.067,3039,674,1544
$GC,11897,1.08,272.4,35.4,8.3,662,11901,0.00,2.28,0.00,0.000,6,0.000,0.027,3040,2084,1544
$GC,12236,1.11,293.6,12.0,6.6,716,12259,0.00,0.00,18.60,0.519,6,0.000,0.000,3040,2089,1466
$STATE,12347,end climb,SURFACE_DEPTH_REACHED
$STATE,12347,begin surface coast
$FINISH,0.4,1.012962
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12390,begin surface
$SM_CCo,12409,21.77,0.510,0,0,1359,320.12
$SM_GC,0.70,0.00,0.00,21.77,0.000,0.000,0.510,423,2090,1359,-10.91,0.28,320.12
$IRIDIUM_FIX,2101.76,-15756.04,201097,101055
$TT8_MAMPS,0.029146
$HUMID,1872
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,737
$24V_AH,22.1,46.771
$10V_AH,10.2,27.031
$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,25.300,122.650,392.500,21.775,0.000,153.029,239.685,462.640,184.250,0.000,0.000,14.538,1334.151,9089.884,497.367,1676.450,1062.007,33.376,1330.258,0.000,1662.308,0.000,0.470
$DEVICE_MAMPS,152.633,79.001,904.293,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.431,486.608,836.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38076,743
$CAP_FILE_SIZE,112523,16
$CFSIZE,260165632,251658240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260708,134225,2107.627,-15751.984,59,0.8,59,9.8