version: 66.03
glider: 139
mission: 3
dive: 119
start: 7 26 108 13 58 12
data:
$ID,139
$MISSION,3
$DIVE,119
$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,-1272957.1
$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,38
$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
$GPS1,134225,2107.627,-15751.984,59,0.8,59,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.4
$GPS2,135720,2107.581,-15752.070,14,1.2,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,-0.192
$KALMAN_X,-15429.2,-679.5,38.3,17345.6,579.0
$KALMAN_Y,-33070.4,30.1,86.8,16107.9,-534.0
$MHEAD_RNG_PITCHd_Wd,129.3,13188,-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,18,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.67,0.000,2,0.000,0.000,423,2088,2926
$GC,78,-0.96,-175.2,3.7,-6.0,10,108,12.15,2.45,-7.78,0.000,4,0.155,0.048,2575,679,3383
$GC,165,-0.96,-175.2,24.9,-13.8,25,171,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2078,3384
$GC,280,-0.96,-175.2,37.3,-11.2,40,284,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3464,3384
$GC,302,-0.96,-175.2,39.9,-11.7,42,307,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2072,3385
$GC,628,-0.96,-175.2,74.1,-9.9,72,632,0.00,2.35,0.00,0.000,4,0.000,0.070,2575,673,3384
$GC,673,-0.96,-175.2,78.7,-9.9,76,677,0.00,2.25,0.00,0.000,6,0.000,0.018,2575,2083,3385
$GC,1000,-0.96,-175.2,108.2,-8.1,106,1004,0.00,2.38,0.00,0.000,4,0.000,0.046,2575,680,3386
$GC,1028,-0.96,-175.2,110.8,-9.0,108,1032,0.00,2.25,0.00,0.000,6,0.000,0.056,2575,2087,3386
$GC,1353,-0.96,-175.2,142.0,-9.8,138,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2091,3386
$GC,1670,-0.96,-175.2,169.0,-8.5,168,1674,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,681,3386
$GC,1713,-0.96,-175.2,172.8,-9.2,171,1720,0.00,2.25,0.00,0.000,6,0.000,0.019,2576,2084,3386
$GC,2039,-0.96,-175.2,198.9,-7.1,202,2043,0.00,2.38,0.00,0.000,4,0.000,0.045,2575,681,3386
$GC,2060,-0.96,-175.2,200.7,-7.3,203,2065,0.00,2.28,0.00,0.000,6,0.000,0.027,2575,2077,3386
$GC,2388,-0.96,-175.2,224.1,-7.3,219,2392,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,3470,3386
$GC,2437,-0.96,-175.2,228.1,-7.3,221,2441,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2076,3385
$GC,2758,-0.96,-175.2,252.3,-7.3,237,2762,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,683,3385
$GC,2784,-0.96,-175.2,254.3,-6.9,238,2788,0.00,2.22,0.00,0.000,6,0.000,0.053,2575,2087,3385
$GC,3106,-0.96,-175.2,266.9,-3.0,254,3110,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3472,3385
$GC,3138,-0.96,-175.2,268.3,-4.1,255,3145,0.00,2.28,0.00,0.000,6,0.000,0.022,2575,2081,3384
$GC,3454,-0.96,-175.2,288.7,-7.3,271,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3383
$GC,3781,-0.96,-175.2,310.5,-6.1,283,3785,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,683,3381
$GC,3803,-0.96,-175.2,311.8,-5.7,283,3807,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2070,3381
$GC,4145,-0.96,-175.2,330.2,-5.8,292,4149,0.00,2.35,0.00,0.000,4,0.000,0.040,2575,684,3380
$GC,4172,-0.96,-175.2,332.0,-7.0,292,4176,0.00,2.28,0.00,0.000,6,0.000,0.025,2575,2082,3380
$GC,4515,-0.96,-175.2,354.2,-6.8,301,4519,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,676,3377
$GC,4541,-0.96,-175.2,356.2,-7.4,301,4546,0.00,2.33,0.00,0.000,6,0.000,0.025,2575,2074,3377
$GC,4878,-0.96,-175.2,374.4,-4.7,310,4882,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3470,3375
$GC,4923,-0.96,-175.2,376.8,-5.3,311,4927,0.00,2.30,0.00,0.000,6,0.000,0.026,2575,2081,3375
$GC,5240,-0.96,-175.2,397.9,-6.9,319,5244,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3470,3374
$GC,5273,-0.96,-175.2,400.2,-6.5,319,5279,0.00,2.33,0.00,0.000,6,0.000,0.026,2575,2067,3373
$GC,5605,-0.96,-175.2,419.7,-5.8,328,5609,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,682,3371
$GC,5654,-0.96,-175.2,422.7,-6.0,329,5658,0.00,2.30,0.00,0.000,6,0.000,0.056,2575,2073,3371
$GC,5973,-0.96,-175.2,443.0,-6.6,337,5977,0.00,2.42,0.00,0.000,4,0.000,0.045,2575,3477,3369
$GC,6016,-0.96,-175.2,445.8,-6.4,338,6021,0.00,2.35,0.00,0.000,6,0.000,0.062,2575,2073,3369
$STATE,6089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6089,begin apogee
$GC,6093,-0.31,0.0,450.2,6.1,340,6238,0.68,0.00,141.45,0.895,6,0.048,0.000,2730,2071,2664
$STATE,6239,end apogee,CONTROL_FINISHED_OK
$STATE,6239,begin climb
$GC,6241,0.96,175.2,457.7,0.0,343,6395,1.20,2.50,144.88,0.870,4,0.038,0.077,3008,3470,1948
$GC,6523,0.96,175.2,442.0,11.8,349,6528,0.00,2.38,0.00,0.000,6,0.000,0.052,3009,2084,1943
$GC,6860,0.96,175.2,412.5,7.7,358,6864,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,3478,1937
$GC,6875,0.96,175.2,411.3,7.2,358,6879,0.00,2.38,0.00,0.000,6,0.000,0.039,3008,2080,1937
$GC,7223,0.96,175.2,382.9,8.2,367,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2079,1934
$GC,7547,0.96,175.2,355.1,8.6,375,7552,0.00,2.45,0.00,0.000,4,0.000,0.048,3008,678,1932
$GC,7591,0.96,175.2,351.1,9.7,376,7596,0.00,2.38,0.00,0.000,6,0.000,0.062,3008,2071,1930
$GC,7916,0.97,182.5,327.6,6.9,384,7925,0.00,2.47,3.92,0.544,4,0.000,0.045,3008,683,1919
$GC,7970,0.97,182.5,323.3,8.0,385,7974,0.00,2.38,0.00,0.000,6,0.000,0.044,3009,2079,1918
$GC,8288,0.97,182.5,297.4,8.3,393,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2083,1918
$GC,8598,0.99,196.6,276.5,6.8,408,8619,0.00,2.47,13.73,0.757,4,0.000,0.041,3008,3473,1862
$GC,8691,0.99,196.6,269.3,7.2,412,8696,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2084,1862
$GC,9018,0.99,196.6,244.8,8.0,428,9022,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,677,1859
$GC,9102,0.99,196.6,237.9,7.8,432,9106,0.00,2.35,0.00,0.000,6,0.000,0.027,3008,2088,1856
$GC,9428,1.03,234.3,218.3,6.1,448,9468,0.00,0.00,34.15,0.738,6,0.000,0.000,3008,2092,1707
$GC,9780,1.03,234.3,190.9,9.2,469,9784,0.00,2.35,0.00,0.000,4,0.000,0.037,3008,3470,1701
$GC,9834,1.03,234.3,185.5,10.2,473,9841,0.00,2.38,0.00,0.000,6,0.000,0.061,3008,2072,1702
$GC,10160,1.07,263.9,160.0,6.3,504,10193,0.00,2.42,26.00,0.673,4,0.000,0.074,3008,677,1586
$GC,10216,1.07,263.9,156.0,7.7,509,10220,0.00,2.33,0.00,0.000,6,0.000,0.023,3008,2083,1583
$GC,10540,1.07,266.0,132.9,7.1,539,10545,0.00,2.42,0.00,0.000,4,0.000,0.039,3008,676,1582
$GC,10580,1.07,266.0,129.7,8.4,542,10584,0.00,2.33,0.00,0.000,6,0.000,0.028,3008,2091,1580
$GC,10904,1.07,266.0,99.8,9.9,572,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2095,1580
$GC,11223,1.07,267.5,74.6,7.1,602,11228,0.00,2.42,0.00,0.000,4,0.000,0.037,3008,670,1580
$GC,11251,1.07,267.5,72.4,8.3,604,11255,0.00,1.65,0.00,0.000,6,0.000,0.067,3008,1744,1580
$GC,11585,1.16,338.8,51.5,5.2,635,11659,0.12,2.97,63.83,0.569,4,0.467,0.029,3059,3467,1282
$GC,11795,1.16,338.8,33.3,8.3,654,11799,0.00,2.28,0.00,0.000,6,0.000,0.041,3059,2074,1280
$GC,12135,1.16,338.8,3.1,9.0,710,12141,0.00,2.35,0.00,0.000,4,0.000,0.041,3059,681,1277
$STATE,12145,end climb,SURFACE_DEPTH_REACHED
$STATE,12145,begin surface coast
$FINISH,0.7,1.022898
$STATE,12179,end surface coast,CONTROL_FINISHED_OK
$STATE,12179,begin surface
$SM_CCo,12261,0.00,0.000,0,0,1272,341.46
$SM_GC,1.20,11.38,0.00,0.00,0.035,0.000,0.000,425,2098,1272,-10.82,0.54,341.46
$IRIDIUM_FIX,2059.45,-15750.89,201097,101054
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.90
$XPDR_PINGS,699
$24V_AH,21.8,46.917
$10V_AH,10.2,27.114
$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,25.525,131.600,427.950,0.000,0.000,121.896,243.451,217.890,174.750,0.000,0.000,15.999,1289.542,8941.329,510.276,1624.712,777.928,33.371,1333.907,0.000,1612.429,0.000,0.470
$DEVICE_MAMPS,467.103,77.467,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.405,468.671,798.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,718
$CAP_FILE_SIZE,107945,11
$CFSIZE,260165632,251596800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260708,172338,2106.256,-15750.810,30,1.3,30,9.8