version: 66.03
glider: 139
mission: 3
dive: 122
start: 7 27 108 0 43 35
data:
$ID,139
$MISSION,3
$DIVE,122
$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,-1272999.5
$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,30
$R_STBD_OVSHOOT,89
$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
$GPS1,002239,2104.156,-15748.931,25,1.9,25,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.9
$GPS2,004245,2104.059,-15749.025,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.178
$KALMAN_X,-17088.8,223.0,-538.1,23940.1,756.7
$KALMAN_Y,-32999.9,282.1,176.6,9173.4,-518.9
$MHEAD_RNG_PITCHd_Wd,124.6,4844,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-54.67,0.000,2,0.000,0.000,420,2114,2906
$GC,80,-0.96,-175.2,3.4,-5.2,10,110,12.15,2.50,-8.32,0.000,4,0.154,0.049,2576,672,3382
$GC,138,-0.96,-175.2,20.4,-21.3,20,145,0.00,2.20,0.00,0.000,6,0.000,0.035,2576,2052,3384
$GC,255,-0.96,-175.2,36.1,-13.7,37,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2056,3383
$GC,574,-0.96,-175.2,73.5,-10.8,67,578,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,664,3383
$GC,601,-0.96,-175.2,76.5,-10.4,69,606,0.00,2.28,0.00,0.000,6,0.000,0.035,2576,2081,3384
$GC,928,-0.96,-175.2,106.8,-10.4,99,932,0.00,2.30,0.00,0.000,4,0.000,0.065,2577,3463,3384
$GC,972,-0.96,-175.2,111.5,-9.6,102,979,0.00,2.30,0.00,0.000,6,0.000,0.020,2576,2063,3384
$GC,1300,-0.96,-175.2,139.5,-9.0,133,1304,0.00,2.33,0.00,0.000,4,0.000,0.069,2576,684,3385
$GC,1354,-0.96,-175.2,145.0,-9.0,137,1361,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2080,3384
$GC,1681,-0.96,-175.2,171.3,-8.8,168,1685,0.00,2.35,0.00,0.000,4,0.000,0.069,2576,688,3384
$GC,1713,-0.96,-175.2,174.6,-9.3,170,1720,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2074,3385
$GC,2039,-0.96,-175.2,201.4,-6.6,200,2043,0.00,2.35,0.00,0.000,4,0.000,0.069,2576,686,3385
$GC,2066,-0.96,-175.2,203.2,-6.0,201,2069,0.00,2.22,0.00,0.000,6,0.000,0.019,2576,2079,3385
$GC,2387,-0.96,-175.2,225.7,-8.4,217,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2083,3384
$GC,2696,-0.96,-175.2,249.5,-7.0,232,2700,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,680,3384
$GC,2717,-0.96,-175.2,251.0,-6.6,233,2721,0.00,2.25,0.00,0.000,6,0.000,0.051,2576,2083,3384
$GC,3044,-0.96,-175.2,270.6,-4.9,249,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2087,3383
$GC,3353,-0.96,-175.2,291.1,-7.0,264,3357,0.00,2.33,0.00,0.000,4,0.000,0.037,2576,3463,3382
$GC,3380,-0.96,-175.2,292.8,-6.2,265,3384,0.00,2.28,0.00,0.000,6,0.000,0.024,2576,2077,3382
$GC,3698,-0.96,-175.2,308.7,-4.7,277,3702,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,683,3380
$GC,3731,-0.96,-175.2,310.7,-5.7,277,3737,0.00,2.28,0.00,0.000,6,0.000,0.024,2576,2074,3380
$GC,4062,-0.96,-175.2,328.7,-5.1,286,4066,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,684,3378
$GC,4083,-0.96,-175.2,330.2,-6.4,286,4087,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2081,3378
$GC,4425,-0.96,-175.2,353.8,-6.2,295,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3376
$GC,4750,-0.96,-175.2,365.7,-4.0,303,4754,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,684,3374
$GC,4789,-0.96,-175.2,367.7,-5.2,303,4795,0.00,2.30,0.00,0.000,6,0.000,0.051,2576,2076,3374
$GC,5120,-0.96,-175.2,388.2,-6.3,312,5124,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3476,3371
$GC,5159,-0.96,-175.2,390.4,-4.8,313,5163,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2078,3371
$GC,5482,-0.96,-175.2,407.3,-5.2,321,5486,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,682,3369
$GC,5548,-0.96,-175.2,411.0,-5.0,322,5552,0.00,2.33,0.00,0.000,6,0.000,0.063,2576,2076,3368
$GC,5890,-0.96,-175.2,434.4,-7.4,331,5894,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,3471,3366
$GC,5945,-0.96,-175.2,438.6,-7.7,332,5949,0.00,2.35,0.00,0.000,6,0.000,0.028,2576,2080,3365
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6139,-0.31,0.0,452.4,7.3,337,6283,0.68,0.00,141.18,0.908,6,0.049,0.000,2730,2078,2664
$STATE,6284,end apogee,CONTROL_FINISHED_OK
$STATE,6284,begin climb
$GC,6286,0.96,175.2,460.2,0.0,340,6443,1.20,2.55,145.40,0.874,4,0.038,0.053,3010,680,1946
$GC,6521,0.96,175.2,450.7,10.6,345,6525,0.00,2.38,0.00,0.000,6,0.000,0.029,3010,2068,1939
$GC,6863,0.96,175.2,418.4,8.8,354,6867,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,3477,1936
$GC,6896,0.96,175.2,415.4,8.8,354,6902,0.00,2.38,0.00,0.000,6,0.000,0.030,3009,2083,1936
$GC,7227,0.96,175.2,387.2,8.8,363,7231,0.00,2.47,0.00,0.000,4,0.000,0.048,3009,672,1934
$GC,7276,0.96,175.2,382.5,9.2,364,7280,0.00,2.40,0.00,0.000,6,0.000,0.029,3010,2079,1932
$GC,7600,0.96,175.2,352.8,9.4,372,7604,0.00,2.47,0.00,0.000,4,0.000,0.047,3010,668,1931
$GC,7654,0.96,175.2,347.5,8.9,373,7659,0.00,2.40,0.00,0.000,6,0.000,0.037,3010,2078,1929
$GC,7967,0.98,193.8,325.8,6.6,381,7987,0.00,2.53,14.02,0.788,4,0.000,0.083,3009,681,1872
$GC,8020,0.98,193.8,321.8,8.4,382,8024,0.00,2.38,0.00,0.000,6,0.000,0.038,3010,2083,1870
$GC,8338,0.98,193.8,298.6,7.7,390,8343,0.00,2.45,0.00,0.000,4,0.000,0.045,3009,676,1869
$GC,8360,0.98,193.8,296.8,8.5,391,8364,0.00,2.38,0.00,0.000,6,0.000,0.028,3010,2079,1867
$GC,8687,1.01,216.8,272.6,6.5,407,8713,0.00,2.45,21.10,0.771,4,0.000,0.075,3009,3474,1779
$GC,8747,1.01,216.8,267.7,8.1,410,8751,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2074,1779
$GC,9072,1.01,216.8,244.6,7.5,426,9076,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,675,1775
$GC,9105,1.01,216.8,241.9,8.2,427,9110,0.00,2.38,0.00,0.000,6,0.000,0.060,3010,2077,1772
$GC,9426,1.01,216.8,215.6,7.6,443,9431,0.00,2.38,0.00,0.000,4,0.000,0.038,3009,3475,1772
$GC,9466,1.01,216.8,212.5,8.6,445,9470,0.00,2.35,0.00,0.000,6,0.000,0.036,3010,2075,1772
$GC,9785,1.01,216.8,190.2,7.3,466,9789,0.00,2.40,0.00,0.000,4,0.000,0.041,3010,676,1772
$GC,9857,1.05,249.6,185.3,6.2,472,9892,0.00,2.33,28.65,0.692,6,0.000,0.023,3010,2092,1646
$GC,10219,1.07,261.3,160.8,6.8,506,10235,0.00,2.45,11.48,0.622,4,0.000,0.044,3009,679,1597
$GC,10262,1.07,261.3,157.6,7.5,509,10269,0.00,2.33,0.00,0.000,6,0.000,0.056,3010,2072,1594
$GC,10590,1.07,261.3,130.2,7.5,540,10594,0.00,2.35,0.00,0.000,4,0.000,0.035,3010,3467,1594
$GC,10618,1.07,261.3,127.8,8.3,542,10622,0.00,2.33,0.00,0.000,6,0.000,0.057,3009,2065,1594
$GC,10942,1.07,261.3,100.5,7.4,572,10946,0.00,2.35,0.00,0.000,4,0.000,0.038,3009,681,1594
$GC,11015,1.09,277.3,95.5,6.7,578,11037,0.00,2.28,14.80,0.577,6,0.000,0.021,3009,2096,1533
$GC,11355,1.09,277.3,68.4,8.8,610,11359,0.00,2.28,0.00,0.000,4,0.000,0.031,3010,3461,1531
$GC,11422,1.09,277.3,62.4,8.1,616,11427,0.10,2.28,0.00,0.000,6,0.053,0.044,3048,2075,1532
$GC,11746,1.09,277.3,36.6,7.5,646,11750,0.00,2.35,0.00,0.000,4,0.000,0.036,3047,684,1531
$GC,11911,1.09,277.3,22.1,9.7,667,11917,0.00,2.28,0.00,0.000,6,0.000,0.019,3048,2083,1530
$GC,12032,1.09,277.3,11.9,7.7,688,12038,0.00,2.28,0.00,0.000,4,0.000,0.030,3048,3461,1530
$GC,12078,1.09,277.3,8.2,7.8,696,12084,0.00,2.28,0.00,0.000,6,0.000,0.020,3048,2081,1530
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12134,begin surface coast
$FINISH,0.3,1.022943
$STATE,12169,end surface coast,CONTROL_FINISHED_OK
$STATE,12169,begin surface
$SM_CCo,12188,36.65,0.518,0,0,1359,320.12
$SM_GC,1.57,0.00,0.00,36.65,0.000,0.000,0.518,434,2076,1359,-10.86,-0.11,320.12
$IRIDIUM_FIX,2054.83,-15749.62,211097,000004
$TT8_MAMPS,0.029146
$HUMID,1895
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,685
$24V_AH,23.3,47.364
$10V_AH,10.2,27.359
$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,25.350,141.225,376.625,36.650,0.000,137.763,149.021,539.175,171.250,0.000,0.000,13.209,1295.969,8959.073,511.969,1611.523,1042.236,33.368,1338.079,0.000,1602.176,0.000,0.470
$DEVICE_MAMPS,154.167,82.836,908.128,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.701,460.366,784.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38027,712
$CAP_FILE_SIZE,118872,16
$CFSIZE,260165632,251432960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270708,040856,2102.803,-15747.865,58,1.2,58,9.8