version: 66.03
glider: 139
mission: 3
dive: 135
start: 7 28 108 22 36 53
data:
$ID,139
$MISSION,3
$DIVE,135
$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,-1273292.8
$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,38
$R_STBD_OVSHOOT,54
$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
$GPS1,221734,2106.494,-15751.354,95,1.0,95,9.8
$_CALLS,4
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.7
$GPS2,223604,2106.558,-15751.646,32,1.8,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.150
$KALMAN_X,-20250.4,35.3,-198.7,22427.5,-358.0
$KALMAN_Y,-40430.9,508.0,135.7,21048.8,-286.8
$MHEAD_RNG_PITCHd_Wd,116.2,11315,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.05,0.000,2,0.000,0.000,425,2088,2900
$GC,79,-0.96,-175.2,3.5,-5.0,10,109,12.10,2.42,-8.52,0.000,4,0.153,0.050,2576,686,3383
$GC,138,-0.96,-175.2,19.9,-20.9,20,144,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2082,3383
$GC,255,-0.96,-175.2,34.4,-12.3,38,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2086,3383
$GC,574,-0.96,-175.2,70.3,-6.6,68,578,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,675,3384
$GC,619,-0.96,-175.2,73.6,-7.0,72,623,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2084,3384
$GC,943,-0.96,-175.2,102.0,-10.3,102,947,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,680,3384
$GC,966,-0.96,-175.2,104.4,-10.6,104,970,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2085,3385
$GC,1297,-0.96,-175.2,136.2,-8.8,135,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2090,3384
$GC,1614,-0.96,-175.2,165.0,-9.8,165,1618,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,679,3384
$GC,1698,-0.96,-175.2,172.7,-8.8,172,1702,0.00,2.25,0.00,0.000,6,0.000,0.055,2575,2077,3385
$GC,2029,-0.96,-175.2,198.7,-6.7,203,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3385
$GC,2338,-0.96,-175.2,222.0,-8.3,219,2342,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,3467,3385
$GC,2387,-0.96,-175.2,225.6,-7.0,221,2391,0.00,2.28,0.00,0.000,6,0.000,0.031,2576,2073,3384
$GC,2708,-0.96,-175.2,249.2,-7.4,237,2712,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,681,3384
$GC,2757,-0.96,-175.2,252.6,-6.3,239,2761,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2085,3384
$GC,3079,-0.96,-175.2,268.7,-6.2,255,3082,0.00,2.30,0.00,0.000,4,0.000,0.035,2576,3463,3383
$GC,3134,-0.96,-175.2,272.0,-5.7,257,3138,0.00,2.28,0.00,0.000,6,0.000,0.023,2576,2076,3383
$GC,3455,-0.96,-175.2,290.3,-6.1,273,3459,0.00,2.38,0.00,0.000,4,0.000,0.074,2576,678,3381
$GC,3477,-0.96,-175.2,291.9,-6.8,274,3481,0.00,2.30,0.00,0.000,6,0.000,0.058,2576,2080,3381
$GC,3821,-0.96,-175.2,312.5,-5.7,286,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3380
$GC,4146,-0.96,-175.2,330.2,-5.4,294,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3378
$GC,4471,-0.96,-175.2,352.6,-6.8,302,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3376
$GC,4796,-0.96,-175.2,368.4,-5.2,310,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3374
$GC,5121,-0.96,-175.2,387.1,-5.6,318,5125,0.00,2.40,0.00,0.000,4,0.000,0.043,2576,684,3372
$GC,5160,-0.96,-175.2,389.5,-6.1,319,5164,0.00,2.30,0.00,0.000,6,0.000,0.065,2576,2074,3371
$GC,5483,-0.96,-175.2,406.1,-5.1,327,5487,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,3473,3369
$GC,5504,-0.96,-175.2,407.1,-4.5,327,5508,0.00,2.33,0.00,0.000,6,0.000,0.063,2576,2085,3369
$GC,5846,-0.96,-175.2,425.0,-5.8,336,5850,0.00,2.42,0.00,0.000,4,0.000,0.045,2576,678,3367
$GC,5868,-0.96,-175.2,426.5,-6.9,336,5872,0.00,2.35,0.00,0.000,6,0.000,0.031,2576,2069,3367
$GC,6210,-0.96,-175.2,448.4,-6.4,345,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2073,3365
$STATE,6248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6249,begin apogee
$GC,6253,-0.31,0.0,451.0,6.3,346,6397,0.70,0.00,140.73,0.893,6,0.058,0.000,2731,2073,2664
$STATE,6398,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6400,0.96,175.2,458.1,0.0,349,6554,1.23,2.50,145.07,0.867,4,0.104,0.051,3009,3471,1947
$GC,6604,0.96,175.2,455.8,8.2,354,6608,0.00,2.38,0.00,0.000,6,0.000,0.035,3009,2082,1945
$GC,6940,0.96,175.2,429.0,7.9,363,6945,0.00,2.47,0.00,0.000,4,0.000,0.048,3009,674,1937
$GC,6956,0.96,175.2,427.5,8.5,363,6960,0.00,2.40,0.00,0.000,6,0.000,0.067,3009,2075,1935
$GC,7304,0.96,175.2,397.0,8.9,372,7308,0.00,2.45,0.00,0.000,4,0.000,0.045,3009,3477,1934
$GC,7409,0.96,175.2,387.0,9.1,374,7413,0.00,2.38,0.00,0.000,6,0.000,0.064,3009,2079,1934
$GC,7756,0.96,175.2,356.6,8.8,383,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2077,1931
$GC,8081,0.96,175.2,326.8,8.9,391,8086,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,3484,1930
$GC,8176,0.96,175.2,319.3,7.7,393,8180,0.00,2.40,0.00,0.000,6,0.000,0.061,3009,2082,1930
$GC,8494,0.98,188.2,298.0,6.8,401,8508,0.00,2.47,9.05,0.723,4,0.000,0.077,3009,3483,1896
$GC,8565,0.98,188.2,292.8,8.0,404,8569,0.00,2.40,0.00,0.000,6,0.000,0.062,3009,2056,1896
$GC,8892,0.98,190.3,268.6,7.1,420,8896,0.00,2.40,0.00,0.000,4,0.000,0.047,3010,675,1892
$GC,8918,0.98,190.3,266.4,8.5,421,8922,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2078,1891
$GC,9239,0.98,190.3,242.6,7.2,437,9243,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,3476,1891
$GC,9324,0.98,190.3,236.9,7.4,441,9328,0.00,2.35,0.00,0.000,6,0.000,0.027,3009,2076,1891
$GC,9650,0.98,190.3,212.8,7.2,457,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2074,1891
$GC,9961,1.03,234.7,195.5,5.9,475,10007,0.00,2.45,41.05,0.710,4,0.000,0.044,3009,3477,1706
$GC,10130,1.03,234.7,183.7,7.3,490,10134,0.00,2.35,0.00,0.000,6,0.000,0.025,3009,2075,1704
$GC,10454,1.03,234.7,160.6,8.0,520,10458,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,677,1700
$GC,10519,1.03,234.7,154.7,8.8,525,10526,0.00,2.35,0.00,0.000,6,0.000,0.038,3009,2084,1697
$GC,10848,1.07,267.0,131.9,6.3,556,10881,0.00,2.45,28.20,0.634,4,0.000,0.066,3009,3474,1574
$GC,10938,1.08,268.4,125.6,7.1,564,10943,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2072,1574
$GC,11268,1.08,268.4,104.3,8.1,595,11272,0.00,2.38,0.00,0.000,4,0.000,0.038,3009,676,1570
$GC,11323,1.08,268.4,99.0,9.7,599,11330,0.00,2.33,0.00,0.000,6,0.000,0.020,3009,2086,1568
$GC,11649,1.08,268.4,72.4,8.7,630,11653,0.00,2.33,0.00,0.000,4,0.000,0.042,3009,3470,1568
$GC,11678,1.08,268.4,69.5,10.5,632,11682,0.00,2.30,0.00,0.000,6,0.000,0.058,3009,2077,1568
$GC,12005,1.08,271.1,45.3,7.1,662,12017,0.00,2.38,4.32,0.390,4,0.000,0.031,3009,3460,1558
$GC,12096,1.11,293.0,38.5,6.5,670,12123,0.12,2.25,20.65,0.532,6,0.044,0.054,3057,2067,1468
$GC,12455,1.11,293.0,7.0,8.5,725,12462,0.10,2.33,0.00,0.000,4,0.083,0.070,3035,682,1464
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12502,begin surface coast
$FINISH,0.5,1.022939
$STATE,12535,end surface coast,CONTROL_FINISHED_OK
$STATE,12535,begin surface
$SM_CCo,12557,22.98,0.506,0,0,1358,320.12
$SM_GC,1.05,0.00,0.00,22.98,0.000,0.000,0.506,427,2085,1358,-10.89,0.17,320.12
$IRIDIUM_FIX,2059.45,-15750.89,221097,222224
$TT8_MAMPS,0.029146
$HUMID,1887
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.30
$XPDR_PINGS,699
$24V_AH,23.3,49.201
$10V_AH,10.2,28.392
$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,25.450,117.925,389.075,22.975,0.000,105.107,255.495,416.770,174.750,0.000,0.000,34.124,1315.430,9255.653,481.185,1646.177,978.387,33.370,1292.713,0.000,1621.048,0.000,0.470
$DEVICE_MAMPS,152.633,76.700,892.788,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.247,489.397,820.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,739
$CAP_FILE_SIZE,110269,9
$CFSIZE,260165632,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290708,020932,2105.349,-15750.600,141,0.8,141,9.8