version: 66.03
glider: 139
mission: 3
dive: 136
start: 7 29 108 2 18 34
data:
$ID,139
$MISSION,3
$DIVE,136
$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,-1273308.5
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,020932,2105.349,-15750.600,141,0.8,141,9.8
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.8
$GPS2,021744,2105.386,-15750.663,13,1.0,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.135
$KALMAN_X,-21180.7,165.7,-295.1,25014.7,-202.2
$KALMAN_Y,-40482.0,455.1,-40.9,19163.7,-533.1
$MHEAD_RNG_PITCHd_Wd,112.3,8593,-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,-53.55,0.000,2,0.000,0.000,426,2084,2869
$GC,79,-0.96,-175.2,3.4,-4.9,10,109,11.98,2.42,-9.18,0.000,4,0.150,0.048,2575,683,3382
$GC,150,-0.96,-175.2,21.1,-16.7,22,157,0.00,2.25,0.00,0.000,6,0.000,0.027,2575,2107,3384
$GC,273,-0.96,-175.2,35.5,-11.9,40,277,0.00,2.40,0.00,0.000,4,0.000,0.035,2575,688,3384
$GC,293,-0.96,-175.2,38.6,-13.6,41,301,0.00,2.22,0.00,0.000,6,0.000,0.018,2575,2059,3384
$GC,619,-0.96,-175.2,77.4,-13.1,72,623,0.00,2.33,0.00,0.000,4,0.000,0.030,2576,3463,3385
$GC,664,-0.96,-175.2,83.2,-11.7,76,668,0.00,2.25,0.00,0.000,6,0.000,0.020,2575,2080,3385
$GC,989,-0.96,-175.2,113.2,-9.3,106,993,0.00,2.35,0.00,0.000,4,0.000,0.046,2575,679,3386
$GC,1039,-0.96,-175.2,118.6,-10.7,110,1046,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2080,3386
$GC,1366,-0.96,-175.2,149.7,-9.7,141,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2084,3387
$GC,1682,-0.96,-175.2,178.4,-8.0,171,1686,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,682,3387
$GC,1715,-0.96,-175.2,181.2,-8.4,174,1719,0.00,2.25,0.00,0.000,6,0.000,0.019,2575,2083,3387
$GC,2053,-0.96,-175.2,207.8,-6.9,201,2057,0.00,2.30,0.00,0.000,4,0.000,0.046,2576,3477,3387
$GC,2097,-0.96,-175.2,210.7,-6.6,203,2101,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2080,3387
$GC,2423,-0.96,-175.2,233.5,-7.3,219,2427,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,685,3387
$GC,2456,-0.96,-175.2,235.6,-6.3,220,2463,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2075,3387
$GC,2771,-0.96,-175.2,256.3,-8.3,236,2775,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,3474,3386
$GC,2814,-0.96,-175.2,260.2,-8.6,238,2819,0.00,2.33,0.00,0.000,6,0.000,0.022,2575,2077,3386
$GC,3141,-0.96,-175.2,285.2,-7.7,254,3145,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,683,3385
$GC,3195,-0.96,-175.2,289.6,-7.9,256,3202,0.00,2.30,0.00,0.000,6,0.000,0.022,2575,2078,3385
$GC,3509,-0.96,-175.2,306.8,-5.1,269,3513,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,3468,3383
$GC,3542,-0.96,-175.2,308.9,-6.4,269,3548,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2070,3383
$GC,3873,-0.96,-175.2,331.1,-6.8,278,3877,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,679,3382
$GC,3906,-0.96,-175.2,333.3,-6.9,278,3912,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2083,3382
$GC,4237,-0.96,-175.2,349.7,-4.7,287,4241,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,3477,3379
$GC,4282,-0.96,-175.2,352.3,-6.2,288,4286,0.00,2.33,0.00,0.000,6,0.000,0.031,2575,2082,3379
$GC,4605,-0.96,-175.2,371.1,-6.1,296,4609,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,679,3377
$GC,4655,-0.96,-175.2,374.6,-6.7,297,4659,0.00,2.35,0.00,0.000,6,0.000,0.050,2575,2080,3377
$GC,4979,-0.96,-175.2,400.9,-8.5,305,4983,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,3477,3375
$GC,5050,-0.96,-175.2,406.6,-7.6,306,5054,0.00,2.38,0.00,0.000,6,0.000,0.026,2575,2069,3375
$GC,5387,-0.96,-175.2,426.1,-5.3,315,5391,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,685,3372
$GC,5454,-0.96,-175.2,430.3,-6.5,316,5458,0.00,2.30,0.00,0.000,6,0.000,0.028,2575,2078,3372
$STATE,5748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5748,begin apogee
$GC,5752,-0.31,0.0,452.2,8.0,324,5897,0.68,0.00,141.95,0.890,6,0.048,0.000,2730,2082,2664
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5900,0.96,175.2,461.3,0.0,327,6055,1.23,2.53,145.62,0.865,4,0.110,0.076,3011,3473,1948
$GC,6099,0.96,175.2,457.7,9.8,332,6103,0.00,2.38,0.00,0.000,6,0.000,0.029,3011,2096,1946
$GC,6441,0.96,175.2,424.3,9.6,341,6445,0.00,2.50,0.00,0.000,4,0.000,0.047,3011,672,1938
$GC,6473,0.96,175.2,421.3,8.9,341,6480,0.00,2.40,0.00,0.000,6,0.000,0.029,3011,2077,1935
$GC,6805,0.96,175.2,393.3,9.4,350,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2081,1934
$GC,7130,0.96,175.2,361.6,8.8,358,7134,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,3480,1932
$GC,7201,0.96,175.2,354.7,9.4,359,7205,0.00,2.40,0.00,0.000,6,0.000,0.030,3011,2081,1932
$GC,7543,0.96,175.2,328.0,7.3,368,7547,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,3477,1930
$GC,7638,0.96,175.2,320.7,7.7,370,7642,0.00,2.38,0.00,0.000,6,0.000,0.036,3011,2074,1930
$GC,7951,0.96,175.2,295.6,8.7,379,7956,0.00,2.45,0.00,0.000,4,0.000,0.046,3010,668,1928
$GC,7984,0.96,175.2,292.6,9.2,380,7991,0.00,2.40,0.00,0.000,6,0.000,0.061,3011,2082,1927
$GC,8300,0.99,203.2,269.0,6.4,396,8328,0.00,2.50,21.77,0.770,4,0.000,0.073,3011,3474,1834
$GC,8364,0.99,203.2,264.3,7.6,399,8368,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2074,1834
$GC,8690,1.01,212.1,241.5,6.9,415,8704,0.00,2.47,8.57,0.672,4,0.000,0.074,3011,3467,1799
$GC,8749,1.01,212.1,237.0,7.9,417,8756,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2078,1799
$GC,9066,1.01,212.1,212.9,9.0,433,9070,0.00,2.40,0.00,0.000,4,0.000,0.038,3011,3476,1796
$GC,9092,1.01,212.1,210.3,10.2,434,9097,0.00,2.35,0.00,0.000,6,0.000,0.044,3011,2075,1796
$GC,9420,1.05,251.7,187.2,6.1,459,9461,0.00,0.00,35.58,0.695,6,0.000,0.000,3011,2074,1636
$GC,9779,1.05,251.7,164.1,7.9,493,9784,0.00,2.40,0.00,0.000,4,0.000,0.035,3011,3480,1631
$GC,9818,1.05,251.7,160.7,8.6,496,9822,0.00,2.35,0.00,0.000,6,0.000,0.059,3011,2072,1631
$GC,10144,1.08,273.3,135.0,6.6,526,10169,0.00,2.45,19.08,0.621,4,0.000,0.065,3011,3471,1550
$GC,10180,1.11,295.4,132.6,6.5,529,10209,0.10,2.30,20.90,0.616,6,0.054,0.023,3049,2075,1458
$GC,10526,1.11,295.4,98.3,9.3,562,10530,0.00,2.38,0.00,0.000,4,0.000,0.038,3048,674,1454
$GC,10598,1.11,295.4,92.0,8.8,568,10605,0.00,2.33,0.00,0.000,6,0.000,0.020,3048,2086,1452
$GC,10925,1.11,295.4,66.8,7.6,599,10929,0.00,2.33,0.00,0.000,4,0.000,0.045,3048,3473,1452
$GC,10999,1.11,295.4,60.1,8.9,605,11003,0.00,2.30,0.00,0.000,6,0.000,0.021,3048,2070,1452
$GC,11326,1.11,295.4,34.3,7.4,635,11330,0.00,2.35,0.00,0.000,4,0.000,0.044,3048,3467,1452
$GC,11410,1.11,295.4,27.6,7.5,644,11416,0.00,2.25,0.00,0.000,6,0.000,0.021,3048,2078,1452
$GC,11529,1.11,295.4,18.9,7.8,665,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2078,1452
$GC,11649,1.11,295.4,10.9,7.7,686,11655,0.00,2.35,0.00,0.000,4,0.000,0.073,3048,682,1453
$GC,11673,1.14,320.8,9.4,6.4,690,11702,0.00,2.25,22.42,0.509,6,0.000,0.018,3049,2090,1356
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11746,begin surface coast
$FINISH,0.8,1.022877
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11862,0.00,0.000,0,0,1350,322.57
$SM_GC,1.30,11.30,0.00,0.00,0.028,0.000,0.000,424,2089,1350,-10.81,0.28,322.57
$IRIDIUM_FIX,2057.14,-15751.76,221097,222244
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.00
$XPDR_PINGS,679
$24V_AH,23.3,49.338
$10V_AH,10.2,28.473
$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,25.275,136.650,415.900,0.000,0.000,25.213,32.209,310.127,169.750,0.000,0.000,15.136,1265.702,8408.446,519.012,1592.687,554.145,33.368,1337.924,0.000,1581.424,0.000,0.470
$DEVICE_MAMPS,149.565,75.933,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.072,465.410,789.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38035,709
$CAP_FILE_SIZE,105785,11
$CFSIZE,260165632,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,053731,2104.582,-15749.415,40,1.5,40,9.8