version: 66.03
glider: 139
mission: 3
dive: 137
start: 7 29 108 5 50 24
data:
$ID,139
$MISSION,3
$DIVE,137
$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,-1273334.8
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,053731,2104.582,-15749.415,40,1.5,40,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.1
$GPS2,054933,2104.701,-15749.373,24,1.8,24,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.140
$KALMAN_X,-22042.5,57.8,186.2,27727.2,-945.5
$KALMAN_Y,-39883.8,161.2,68.0,17473.1,-65.2
$MHEAD_RNG_PITCHd_Wd,113.6,6106,-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,-54.83,0.000,2,0.000,0.000,424,2089,2930
$GC,78,-0.96,-175.2,4.1,-6.6,10,103,12.15,2.47,-7.57,0.000,4,0.154,0.051,2578,676,3381
$GC,154,-0.96,-175.2,24.4,-14.0,23,160,0.00,2.25,0.00,0.000,6,0.000,0.054,2578,2083,3383
$GC,270,-0.96,-175.2,38.4,-12.1,38,274,0.00,2.30,0.00,0.000,4,0.000,0.031,2579,3466,3383
$GC,331,-0.96,-175.2,45.3,-11.1,43,336,0.00,2.28,0.00,0.000,6,0.000,0.021,2578,2074,3383
$GC,657,-0.96,-175.2,85.2,-11.0,73,660,0.00,1.92,0.00,0.000,4,0.000,0.069,2578,3257,3384
$GC,691,-0.96,-175.2,88.8,-10.5,76,694,0.00,1.92,0.00,0.000,6,0.000,0.021,2578,2063,3384
$GC,1022,-0.96,-175.2,119.2,-9.1,107,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2063,3385
$GC,1339,-0.96,-175.2,149.4,-8.1,137,1343,0.00,2.33,0.00,0.000,4,0.000,0.038,2578,685,3385
$GC,1360,-0.96,-175.2,151.4,-8.4,138,1367,0.00,2.28,0.00,0.000,6,0.000,0.019,2578,2078,3385
$GC,1687,-0.96,-175.2,177.3,-8.8,169,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3386
$GC,2014,-0.96,-175.2,203.2,-6.5,198,2018,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,689,3386
$GC,2040,-0.96,-175.2,205.1,-6.7,199,2044,0.00,2.25,0.00,0.000,6,0.000,0.027,2578,2085,3386
$GC,2362,-0.96,-175.2,225.2,-6.5,215,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2089,3385
$GC,2671,-0.96,-175.2,245.7,-5.9,230,2675,0.00,2.38,0.00,0.000,4,0.000,0.037,2578,685,3385
$GC,2715,-0.96,-175.2,248.3,-6.2,232,2719,0.00,2.25,0.00,0.000,6,0.000,0.026,2578,2077,3385
$GC,3042,-0.96,-175.2,268.3,-6.6,248,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2082,3384
$GC,3351,-0.96,-175.2,290.0,-6.7,263,3355,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,683,3383
$GC,3377,-0.96,-175.2,291.8,-7.1,264,3381,0.00,2.30,0.00,0.000,6,0.000,0.023,2578,2077,3383
$GC,3716,-0.96,-175.2,316.6,-7.5,276,3720,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,3467,3381
$GC,3754,-0.96,-175.2,319.3,-7.4,277,3758,0.00,2.28,0.00,0.000,6,0.000,0.025,2578,2087,3381
$GC,4077,-0.96,-175.2,337.7,-5.3,285,4081,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,680,3380
$GC,4099,-0.96,-175.2,338.9,-5.6,285,4103,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2068,3380
$GC,4441,-0.96,-175.2,358.0,-5.9,294,4445,0.00,2.40,0.00,0.000,4,0.000,0.040,2578,3477,3378
$GC,4491,-0.96,-175.2,360.8,-5.9,295,4495,0.00,2.35,0.00,0.000,6,0.000,0.034,2578,2084,3377
$GC,4815,-0.96,-175.2,378.0,-5.7,303,4819,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,681,3375
$GC,4859,-0.96,-175.2,380.8,-6.2,304,4863,0.00,2.30,0.00,0.000,6,0.000,0.026,2578,2074,3375
$GC,5176,-0.96,-175.2,403.6,-7.5,312,5180,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3473,3373
$GC,5270,-0.96,-175.2,410.5,-7.5,314,5275,0.00,2.35,0.00,0.000,6,0.000,0.062,2578,2080,3373
$GC,5589,-0.96,-175.2,433.7,-7.5,322,5593,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,682,3370
$GC,5622,-0.96,-175.2,436.3,-7.8,322,5628,0.00,2.35,0.00,0.000,6,0.000,0.027,2578,2080,3370
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5834,-0.31,0.0,452.3,7.8,328,5979,0.68,0.00,141.77,0.887,6,0.049,0.000,2732,2082,2664
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5979,begin climb
$GC,5982,0.96,175.2,461.4,0.0,331,6137,1.20,2.47,145.20,0.863,4,0.039,0.076,3008,3468,1948
$GC,6159,0.96,175.2,460.0,7.9,335,6164,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2093,1946
$GC,6473,0.96,175.2,431.9,9.2,343,6477,0.00,2.50,0.00,0.000,4,0.000,0.048,3008,670,1938
$GC,6606,0.96,175.2,419.3,8.9,346,6610,0.00,2.40,0.00,0.000,6,0.000,0.029,3008,2074,1934
$GC,6930,0.96,175.2,393.9,8.1,354,6934,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,3482,1933
$GC,6986,0.96,175.2,389.2,8.7,355,6990,0.00,2.38,0.00,0.000,6,0.000,0.030,3008,2078,1933
$GC,7297,0.96,175.2,363.3,8.6,363,7302,0.00,2.45,0.00,0.000,4,0.000,0.047,3008,674,1931
$GC,7352,0.96,175.2,357.9,10.2,364,7357,0.00,2.40,0.00,0.000,6,0.000,0.061,3008,2083,1929
$GC,7665,0.96,175.2,331.9,7.8,372,7670,0.00,2.42,0.00,0.000,4,0.000,0.047,3008,3477,1929
$GC,7840,0.96,175.2,319.0,8.0,376,7844,0.00,2.38,0.00,0.000,6,0.000,0.035,3008,2078,1929
$GC,8165,0.96,175.2,294.3,7.7,385,8169,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,3483,1928
$GC,8221,0.96,175.2,290.0,8.3,387,8227,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2070,1928
$GC,8536,0.98,194.0,268.9,6.6,403,8555,0.00,0.00,13.48,0.732,6,0.000,0.000,3008,2067,1872
$GC,8865,0.98,194.0,242.8,7.7,419,8869,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,668,1869
$GC,8897,0.98,194.0,240.1,7.9,420,8904,0.00,2.38,0.00,0.000,6,0.000,0.026,3008,2076,1868
$GC,9213,1.04,238.5,220.2,5.9,436,9257,0.00,2.45,39.85,0.723,4,0.000,0.070,3008,3474,1690
$GC,9314,1.04,238.5,212.8,7.9,440,9321,0.00,2.38,0.00,0.000,6,0.000,0.026,3008,2079,1689
$GC,9633,1.04,238.5,190.5,7.3,462,9637,0.00,2.40,0.00,0.000,4,0.000,0.041,3008,679,1685
$GC,9660,1.04,238.5,188.2,8.7,464,9664,0.00,2.33,0.00,0.000,6,0.000,0.023,3008,2087,1683
$GC,9985,1.04,238.5,162.3,7.4,494,9989,0.00,2.35,0.00,0.000,4,0.000,0.069,3008,3470,1683
$GC,10002,1.04,238.5,160.9,7.6,495,10006,0.00,2.33,0.00,0.000,6,0.000,0.058,3008,2070,1682
$GC,10328,1.04,240.3,139.5,7.1,525,10332,0.00,2.38,0.00,0.000,4,0.000,0.044,3008,677,1683
$GC,10361,1.06,253.5,137.1,6.8,527,10380,0.00,2.28,13.15,0.597,6,0.000,0.058,3008,2085,1630
$GC,10696,1.06,253.5,114.1,7.4,559,10700,0.00,2.40,0.00,0.000,4,0.000,0.038,3008,678,1628
$GC,10741,1.06,253.5,110.6,8.3,563,10744,0.00,1.73,0.00,0.000,6,0.000,0.051,3008,1786,1627
$GC,11072,1.06,253.5,87.9,7.9,594,11075,0.00,1.75,0.00,0.000,4,0.000,0.070,3008,2885,1627
$GC,11331,1.18,354.0,71.2,4.4,617,11426,0.15,1.33,86.30,0.571,6,0.028,0.022,3067,2067,1219
$GC,11743,1.18,354.0,29.3,9.9,656,11749,0.00,1.80,0.00,0.000,4,0.000,0.071,3067,3129,1213
$GC,11794,1.18,354.0,24.5,9.8,665,11801,0.00,1.73,0.00,0.000,6,0.000,0.067,3067,2088,1214
$GC,11913,1.18,354.0,13.7,9.2,686,11920,0.00,2.35,0.00,0.000,4,0.000,0.036,3066,685,1213
$GC,11948,1.18,354.0,9.8,10.8,692,11955,0.00,2.25,0.00,0.000,6,0.000,0.019,3067,2098,1211
$STATE,12017,end climb,SURFACE_DEPTH_REACHED
$STATE,12017,begin surface coast
$FINISH,0.5,1.004632
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12050,begin surface
$SM_CCo,12130,0.00,0.000,0,0,1207,357.40
$SM_GC,1.55,11.57,0.00,0.00,0.048,0.000,0.000,429,2101,1207,-10.82,0.62,357.40
$IRIDIUM_FIX,2057.14,-15753.90,231097,050517
$TT8_MAMPS,0.029146
$HUMID,1888
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,712
$24V_AH,23.3,49.486
$10V_AH,10.2,28.556
$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,25.750,127.975,439.750,0.000,0.000,53.115,79.657,383.120,178.000,0.000,0.000,25.667,1285.915,8636.649,509.507,1687.452,719.819,33.374,1367.441,0.000,1664.398,0.000,0.470
$DEVICE_MAMPS,154.167,75.933,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.433,469.049,785.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37943,710
$CAP_FILE_SIZE,110241,9
$CFSIZE,260165632,250691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,091338,2103.671,-15748.730,29,1.4,29,9.8