version: 66.03
glider: 139
mission: 3
dive: 138
start: 7 29 108 9 30 47
data:
$ID,139
$MISSION,3
$DIVE,138
$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,-1273351.8
$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,44
$R_STBD_OVSHOOT,61
$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
$GPS1,091338,2103.671,-15748.730,29,1.4,29,9.8
$_CALLS,3
$_XMS_NAKs,35
$_XMS_TOUTs,5
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.3
$GPS2,092957,2103.761,-15748.790,14,1.5,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.088
$KALMAN_X,-23270.9,-216.4,29.9,30396.2,-1369.8
$KALMAN_Y,-39617.7,-214.7,208.8,15708.7,-283.3
$MHEAD_RNG_PITCHd_Wd,100.4,4175,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.53,0.000,2,0.000,0.000,428,2102,2758
$GC,79,-0.96,-175.2,3.4,-4.8,10,109,12.05,2.40,-11.43,0.000,4,0.151,0.048,2577,687,3379
$GC,171,-0.96,-175.2,21.1,-11.1,26,178,0.00,2.15,0.00,0.000,6,0.000,0.044,2577,2061,3381
$GC,289,-0.96,-175.2,34.3,-11.7,44,293,0.00,2.33,0.00,0.000,4,0.000,0.029,2577,3462,3381
$GC,328,-0.96,-175.2,38.6,-10.5,47,332,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2082,3381
$GC,654,-0.96,-175.2,74.9,-11.1,77,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3381
$GC,971,-0.96,-175.2,109.7,-10.8,107,975,0.00,2.30,0.00,0.000,4,0.000,0.029,2577,3462,3382
$GC,990,-0.96,-175.2,111.7,-11.2,108,994,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2070,3382
$GC,1315,-0.96,-175.2,143.3,-10.0,138,1319,0.00,2.35,0.00,0.000,4,0.000,0.071,2577,677,3382
$GC,1354,-0.96,-175.2,147.4,-11.1,141,1358,0.00,2.25,0.00,0.000,6,0.000,0.055,2577,2082,3382
$GC,1684,-0.96,-175.2,175.3,-8.7,172,1688,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,685,3382
$GC,1716,-0.96,-175.2,178.3,-8.9,174,1723,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2073,3382
$GC,2042,-0.96,-175.2,201.9,-7.1,204,2046,0.00,2.35,0.00,0.000,4,0.000,0.069,2578,685,3382
$GC,2064,-0.96,-175.2,203.5,-6.8,205,2068,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2084,3382
$GC,2385,-0.96,-175.2,223.8,-6.8,221,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3382
$GC,2694,-0.96,-175.2,244.7,-7.0,236,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2089,3382
$GC,3003,-0.96,-175.2,265.2,-7.6,251,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3381
$GC,3313,-0.96,-175.2,285.5,-5.1,266,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2088,3380
$GC,3621,-0.96,-175.2,302.7,-6.1,280,3625,0.00,2.40,0.00,0.000,4,0.000,0.039,2577,681,3378
$GC,3653,-0.96,-175.2,304.7,-6.3,280,3659,0.00,2.28,0.00,0.000,6,0.000,0.033,2577,2069,3378
$GC,3984,-0.96,-175.2,320.7,-4.6,289,3988,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3471,3376
$GC,4005,-0.96,-175.2,321.9,-5.6,289,4009,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2076,3376
$GC,4347,-0.96,-175.2,338.8,-4.4,298,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3374
$GC,4672,-0.96,-175.2,360.5,-7.3,306,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3373
$GC,4997,-0.96,-175.2,384.8,-7.3,314,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3370
$GC,5322,-0.96,-175.2,407.4,-7.0,322,5326,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,680,3369
$GC,5344,-0.96,-175.2,408.9,-6.8,322,5348,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2079,3368
$GC,5680,-0.96,-175.2,427.9,-5.3,331,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3366
$GC,6005,-0.96,-175.2,444.0,-4.8,339,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3364
$STATE,6165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6165,begin apogee
$GC,6170,-0.31,0.0,451.5,4.6,343,6313,0.20,0.00,140.55,0.888,6,0.274,0.000,2633,2083,2664
$STATE,6313,end apogee,CONTROL_FINISHED_OK
$STATE,6314,begin climb
$GC,6316,0.96,175.2,455.4,0.0,346,6473,1.67,2.55,145.05,0.860,4,0.104,0.075,3001,3478,1948
$GC,6646,0.96,175.2,433.3,9.9,353,6650,0.00,2.40,0.00,0.000,6,0.000,0.030,3001,2072,1942
$GC,6983,0.96,175.2,405.4,8.0,362,6987,0.00,2.47,0.00,0.000,4,0.000,0.076,3001,3478,1936
$GC,7043,0.96,175.2,400.4,8.9,363,7047,0.00,2.40,0.00,0.000,6,0.000,0.030,3001,2084,1936
$GC,7391,0.96,175.2,374.0,7.7,372,7395,0.00,2.45,0.00,0.000,4,0.000,0.048,3001,676,1934
$GC,7485,0.96,175.2,365.4,9.4,374,7489,0.00,2.38,0.00,0.000,6,0.000,0.028,3000,2070,1931
$GC,7809,0.96,175.2,338.8,8.5,382,7814,0.00,2.45,0.00,0.000,4,0.000,0.044,3001,3481,1930
$GC,7893,0.96,175.2,331.3,9.2,384,7898,0.00,2.38,0.00,0.000,6,0.000,0.041,3001,2077,1930
$GC,8217,0.96,175.2,303.7,8.3,392,8221,0.00,2.45,0.00,0.000,4,0.000,0.064,3001,3482,1929
$GC,8311,0.97,179.8,295.7,7.0,394,8315,0.00,2.38,0.00,0.000,6,0.000,0.051,3001,2078,1929
$GC,8632,0.97,182.5,273.9,7.1,410,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2076,1928
$GC,8942,0.98,192.6,252.6,6.9,425,8963,0.00,2.50,12.50,0.719,4,0.000,0.044,3001,678,1875
$GC,8974,0.98,192.6,250.3,7.2,426,8978,0.00,2.38,0.00,0.000,6,0.000,0.027,3001,2079,1874
$GC,9295,1.06,253.5,230.4,5.5,442,9357,0.10,2.47,53.92,0.740,4,0.062,0.071,3029,3470,1629
$GC,9420,1.06,253.5,220.2,9.7,447,9426,0.00,2.35,0.00,0.000,6,0.000,0.029,3029,2077,1627
$GC,9737,1.06,253.5,191.0,8.7,467,9741,0.00,2.42,0.00,0.000,4,0.000,0.042,3029,676,1622
$GC,9814,1.06,253.5,183.1,10.2,473,9821,0.00,2.35,0.00,0.000,6,0.000,0.024,3029,2080,1618
$GC,10139,1.06,253.5,154.0,8.4,504,10143,0.00,2.38,0.00,0.000,4,0.000,0.035,3029,3478,1618
$GC,10178,1.06,253.5,150.4,9.0,507,10182,0.00,2.33,0.00,0.000,6,0.000,0.024,3029,2074,1618
$GC,10507,1.06,253.5,121.9,8.5,538,10511,0.00,2.38,0.00,0.000,4,0.000,0.038,3029,680,1618
$GC,10573,1.06,253.5,115.9,8.4,543,10580,0.00,2.33,0.00,0.000,6,0.000,0.040,3029,2082,1617
$GC,10901,1.06,253.5,89.3,7.4,574,10905,0.00,2.35,0.00,0.000,4,0.000,0.036,3029,3476,1617
$GC,11013,1.06,253.5,80.2,7.2,583,11019,0.00,2.28,0.00,0.000,6,0.000,0.021,3029,2074,1618
$GC,11339,1.09,282.3,59.5,6.4,614,11371,0.00,2.42,24.20,0.555,4,0.000,0.062,3029,3467,1512
$GC,11474,1.09,282.8,49.8,7.1,626,11478,0.00,2.28,0.00,0.000,6,0.000,0.057,3029,2079,1512
$GC,11800,1.09,282.8,27.1,7.5,659,11806,0.00,2.33,0.00,0.000,4,0.000,0.035,3029,3474,1511
$GC,11823,1.09,282.8,25.3,7.9,663,11830,0.00,2.28,0.00,0.000,6,0.000,0.038,3029,2073,1511
$GC,11943,1.11,300.4,18.5,6.7,684,11965,0.00,0.00,17.02,0.505,6,0.000,0.000,3029,2072,1438
$GC,12079,1.11,300.4,7.6,8.3,708,12085,0.00,2.35,0.00,0.000,4,0.000,0.063,3029,683,1435
$GC,12115,1.11,300.4,4.7,8.3,714,12121,0.00,2.25,0.00,0.000,6,0.000,0.044,3029,2091,1433
$STATE,12131,end climb,SURFACE_DEPTH_REACHED
$STATE,12131,begin surface coast
$FINISH,0.5,1.009820
$STATE,12167,end surface coast,CONTROL_FINISHED_OK
$STATE,12167,begin surface
$SM_CCo,12187,16.65,0.495,0,0,1359,320.12
$SM_GC,1.16,0.00,0.00,16.65,0.000,0.000,0.495,422,2093,1359,-10.92,0.40,320.12
$IRIDIUM_FIX,2057.14,-15750.89,231097,090917
$TT8_MAMPS,0.029146
$HUMID,1889
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.10
$XPDR_PINGS,686
$24V_AH,23.3,49.638
$10V_AH,10.2,28.640
$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,25.175,108.275,393.250,16.650,0.000,87.212,86.600,525.529,171.500,0.000,0.000,16.368,1276.376,8872.864,494.608,1595.603,931.607,33.366,1296.242,0.000,1593.412,0.000,0.471
$DEVICE_MAMPS,273.819,75.933,888.186,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.287,477.929,811.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,723
$CAP_FILE_SIZE,108056,14
$CFSIZE,260165632,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,125558,2102.669,-15748.350,50,2.9,69,9.8