version: 66.03
glider: 139
mission: 3
dive: 139
start: 7 29 108 13 4 56
data:
$ID,139
$MISSION,3
$DIVE,139
$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,-1273388.2
$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,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
$GPS1,125558,2102.669,-15748.350,50,2.9,69,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.0
$GPS2,130407,2102.738,-15748.344,14,2.7,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.083
$KALMAN_X,-24748.4,-442.8,-493.6,33395.5,-493.6
$KALMAN_Y,-39742.8,-436.2,-222.0,14595.7,237.0
$MHEAD_RNG_PITCHd_Wd,99.9,2545,-12.6,-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,19,-0.98,-159.7,0.0,0.0,0,75,0.00,0.00,-54.38,0.000,2,0.000,0.000,422,2094,2912
$GC,78,-1.00,-175.2,3.8,-5.7,10,108,12.15,2.42,-8.05,0.000,4,0.156,0.048,2568,692,3382
$GC,149,-1.00,-175.2,23.4,-18.7,22,156,0.00,2.22,0.00,0.000,6,0.000,0.055,2568,2080,3383
$GC,264,-1.00,-175.2,41.4,-14.4,36,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2084,3383
$GC,583,-1.00,-175.2,82.9,-11.8,66,587,0.00,2.30,0.00,0.000,4,0.000,0.030,2569,3467,3384
$GC,679,-1.00,-175.2,92.3,-8.5,74,683,0.00,2.28,0.00,0.000,6,0.000,0.020,2567,2073,3384
$GC,1004,-1.00,-175.2,123.2,-10.5,104,1008,0.00,2.35,0.00,0.000,4,0.000,0.055,2567,679,3384
$GC,1031,-1.00,-175.2,126.1,-9.8,106,1035,0.00,1.62,0.00,0.000,6,0.000,0.046,2568,1750,3385
$GC,1364,-1.00,-175.2,159.6,-8.7,137,1369,0.00,2.88,0.00,0.000,4,0.000,0.059,2568,3473,3385
$GC,1452,-1.00,-175.2,167.1,-8.1,144,1459,0.00,2.30,0.00,0.000,6,0.000,0.020,2568,2075,3385
$GC,1779,-1.00,-175.2,195.5,-9.3,175,1783,0.00,2.35,0.00,0.000,4,0.000,0.048,2567,680,3385
$GC,1822,-1.00,-175.2,199.7,-9.2,178,1830,0.00,2.28,0.00,0.000,6,0.000,0.019,2568,2079,3386
$GC,2149,-1.00,-175.2,225.4,-8.1,195,2153,0.00,2.35,0.00,0.000,4,0.000,0.036,2568,688,3386
$GC,2175,-1.00,-175.2,227.6,-7.8,196,2179,0.00,2.28,0.00,0.000,6,0.000,0.055,2568,2080,3386
$GC,2496,-1.00,-175.2,250.3,-7.0,212,2500,0.00,2.33,0.00,0.000,4,0.000,0.034,2568,3467,3385
$GC,2535,-1.00,-175.2,253.0,-7.3,214,2540,0.00,2.28,0.00,0.000,6,0.000,0.021,2567,2077,3385
$GC,2862,-1.00,-175.2,275.2,-6.8,230,2866,0.00,2.38,0.00,0.000,4,0.000,0.039,2567,677,3384
$GC,2924,-1.00,-175.2,279.2,-6.2,233,2928,0.00,2.28,0.00,0.000,6,0.000,0.057,2568,2075,3384
$GC,3250,-1.00,-175.2,298.7,-6.3,249,3254,0.00,2.35,0.00,0.000,4,0.000,0.037,2568,3466,3383
$GC,3290,-1.00,-175.2,301.3,-6.9,251,3294,0.00,2.30,0.00,0.000,6,0.000,0.024,2568,2073,3382
$GC,3614,-1.00,-175.2,325.5,-7.8,259,3617,0.00,2.35,0.00,0.000,4,0.000,0.041,2567,682,3381
$GC,3651,-1.00,-175.2,328.3,-7.3,259,3658,0.00,2.33,0.00,0.000,6,0.000,0.059,2568,2076,3381
$GC,3983,-1.00,-175.2,348.1,-5.8,268,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2079,3379
$GC,4308,-1.00,-175.2,369.8,-6.6,276,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2080,3377
$GC,4633,-1.00,-175.2,389.1,-5.7,284,4637,0.00,2.40,0.00,0.000,4,0.000,0.043,2567,679,3375
$GC,4659,-1.00,-175.2,390.8,-6.2,284,4664,0.00,2.33,0.00,0.000,6,0.000,0.037,2568,2082,3375
$GC,4990,-1.00,-175.2,408.4,-5.4,292,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2085,3373
$GC,5315,-1.00,-175.2,425.9,-5.3,300,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2085,3371
$GC,5640,-1.00,-175.2,444.4,-5.8,308,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2085,3369
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5765,-0.31,0.0,452.0,6.1,311,5909,0.73,0.00,141.52,0.893,6,0.170,0.000,2726,2085,2663
$STATE,5910,end apogee,CONTROL_FINISHED_OK
$STATE,5910,begin climb
$GC,5912,1.00,175.2,458.3,0.0,314,6062,1.30,0.00,145.95,0.866,6,0.035,0.000,3024,2085,1949
$GC,6367,1.00,175.2,432.4,8.9,326,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2085,1938
$GC,6692,1.00,175.2,405.9,7.7,334,6697,0.00,2.42,0.00,0.000,4,0.000,0.044,3024,3471,1935
$GC,6758,1.00,175.2,400.4,8.1,335,6763,0.00,2.38,0.00,0.000,6,0.000,0.030,3024,2089,1935
$GC,7101,1.00,175.2,371.0,8.8,344,7105,0.00,2.42,0.00,0.000,4,0.000,0.077,3024,3471,1933
$GC,7139,1.00,175.2,367.3,9.5,345,7143,0.00,2.38,0.00,0.000,6,0.000,0.067,3024,2080,1933
$GC,7462,1.00,175.2,337.2,9.5,353,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2079,1931
$GC,7787,1.00,175.2,310.8,7.9,361,7791,0.00,2.42,0.00,0.000,4,0.000,0.043,3024,3471,1929
$GC,7836,1.01,177.7,307.3,7.1,362,7840,0.00,2.35,0.00,0.000,6,0.000,0.030,3024,2078,1929
$GC,8158,1.01,177.7,283.6,8.2,375,8162,0.00,2.42,0.00,0.000,4,0.000,0.042,3024,3473,1928
$GC,8257,1.01,177.7,274.7,8.7,379,8262,0.00,2.38,0.00,0.000,6,0.000,0.064,3024,2084,1928
$GC,8579,1.02,189.4,251.8,6.8,395,8594,0.00,2.47,9.70,0.700,4,0.000,0.076,3024,677,1890
$GC,8689,1.02,189.4,242.6,8.7,399,8694,0.00,2.38,0.00,0.000,6,0.000,0.027,3024,2080,1887
$GC,9016,1.04,207.0,220.6,6.6,415,9038,0.00,2.50,16.45,0.709,4,0.000,0.047,3024,3481,1819
$GC,9094,1.09,247.7,215.6,5.9,418,9136,0.00,2.38,36.78,0.720,6,0.000,0.026,3024,2066,1654
$GC,9455,1.09,247.7,189.3,7.7,442,9459,0.00,2.40,0.00,0.000,4,0.000,0.042,3024,681,1646
$GC,9482,1.09,247.7,186.7,9.5,444,9486,0.00,2.33,0.00,0.000,6,0.000,0.025,3024,2084,1644
$GC,9809,1.09,247.7,157.1,9.6,474,9813,0.00,2.38,0.00,0.000,4,0.000,0.048,3024,3477,1644
$GC,9841,1.09,247.7,153.6,9.6,476,9847,0.00,2.35,0.00,0.000,6,0.000,0.024,3024,2083,1644
$GC,10169,1.09,247.7,125.7,8.0,507,10173,0.00,2.40,0.00,0.000,4,0.000,0.073,3024,679,1644
$GC,10208,1.09,247.7,122.0,8.9,510,10212,0.00,2.30,0.00,0.000,6,0.000,0.030,3024,2086,1642
$GC,10534,1.13,278.9,98.4,6.2,540,10577,0.00,2.40,28.90,0.568,4,0.000,0.060,3024,3465,1525
$GC,10660,1.15,291.9,90.0,6.8,551,10679,0.00,2.33,12.60,0.554,6,0.000,0.053,3024,2076,1472
$GC,10996,1.15,291.9,63.2,9.1,583,11000,0.00,2.33,0.00,0.000,4,0.000,0.031,3024,3468,1470
$GC,11075,1.15,291.9,56.2,8.8,590,11079,0.00,2.28,0.00,0.000,6,0.000,0.022,3024,2079,1470
$GC,11406,1.15,291.9,30.3,9.0,621,11410,0.00,2.38,0.00,0.000,4,0.000,0.042,3024,677,1470
$GC,11428,1.15,291.9,28.2,9.1,624,11434,0.00,2.25,0.00,0.000,6,0.000,0.056,3024,2088,1468
$GC,11547,1.25,377.9,21.0,4.6,645,11625,0.17,0.00,72.72,0.530,6,0.038,0.000,3086,2093,1122
$STATE,11715,end climb,SURFACE_DEPTH_REACHED
$STATE,11715,begin surface coast
$FINISH,0.5,1.022814
$STATE,11737,end surface coast,CONTROL_FINISHED_OK
$STATE,11737,begin surface
$SM_CCo,11817,0.00,0.000,0,0,1115,379.97
$SM_GC,1.40,11.43,0.00,0.00,0.027,0.000,0.000,424,2092,1115,-10.81,0.37,379.97
$IRIDIUM_FIX,2054.83,-15749.62,231097,090914
$TT8_MAMPS,0.029146
$HUMID,1866
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.30
$XPDR_PINGS,626
$24V_AH,23.3,49.778
$10V_AH,10.2,28.716
$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,25.775,107.925,464.625,0.000,0.000,30.698,28.855,283.720,156.500,0.000,0.000,35.926,1193.443,8529.188,540.203,1499.277,528.930,33.366,1296.416,0.000,1477.444,0.000,0.470
$DEVICE_MAMPS,169.507,76.700,892.788,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.721,443.138,747.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34777,679
$CAP_FILE_SIZE,97533,12
$CFSIZE,260165632,250609664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290708,162308,2102.004,-15747.352,40,1.3,40,9.8