version: 66.03
glider: 139
mission: 3
dive: 141
start: 7 29 108 20 14 24
data:
$ID,139
$MISSION,3
$DIVE,141
$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,543.09418
$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,-1273456.2
$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,38
$R_STBD_OVSHOOT,58
$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
$GPS1,194940,2103.224,-15747.897,77,1.2,77,9.8
$_CALLS,5
$_XMS_NAKs,35
$_XMS_TOUTs,5
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.9
$GPS2,201334,2103.231,-15747.942,50,1.3,50,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.140,0.213
$KALMAN_X,-26383.1,35.5,696.1,34034.1,-932.0
$KALMAN_Y,-40632.2,-176.7,105.9,15813.1,35.4
$MHEAD_RNG_PITCHd_Wd,316.9,16437,-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,19,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-53.97,0.000,2,0.000,0.000,428,2089,2890
$GC,78,-0.96,-175.2,3.3,-3.6,10,108,12.00,2.33,-8.57,0.000,4,0.151,0.074,2577,3463,3381
$GC,242,-0.96,-175.2,31.9,-12.0,38,249,0.00,2.30,0.00,0.000,6,0.000,0.021,2577,2071,3382
$GC,567,-0.96,-175.2,70.1,-11.5,69,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2071,3382
$GC,886,-0.96,-175.2,103.3,-9.0,99,890,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,681,3382
$GC,953,-0.96,-175.2,109.2,-8.5,105,957,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2087,3383
$GC,1279,-0.96,-175.2,135.4,-8.0,135,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2091,3383
$GC,1598,-0.96,-175.2,163.3,-8.4,165,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2091,3383
$GC,1915,-0.96,-175.2,187.1,-6.9,195,1919,0.00,2.38,0.00,0.000,4,0.000,0.071,2577,684,3384
$GC,1949,-0.96,-175.2,189.5,-7.6,198,1954,0.00,2.25,0.00,0.000,6,0.000,0.058,2577,2080,3384
$GC,2268,-0.96,-175.2,215.1,-7.3,219,2272,0.00,2.38,0.00,0.000,4,0.000,0.035,2577,675,3383
$GC,2290,-0.96,-175.2,216.7,-7.1,220,2294,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2075,3383
$GC,2616,-0.96,-175.2,237.4,-6.2,236,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3383
$GC,2927,-0.96,-175.2,255.7,-6.0,251,2931,0.00,2.38,0.00,0.000,4,0.000,0.053,2577,677,3382
$GC,2948,-0.96,-175.2,257.1,-6.0,252,2952,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2076,3382
$GC,3275,-0.96,-175.2,276.5,-6.0,268,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3380
$GC,3585,-0.96,-175.2,295.1,-6.3,283,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3379
$GC,3910,-0.96,-175.2,315.9,-6.5,293,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3378
$GC,4235,-0.96,-175.2,337.8,-7.0,301,4239,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,684,3375
$GC,4275,-0.96,-175.2,340.8,-7.1,302,4279,0.00,2.30,0.00,0.000,6,0.000,0.031,2577,2078,3375
$GC,4598,-0.96,-175.2,362.9,-6.6,310,4602,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3473,3373
$GC,4631,-0.96,-175.2,365.0,-6.2,310,4637,0.00,2.30,0.00,0.000,6,0.000,0.026,2577,2085,3373
$GC,4962,-0.96,-175.2,381.6,-4.6,319,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2084,3371
$GC,5287,-0.96,-175.2,395.1,-3.8,327,5291,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3470,3369
$GC,5309,-0.96,-175.2,396.0,-4.1,327,5313,0.00,2.33,0.00,0.000,6,0.000,0.034,2577,2078,3368
$GC,5657,-0.96,-175.2,411.2,-4.8,336,5661,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,680,3366
$GC,5701,-0.96,-175.2,413.8,-6.1,337,5705,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2081,3366
$GC,6025,-0.96,-175.2,435.7,-7.1,345,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3364
$STATE,6266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6266,begin apogee
$GC,6271,-0.31,0.0,452.2,6.6,351,6414,0.68,0.00,140.52,0.886,6,0.058,0.000,2726,2085,2664
$STATE,6415,end apogee,CONTROL_FINISHED_OK
$STATE,6415,begin climb
$GC,6417,0.96,175.2,458.7,0.0,354,6571,1.20,2.50,144.95,0.861,4,0.037,0.049,3008,683,1947
$GC,6655,0.96,175.2,450.6,10.1,359,6659,0.00,2.40,0.00,0.000,6,0.000,0.051,3007,2076,1938
$GC,6992,0.96,175.2,418.4,9.5,368,6996,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,3478,1936
$GC,7086,0.96,175.2,409.9,8.4,370,7090,0.00,2.38,0.00,0.000,6,0.000,0.066,3007,2085,1935
$GC,7399,0.96,175.2,386.8,7.4,378,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2084,1933
$GC,7724,0.96,175.2,363.0,7.5,386,7728,0.00,2.42,0.00,0.000,4,0.000,0.043,3007,3477,1932
$GC,7846,0.96,175.2,352.0,8.8,388,7852,0.00,2.38,0.00,0.000,6,0.000,0.030,3007,2077,1932
$GC,8177,0.96,175.2,324.2,8.4,397,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2075,1930
$GC,8482,0.96,175.2,298.0,8.6,405,8486,0.00,2.45,0.00,0.000,4,0.000,0.078,3007,672,1928
$GC,8521,0.96,175.2,294.6,9.1,407,8525,0.00,2.38,0.00,0.000,6,0.000,0.032,3007,2092,1927
$GC,8847,0.98,189.4,270.7,6.8,423,8862,0.00,2.42,9.73,0.711,4,0.000,0.043,3007,3477,1891
$GC,8885,0.98,191.8,268.0,7.1,424,8894,0.00,2.38,3.95,0.522,6,0.000,0.028,3007,2073,1881
$GC,9217,0.99,202.6,246.4,6.8,440,9232,0.00,2.45,10.77,0.699,4,0.000,0.044,3007,3474,1838
$GC,9271,0.99,202.6,242.3,7.2,441,9277,0.00,2.40,0.00,0.000,6,0.000,0.061,3007,2075,1837
$GC,9587,1.00,206.9,220.1,7.0,457,9597,0.00,2.42,5.30,0.567,4,0.000,0.077,3007,676,1819
$GC,9664,1.02,220.2,214.4,6.8,460,9684,0.00,2.33,13.15,0.691,6,0.000,0.025,3007,2085,1766
$GC,10006,1.06,255.1,190.0,6.2,483,10047,0.00,2.50,32.03,0.695,4,0.000,0.044,3007,670,1620
$GC,10108,1.06,255.1,182.1,7.9,492,10115,0.00,2.38,0.00,0.000,6,0.000,0.024,3007,2082,1616
$GC,10434,1.06,255.1,159.6,7.2,523,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2086,1615
$GC,10753,1.07,266.6,137.7,6.8,553,10768,0.00,2.40,10.18,0.588,4,0.000,0.042,3007,3480,1577
$GC,10840,1.07,266.6,130.6,8.7,560,10847,0.00,2.35,0.00,0.000,6,0.000,0.023,3007,2078,1576
$GC,11169,1.10,290.3,106.1,6.5,591,11196,0.12,0.00,22.08,0.597,6,0.048,0.000,3050,2076,1479
$GC,11514,1.10,290.3,77.9,7.5,624,11518,0.00,2.38,0.00,0.000,4,0.000,0.037,3049,676,1476
$GC,11637,1.10,290.3,68.2,8.1,635,11642,0.00,2.30,0.00,0.000,6,0.000,0.054,3049,2094,1474
$GC,11963,1.10,290.3,44.3,8.0,665,11967,0.00,2.30,0.00,0.000,4,0.000,0.066,3049,3467,1474
$GC,11984,1.10,290.3,42.5,8.0,666,11991,0.00,2.33,0.00,0.000,6,0.000,0.056,3049,2071,1474
$GC,12318,1.10,290.3,14.9,9.5,712,12324,0.00,2.30,0.00,0.000,4,0.000,0.028,3049,3465,1475
$GC,12364,1.10,290.3,10.7,9.4,720,12370,0.00,2.25,0.00,0.000,6,0.000,0.020,3049,2069,1475
$STATE,12464,end climb,SURFACE_DEPTH_REACHED
$STATE,12464,begin surface coast
$FINISH,0.5,0.999115
$STATE,12512,end surface coast,CONTROL_FINISHED_OK
$STATE,12512,begin surface
$SM_CCo,12532,203.00,0.512,0,0,449,543.09
$SM_GC,1.08,0.00,0.00,203.00,0.000,0.000,0.512,422,2061,449,-10.91,-0.48,543.09
$IRIDIUM_FIX,2054.83,-15746.61,231097,202041
$TT8_MAMPS,0.029146
$HUMID,1826
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.30
$XPDR_PINGS,712
$24V_AH,23.3,50.110
$10V_AH,10.2,28.888
$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,25.325,99.100,392.650,203.000,0.000,133.598,218.778,658.542,178.000,0.000,0.000,52.847,1304.973,9317.109,670.219,1650.182,1214.304,33.368,1463.556,0.000,1601.186,0.000,0.471
$DEVICE_MAMPS,151.099,78.234,885.885,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.472,487.551,831.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,746
$CAP_FILE_SIZE,111909,7
$CFSIZE,260165632,250486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,234756,2104.569,-15749.129,39,1.7,39,9.8