version: 66.03
glider: 139
mission: 3
dive: 142
start: 7 30 108 0 7 41
data:
$ID,139
$MISSION,3
$DIVE,142
$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,-1273491.8
$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,45
$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
$GPS1,234756,2104.569,-15749.129,39,1.7,39,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.7
$GPS2,000650,2104.671,-15749.267,33,1.5,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.113,0.228
$KALMAN_X,-26854.5,580.4,104.4,32277.7,-1190.4
$KALMAN_Y,-40937.2,133.7,81.7,18492.9,-346.1
$MHEAD_RNG_PITCHd_Wd,323.9,12936,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-52.85,0.000,6,0.000,0.000,422,2062,1923
$GC,78,-0.96,-175.2,1.5,-0.7,10,146,12.05,2.35,-48.50,0.000,4,0.150,0.076,2579,3467,3379
$GC,232,-0.96,-175.2,14.3,-11.4,37,238,0.00,2.25,0.00,0.000,6,0.000,0.020,2579,2075,3380
$GC,351,-0.96,-175.2,28.1,-12.9,58,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2075,3380
$GC,470,-0.96,-175.2,41.9,-12.2,71,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2075,3379
$GC,788,-0.96,-175.2,76.1,-10.0,101,792,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,684,3380
$GC,878,-0.96,-175.2,85.3,-9.6,109,882,0.00,2.22,0.00,0.000,6,0.000,0.018,2579,2080,3380
$GC,1204,-0.96,-175.2,117.8,-8.3,139,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3380
$GC,1521,-0.96,-175.2,142.9,-7.6,169,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2085,3380
$GC,1840,-0.96,-175.2,169.9,-8.4,199,1844,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,685,3380
$GC,1861,-0.96,-175.2,171.7,-7.9,200,1868,0.00,2.25,0.00,0.000,6,0.000,0.019,2578,2074,3380
$GC,2187,-0.96,-175.2,196.9,-6.8,231,2191,0.00,2.35,0.00,0.000,4,0.000,0.070,2578,677,3380
$GC,2223,-0.96,-175.2,199.1,-6.7,234,2226,0.00,1.75,0.00,0.000,6,0.000,0.044,2579,1815,3379
$GC,2555,-0.96,-175.2,221.3,-6.8,251,2559,0.00,2.75,0.00,0.000,4,0.000,0.060,2579,3460,3379
$GC,2648,-0.96,-175.2,227.9,-7.2,255,2653,0.00,2.28,0.00,0.000,6,0.000,0.021,2578,2078,3378
$GC,2971,-0.96,-175.2,250.3,-6.5,271,2975,0.00,2.35,0.00,0.000,4,0.000,0.071,2578,686,3378
$GC,3037,-0.96,-175.2,254.9,-6.6,274,3041,0.00,2.25,0.00,0.000,6,0.000,0.021,2579,2076,3378
$GC,3364,-0.96,-175.2,272.7,-5.0,290,3368,0.00,2.33,0.00,0.000,4,0.000,0.036,2578,3464,3376
$GC,3387,-0.96,-175.2,273.8,-5.0,291,3391,0.00,2.28,0.00,0.000,6,0.000,0.023,2578,2079,3376
$GC,3713,-0.96,-175.2,290.5,-5.0,307,3717,0.00,2.35,0.00,0.000,4,0.000,0.040,2578,686,3375
$GC,3736,-0.96,-175.2,291.8,-5.7,308,3740,0.00,2.28,0.00,0.000,6,0.000,0.024,2579,2077,3375
$GC,4059,-0.96,-175.2,310.1,-5.8,320,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2081,3373
$GC,4384,-0.96,-175.2,329.5,-5.9,328,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2081,3370
$GC,4709,-0.96,-175.2,348.7,-5.7,336,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2081,3368
$GC,5034,-0.96,-175.2,367.7,-5.8,344,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3365
$GC,5359,-0.96,-175.2,386.5,-5.9,352,5363,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,682,3363
$GC,5404,-0.96,-175.2,389.4,-6.3,353,5408,0.00,2.30,0.00,0.000,6,0.000,0.028,2579,2073,3363
$GC,5728,-0.96,-175.2,406.7,-5.1,361,5732,0.00,2.38,0.00,0.000,4,0.000,0.042,2579,3473,3361
$GC,5755,-0.96,-175.2,408.3,-5.7,361,5759,0.00,2.33,0.00,0.000,6,0.000,0.038,2578,2083,3361
$GC,6097,-0.96,-175.2,425.9,-5.0,370,6101,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,675,3359
$GC,6129,-0.96,-175.2,427.5,-4.9,370,6135,0.00,2.35,0.00,0.000,6,0.000,0.028,2578,2086,3359
$GC,6460,-0.96,-175.2,447.4,-6.6,379,6465,0.00,2.40,0.00,0.000,4,0.000,0.044,2579,3478,3357
$STATE,6491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6491,begin apogee
$GC,6499,-0.31,0.0,450.1,7.8,379,6641,0.65,0.00,139.27,0.890,6,0.054,0.000,2727,2069,2664
$STATE,6642,end apogee,CONTROL_FINISHED_OK
$STATE,6642,begin climb
$GC,6644,0.96,175.2,459.8,0.0,383,6794,1.23,0.00,145.60,0.864,6,0.038,0.000,3011,2068,1949
$GC,7131,0.96,175.2,431.2,9.2,395,7135,0.00,2.47,0.00,0.000,4,0.000,0.044,3011,3478,1937
$GC,7174,0.96,175.2,427.0,10.0,396,7178,0.00,2.40,0.00,0.000,6,0.000,0.064,3011,2089,1937
$GC,7498,0.96,175.2,395.0,10.1,404,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2088,1935
$GC,7823,0.96,175.2,365.2,8.6,412,7827,0.00,2.47,0.00,0.000,4,0.000,0.054,3010,676,1933
$GC,7923,0.96,175.2,356.8,7.9,414,7927,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2073,1930
$GC,8236,0.96,175.2,331.9,8.3,422,8241,0.00,2.45,0.00,0.000,4,0.000,0.048,3011,3481,1930
$GC,8303,0.96,175.2,326.1,8.5,423,8307,0.00,2.40,0.00,0.000,6,0.000,0.029,3011,2078,1930
$GC,8645,0.96,175.2,299.0,8.0,432,8649,0.00,2.42,0.00,0.000,4,0.000,0.048,3010,676,1928
$GC,8716,0.96,175.2,292.9,8.3,435,8721,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2080,1926
$GC,9044,0.99,203.3,271.0,6.4,451,9073,0.00,2.55,21.65,0.767,4,0.000,0.076,3010,668,1833
$GC,9095,0.99,203.3,267.4,7.4,453,9100,0.00,2.40,0.00,0.000,6,0.000,0.028,3011,2075,1831
$GC,9417,0.99,203.3,244.0,8.0,469,9421,0.00,2.40,0.00,0.000,4,0.000,0.040,3011,3473,1829
$GC,9494,0.99,203.3,237.7,8.0,472,9501,0.00,2.38,0.00,0.000,6,0.000,0.028,3011,2076,1829
$GC,9809,0.99,203.3,213.6,7.3,488,9813,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,669,1827
$GC,9965,1.00,207.9,201.5,7.0,495,9974,0.00,2.35,4.25,0.509,6,0.000,0.025,3010,2092,1815
$GC,10299,1.05,245.1,178.4,6.1,525,10342,0.00,2.53,34.12,0.691,4,0.000,0.049,3010,680,1662
$GC,10391,1.05,245.1,172.1,7.2,533,10398,0.00,2.33,0.00,0.000,6,0.000,0.059,3010,2080,1658
$GC,10718,1.07,261.1,149.1,6.7,564,10740,0.00,2.42,14.38,0.627,4,0.000,0.038,3011,3465,1599
$GC,10835,1.07,261.1,140.3,7.4,574,10841,0.00,2.35,0.00,0.000,6,0.000,0.031,3011,2073,1598
$GC,11160,1.07,264.8,118.2,7.0,605,11171,0.00,2.38,4.75,0.457,4,0.000,0.039,3011,681,1583
$GC,11187,1.07,264.8,116.0,7.7,607,11194,0.00,2.33,0.00,0.000,6,0.000,0.021,3010,2083,1582
$GC,11516,1.12,301.8,94.1,6.1,638,11554,0.12,0.00,33.30,0.590,6,0.672,0.000,3049,2088,1433
$GC,11872,1.15,328.1,66.7,6.4,672,11904,0.00,2.47,23.23,0.556,4,0.000,0.037,3049,677,1325
$GC,11976,1.15,328.1,58.5,8.0,681,11983,0.00,2.30,0.00,0.000,6,0.000,0.019,3049,2080,1321
$GC,12304,1.15,328.1,32.3,7.3,712,12308,0.00,2.33,0.00,0.000,4,0.000,0.065,3049,3468,1321
$GC,12382,1.15,328.1,25.2,7.2,723,12389,0.00,2.25,0.00,0.000,6,0.000,0.055,3049,2071,1321
$GC,12502,1.15,328.1,16.0,9.2,744,12508,0.00,2.35,0.00,0.000,4,0.000,0.037,3049,677,1321
$GC,12533,1.15,328.1,13.2,9.2,749,12539,0.00,2.25,0.00,0.000,6,0.000,0.054,3049,2084,1320
$STATE,12633,end climb,SURFACE_DEPTH_REACHED
$STATE,12633,begin surface coast
$FINISH,0.6,1.023049
$STATE,12669,end surface coast,CONTROL_FINISHED_OK
$STATE,12669,begin surface
$SM_CCo,12749,0.00,0.000,0,0,1316,330.42
$SM_GC,1.44,11.27,0.00,0.00,0.041,0.000,0.000,430,2088,1316,-10.81,0.25,330.42
$IRIDIUM_FIX,2057.14,-15748.75,241097,000048
$TT8_MAMPS,0.029146
$HUMID,1893
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,753
$24V_AH,23.3,50.270
$10V_AH,10.2,28.979
$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,25.325,117.825,420.550,0.000,0.000,112.839,136.501,538.453,188.250,0.000,0.000,34.830,1344.118,9250.840,538.894,1718.807,1016.638,33.368,1392.938,0.000,1694.098,0.000,0.471
$DEVICE_MAMPS,671.892,75.933,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.974,513.484,878.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41081,773
$CAP_FILE_SIZE,114049,10
$CFSIZE,260165632,250429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300708,034129,2106.019,-15750.511,44,1.1,44,9.8