version: 66.03
glider: 139
mission: 3
dive: 144
start: 7 30 108 7 31 24
data:
$ID,139
$MISSION,3
$DIVE,144
$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,-1273546.8
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,071738,2107.178,-15751.700,58,1.2,58,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.8
$GPS2,073032,2107.197,-15751.765,10,1.1,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.138,0.214
$KALMAN_X,-27444.0,360.6,345.6,28536.7,-999.5
$KALMAN_Y,-41364.1,212.7,27.2,23573.4,-318.0
$MHEAD_RNG_PITCHd_Wd,317.4,6591,-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,-175.2,0.0,0.0,0,87,0.00,0.00,-65.55,0.000,2,0.000,0.000,422,2080,2743
$GC,90,-0.96,-175.2,3.3,-4.7,12,120,12.15,2.42,-12.00,0.000,4,0.155,0.061,2575,3488,3381
$GC,251,-0.96,-175.2,29.4,-11.1,40,257,0.00,2.30,0.00,0.000,6,0.000,0.022,2574,2079,3382
$GC,363,-0.96,-175.2,44.5,-14.3,51,367,0.00,2.38,0.00,0.000,4,0.000,0.036,2574,671,3382
$GC,391,-0.96,-175.2,48.0,-12.3,53,395,0.00,2.30,0.00,0.000,6,0.000,0.054,2575,2101,3383
$GC,716,-0.96,-175.2,80.9,-9.1,83,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2105,3383
$GC,1034,-0.96,-175.2,114.2,-10.1,113,1038,0.00,2.40,0.00,0.000,4,0.000,0.035,2574,678,3383
$GC,1062,-0.96,-175.2,117.0,-9.6,115,1066,0.00,2.25,0.00,0.000,6,0.000,0.018,2575,2077,3384
$GC,1389,-0.96,-175.2,147.6,-8.4,145,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3384
$GC,1706,-0.96,-175.2,169.6,-5.9,175,1710,0.00,2.38,0.00,0.000,4,0.000,0.071,2574,677,3384
$GC,1783,-0.96,-175.2,174.4,-6.3,181,1790,0.00,2.25,0.00,0.000,6,0.000,0.019,2575,2080,3384
$GC,2108,-0.96,-175.2,197.6,-7.7,212,2113,0.00,2.30,0.00,0.000,4,0.000,0.070,2574,690,3384
$GC,2136,-0.96,-175.2,199.8,-7.8,214,2140,0.00,2.25,0.00,0.000,6,0.000,0.056,2575,2083,3384
$GC,2451,-0.96,-175.2,223.4,-7.7,229,2455,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,3473,3383
$GC,2495,-0.96,-175.2,226.8,-7.4,231,2499,0.00,2.33,0.00,0.000,6,0.000,0.057,2574,2071,3382
$GC,2822,-0.96,-175.2,250.3,-7.4,247,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2071,3382
$GC,3131,-0.96,-175.2,269.5,-6.1,262,3135,0.00,2.35,0.00,0.000,4,0.000,0.039,2574,683,3381
$GC,3181,-0.96,-175.2,272.7,-6.5,264,3185,0.00,2.30,0.00,0.000,6,0.000,0.029,2574,2078,3381
$GC,3502,-0.96,-175.2,292.5,-5.7,280,3506,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3469,3380
$GC,3530,-0.96,-175.2,294.2,-6.0,281,3534,0.00,2.28,0.00,0.000,6,0.000,0.024,2574,2083,3380
$GC,3842,-0.96,-175.2,312.7,-6.0,291,3846,0.00,2.38,0.00,0.000,4,0.000,0.040,2574,683,3378
$GC,3891,-0.96,-175.2,316.0,-6.3,292,3895,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2083,3378
$GC,4210,-0.96,-175.2,334.6,-5.7,300,4214,0.00,2.35,0.00,0.000,4,0.000,0.039,2575,3471,3376
$GC,4242,-0.96,-175.2,336.4,-5.5,300,4248,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2082,3376
$GC,4573,-0.96,-175.2,358.0,-7.1,309,4577,0.00,2.40,0.00,0.000,4,0.000,0.040,2574,673,3374
$GC,4617,-0.96,-175.2,361.5,-7.6,310,4621,0.00,2.33,0.00,0.000,6,0.000,0.025,2575,2086,3374
$GC,4936,-0.96,-175.2,384.2,-7.0,318,4940,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,3476,3372
$GC,4990,-0.96,-175.2,388.1,-6.7,319,4994,0.00,2.33,0.00,0.000,6,0.000,0.026,2575,2078,3371
$GC,5303,-0.96,-175.2,410.6,-7.2,327,5308,0.00,2.40,0.00,0.000,4,0.000,0.042,2574,676,3370
$GC,5347,-0.96,-175.2,413.7,-6.9,328,5351,0.00,2.33,0.00,0.000,6,0.000,0.026,2574,2082,3369
$GC,5672,-0.96,-175.2,435.1,-6.4,336,5676,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3477,3367
$GC,5705,-0.96,-175.2,437.2,-6.1,336,5711,0.00,2.35,0.00,0.000,6,0.000,0.027,2575,2069,3367
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5916,-0.31,0.0,450.7,6.7,342,6060,0.68,0.00,141.02,0.887,6,0.165,0.000,2726,2067,2664
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6063,0.96,175.2,458.7,0.0,345,6217,1.23,2.47,144.75,0.864,4,0.037,0.077,3012,680,1948
$GC,6284,0.96,175.2,451.9,9.9,350,6288,0.00,2.35,0.00,0.000,6,0.000,0.028,3012,2073,1939
$GC,6597,0.96,175.2,423.9,8.8,358,6601,0.00,2.45,0.00,0.000,4,0.000,0.044,3012,3478,1937
$GC,6668,0.96,175.2,417.6,8.7,359,6673,0.00,2.38,0.00,0.000,6,0.000,0.063,3012,2087,1936
$GC,7005,0.96,175.2,392.0,7.4,368,7009,0.00,2.47,0.00,0.000,4,0.000,0.048,3012,673,1933
$GC,7053,0.96,175.2,387.8,8.0,369,7058,0.00,2.38,0.00,0.000,6,0.000,0.028,3012,2072,1931
$GC,7372,0.96,175.2,361.2,8.3,377,7376,0.00,2.45,0.00,0.000,4,0.000,0.045,3012,674,1930
$GC,7415,0.96,175.2,357.6,8.3,378,7419,0.00,2.38,0.00,0.000,6,0.000,0.052,3012,2085,1929
$GC,7739,0.96,175.2,332.1,7.9,386,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2089,1929
$GC,8064,0.96,175.2,306.4,8.0,394,8068,0.00,2.47,0.00,0.000,4,0.000,0.045,3012,667,1927
$GC,8113,0.96,175.2,302.2,8.2,395,8117,0.00,2.35,0.00,0.000,6,0.000,0.028,3012,2081,1926
$GC,8436,1.00,210.0,281.7,6.2,410,8465,0.00,0.00,27.67,0.786,6,0.000,0.000,3012,2084,1807
$GC,8765,1.00,210.0,256.3,8.3,426,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2084,1801
$GC,9075,1.00,210.0,228.6,9.0,441,9079,0.00,2.38,0.00,0.000,4,0.000,0.039,3012,3474,1800
$GC,9141,1.00,210.0,222.9,8.4,444,9145,0.00,2.38,0.00,0.000,6,0.000,0.026,3011,2074,1800
$GC,9468,1.08,272.8,202.3,5.4,460,9530,0.00,2.50,54.47,0.713,4,0.000,0.068,3012,3477,1550
$GC,9546,1.08,272.8,197.1,7.5,465,9552,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,2075,1549
$GC,9871,1.08,272.8,172.5,7.6,496,9876,0.00,2.40,0.00,0.000,4,0.000,0.076,3012,679,1543
$GC,10005,1.08,272.8,161.8,7.6,507,10012,0.00,2.33,0.00,0.000,6,0.000,0.023,3012,2090,1540
$GC,10331,1.08,272.8,135.8,8.2,538,10335,0.00,2.33,0.00,0.000,4,0.000,0.052,3012,3471,1540
$GC,10381,1.08,272.8,131.6,7.8,542,10388,0.00,2.35,0.00,0.000,6,0.000,0.023,3012,2070,1539
$GC,10708,1.08,272.8,108.7,7.3,573,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2069,1540
$GC,11024,1.08,272.8,86.0,8.6,603,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2069,1539
$GC,11342,1.08,272.8,60.3,8.3,633,11346,0.00,2.35,0.00,0.000,4,0.000,0.031,3012,3472,1540
$GC,11420,1.08,272.8,54.3,8.0,640,11424,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2064,1540
$GC,11751,1.16,338.9,32.6,5.3,671,11811,0.15,0.00,55.55,0.539,6,0.041,0.000,3069,2064,1281
$GC,11923,1.16,338.9,16.8,8.7,699,11930,0.00,2.38,0.00,0.000,4,0.000,0.038,3069,665,1277
$GC,11953,1.16,338.9,13.9,9.7,704,11960,0.00,2.30,0.00,0.000,6,0.000,0.058,3069,2090,1275
$GC,12072,1.16,338.9,3.3,9.5,725,12079,0.00,2.33,0.00,0.000,4,0.000,0.037,3069,3462,1275
$STATE,12083,end climb,SURFACE_DEPTH_REACHED
$STATE,12083,begin surface coast
$FINISH,1.6,1.022886
$STATE,12090,end surface coast,CONTROL_FINISHED_OK
$STATE,12090,begin surface
$SM_CCo,12172,0.00,0.000,0,0,1271,341.70
$SM_GC,1.44,11.38,0.00,0.00,0.028,0.000,0.000,426,2069,1271,-10.82,-0.28,341.70
$IRIDIUM_FIX,2059.45,-15753.90,241097,070720
$TT8_MAMPS,0.028379
$HUMID,1876
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.30
$XPDR_PINGS,707
$24V_AH,23.3,50.569
$10V_AH,10.2,29.142
$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,25.575,122.525,423.475,0.000,0.000,82.427,100.301,338.348,176.750,0.000,0.000,17.133,1290.739,8781.041,508.392,1633.324,721.456,33.367,1333.553,0.000,1622.038,0.000,0.470
$DEVICE_MAMPS,164.905,76.700,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.577,481.190,815.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37953,728
$CAP_FILE_SIZE,107969,8
$CFSIZE,260165632,250327040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300708,105533,2108.494,-15753.099,40,1.9,42,9.8