version: 66.03
glider: 139
mission: 3
dive: 151
start: 7 31 108 6 27 40
data:
$ID,139
$MISSION,3
$DIVE,151
$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,-1273657.4
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,060332,2108.856,-15753.100,67,1.0,67,9.8
$_CALLS,5
$_XMS_NAKs,63
$_XMS_TOUTs,3
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.5
$GPS2,062650,2109.012,-15752.928,10,1.5,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,-0.199
$KALMAN_X,-34848.0,614.6,-44.2,34062.8,-896.7
$KALMAN_Y,-33590.6,161.6,-70.8,19308.0,1177.8
$MHEAD_RNG_PITCHd_Wd,131.6,16160,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-54.50,0.000,2,0.000,0.000,421,2085,2799
$GC,80,-0.96,-175.2,3.3,-3.8,10,110,12.00,2.38,-10.57,0.000,4,0.150,0.048,2576,679,3381
$GC,172,-0.96,-175.2,23.4,-14.6,26,179,0.00,2.22,0.00,0.000,6,0.000,0.018,2576,2073,3381
$GC,293,-0.96,-175.2,39.4,-12.7,41,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2077,3382
$GC,611,-0.96,-175.2,79.2,-11.3,71,615,0.00,2.33,0.00,0.000,4,0.000,0.030,2576,3479,3382
$GC,634,-0.96,-175.2,82.0,-12.9,73,638,0.00,2.30,0.00,0.000,6,0.000,0.020,2576,2069,3382
$GC,961,-0.96,-175.2,117.7,-10.0,103,965,0.00,2.33,0.00,0.000,4,0.000,0.070,2576,682,3382
$GC,981,-0.96,-175.2,120.2,-10.2,104,988,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2090,3382
$GC,1308,-0.96,-175.2,151.7,-10.0,135,1312,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,683,3382
$GC,1339,-0.96,-175.2,155.2,-10.3,137,1346,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2074,3383
$GC,1666,-0.96,-175.2,178.3,-5.9,168,1669,0.00,1.83,0.00,0.000,4,0.000,0.052,2576,3205,3383
$GC,1733,-0.96,-175.2,182.6,-6.5,174,1737,0.00,1.83,0.00,0.000,6,0.000,0.020,2576,2073,3383
$GC,2071,-0.96,-175.2,206.4,-7.3,202,2075,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,687,3383
$GC,2115,-0.96,-175.2,210.1,-8.5,204,2119,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2080,3383
$GC,2442,-0.96,-175.2,234.7,-7.2,220,2446,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,3469,3382
$GC,2468,-0.96,-175.2,236.7,-7.6,221,2473,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2075,3381
$GC,2791,-0.96,-175.2,256.9,-5.9,237,2795,0.00,2.35,0.00,0.000,4,0.000,0.072,2576,687,3381
$GC,2830,-0.96,-175.2,259.5,-6.4,239,2835,0.00,2.25,0.00,0.000,6,0.000,0.057,2576,2077,3381
$GC,3157,-0.96,-175.2,279.9,-6.4,255,3161,0.00,2.33,0.00,0.000,4,0.000,0.036,2576,3464,3380
$GC,3203,-0.96,-175.2,282.8,-6.6,257,3208,0.00,2.28,0.00,0.000,6,0.000,0.023,2576,2079,3379
$GC,3550,-0.96,-175.2,303.0,-5.9,273,3554,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,680,3378
$GC,3578,-0.96,-175.2,304.8,-6.7,273,3582,0.00,2.28,0.00,0.000,6,0.000,0.024,2576,2075,3378
$GC,3909,-0.96,-175.2,325.4,-6.2,281,3913,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,3467,3375
$GC,3935,-0.96,-175.2,327.3,-7.3,281,3940,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2080,3376
$GC,4278,-0.96,-175.2,347.2,-5.5,290,4282,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,675,3373
$GC,4305,-0.96,-175.2,348.8,-5.7,290,4309,0.00,2.33,0.00,0.000,6,0.000,0.026,2576,2084,3373
$GC,4642,-0.96,-175.2,365.6,-4.9,299,4646,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,682,3370
$GC,4663,-0.96,-175.2,366.7,-5.2,299,4667,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2078,3370
$GC,5005,-0.96,-175.2,383.2,-5.0,308,5010,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3474,3368
$GC,5045,-0.96,-175.2,385.5,-6.0,309,5049,0.00,2.33,0.00,0.000,6,0.000,0.035,2576,2082,3367
$GC,5368,-0.96,-175.2,407.0,-6.8,317,5372,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3474,3366
$GC,5379,-0.96,-175.2,407.9,-7.0,317,5383,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2075,3365
$GC,5726,-0.96,-175.2,431.6,-6.5,326,5730,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,676,3363
$GC,5775,-0.96,-175.2,434.7,-6.0,327,5780,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2076,3363
$STATE,6045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6045,begin apogee
$GC,6050,-0.31,0.0,450.9,6.1,334,6193,0.68,0.00,139.93,0.887,6,0.163,0.000,2734,2080,2664
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6194,begin climb
$GC,6196,0.96,175.2,458.4,0.0,337,6349,1.23,2.47,145.60,0.861,4,0.110,0.075,3012,3473,1948
$GC,6393,0.96,175.2,453.9,8.8,342,6397,0.00,2.40,0.00,0.000,6,0.000,0.029,3012,2088,1945
$GC,6735,0.96,175.2,424.5,8.7,351,6739,0.00,2.45,0.00,0.000,4,0.000,0.044,3012,3480,1937
$GC,6756,0.96,175.2,422.7,8.7,351,6760,0.00,2.40,0.00,0.000,6,0.000,0.063,3012,2074,1937
$GC,7098,0.96,175.2,394.7,8.1,360,7102,0.00,2.45,0.00,0.000,4,0.000,0.043,3012,3477,1934
$GC,7130,0.96,175.2,392.0,8.5,360,7135,0.00,2.38,0.00,0.000,6,0.000,0.054,3012,2078,1935
$GC,7461,0.96,175.2,366.4,7.8,369,7465,0.00,2.47,0.00,0.000,4,0.000,0.063,3012,667,1932
$GC,7526,0.96,175.2,360.4,9.4,370,7531,0.00,2.38,0.00,0.000,6,0.000,0.028,3012,2084,1930
$GC,7869,0.96,175.2,333.6,7.6,379,7873,0.00,2.42,0.00,0.000,4,0.000,0.077,3012,3478,1930
$GC,7923,0.96,175.2,329.2,7.6,380,7928,0.00,2.40,0.00,0.000,6,0.000,0.030,3012,2078,1930
$GC,8237,0.98,194.0,307.7,6.6,388,8256,0.00,2.47,13.88,0.769,4,0.000,0.049,3012,3470,1873
$GC,8329,0.98,194.0,300.8,7.8,390,8333,0.00,2.40,0.00,0.000,6,0.000,0.036,3012,2061,1873
$GC,8658,0.98,194.0,275.4,7.3,405,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2060,1869
$GC,8967,0.98,194.0,249.9,8.9,420,8971,0.00,2.45,0.00,0.000,4,0.000,0.041,3012,3478,1868
$GC,9034,0.98,194.0,243.8,8.8,423,9038,0.00,2.35,0.00,0.000,6,0.000,0.028,3012,2077,1868
$GC,9355,1.00,205.5,218.5,6.8,439,9367,0.00,0.00,10.80,0.683,6,0.000,0.000,3012,2075,1826
$GC,9664,1.00,207.2,197.1,7.1,455,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2074,1823
$GC,9983,1.00,208.4,171.6,7.1,485,9993,0.00,0.00,3.92,0.452,6,0.000,0.000,3012,2075,1814
$GC,10312,1.06,258.5,152.3,5.8,516,10365,0.00,2.47,44.88,0.663,4,0.000,0.067,3012,3475,1609
$GC,10411,1.06,258.5,145.6,8.0,525,10415,0.00,2.35,0.00,0.000,6,0.000,0.024,3012,2069,1608
$GC,10735,1.09,278.0,123.6,6.6,555,10758,0.00,2.47,17.42,0.605,4,0.000,0.072,3012,679,1529
$GC,10785,1.09,278.0,119.7,8.1,559,10792,0.00,2.35,0.00,0.000,6,0.000,0.057,3012,2087,1526
$GC,11112,1.09,278.0,93.7,7.9,590,11116,0.00,2.42,0.00,0.000,4,0.000,0.045,3012,677,1526
$GC,11174,1.09,284.3,89.1,7.0,595,11186,0.00,2.30,6.30,0.495,6,0.000,0.021,3012,2094,1504
$GC,11503,1.09,284.3,65.8,7.6,626,11507,0.00,2.30,0.00,0.000,4,0.000,0.032,3012,3465,1504
$GC,11529,1.09,284.3,63.5,8.6,628,11536,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2081,1504
$GC,11856,1.10,285.9,42.9,7.1,659,11860,0.00,2.33,0.00,0.000,4,0.000,0.065,3012,3464,1503
$GC,11883,1.10,285.9,40.6,7.9,661,11888,0.00,2.28,0.00,0.000,6,0.000,0.037,3012,2074,1504
$GC,12218,1.11,297.2,16.2,6.8,707,12237,0.10,2.42,12.98,0.492,4,0.052,0.068,3054,686,1451
$GC,12271,1.11,297.2,11.1,9.8,716,12278,0.00,2.28,0.00,0.000,6,0.000,0.055,3054,2076,1448
$STATE,12377,end climb,SURFACE_DEPTH_REACHED
$STATE,12377,begin surface coast
$FINISH,0.8,1.022914
$STATE,12419,end surface coast,CONTROL_FINISHED_OK
$STATE,12419,begin surface
$SM_CCo,12439,19.70,0.504,0,0,1359,320.12
$SM_GC,1.04,0.00,0.00,19.70,0.000,0.000,0.504,430,2080,1359,-10.88,0.03,320.12
$IRIDIUM_FIX,2101.76,-15750.89,251097,060649
$TT8_MAMPS,0.029146
$HUMID,1895
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.40
$XPDR_PINGS,712
$24V_AH,23.3,51.477
$10V_AH,10.2,29.680
$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,25.225,135.600,395.700,19.700,0.000,141.976,227.711,648.426,178.000,0.000,0.000,15.287,1329.940,9153.116,515.510,1623.603,1222.500,33.365,1331.023,0.000,1609.449,0.000,0.471
$DEVICE_MAMPS,163.371,76.700,886.652,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.130,482.892,820.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37937,742
$CAP_FILE_SIZE,120316,13
$CFSIZE,260165632,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310708,095731,2108.216,-15752.139,95,1.1,95,9.8