version: 66.03
glider: 139
mission: 3
dive: 153
start: 7 31 108 13 59 47
data:
$ID,139
$MISSION,3
$DIVE,153
$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,-1273729.4
$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,42
$R_STBD_OVSHOOT,61
$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
$GPS1,134307,2107.633,-15752.041,94,1.0,94,9.8
$_CALLS,3
$_XMS_NAKs,34
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,135857,2107.719,-15752.113,12,1.2,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.169
$KALMAN_X,-37059.4,-259.1,-345.5,38863.5,-1550.4
$KALMAN_Y,-31237.9,-531.8,-54.4,15246.1,1181.1
$MHEAD_RNG_PITCHd_Wd,121.9,13428,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-49.62,0.000,2,0.000,0.000,426,2094,2764
$GC,74,-0.96,-175.2,3.4,-4.3,9,104,11.98,2.28,-11.38,0.000,4,0.150,0.050,2575,3460,3381
$GC,138,-0.96,-175.2,17.5,-13.6,20,144,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2075,3382
$GC,264,-0.96,-175.2,31.3,-10.6,41,268,0.00,2.35,0.00,0.000,4,0.000,0.044,2575,683,3382
$GC,292,-0.96,-175.2,35.0,-12.2,43,296,0.00,2.25,0.00,0.000,6,0.000,0.047,2575,2083,3382
$GC,618,-0.96,-175.2,77.3,-13.7,73,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2087,3382
$GC,935,-0.96,-175.2,112.6,-10.0,103,939,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3469,3383
$GC,967,-0.96,-175.2,116.0,-10.3,105,974,0.00,2.30,0.00,0.000,6,0.000,0.020,2575,2075,3383
$GC,1295,-0.96,-175.2,146.1,-9.5,136,1299,0.00,2.35,0.00,0.000,4,0.000,0.071,2574,679,3384
$GC,1334,-0.96,-175.2,150.2,-9.6,139,1338,0.00,2.10,0.00,0.000,6,0.000,0.055,2575,2009,3384
$GC,1665,-0.96,-175.2,179.8,-8.3,170,1669,0.00,2.42,0.00,0.000,4,0.000,0.037,2575,3464,3384
$GC,1726,-0.96,-175.2,184.9,-7.9,175,1730,0.00,2.28,0.00,0.000,6,0.000,0.056,2574,2066,3384
$GC,2057,-0.96,-175.2,209.2,-7.3,200,2061,0.00,2.33,0.00,0.000,4,0.000,0.036,2575,680,3384
$GC,2095,-0.96,-175.2,212.3,-8.5,202,2099,0.00,2.25,0.00,0.000,6,0.000,0.036,2575,2080,3384
$GC,2421,-0.96,-175.2,237.9,-7.3,218,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2084,3384
$GC,2731,-0.96,-175.2,258.7,-6.2,233,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2085,3383
$GC,3040,-0.96,-175.2,278.9,-6.7,248,3045,0.00,2.38,0.00,0.000,4,0.000,0.038,2574,686,3382
$GC,3073,-0.96,-175.2,281.2,-7.2,249,3079,0.00,2.28,0.00,0.000,6,0.000,0.022,2575,2066,3382
$GC,3389,-0.96,-175.2,300.5,-5.7,265,3393,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,3468,3381
$GC,3421,-0.96,-175.2,302.4,-5.5,265,3428,0.00,2.28,0.00,0.000,6,0.000,0.024,2575,2085,3380
$GC,3752,-0.96,-175.2,319.9,-5.5,274,3756,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,676,3379
$GC,3779,-0.96,-175.2,321.6,-6.7,274,3784,0.00,2.33,0.00,0.000,6,0.000,0.058,2575,2072,3379
$GC,4116,-0.96,-175.2,338.8,-5.3,283,4120,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,3473,3376
$GC,4138,-0.96,-175.2,340.2,-6.2,283,4142,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2081,3376
$GC,4486,-0.96,-175.2,360.3,-5.5,292,4490,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,676,3374
$GC,4512,-0.96,-175.2,362.0,-6.1,292,4516,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2077,3375
$GC,4849,-0.96,-175.2,382.7,-6.0,301,4853,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3470,3372
$GC,4870,-0.96,-175.2,383.9,-5.6,301,4874,0.00,2.33,0.00,0.000,6,0.000,0.026,2575,2074,3372
$GC,5212,-0.96,-175.2,398.1,-4.0,310,5216,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,679,3370
$GC,5245,-0.96,-175.2,399.6,-4.3,310,5251,0.00,2.33,0.00,0.000,6,0.000,0.027,2575,2079,3370
$GC,5576,-0.96,-175.2,414.6,-4.9,319,5580,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3477,3368
$GC,5616,-0.96,-175.2,416.7,-5.7,320,5620,0.00,2.35,0.00,0.000,6,0.000,0.061,2575,2071,3368
$GC,5939,-0.96,-175.2,439.2,-7.4,328,5943,0.00,2.42,0.00,0.000,4,0.000,0.044,2575,3473,3366
$GC,5966,-0.96,-175.2,441.3,-7.6,328,5970,0.00,2.38,0.00,0.000,6,0.000,0.039,2575,2072,3366
$STATE,6098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6098,begin apogee
$GC,6103,-0.31,0.0,450.9,7.3,332,6246,0.68,0.00,140.75,0.890,6,0.048,0.000,2729,2070,2664
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6249,0.96,175.2,459.1,0.0,335,6406,1.20,2.55,145.07,0.863,4,0.040,0.051,3007,3470,1948
$GC,6612,0.96,175.2,435.9,10.3,343,6617,0.00,2.40,0.00,0.000,6,0.000,0.031,3007,2069,1942
$GC,6961,0.96,175.2,402.4,9.3,352,6965,0.00,2.47,0.00,0.000,4,0.000,0.044,3007,3477,1937
$GC,6999,0.96,175.2,398.6,9.7,353,7003,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2078,1937
$GC,7322,0.96,175.2,369.7,8.9,361,7327,0.00,2.45,0.00,0.000,4,0.000,0.057,3007,3477,1934
$GC,7372,0.96,175.2,365.2,9.5,362,7376,0.00,2.38,0.00,0.000,6,0.000,0.030,3007,2078,1934
$GC,7690,0.96,175.2,339.0,7.9,370,7694,0.00,2.45,0.00,0.000,4,0.000,0.048,3007,674,1932
$GC,7722,0.96,175.2,336.2,8.5,370,7729,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2076,1930
$GC,8054,0.96,175.2,310.9,7.9,379,8058,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,3481,1930
$GC,8120,0.96,175.2,305.3,8.6,380,8124,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2069,1930
$GC,8445,0.96,175.2,280.1,7.3,394,8449,0.00,2.42,0.00,0.000,4,0.000,0.045,3007,672,1928
$GC,8466,0.96,177.8,278.6,7.1,395,8470,0.00,2.38,0.00,0.000,6,0.000,0.032,3007,2076,1926
$GC,8793,1.01,214.0,257.6,6.2,411,8836,0.00,2.55,33.15,0.729,4,0.000,0.074,3006,673,1790
$GC,8869,1.01,214.0,251.7,8.6,414,8873,0.00,2.38,0.00,0.000,6,0.000,0.027,3007,2075,1786
$GC,9190,1.01,214.0,227.8,7.8,430,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2079,1784
$GC,9500,1.01,214.0,204.3,7.4,445,9504,0.00,2.38,0.00,0.000,4,0.000,0.037,3007,3475,1783
$GC,9543,1.03,228.8,201.6,6.7,447,9563,0.00,2.35,13.07,0.670,6,0.000,0.051,3007,2074,1731
$GC,9889,1.03,228.8,177.7,7.3,478,9893,0.00,2.40,0.00,0.000,4,0.000,0.041,3007,675,1727
$GC,9932,1.03,228.8,174.2,8.3,481,9939,0.00,2.35,0.00,0.000,6,0.000,0.023,3007,2088,1725
$GC,10258,1.03,228.8,150.6,8.0,512,10263,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3477,1725
$GC,10320,1.03,228.8,145.8,7.5,517,10324,0.00,2.33,0.00,0.000,6,0.000,0.056,3007,2076,1725
$GC,10644,1.13,315.7,127.3,4.8,547,10729,0.15,2.17,75.53,0.625,4,0.044,0.041,3059,845,1375
$GC,10847,1.13,315.7,108.4,11.0,565,10854,0.00,2.00,0.00,0.000,6,0.000,0.021,3060,2086,1368
$GC,11173,1.13,315.7,77.2,9.9,596,11177,0.00,2.33,0.00,0.000,4,0.000,0.035,3060,3465,1368
$GC,11193,1.13,315.7,74.9,9.1,597,11200,0.00,2.03,0.00,0.000,6,0.000,0.021,3060,2247,1368
$GC,11521,1.13,315.7,43.3,9.9,628,11525,0.00,2.38,0.00,0.000,4,0.000,0.068,3060,843,1368
$GC,11621,1.13,315.7,33.0,10.4,636,11628,0.00,2.03,0.00,0.000,6,0.000,0.025,3060,2085,1366
$STATE,11932,end climb,SURFACE_DEPTH_REACHED
$STATE,11932,begin surface coast
$FINISH,0.9,1.022878
$STATE,11961,end surface coast,CONTROL_FINISHED_OK
$STATE,11961,begin surface
$SM_CCo,11981,2.53,0.214,0,0,1358,320.12
$SM_GC,2.35,0.00,0.00,2.53,0.000,0.000,0.214,424,2086,1358,-10.91,0.20,320.12
$IRIDIUM_FIX,2101.76,-15753.03,251097,131338
$TT8_MAMPS,0.029146
$HUMID,1914
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,678
$24V_AH,23.3,51.790
$10V_AH,10.2,29.853
$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,25.325,130.875,407.575,2.525,0.000,90.284,144.302,468.228,169.500,0.000,0.000,14.212,1255.489,8683.476,493.864,1599.146,890.777,33.367,1313.123,0.000,1584.037,0.000,0.470
$DEVICE_MAMPS,150.332,74.399,889.720,213.993,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.090,443.808,750.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,693
$CAP_FILE_SIZE,108932,11
$CFSIZE,260165632,249888768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,310708,172102,2106.745,-15751.812,54,1.2,54,9.8