version: 66.03
glider: 139
mission: 3
dive: 154
start: 7 31 108 17 28 25
data:
$ID,139
$MISSION,3
$DIVE,154
$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,-1273742.9
$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,205
$R_STBD_OVSHOOT,62
$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
$GPS1,172102,2106.745,-15751.812,54,1.2,54,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.5
$GPS2,172733,2106.768,-15751.803,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.232
$KALMAN_X,-38296.5,-637.8,-586.2,41257.9,114.7
$KALMAN_Y,-30684.7,-498.9,-266.3,13111.2,1528.5
$MHEAD_RNG_PITCHd_Wd,146.2,11780,-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,20,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.38,0.000,2,0.000,0.000,423,2085,2769
$GC,74,-0.96,-175.2,3.7,-5.5,9,103,12.15,0.00,-10.77,0.000,6,0.155,0.000,2575,2086,3380
$GC,221,-0.96,-175.2,32.1,-16.2,34,224,0.00,2.10,0.00,0.000,4,0.000,0.036,2574,841,3382
$GC,236,-0.96,-175.2,35.0,-16.4,35,243,0.00,2.00,0.00,0.000,6,0.000,0.025,2575,2069,3381
$GC,561,-0.96,-175.2,75.1,-12.1,66,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2073,3382
$GC,880,-0.96,-175.2,109.9,-9.9,96,884,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3461,3383
$GC,914,-0.96,-175.2,113.0,-8.6,99,917,0.00,1.98,0.00,0.000,6,0.000,0.019,2574,2232,3383
$GC,1245,-0.96,-175.2,142.7,-9.2,130,1249,0.00,2.33,0.00,0.000,4,0.000,0.070,2575,843,3384
$GC,1340,-0.96,-175.2,151.2,-8.8,138,1344,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2085,3384
$GC,1671,-0.96,-175.2,180.8,-9.1,169,1675,0.00,2.30,0.00,0.000,4,0.000,0.046,2575,3460,3385
$GC,1698,-0.96,-175.2,183.2,-8.4,171,1704,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2236,3385
$GC,2020,-0.96,-175.2,209.2,-8.7,197,2024,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,844,3385
$GC,2104,-0.96,-175.2,216.0,-8.0,201,2107,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2076,3385
$GC,2436,-0.96,-175.2,242.7,-8.3,217,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3385
$GC,2745,-0.96,-175.2,262.1,-5.9,232,2748,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,844,3385
$GC,2800,-0.96,-175.2,265.7,-6.1,234,2804,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2084,3385
$GC,3121,-0.96,-175.2,285.2,-6.2,250,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2086,3384
$GC,3450,-0.96,-175.2,305.7,-6.0,264,3453,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,846,3383
$GC,3482,-0.96,-175.2,307.7,-6.5,264,3486,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2070,3383
$GC,3819,-0.96,-175.2,326.5,-5.8,273,3823,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,3467,3381
$GC,3840,-0.96,-175.2,328.1,-7.2,273,3844,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2241,3381
$GC,4182,-0.96,-175.2,352.8,-7.3,282,4186,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,844,3379
$GC,4253,-0.96,-175.2,359.3,-9.2,283,4257,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2076,3379
$GC,4590,-0.96,-175.2,383.3,-6.6,292,4594,0.00,2.10,0.00,0.000,4,0.000,0.041,2575,844,3377
$GC,4617,-0.96,-175.2,385.1,-6.3,292,4621,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2069,3377
$GC,4960,-0.96,-175.2,403.1,-5.0,301,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2073,3375
$GC,5285,-0.96,-175.2,419.5,-5.2,309,5289,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3467,3373
$GC,5306,-0.96,-175.2,420.8,-5.6,309,5310,0.00,2.03,0.00,0.000,6,0.000,0.027,2575,2247,3373
$GC,5648,-0.96,-175.2,440.2,-5.6,318,5653,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,844,3371
$GC,5715,-0.96,-175.2,444.4,-6.1,319,5719,0.00,2.08,0.00,0.000,6,0.000,0.028,2575,2070,3370
$STATE,5811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5811,begin apogee
$GC,5816,-0.31,0.0,450.6,6.4,322,5961,0.70,0.00,141.93,0.887,6,0.159,0.000,2734,2072,2664
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5964,0.96,175.2,459.2,0.0,325,6118,1.23,2.22,145.93,0.861,4,0.104,0.081,3013,849,1947
$GC,6145,0.96,175.2,459.4,7.9,330,6150,0.00,2.12,0.00,0.000,6,0.000,0.067,3013,2082,1942
$GC,6464,0.96,175.2,433.9,8.1,338,6468,0.00,2.17,0.00,0.000,4,0.000,0.044,3013,842,1937
$GC,6513,0.96,175.2,429.9,7.7,339,6517,0.00,2.12,0.00,0.000,6,0.000,0.029,3013,2083,1935
$GC,6831,0.98,193.2,408.3,6.7,347,6850,0.00,0.00,14.43,0.803,6,0.000,0.000,3013,2086,1876
$GC,7159,0.98,193.2,378.7,9.2,355,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2087,1871
$GC,7483,0.98,193.2,349.0,9.2,363,7487,0.00,2.15,0.00,0.000,4,0.000,0.044,3013,844,1869
$GC,7544,0.98,193.2,342.9,9.7,364,7548,0.00,2.10,0.00,0.000,6,0.000,0.029,3013,2080,1867
$GC,7892,0.98,193.2,314.2,8.1,373,7896,0.00,1.62,0.00,0.000,4,0.000,0.071,3013,3057,1867
$GC,7952,0.98,193.2,309.5,8.1,374,7957,0.00,1.38,0.00,0.000,6,0.000,0.087,3013,2244,1867
$GC,8268,0.98,193.2,285.1,8.0,386,8272,0.00,2.40,0.00,0.000,4,0.000,0.041,3013,849,1866
$GC,8311,0.98,193.2,281.5,8.4,388,8315,0.00,2.08,0.00,0.000,6,0.000,0.028,3013,2078,1864
$GC,8638,0.99,196.2,258.2,7.1,404,8642,0.00,2.40,0.00,0.000,4,0.000,0.040,3013,3480,1864
$GC,8694,0.99,196.2,253.5,8.2,406,8700,0.00,2.05,0.00,0.000,6,0.000,0.026,3013,2240,1864
$GC,9009,1.06,254.8,231.4,5.5,422,9072,0.00,2.22,53.15,0.736,4,0.000,0.073,3013,3475,1624
$GC,9123,1.06,254.8,223.5,8.2,427,9126,0.00,2.05,0.00,0.000,6,0.000,0.065,3013,2249,1623
$GC,9439,1.06,254.8,197.5,8.9,443,9443,0.00,2.40,0.00,0.000,4,0.000,0.040,3013,845,1618
$GC,9471,1.06,254.8,194.4,9.5,445,9477,0.00,2.08,0.00,0.000,6,0.000,0.058,3013,2085,1615
$GC,9797,1.06,254.8,165.3,8.5,476,9801,0.00,2.35,0.00,0.000,4,0.000,0.035,3013,3470,1615
$GC,9858,1.06,254.8,159.6,9.6,481,9862,0.00,2.03,0.00,0.000,6,0.000,0.023,3013,2244,1615
$GC,10190,1.08,275.2,134.7,6.6,512,10213,0.00,2.47,17.58,0.614,4,0.000,0.036,3013,837,1541
$GC,10308,1.08,275.2,125.2,8.5,522,10314,0.00,2.05,0.00,0.000,6,0.000,0.045,3013,2077,1537
$GC,10632,1.08,275.2,97.7,7.8,553,10636,0.00,2.10,0.00,0.000,4,0.000,0.037,3013,845,1537
$GC,10672,1.08,275.2,94.6,8.5,556,10678,0.00,1.98,0.00,0.000,6,0.000,0.021,3013,2082,1536
$GC,10998,1.14,324.4,74.1,5.8,587,11051,0.12,2.40,43.22,0.575,4,0.047,0.031,3058,3463,1341
$GC,11063,1.14,324.4,68.5,8.9,593,11067,0.00,2.00,0.00,0.000,6,0.000,0.021,3058,2239,1341
$GC,11396,1.14,324.4,42.7,7.8,624,11400,0.00,2.35,0.00,0.000,4,0.000,0.069,3058,845,1337
$GC,11450,1.14,324.4,37.2,10.3,628,11457,0.00,2.03,0.00,0.000,6,0.000,0.019,3058,2089,1335
$GC,11790,1.14,324.4,6.6,7.9,682,11796,0.00,2.08,0.00,0.000,4,0.000,0.044,3058,843,1335
$STATE,11828,end climb,SURFACE_DEPTH_REACHED
$STATE,11828,begin surface coast
$FINISH,1.8,1.022899
$STATE,11835,end surface coast,CONTROL_FINISHED_OK
$STATE,11835,begin surface
$SM_CCo,11917,0.00,0.000,0,0,1331,326.98
$SM_GC,1.29,11.30,0.00,0.00,0.027,0.000,0.000,433,2093,1331,-10.80,0.40,326.98
$IRIDIUM_FIX,2059.45,-15750.89,251097,141402
$TT8_MAMPS,0.029146
$HUMID,1881
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,664
$24V_AH,23.3,51.920
$10V_AH,10.2,29.928
$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,25.500,110.800,416.225,0.000,0.000,23.343,26.752,218.303,166.000,0.000,0.000,12.887,1239.125,8551.808,502.269,1547.008,456.053,33.362,1280.258,0.000,1543.073,0.000,0.470
$DEVICE_MAMPS,158.769,87.438,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.281,443.063,762.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,690
$CAP_FILE_SIZE,98586,9
$CFSIZE,260165632,249843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310708,204808,2105.586,-15751.180,31,1.0,31,9.8