version: 66.03
glider: 139
mission: 3
dive: 157
start: 8 1 108 3 56 56
data:
$ID,139
$MISSION,3
$DIVE,157
$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,-1273852.5
$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,65
$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
$GPS1,034115,2103.893,-15751.301,29,1.9,29,9.8
$_CALLS,2
$_XMS_NAKs,51
$_XMS_TOUTs,3
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.5
$GPS2,035607,2103.986,-15751.362,33,1.1,50,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.088
$KALMAN_X,-44151.4,65.0,-998.2,47590.3,-837.1
$KALMAN_Y,-30159.0,221.3,-57.4,6502.1,218.0
$MHEAD_RNG_PITCHd_Wd,100.4,8244,-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,20,-0.96,-175.2,0.0,0.0,0,83,0.00,0.00,-60.50,0.000,2,0.000,0.000,424,2107,2877
$GC,86,-0.96,-175.2,3.7,-4.9,11,115,12.07,2.28,-8.82,0.000,4,0.152,0.041,2578,3451,3382
$GC,133,-0.96,-175.2,18.1,-28.1,19,139,0.00,1.95,0.00,0.000,6,0.000,0.021,2578,2240,3383
$GC,258,-0.96,-175.2,32.7,-11.6,39,262,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,840,3383
$GC,297,-0.96,-175.2,37.9,-12.4,42,301,0.00,1.98,0.00,0.000,6,0.000,0.060,2578,2078,3383
$GC,627,-0.96,-175.2,76.7,-10.8,73,631,0.00,2.30,0.00,0.000,4,0.000,0.029,2578,3470,3383
$GC,672,-0.96,-175.2,81.2,-9.2,77,676,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2227,3383
$GC,1002,-0.96,-175.2,114.2,-10.5,108,1006,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,834,3384
$GC,1080,-0.96,-175.2,122.5,-10.3,114,1086,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2086,3384
$GC,1406,-0.96,-175.2,152.3,-9.0,145,1409,0.00,2.10,0.00,0.000,4,0.000,0.072,2578,838,3385
$GC,1439,-0.96,-175.2,155.4,-8.6,148,1443,0.00,2.00,0.00,0.000,6,0.000,0.059,2578,2088,3384
$GC,1771,-0.96,-175.2,180.0,-6.9,179,1775,0.00,2.10,0.00,0.000,4,0.000,0.057,2578,841,3385
$GC,1820,-0.96,-175.2,183.7,-7.1,183,1826,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2077,3385
$GC,2155,-0.96,-175.2,205.9,-6.6,211,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3385
$GC,2463,-0.96,-175.2,227.5,-6.6,226,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3384
$GC,2772,-0.96,-175.2,246.2,-5.7,241,2776,0.00,2.08,0.00,0.000,4,0.000,0.036,2578,841,3384
$GC,2829,-0.96,-175.2,249.5,-6.4,243,2833,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2072,3384
$GC,3150,-0.96,-175.2,268.6,-6.2,259,3154,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,3470,3382
$GC,3189,-0.96,-175.2,271.3,-7.0,261,3193,0.00,2.03,0.00,0.000,6,0.000,0.058,2578,2232,3382
$GC,3522,-0.96,-175.2,289.2,-4.4,277,3526,0.00,2.35,0.00,0.000,4,0.000,0.072,2578,845,3380
$GC,3593,-0.96,-175.2,292.0,-3.8,280,3597,0.00,2.05,0.00,0.000,6,0.000,0.040,2578,2097,3380
$GC,3912,-0.96,-175.2,307.8,-5.6,293,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2101,3379
$GC,4237,-0.96,-175.2,326.5,-5.4,301,4241,0.00,2.12,0.00,0.000,4,0.000,0.039,2577,847,3376
$GC,4298,-0.96,-175.2,329.9,-5.4,302,4302,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2081,3376
$GC,4611,-0.96,-175.2,348.1,-6.0,310,4615,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3474,3374
$GC,4632,-0.96,-175.2,349.6,-6.6,310,4636,0.00,2.03,0.00,0.000,6,0.000,0.065,2578,2245,3374
$GC,4975,-0.96,-175.2,370.9,-6.1,319,4979,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,848,3372
$GC,5030,-0.96,-175.2,374.4,-6.4,320,5034,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2087,3372
$GC,5343,-0.96,-175.2,394.7,-6.5,328,5347,0.00,2.38,0.00,0.000,4,0.000,0.042,2578,3473,3370
$GC,5382,-0.96,-175.2,397.1,-5.7,329,5386,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2236,3369
$GC,5711,-0.96,-175.2,418.2,-6.7,337,5716,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,843,3367
$GC,5822,-0.96,-175.2,426.3,-7.3,339,5827,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2068,3367
$STATE,6122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6122,begin apogee
$GC,6127,-0.31,0.0,450.6,8.5,347,6271,0.68,0.00,141.05,0.885,6,0.164,0.000,2731,2070,2664
$STATE,6272,end apogee,CONTROL_FINISHED_OK
$STATE,6272,begin climb
$GC,6274,0.96,175.2,460.3,0.0,350,6427,0.12,2.17,144.90,0.861,4,0.655,0.059,2773,844,1948
$GC,6680,1.00,205.3,446.6,6.3,359,6720,1.08,2.08,27.67,0.785,6,0.046,0.035,3016,2084,1826
$GC,7027,1.00,205.3,411.6,10.1,368,7030,0.00,2.15,0.00,0.000,4,0.000,0.044,3016,849,1820
$GC,7076,1.00,205.3,406.4,10.9,369,7080,0.00,2.10,0.00,0.000,6,0.000,0.041,3016,2074,1817
$GC,7400,1.00,205.3,377.1,8.8,377,7404,0.00,2.12,0.00,0.000,4,0.000,0.044,3016,845,1817
$GC,7433,1.00,205.3,374.0,9.6,377,7437,0.00,2.10,0.00,0.000,6,0.000,0.029,3016,2080,1815
$GC,7770,1.00,205.3,342.3,9.5,386,7774,0.00,2.42,0.00,0.000,4,0.000,0.042,3016,3478,1815
$GC,7858,1.00,205.3,333.4,10.1,388,7862,0.00,2.10,0.00,0.000,6,0.000,0.035,3017,2252,1814
$GC,8182,1.00,205.3,304.6,8.9,396,8186,0.00,2.45,0.00,0.000,4,0.000,0.076,3016,841,1814
$GC,8249,1.00,205.3,298.1,10.1,397,8252,0.00,2.10,0.00,0.000,6,0.000,0.028,3016,2079,1811
$GC,8575,1.00,205.3,269.6,8.4,413,8579,0.00,2.40,0.00,0.000,4,0.000,0.041,3016,3481,1811
$GC,8703,1.00,205.3,258.7,8.3,418,8710,0.00,2.10,0.00,0.000,6,0.000,0.027,3016,2246,1811
$GC,9019,1.00,207.0,235.3,7.1,434,9023,0.00,2.40,0.00,0.000,4,0.000,0.041,3016,847,1811
$GC,9135,1.02,219.8,227.1,6.8,439,9151,0.00,2.08,10.98,0.686,6,0.000,0.026,3016,2080,1768
$GC,9472,1.02,219.8,202.6,8.1,456,9475,0.00,2.12,0.00,0.000,4,0.000,0.040,3016,843,1766
$GC,9521,1.02,219.8,198.1,9.0,458,9528,0.00,2.08,0.00,0.000,6,0.000,0.032,3016,2077,1764
$GC,9848,1.06,254.0,174.4,6.2,489,9881,0.00,0.00,31.30,0.679,6,0.000,0.000,3016,2081,1627
$GC,10194,1.06,254.0,149.2,8.5,522,10198,0.00,2.12,0.00,0.000,4,0.000,0.038,3016,838,1623
$GC,10234,1.06,254.0,145.7,8.9,525,10240,0.00,2.03,0.00,0.000,6,0.000,0.022,3016,2088,1621
$GC,10560,1.12,302.8,122.5,5.8,556,10617,0.10,2.38,44.78,0.601,4,0.055,0.065,3052,3462,1429
$GC,10646,1.12,302.8,115.2,9.6,564,10650,0.00,2.00,0.00,0.000,6,0.000,0.063,3052,2244,1428
$GC,10977,1.12,302.8,83.0,10.1,595,10982,0.00,2.38,0.00,0.000,4,0.000,0.054,3052,841,1425
$GC,11017,1.12,302.8,78.7,10.9,598,11021,0.00,2.03,0.00,0.000,6,0.000,0.021,3052,2091,1423
$GC,11348,1.12,302.8,49.6,7.8,629,11353,0.00,2.30,0.00,0.000,4,0.000,0.038,3052,3464,1423
$GC,11433,1.12,302.8,42.9,8.5,636,11436,0.00,2.00,0.00,0.000,6,0.000,0.020,3052,2237,1422
$GC,11765,1.12,302.8,16.9,9.4,680,11771,0.00,2.33,0.00,0.000,4,0.000,0.033,3053,839,1423
$GC,11895,1.12,302.8,5.1,9.1,703,11902,0.00,1.98,0.00,0.000,6,0.000,0.018,3052,2088,1422
$STATE,11916,end climb,SURFACE_DEPTH_REACHED
$STATE,11916,begin surface coast
$FINISH,0.7,1.022971
$STATE,11951,end surface coast,CONTROL_FINISHED_OK
$STATE,11952,begin surface
$SM_CCo,11971,14.45,0.491,0,0,1358,320.12
$SM_GC,1.69,0.00,0.00,14.45,0.000,0.000,0.491,422,2090,1358,-10.92,0.34,320.12
$IRIDIUM_FIX,2057.14,-15748.75,261097,030359
$TT8_MAMPS,0.029146
$HUMID,1908
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,722
$24V_AH,21.6,52.369
$10V_AH,10.2,30.177
$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,25.275,116.500,400.675,14.450,0.000,63.530,65.038,535.658,180.500,0.000,0.000,52.270,1298.378,8458.466,493.054,1750.188,865.538,33.362,1349.419,0.000,1701.321,0.000,0.471
$DEVICE_MAMPS,655.018,75.933,885.118,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.839,470.481,787.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37993,713
$CAP_FILE_SIZE,112767,12
$CFSIZE,260165632,249683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,010808,071907,2103.310,-15750.744,107,1.0,107,9.8