version: 66.03
glider: 139
mission: 3
dive: 67
start: 7 18 108 19 34 0
data:
$ID,139
$MISSION,3
$DIVE,67
$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,-1271694
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,192431,2108.640,-15753.435,112,1.0,112,9.8
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,2
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.7
$GPS2,193309,2108.596,-15753.521,13,2.0,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.238,0.091
$KALMAN_X,-10987.5,-740.5,-215.8,10710.0,1376.0
$KALMAN_Y,248.9,-157.2,-202.0,-14847.4,290.9
$MHEAD_RNG_PITCHd_Wd,281.2,2603,-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,-49.80,0.000,2,0.000,0.000,425,2072,2792
$GC,74,-0.96,-175.2,3.0,-5.8,9,104,12.25,2.35,-10.62,0.000,4,0.157,0.074,2576,3489,3380
$GC,334,-0.96,-175.2,40.4,-11.5,47,339,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2080,3383
$GC,660,-0.96,-175.2,82.0,-11.4,77,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3382
$GC,977,-0.96,-175.2,110.7,-8.7,107,981,0.00,2.35,0.00,0.000,4,0.000,0.030,2576,3489,3384
$GC,997,-0.96,-175.2,112.7,-8.8,108,1005,0.00,2.33,0.00,0.000,6,0.000,0.020,2576,2076,3384
$GC,1325,-0.96,-175.2,137.7,-7.3,139,1330,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,3481,3385
$GC,1354,-0.96,-175.2,140.0,-7.6,141,1358,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2069,3385
$GC,1680,-0.96,-175.2,162.0,-6.8,171,1684,0.00,2.38,0.00,0.000,4,0.000,0.065,2576,3485,3385
$GC,1708,-0.96,-175.2,164.1,-7.8,173,1712,0.00,2.30,0.00,0.000,6,0.000,0.021,2576,2074,3385
$GC,2034,-0.96,-175.2,186.0,-6.6,203,2038,0.00,2.35,0.00,0.000,4,0.000,0.071,2576,681,3385
$GC,2084,-0.96,-175.2,189.6,-7.4,207,2089,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2097,3385
$GC,2414,-0.96,-175.2,210.5,-6.0,230,2418,0.00,2.40,0.00,0.000,4,0.000,0.036,2576,681,3384
$GC,2447,-0.96,-175.2,212.5,-5.8,231,2453,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2077,3384
$GC,2763,-0.96,-175.2,232.8,-6.7,247,2767,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,3467,3384
$GC,2784,-0.96,-175.2,234.4,-7.2,248,2788,0.00,2.30,0.00,0.000,6,0.000,0.022,2576,2082,3383
$GC,3111,-0.96,-175.2,258.2,-7.3,264,3115,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,684,3383
$GC,3150,-0.96,-175.2,261.1,-7.3,266,3154,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2087,3383
$GC,3476,-0.96,-175.2,281.0,-5.9,282,3480,0.00,2.33,0.00,0.000,4,0.000,0.037,2576,3468,3381
$GC,3514,-0.96,-175.2,283.1,-5.7,283,3520,0.00,2.28,0.00,0.000,6,0.000,0.024,2576,2080,3381
$GC,3830,-0.96,-175.2,299.0,-6.0,299,3834,0.00,2.38,0.00,0.000,4,0.000,0.077,2576,685,3380
$GC,3864,-0.96,-175.2,301.1,-6.9,300,3871,0.00,2.28,0.00,0.000,6,0.000,0.031,2576,2075,3380
$GC,4195,-0.96,-175.2,323.0,-6.7,309,4199,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,684,3378
$GC,4222,-0.96,-175.2,324.9,-7.4,309,4226,0.00,2.33,0.00,0.000,6,0.000,0.060,2576,2080,3378
$GC,4565,-0.96,-175.2,347.5,-6.4,318,4569,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,686,3376
$GC,4592,-0.96,-175.2,349.1,-6.3,318,4596,0.00,2.30,0.00,0.000,6,0.000,0.054,2576,2080,3376
$GC,4929,-0.96,-175.2,367.2,-5.2,327,4933,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,3476,3374
$GC,4957,-0.96,-175.2,368.8,-6.0,327,4961,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2084,3374
$GC,5288,-0.96,-175.2,389.6,-6.5,335,5292,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,678,3372
$GC,5321,-0.96,-175.2,391.6,-6.4,335,5325,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2085,3372
$GC,5657,-0.96,-175.2,407.4,-4.5,344,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3370
$GC,5982,-0.96,-175.2,425.5,-6.2,352,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3369
$GC,6307,-0.96,-175.2,442.7,-5.2,360,6311,0.00,2.42,0.00,0.000,4,0.000,0.045,2576,676,3367
$GC,6329,-0.96,-175.2,443.8,-4.9,360,6333,0.00,2.33,0.00,0.000,6,0.000,0.029,2576,2076,3366
$STATE,6471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6471,begin apogee
$GC,6476,-0.31,0.0,452.7,6.2,364,6620,0.68,0.00,141.30,0.897,6,0.165,0.000,2733,2077,2664
$STATE,6621,end apogee,CONTROL_FINISHED_OK
$STATE,6621,begin climb
$GC,6623,0.96,175.2,459.9,0.0,367,6780,1.20,2.55,145.18,0.871,4,0.109,0.064,3008,3478,1948
$GC,6897,0.96,175.2,446.4,10.2,373,6901,0.00,2.42,0.00,0.000,6,0.000,0.064,3008,2084,1944
$GC,7245,0.96,175.2,416.6,8.2,382,7249,0.00,2.47,0.00,0.000,4,0.000,0.048,3008,673,1937
$GC,7285,0.96,175.2,413.3,9.0,383,7289,0.00,2.38,0.00,0.000,6,0.000,0.053,3008,2076,1934
$GC,7608,0.96,175.2,385.8,8.4,391,7612,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,3478,1934
$GC,7657,0.96,175.2,381.4,9.1,392,7661,0.00,2.40,0.00,0.000,6,0.000,0.031,3008,2083,1934
$GC,7975,0.96,175.2,352.7,9.0,400,7980,0.00,2.47,0.00,0.000,4,0.000,0.081,3008,669,1932
$GC,8019,0.96,175.2,348.6,9.6,401,8023,0.00,2.40,0.00,0.000,6,0.000,0.030,3008,2077,1930
$GC,8343,0.96,175.2,323.0,7.4,409,8347,0.00,2.45,0.00,0.000,4,0.000,0.047,3008,674,1930
$GC,8431,0.96,175.2,316.0,8.7,411,8435,0.00,2.38,0.00,0.000,6,0.000,0.061,3008,2087,1928
$GC,8757,0.96,175.2,289.7,8.3,422,8762,0.00,2.40,0.00,0.000,4,0.000,0.042,3008,3477,1928
$GC,8870,0.96,175.2,280.1,8.4,427,8874,0.00,2.35,0.00,0.000,6,0.000,0.028,3008,2074,1928
$GC,9190,1.03,234.6,259.2,5.5,443,9245,0.00,2.50,49.10,0.779,4,0.000,0.048,3008,684,1706
$GC,9353,1.03,234.6,247.9,7.8,450,9358,0.00,2.35,0.00,0.000,6,0.000,0.033,3008,2088,1698
$GC,9669,1.03,234.6,220.3,9.2,465,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2092,1697
$GC,9979,1.05,248.0,195.9,6.8,482,9995,0.00,2.50,11.32,0.670,4,0.000,0.054,3008,671,1651
$GC,10056,1.05,248.0,189.4,9.2,488,10063,0.00,2.38,0.00,0.000,6,0.000,0.059,3008,2080,1648
$GC,10382,1.05,248.0,162.1,7.9,519,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2084,1648
$GC,10700,1.05,248.0,137.1,7.4,549,10704,0.00,2.42,0.00,0.000,4,0.000,0.040,3008,671,1648
$GC,10732,1.05,248.0,134.4,8.4,551,10739,0.00,2.33,0.00,0.000,6,0.000,0.022,3008,2077,1646
$GC,11057,1.05,248.0,109.0,7.3,582,11061,0.00,2.35,0.00,0.000,4,0.000,0.034,3008,3474,1646
$GC,11167,1.05,248.0,100.7,8.7,591,11174,0.00,2.35,0.00,0.000,6,0.000,0.028,3008,2072,1646
$GC,11494,1.05,248.0,76.3,7.6,622,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2071,1646
$GC,11811,1.08,273.4,52.5,6.4,652,11845,0.10,2.45,22.90,0.558,4,0.056,0.071,3044,683,1547
$GC,11868,1.08,273.4,48.2,8.5,657,11872,0.00,2.30,0.00,0.000,6,0.000,0.058,3044,2096,1545
$GC,12194,1.09,281.8,26.5,6.9,691,12206,0.00,0.00,8.35,0.481,6,0.000,0.000,3045,2101,1514
$GC,12319,1.16,340.1,17.6,5.6,713,12376,0.00,2.53,50.62,0.532,4,0.000,0.075,3044,681,1276
$GC,12432,1.16,340.1,6.9,9.3,733,12439,0.00,2.25,0.00,0.000,6,0.000,0.054,3045,2084,1272
$STATE,12482,end climb,SURFACE_DEPTH_REACHED
$STATE,12482,begin surface coast
$FINISH,-0.0,1.000783
$STATE,12525,end surface coast,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$SM_CCo,12604,0.00,0.000,0,0,1267,342.68
$SM_GC,0.81,11.38,0.00,0.00,0.034,0.000,0.000,430,2086,1267,-10.82,0.20,342.68
$IRIDIUM_FIX,2059.45,-15753.90,121097,161626
$TT8_MAMPS,0.029146
$HUMID,1846
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.20
$XPDR_PINGS,724
$24V_AH,23.4,39.347
$10V_AH,10.2,22.846
$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,25.600,127.750,428.775,0.000,0.000,31.160,27.413,337.346,181.000,0.000,0.000,15.040,1334.684,9003.722,495.894,1694.308,582.029,33.368,1351.495,0.000,1683.094,0.000,0.470
$DEVICE_MAMPS,164.905,81.302,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.749,494.010,840.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,749
$CAP_FILE_SIZE,109696,7
$CFSIZE,260165632,254287872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180708,230526,2109.141,-15754.575,47,1.3,47,9.8