version: 66.03
glider: 139
mission: 3
dive: 60
start: 7 17 108 17 54 29
data:
$ID,139
$MISSION,3
$DIVE,60
$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,-1271535.1
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,173601,2103.008,-15748.255,36,1.4,36,9.8
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-69.8
$GPS2,175339,2103.001,-15748.414,13,1.4,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.189
$KALMAN_X,-10449.5,-490.2,-449.6,18970.9,188.7
$KALMAN_Y,3274.0,-476.6,-386.7,-27730.6,1200.7
$MHEAD_RNG_PITCHd_Wd,128.3,2846,-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,-175.2,0.0,0.0,0,81,0.00,0.00,-59.53,0.000,2,0.000,0.000,429,2084,3098
$GC,83,-0.96,-175.2,4.2,-7.8,11,108,12.07,2.38,-4.45,0.000,4,0.153,0.049,2574,683,3383
$GC,224,-0.96,-175.2,38.7,-13.9,30,231,0.00,2.28,0.00,0.000,6,0.000,0.018,2574,2080,3385
$GC,550,-0.96,-175.2,76.5,-11.3,61,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2083,3386
$GC,868,-0.96,-175.2,109.4,-9.3,91,872,0.00,2.38,0.00,0.000,4,0.000,0.035,2574,675,3386
$GC,941,-0.96,-175.2,116.4,-9.2,97,945,0.00,2.25,0.00,0.000,6,0.000,0.054,2574,2085,3387
$GC,1272,-0.96,-175.2,144.7,-9.1,128,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2088,3387
$GC,1589,-0.96,-175.2,170.7,-6.8,158,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2088,3387
$GC,1907,-0.96,-175.2,193.5,-7.3,188,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2088,3387
$GC,2230,-0.96,-175.2,214.1,-5.8,208,2234,0.00,2.30,0.00,0.000,4,0.000,0.035,2574,3459,3386
$GC,2251,-0.96,-175.2,215.3,-5.7,209,2255,0.00,2.28,0.00,0.000,6,0.000,0.022,2574,2069,3386
$GC,2572,-0.96,-175.2,237.8,-7.8,225,2576,0.00,2.35,0.00,0.000,4,0.000,0.038,2574,679,3385
$GC,2612,-0.96,-175.2,240.9,-7.8,227,2616,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2083,3386
$GC,2938,-0.96,-175.2,263.3,-7.2,243,2942,0.00,2.38,0.00,0.000,4,0.000,0.038,2574,683,3384
$GC,2964,-0.96,-175.2,265.5,-7.5,244,2968,0.00,2.30,0.00,0.000,6,0.000,0.022,2574,2082,3384
$GC,3286,-0.96,-175.2,286.7,-6.5,260,3290,0.00,2.35,0.00,0.000,4,0.000,0.037,2574,3473,3383
$GC,3312,-0.96,-175.2,288.6,-7.3,261,3317,0.00,2.28,0.00,0.000,6,0.000,0.054,2574,2081,3383
$GC,3652,-0.96,-175.2,310.5,-6.2,274,3656,0.00,2.38,0.00,0.000,4,0.000,0.040,2574,683,3381
$GC,3691,-0.96,-175.2,312.8,-5.4,275,3695,0.00,2.28,0.00,0.000,6,0.000,0.025,2574,2075,3381
$GC,4014,-0.96,-175.2,332.6,-6.5,283,4018,0.00,2.38,0.00,0.000,4,0.000,0.039,2574,3472,3379
$GC,4035,-0.96,-175.2,334.0,-6.5,283,4039,0.00,2.30,0.00,0.000,6,0.000,0.025,2574,2080,3379
$GC,4377,-0.96,-175.2,353.2,-5.2,292,4381,0.00,2.40,0.00,0.000,4,0.000,0.043,2574,678,3377
$GC,4410,-0.96,-175.2,355.0,-6.2,292,4416,0.00,2.30,0.00,0.000,6,0.000,0.036,2574,2077,3377
$GC,4741,-0.96,-175.2,373.0,-5.5,301,4745,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,3473,3375
$GC,4762,-0.96,-175.2,374.3,-5.4,301,4766,0.00,2.33,0.00,0.000,6,0.000,0.027,2574,2075,3375
$GC,5110,-0.96,-175.2,395.5,-6.5,310,5114,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,676,3373
$GC,5142,-0.96,-175.2,397.6,-6.4,310,5149,0.00,2.33,0.00,0.000,6,0.000,0.055,2574,2077,3373
$GC,5474,-0.96,-175.2,415.9,-5.5,319,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2080,3371
$GC,5798,-0.96,-175.2,434.3,-5.7,327,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3369
$STATE,6080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6080,begin apogee
$GC,6085,-0.31,0.0,450.2,5.5,334,6229,0.70,0.00,141.38,0.897,6,0.059,0.000,2728,2080,2664
$STATE,6230,end apogee,CONTROL_FINISHED_OK
$STATE,6230,begin climb
$GC,6232,0.96,175.2,455.9,0.0,337,6383,1.20,0.00,145.93,0.871,6,0.038,0.000,3007,2080,1949
$GC,6678,0.96,175.2,431.8,8.3,348,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2080,1938
$GC,7003,0.96,175.2,405.4,7.9,356,7007,0.00,2.45,0.00,0.000,4,0.000,0.047,3007,683,1935
$GC,7030,0.96,175.2,402.9,9.2,356,7034,0.00,2.35,0.00,0.000,6,0.000,0.031,3007,2075,1933
$GC,7367,0.96,175.2,374.0,8.4,365,7371,0.00,2.45,0.00,0.000,4,0.000,0.047,3007,679,1932
$GC,7415,0.96,175.2,370.0,8.3,366,7420,0.00,2.38,0.00,0.000,6,0.000,0.030,3007,2075,1931
$GC,7734,0.96,175.2,347.0,7.2,374,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2080,1931
$GC,8059,0.97,182.5,323.7,6.9,382,8068,0.00,2.45,4.18,0.568,4,0.000,0.044,3007,3481,1919
$GC,8198,0.97,186.2,314.3,7.0,385,8208,0.00,2.35,5.07,0.622,6,0.000,0.029,3007,2083,1904
$GC,8517,0.97,186.2,293.5,7.6,395,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2083,1902
$GC,8826,0.97,186.2,268.7,8.2,410,8830,0.00,2.40,0.00,0.000,4,0.000,0.041,3007,3477,1901
$GC,8920,0.97,186.2,261.2,7.5,414,8924,0.00,2.38,0.00,0.000,6,0.000,0.054,3007,2083,1901
$GC,9241,0.97,186.2,239.4,7.3,430,9245,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,677,1900
$GC,9312,0.97,186.2,233.4,8.5,433,9316,0.00,2.35,0.00,0.000,6,0.000,0.026,3007,2080,1898
$GC,9634,1.04,242.6,212.6,5.6,449,9696,0.00,2.42,51.60,0.713,4,0.000,0.043,3007,3471,1674
$GC,9741,1.04,242.6,205.7,7.4,454,9745,0.00,2.35,0.00,0.000,6,0.000,0.026,3007,2076,1673
$GC,10071,1.04,242.6,179.9,9.1,481,10075,0.00,2.40,0.00,0.000,4,0.000,0.056,3007,680,1667
$GC,10159,1.04,242.6,171.0,10.7,488,10166,0.00,2.35,0.00,0.000,6,0.000,0.024,3007,2084,1665
$GC,10485,1.04,242.6,140.8,7.9,519,10489,0.00,2.35,0.00,0.000,4,0.000,0.064,3007,3471,1664
$GC,10535,1.04,242.6,137.2,7.2,523,10540,0.00,2.33,0.00,0.000,6,0.000,0.058,3007,2073,1665
$GC,10860,1.05,247.7,117.0,7.0,553,10872,0.00,2.42,4.12,0.439,4,0.000,0.039,3007,683,1653
$GC,10899,1.05,247.7,114.0,8.1,556,10906,0.00,2.33,0.00,0.000,6,0.000,0.055,3007,2083,1652
$GC,11225,1.11,299.5,94.4,5.7,587,11279,0.12,2.42,46.17,0.609,4,0.051,0.058,3046,681,1441
$GC,11359,1.11,299.5,82.0,11.5,599,11363,0.00,1.88,0.00,0.000,6,0.000,0.042,3046,1873,1437
$GC,11690,1.11,299.5,51.4,8.2,630,11694,0.00,2.67,0.00,0.000,4,0.000,0.035,3046,3467,1436
$GC,11767,1.11,299.5,44.6,9.0,636,11774,0.00,2.30,0.00,0.000,6,0.000,0.021,3047,2084,1436
$GC,12099,1.11,299.5,19.2,7.7,680,12106,0.00,2.35,0.00,0.000,4,0.000,0.071,3046,683,1435
$GC,12185,1.11,299.5,11.8,8.7,695,12191,0.00,2.00,0.00,0.000,6,0.000,0.058,3046,1974,1434
$STATE,12296,end climb,SURFACE_DEPTH_REACHED
$STATE,12296,begin surface coast
$FINISH,-0.0,1.023069
$STATE,12344,end surface coast,CONTROL_FINISHED_OK
$STATE,12344,begin surface
$SM_CCo,12364,17.05,0.505,0,0,1358,320.12
$SM_GC,0.49,0.00,0.00,17.05,0.000,0.000,0.505,423,2101,1358,-10.91,0.62,320.12
$IRIDIUM_FIX,2054.83,-15749.62,111097,171756
$TT8_MAMPS,0.029146
$HUMID,1861
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,671
$24V_AH,23.4,38.348
$10V_AH,10.2,22.256
$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,25.400,107.900,398.450,17.050,0.000,108.159,209.395,429.152,167.750,0.000,0.000,15.681,1272.271,9140.584,510.711,1575.787,929.316,33.371,1285.426,0.000,1564.644,0.000,0.470
$DEVICE_MAMPS,153.400,70.564,897.390,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.392,469.724,797.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37972,723
$CAP_FILE_SIZE,106602,13
$CFSIZE,260165632,254668800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170708,212225,2102.289,-15746.835,57,1.7,57,9.8