version: 66.03
glider: 139
mission: 3
dive: 65
start: 7 18 108 12 19 53
data:
$ID,139
$MISSION,3
$DIVE,65
$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,-1271661.4
$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,43
$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
$GPS1,121032,2106.431,-15751.094,52,1.5,52,9.8
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,2
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-67.5
$GPS2,121903,2106.438,-15751.225,13,1.3,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034,0.252
$KALMAN_X,-11209.2,39.2,480.1,13422.1,-1594.1
$KALMAN_Y,1095.6,-104.0,319.7,-20265.8,-1223.9
$MHEAD_RNG_PITCHd_Wd,342.6,8229,-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,16,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,-59.55,0.000,2,0.000,0.000,426,2090,2885
$GC,84,-0.96,-175.2,3.5,-7.0,11,114,12.32,2.35,-8.30,0.000,4,0.160,0.062,2578,3461,3382
$GC,210,-0.96,-175.2,29.4,-11.4,33,216,0.00,2.25,0.00,0.000,6,0.000,0.055,2578,2075,3383
$GC,328,-0.96,-175.2,43.7,-13.2,45,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2074,3384
$GC,647,-0.96,-175.2,75.5,-8.9,75,651,0.00,2.30,0.00,0.000,4,0.000,0.030,2578,3459,3385
$GC,684,-0.96,-175.2,79.0,-8.5,78,691,0.00,2.28,0.00,0.000,6,0.000,0.020,2578,2076,3385
$GC,1010,-0.96,-175.2,108.2,-8.6,109,1014,0.00,2.30,0.00,0.000,4,0.000,0.030,2578,3458,3385
$GC,1077,-0.96,-175.2,114.4,-9.2,115,1082,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2073,3385
$GC,1403,-0.96,-175.2,142.4,-8.2,145,1407,0.00,2.35,0.00,0.000,4,0.000,0.068,2578,680,3386
$GC,1443,-0.96,-175.2,145.7,-8.0,148,1447,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2083,3386
$GC,1768,-0.96,-175.2,169.0,-6.5,178,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3386
$GC,2086,-0.96,-175.2,193.7,-6.5,208,2090,0.00,2.38,0.00,0.000,4,0.000,0.036,2578,680,3386
$GC,2118,-0.96,-175.2,196.0,-6.7,210,2125,0.00,2.22,0.00,0.000,6,0.000,0.020,2578,2077,3386
$GC,2436,-0.96,-175.2,215.4,-6.0,229,2440,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3464,3386
$GC,2458,-0.96,-175.2,216.9,-6.6,230,2462,0.00,2.28,0.00,0.000,6,0.000,0.021,2578,2073,3385
$GC,2784,-0.96,-175.2,238.1,-6.0,246,2788,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,684,3385
$GC,2817,-0.96,-175.2,240.3,-6.4,247,2823,0.00,2.28,0.00,0.000,6,0.000,0.056,2578,2083,3385
$GC,3133,-0.96,-175.2,260.8,-6.5,263,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3384
$GC,3442,-0.96,-175.2,278.0,-5.2,278,3446,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,687,3382
$GC,3491,-0.96,-175.2,280.6,-5.4,280,3495,0.00,2.30,0.00,0.000,6,0.000,0.023,2578,2075,3383
$GC,3812,-0.96,-175.2,299.4,-6.4,296,3816,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3477,3381
$GC,3850,-0.96,-175.2,302.1,-7.4,298,3855,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2083,3381
$GC,4174,-0.96,-175.2,325.7,-7.0,306,4178,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,676,3380
$GC,4223,-0.96,-175.2,329.1,-7.0,307,4227,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2077,3380
$GC,4542,-0.96,-175.2,348.2,-5.9,315,4546,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3470,3378
$GC,4581,-0.96,-175.2,350.7,-6.5,316,4585,0.00,2.33,0.00,0.000,6,0.000,0.060,2578,2073,3377
$GC,4905,-0.96,-175.2,371.9,-6.9,324,4909,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3471,3376
$GC,4922,-0.96,-175.2,373.1,-6.8,324,4926,0.00,2.33,0.00,0.000,6,0.000,0.025,2578,2065,3375
$GC,5263,-0.96,-175.2,399.9,-8.0,333,5267,0.00,2.35,0.00,0.000,4,0.000,0.042,2578,683,3374
$GC,5323,-0.96,-175.2,404.9,-8.2,334,5327,0.00,2.30,0.00,0.000,6,0.000,0.027,2578,2074,3374
$GC,5671,-0.96,-175.2,431.0,-7.2,343,5675,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3473,3371
$GC,5725,-0.96,-175.2,434.6,-6.3,344,5729,0.00,2.33,0.00,0.000,6,0.000,0.062,2578,2074,3371
$STATE,5996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5996,begin apogee
$GC,6000,-0.31,0.0,450.9,6.0,351,6145,0.68,0.00,141.80,0.888,6,0.048,0.000,2732,2073,2664
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6148,0.96,175.2,458.4,0.0,354,6302,1.17,2.47,144.93,0.864,4,0.038,0.077,3006,681,1947
$GC,6464,0.96,175.2,441.8,10.2,361,6468,0.00,2.38,0.00,0.000,6,0.000,0.037,3005,2083,1937
$GC,6812,0.96,175.2,413.9,7.3,370,6816,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,3475,1935
$GC,6838,0.96,175.2,411.9,7.2,370,6842,0.00,2.38,0.00,0.000,6,0.000,0.030,3006,2092,1935
$GC,7175,0.97,180.3,388.7,7.0,379,7179,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,3478,1933
$GC,7224,0.97,180.3,384.7,8.2,380,7228,0.00,2.40,0.00,0.000,6,0.000,0.030,3006,2082,1933
$GC,7542,0.97,180.3,358.1,8.1,388,7546,0.00,2.45,0.00,0.000,4,0.000,0.048,3006,674,1931
$GC,7569,0.97,180.3,355.9,8.7,388,7573,0.00,2.38,0.00,0.000,6,0.000,0.061,3006,2087,1930
$GC,7906,0.97,180.3,330.1,8.0,397,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2091,1930
$GC,8230,0.97,180.3,304.3,7.4,405,8235,0.00,2.40,0.00,0.000,4,0.000,0.055,3006,3478,1928
$GC,8280,0.97,180.3,300.3,7.5,406,8284,0.00,2.40,0.00,0.000,6,0.000,0.029,3006,2073,1928
$GC,8605,0.97,180.3,274.4,8.1,421,8609,0.00,2.42,0.00,0.000,4,0.000,0.050,3006,673,1927
$GC,8625,0.97,180.3,272.3,9.5,422,8630,0.00,2.38,0.00,0.000,6,0.000,0.028,3006,2081,1926
$GC,8952,0.97,180.3,245.4,7.4,438,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2085,1926
$GC,9262,0.97,180.4,224.0,7.1,453,9266,0.00,2.38,0.00,0.000,4,0.000,0.040,3006,3475,1926
$GC,9368,0.97,180.4,215.5,7.4,458,9372,0.00,2.35,0.00,0.000,6,0.000,0.039,3007,2074,1926
$GC,9686,1.02,223.8,195.2,6.0,477,9730,0.00,2.50,38.72,0.713,4,0.000,0.074,3006,3484,1751
$GC,9808,1.02,223.8,186.5,7.9,488,9812,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2079,1749
$GC,10140,1.05,245.1,163.7,6.6,519,10165,0.00,2.47,19.25,0.661,4,0.000,0.055,3006,683,1663
$GC,10299,1.05,245.1,152.2,8.1,533,10306,0.00,2.33,0.00,0.000,6,0.000,0.058,3006,2079,1657
$GC,10624,1.05,245.1,129.4,7.7,564,10628,0.00,2.40,0.00,0.000,4,0.000,0.039,3006,678,1657
$GC,10712,1.05,245.1,121.8,9.1,571,10719,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2074,1655
$GC,11040,1.09,281.8,99.4,6.1,602,11082,0.03,0.00,33.78,0.581,6,0.170,0.000,2999,2078,1515
$GC,11396,1.11,299.2,74.5,6.7,636,11417,0.17,0.00,16.20,0.560,6,0.041,0.000,3053,2078,1443
$GC,11734,1.11,299.2,45.5,8.7,668,11738,0.00,2.35,0.00,0.000,4,0.000,0.032,3053,3478,1441
$GC,11824,1.31,456.4,40.1,2.9,676,11961,0.10,2.30,129.52,0.550,6,0.053,0.021,3091,2071,802
$STATE,12164,end climb,SURFACE_DEPTH_REACHED
$STATE,12164,begin surface coast
$FINISH,0.0,1.018535
$STATE,12189,end surface coast,CONTROL_FINISHED_OK
$STATE,12189,begin surface
$SM_CCo,12268,0.00,0.000,0,0,793,458.96
$SM_GC,0.79,11.52,0.00,0.00,0.030,0.000,0.000,426,2067,793,-10.81,-0.34,458.96
$IRIDIUM_FIX,2059.45,-15748.75,121097,080822
$TT8_MAMPS,0.028379
$HUMID,1840
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.10
$XPDR_PINGS,708
$24V_AH,23.4,39.071
$10V_AH,10.2,22.680
$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,26.000,117.625,524.200,0.000,0.000,25.556,34.894,326.818,177.000,0.000,0.000,15.735,1282.513,8668.015,564.333,1670.992,579.003,33.365,1424.606,0.000,1662.763,0.000,0.470
$DEVICE_MAMPS,170.274,76.700,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.637,485.725,809.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37999,729
$CAP_FILE_SIZE,106617,11
$CFSIZE,260165632,254390272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180708,154537,2107.616,-15752.180,35,1.6,41,9.8