version: 66.03
glider: 139
mission: 3
dive: 72
start: 7 19 108 13 43 59
data:
$ID,139
$MISSION,3
$DIVE,72
$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,-1271856.9
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,133637,2105.471,-15751.130,31,1.1,48,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.9
$GPS2,134309,2105.469,-15751.236,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.036
$KALMAN_X,-15564.4,-458.6,341.2,18395.4,-1979.1
$KALMAN_Y,-579.0,88.1,91.2,-20353.1,-497.3
$MHEAD_RNG_PITCHd_Wd,88.2,9452,-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,21,-0.96,-175.2,0.0,0.0,0,83,0.00,0.00,-59.80,0.000,2,0.000,0.000,428,2085,2949
$GC,85,-0.96,-175.2,3.4,-5.3,11,109,12.20,0.00,-7.22,0.000,6,0.158,0.000,2577,2086,3381
$GC,226,-0.96,-175.2,33.6,-13.7,34,230,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,683,3383
$GC,247,-0.96,-175.2,36.9,-14.9,35,254,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2078,3383
$GC,572,-0.96,-175.2,72.5,-9.8,66,576,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,682,3384
$GC,599,-0.96,-175.2,75.0,-8.9,68,606,0.00,2.28,0.00,0.000,6,0.000,0.054,2577,2080,3384
$GC,924,-0.96,-175.2,103.7,-9.4,99,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2083,3385
$GC,1243,-0.96,-175.2,133.5,-9.2,129,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2083,3386
$GC,1562,-0.96,-175.2,157.9,-6.5,159,1566,0.00,2.33,0.00,0.000,4,0.000,0.066,2577,3462,3387
$GC,1583,-0.96,-175.2,159.4,-6.5,160,1590,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2079,3387
$GC,1909,-0.96,-175.2,183.2,-7.6,191,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3387
$GC,2234,-0.96,-175.2,208.7,-8.2,217,2238,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,686,3386
$GC,2294,-0.96,-175.2,213.8,-8.5,219,2301,0.00,2.28,0.00,0.000,6,0.000,0.055,2577,2073,3386
$GC,2610,-0.96,-175.2,236.3,-7.5,235,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3386
$GC,2919,-0.96,-175.2,257.4,-6.2,250,2923,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,687,3385
$GC,2968,-0.96,-175.2,260.5,-6.5,252,2972,0.00,2.12,0.00,0.000,6,0.000,0.050,2577,2021,3385
$GC,3289,-0.96,-175.2,280.7,-7.1,268,3293,0.00,2.45,0.00,0.000,4,0.000,0.037,2577,3473,3384
$GC,3309,-0.96,-175.2,282.4,-7.8,269,3314,0.00,2.30,0.00,0.000,6,0.000,0.024,2577,2087,3384
$GC,3635,-0.96,-175.2,305.2,-6.4,283,3640,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,686,3382
$GC,3675,-0.96,-175.2,307.5,-6.3,284,3679,0.00,2.28,0.00,0.000,6,0.000,0.024,2577,2080,3382
$GC,4004,-0.96,-175.2,326.4,-5.7,292,4008,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3476,3381
$GC,4037,-0.96,-175.2,328.4,-5.9,292,4043,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2081,3381
$GC,4368,-0.96,-175.2,346.7,-5.7,301,4372,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,684,3379
$GC,4418,-0.96,-175.2,349.7,-6.0,302,4422,0.00,2.28,0.00,0.000,6,0.000,0.060,2577,2082,3379
$GC,4736,-0.96,-175.2,367.9,-5.6,310,4740,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3474,3377
$GC,4763,-0.96,-175.2,369.5,-5.8,310,4768,0.00,2.33,0.00,0.000,6,0.000,0.031,2577,2075,3377
$GC,5101,-0.96,-175.2,389.6,-6.0,319,5105,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,3470,3375
$GC,5116,-0.96,-175.2,390.6,-6.0,319,5120,0.00,2.33,0.00,0.000,6,0.000,0.027,2577,2070,3375
$GC,5464,-0.96,-175.2,413.4,-6.8,328,5468,0.00,2.38,0.00,0.000,4,0.000,0.043,2577,682,3373
$GC,5519,-0.96,-175.2,417.4,-7.2,329,5523,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2076,3373
$GC,5832,-0.96,-175.2,440.8,-7.7,337,5836,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3470,3371
$GC,5864,-0.96,-175.2,443.4,-8.0,337,5871,0.00,2.35,0.00,0.000,6,0.000,0.027,2577,2078,3371
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,5995,-0.31,0.0,452.3,7.1,341,6141,0.68,0.00,142.30,0.894,6,0.048,0.000,2732,2076,2664
$STATE,6141,end apogee,CONTROL_FINISHED_OK
$STATE,6141,begin climb
$GC,6143,0.96,175.2,459.6,0.0,344,6300,1.17,2.55,145.40,0.868,4,0.037,0.074,3007,3472,1948
$GC,6532,0.96,175.2,435.9,8.8,353,6536,0.00,2.38,0.00,0.000,6,0.000,0.065,3006,2083,1942
$GC,6854,0.96,175.2,407.6,8.6,361,6858,0.00,2.47,0.00,0.000,4,0.000,0.048,3006,670,1936
$GC,6926,0.96,175.2,400.7,10.3,362,6930,0.00,2.40,0.00,0.000,6,0.000,0.030,3007,2092,1933
$GC,7268,0.96,175.2,367.6,9.8,371,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2095,1933
$GC,7593,0.96,175.2,339.0,8.3,379,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2095,1931
$GC,7918,0.96,175.2,315.1,7.5,387,7922,0.00,2.47,0.00,0.000,4,0.000,0.056,3006,674,1930
$GC,7967,0.96,175.2,310.6,9.1,388,7971,0.00,2.38,0.00,0.000,6,0.000,0.028,3006,2078,1927
$GC,8288,0.96,175.2,282.1,8.9,400,8292,0.00,2.40,0.00,0.000,4,0.000,0.043,3007,3477,1927
$GC,8365,0.96,175.2,275.1,9.0,403,8369,0.00,2.38,0.00,0.000,6,0.000,0.028,3007,2077,1928
$GC,8687,0.97,184.5,249.6,6.9,419,8697,0.00,2.45,5.53,0.611,4,0.000,0.044,3006,3485,1911
$GC,8726,0.98,194.1,246.8,6.9,421,8741,0.00,2.38,10.00,0.699,6,0.000,0.027,3007,2070,1872
$GC,9051,0.98,194.1,224.2,7.3,436,9055,0.00,2.40,0.00,0.000,4,0.000,0.043,3007,677,1869
$GC,9077,0.98,194.1,222.2,7.5,437,9081,0.00,2.35,0.00,0.000,6,0.000,0.025,3007,2096,1867
$GC,9399,1.00,204.9,200.0,6.8,453,9414,0.00,2.47,10.60,0.664,4,0.000,0.072,3007,680,1827
$GC,9430,1.00,204.9,197.3,8.4,455,9436,0.00,2.35,0.00,0.000,6,0.000,0.025,3007,2078,1824
$GC,9756,1.03,233.0,172.3,6.4,486,9787,0.00,2.47,25.88,0.680,4,0.000,0.067,3007,3475,1713
$GC,9826,1.05,248.6,167.8,6.7,492,9846,0.00,2.35,15.00,0.645,6,0.000,0.058,3007,2083,1649
$GC,10171,1.07,267.1,144.7,6.6,525,10194,0.00,2.42,16.80,0.630,4,0.000,0.045,3007,682,1574
$GC,10262,1.07,267.1,137.2,8.5,533,10266,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2086,1570
$GC,10586,1.11,299.3,112.9,6.3,563,10622,0.12,2.47,28.83,0.617,4,0.051,0.070,3046,689,1441
$GC,10651,1.11,299.3,107.5,9.4,569,10655,0.00,2.28,0.00,0.000,6,0.000,0.029,3046,2080,1439
$GC,10977,1.11,299.3,77.3,11.2,599,10981,0.00,2.40,0.00,0.000,4,0.000,0.071,3046,680,1437
$GC,11031,1.11,299.3,71.0,10.1,603,11038,0.00,2.30,0.00,0.000,6,0.000,0.020,3046,2080,1435
$GC,11359,1.11,299.3,39.4,9.3,634,11363,0.00,2.40,0.00,0.000,4,0.000,0.050,3046,673,1436
$GC,11443,1.11,299.3,31.1,9.7,641,11447,0.00,2.28,0.00,0.000,6,0.000,0.019,3046,2077,1435
$STATE,11783,end climb,SURFACE_DEPTH_REACHED
$STATE,11783,begin surface coast
$FINISH,0.1,1.022981
$STATE,11825,end surface coast,CONTROL_FINISHED_OK
$STATE,11825,begin surface
$SM_CCo,11844,17.38,0.505,0,0,1358,320.12
$SM_GC,0.50,0.00,0.00,17.38,0.000,0.000,0.505,427,2081,1358,-10.89,0.06,320.12
$IRIDIUM_FIX,2057.14,-15751.76,131097,101006
$TT8_MAMPS,0.029146
$HUMID,1878
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,689
$24V_AH,23.3,40.052
$10V_AH,10.2,23.258
$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,25.450,118.050,400.325,17.375,0.000,25.640,31.204,219.420,172.250,0.000,0.000,13.294,1263.287,8423.495,495.297,1610.285,451.780,33.365,1304.637,0.000,1601.319,0.000,0.470
$DEVICE_MAMPS,158.002,74.399,893.555,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.044,461.956,783.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34941,707
$CAP_FILE_SIZE,101807,14
$CFSIZE,260165632,254029824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190708,170327,2104.965,-15750.384,49,3.1,68,9.8