version: 66.03
glider: 139
mission: 3
dive: 73
start: 7 19 108 17 15 23
data:
$ID,139
$MISSION,3
$DIVE,73
$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,-1271873.1
$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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,170327,2104.965,-15750.384,49,3.1,68,9.8
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-67.9
$GPS2,171433,2104.985,-15750.521,14,1.2,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.152
$KALMAN_X,-16425.3,-580.2,-619.1,21571.0,-35.4
$KALMAN_Y,-607.4,-153.5,-85.0,-20801.4,-115.7
$MHEAD_RNG_PITCHd_Wd,117.0,7925,-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,-59.35,0.000,2,0.000,0.000,427,2081,3086
$GC,83,-0.96,-175.2,4.2,-7.5,11,108,12.20,2.40,-4.68,0.000,4,0.157,0.052,2574,676,3384
$GC,119,-0.96,-175.2,21.9,-44.8,17,126,0.00,2.25,0.00,0.000,6,0.000,0.019,2574,2083,3385
$GC,240,-0.96,-175.2,41.0,-13.6,32,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2087,3385
$GC,558,-0.96,-175.2,75.7,-9.3,62,562,0.00,2.38,0.00,0.000,4,0.000,0.035,2574,677,3386
$GC,602,-0.96,-175.2,79.4,-7.3,65,609,0.00,2.28,0.00,0.000,6,0.000,0.018,2574,2079,3386
$GC,927,-0.96,-175.2,108.4,-8.6,96,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2083,3387
$GC,1246,-0.96,-175.2,138.4,-8.9,126,1250,0.00,2.30,0.00,0.000,4,0.000,0.031,2574,3460,3387
$GC,1289,-0.96,-175.2,142.3,-8.8,129,1296,0.00,2.28,0.00,0.000,6,0.000,0.020,2574,2076,3388
$GC,1616,-0.96,-175.2,170.2,-8.5,160,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2074,3388
$GC,1932,-0.96,-175.2,192.0,-7.4,190,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2074,3388
$GC,2244,-0.96,-175.2,213.9,-6.3,210,2248,0.00,2.35,0.00,0.000,4,0.000,0.037,2574,681,3388
$GC,2284,-0.96,-175.2,216.4,-6.5,212,2288,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2074,3388
$GC,2610,-0.96,-175.2,236.6,-6.9,228,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2078,3388
$GC,2920,-0.96,-175.2,255.1,-5.0,243,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2078,3387
$GC,3228,-0.96,-175.2,270.9,-5.3,258,3232,0.00,2.38,0.00,0.000,4,0.000,0.039,2574,679,3386
$GC,3261,-0.96,-175.2,272.9,-6.1,259,3267,0.00,2.28,0.00,0.000,6,0.000,0.023,2574,2078,3386
$GC,3577,-0.96,-175.2,295.7,-7.4,275,3581,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3468,3384
$GC,3616,-0.96,-175.2,298.6,-8.1,277,3620,0.00,2.30,0.00,0.000,6,0.000,0.025,2574,2075,3384
$GC,3937,-0.96,-175.2,318.9,-5.7,286,3941,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,682,3382
$GC,3964,-0.96,-175.2,320.5,-5.7,286,3968,0.00,2.30,0.00,0.000,6,0.000,0.025,2574,2080,3382
$GC,4295,-0.96,-175.2,339.7,-6.1,294,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2084,3381
$GC,4620,-0.96,-175.2,360.6,-6.3,302,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2085,3379
$GC,4945,-0.96,-175.2,382.2,-6.7,310,4949,0.00,2.42,0.00,0.000,4,0.000,0.043,2574,676,3377
$GC,4978,-0.96,-175.2,384.4,-6.5,310,4984,0.00,2.33,0.00,0.000,6,0.000,0.028,2574,2079,3377
$GC,5308,-0.96,-175.2,404.2,-6.1,319,5312,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,684,3375
$GC,5330,-0.96,-175.2,405.8,-6.7,319,5334,0.00,2.33,0.00,0.000,6,0.000,0.028,2574,2080,3375
$GC,5678,-0.96,-175.2,425.8,-5.6,328,5682,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,3477,3373
$GC,5710,-0.96,-175.2,427.7,-6.0,328,5716,0.00,2.33,0.00,0.000,6,0.000,0.028,2574,2085,3372
$GC,6041,-0.96,-175.2,449.9,-7.0,337,6045,0.00,2.17,0.00,0.000,3,0.000,0.044,2574,3348,3370
$STATE,6046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6046,begin apogee
$GC,6053,-0.31,0.0,450.3,7.1,337,6198,0.68,0.00,142.23,0.900,6,0.055,0.000,2728,2076,2664
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6201,0.96,175.2,458.5,0.0,340,6355,1.25,2.50,146.15,0.873,4,0.038,0.051,3013,3473,1948
$GC,6361,0.96,178.3,458.4,7.1,344,6371,0.00,2.40,4.18,0.542,6,0.000,0.045,3013,2078,1935
$GC,6696,0.96,178.3,428.5,9.1,353,6700,0.00,2.45,0.00,0.000,4,0.000,0.045,3013,3473,1927
$GC,6740,0.96,178.3,424.1,10.4,354,6745,0.00,2.40,0.00,0.000,6,0.000,0.032,3013,2073,1927
$GC,7064,0.96,178.3,395.2,8.7,362,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2071,1923
$GC,7389,0.96,178.3,367.8,8.3,370,7393,0.00,2.47,0.00,0.000,4,0.000,0.051,3013,666,1921
$GC,7420,0.96,178.3,364.9,8.8,370,7427,0.00,2.40,0.00,0.000,6,0.000,0.064,3013,2070,1919
$GC,7752,0.96,178.3,333.8,9.9,379,7756,0.00,2.45,0.00,0.000,4,0.000,0.074,3013,3478,1919
$GC,7812,0.96,178.3,327.5,10.4,380,7816,0.00,2.40,0.00,0.000,6,0.000,0.031,3013,2080,1919
$GC,8160,0.97,180.8,299.7,7.1,389,8165,0.00,2.42,0.00,0.000,4,0.000,0.075,3014,3475,1918
$GC,8222,0.97,180.8,295.1,8.3,392,8226,0.00,2.38,0.00,0.000,6,0.000,0.033,3014,2072,1918
$GC,8547,0.97,180.8,271.4,7.7,408,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2070,1916
$GC,8857,1.01,213.4,250.7,6.3,423,8891,0.00,2.53,28.08,0.771,4,0.000,0.074,3013,3477,1793
$GC,9083,1.03,235.1,234.3,6.6,433,9108,0.00,2.38,20.17,0.736,6,0.000,0.061,3013,2072,1705
$GC,9430,1.07,262.6,211.8,6.4,450,9460,0.00,2.45,24.60,0.716,4,0.000,0.075,3013,673,1592
$GC,9482,1.07,262.6,207.8,7.7,452,9486,0.00,2.38,0.00,0.000,6,0.000,0.025,3013,2080,1590
$GC,9809,1.07,262.6,179.6,9.2,478,9813,0.00,2.38,0.00,0.000,4,0.000,0.036,3013,3474,1588
$GC,9848,1.07,262.6,176.0,9.7,481,9852,0.00,2.35,0.00,0.000,6,0.000,0.025,3013,2067,1588
$GC,10179,1.07,262.6,148.5,8.4,512,10183,0.00,2.40,0.00,0.000,4,0.000,0.054,3013,671,1587
$GC,10290,1.07,262.6,137.2,10.1,521,10297,0.00,2.35,0.00,0.000,6,0.000,0.056,3013,2088,1584
$GC,10617,1.07,262.6,110.9,7.8,552,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2092,1584
$GC,10934,1.07,262.6,87.3,7.2,582,10938,0.00,2.42,0.00,0.000,4,0.000,0.038,3013,671,1585
$GC,11039,1.07,262.6,78.6,8.2,591,11044,0.00,2.30,0.00,0.000,6,0.000,0.020,3013,2088,1585
$GC,11365,1.09,284.3,54.2,6.6,621,11386,0.00,0.00,19.17,0.557,6,0.000,0.000,3013,2092,1505
$GC,11703,1.13,315.4,31.4,6.3,653,11737,0.12,2.50,28.02,0.538,4,0.048,0.067,3058,677,1377
$GC,11843,1.13,315.4,19.1,9.9,676,11850,0.00,2.25,0.00,0.000,6,0.000,0.021,3059,2079,1372
$GC,11963,1.13,315.4,8.8,8.1,697,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2084,1372
$STATE,12034,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FINISH,0.1,1.009018
$STATE,12075,end surface coast,CONTROL_FINISHED_OK
$STATE,12075,begin surface
$SM_CCo,12094,3.70,0.337,0,0,1358,320.12
$SM_GC,1.61,0.00,0.00,3.70,0.000,0.000,0.337,430,2084,1358,-10.88,0.11,320.12
$IRIDIUM_FIX,2057.14,-15751.76,131097,171715
$TT8_MAMPS,0.029146
$HUMID,1872
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.00
$XPDR_PINGS,671
$24V_AH,23.3,40.194
$10V_AH,10.2,23.338
$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,25.600,103.950,412.600,3.700,0.000,53.025,67.006,355.058,167.750,0.000,0.000,15.615,1254.863,8796.179,487.545,1543.371,671.437,33.362,1262.819,0.000,1541.809,0.000,0.471
$DEVICE_MAMPS,157.235,75.166,899.691,337.480,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.949,478.711,799.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37924,717
$CAP_FILE_SIZE,101609,9
$CFSIZE,260165632,253976576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190708,203837,2104.199,-15748.702,58,2.0,58,9.8