version: 66.03
glider: 139
mission: 3
dive: 76
start: 7 20 108 4 9 41
data:
$ID,139
$MISSION,3
$DIVE,76
$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,-1271938.4
$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,46
$R_STBD_OVSHOOT,62
$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
$GPS1,040108,2103.804,-15748.353,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-71.4
$GPS2,040851,2103.796,-15748.415,11,1.2,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,0.210
$KALMAN_X,-17397.1,823.2,-128.0,24272.6,-813.9
$KALMAN_Y,-859.7,2.8,-320.5,-22663.1,-47.5
$MHEAD_RNG_PITCHd_Wd,315.7,15120,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.83,0.000,2,0.000,0.000,432,2102,2924
$GC,79,-0.96,-175.2,3.6,-6.5,10,104,12.07,2.33,-7.70,0.000,4,0.154,0.076,2575,3460,3382
$GC,240,-0.96,-175.2,32.9,-10.2,36,245,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2078,3384
$GC,566,-0.96,-175.2,70.4,-11.6,66,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3385
$GC,883,-0.96,-175.2,103.4,-9.0,96,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3386
$GC,1202,-0.96,-175.2,133.6,-9.4,126,1206,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,683,3387
$GC,1241,-0.96,-175.2,137.4,-9.7,129,1246,0.00,2.25,0.00,0.000,6,0.000,0.019,2575,2085,3387
$GC,1567,-0.96,-175.2,165.4,-9.0,159,1570,0.00,1.70,0.00,0.000,4,0.000,0.075,2575,3130,3388
$GC,1623,-0.96,-175.2,170.3,-8.3,164,1626,0.00,1.70,0.00,0.000,6,0.000,0.021,2575,2075,3388
$GC,1954,-0.96,-175.2,193.8,-6.3,195,1958,0.00,2.35,0.00,0.000,4,0.000,0.057,2575,688,3387
$GC,1987,-0.96,-175.2,196.0,-5.8,197,1993,0.00,2.25,0.00,0.000,6,0.000,0.054,2575,2078,3387
$GC,2304,-0.96,-175.2,217.4,-7.3,216,2308,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,689,3387
$GC,2347,-0.96,-175.2,220.6,-7.7,218,2351,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2076,3387
$GC,2674,-0.96,-175.2,242.4,-6.1,234,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3386
$GC,2984,-0.96,-175.2,264.6,-7.7,249,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3385
$GC,3293,-0.96,-175.2,286.2,-6.5,264,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2080,3384
$GC,3621,-0.96,-175.2,304.0,-4.9,278,3625,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,686,3383
$GC,3648,-0.96,-175.2,305.4,-5.6,278,3652,0.00,2.28,0.00,0.000,6,0.000,0.024,2575,2075,3383
$GC,3985,-0.96,-175.2,321.9,-4.8,287,3989,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,689,3381
$GC,4018,-0.96,-175.2,323.8,-5.6,287,4023,0.00,2.28,0.00,0.000,6,0.000,0.028,2575,2078,3381
$GC,4348,-0.96,-175.2,342.2,-5.7,296,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3380
$GC,4673,-0.96,-175.2,360.0,-5.5,304,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3378
$GC,4998,-0.96,-175.2,375.9,-4.8,312,5002,0.00,2.38,0.00,0.000,4,0.000,0.043,2575,690,3376
$GC,5020,-0.96,-175.2,377.0,-5.1,312,5024,0.00,2.30,0.00,0.000,6,0.000,0.028,2575,2083,3376
$GC,5362,-0.96,-175.2,399.3,-7.2,321,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2087,3374
$GC,5687,-0.96,-175.2,421.8,-6.7,329,5691,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,690,3372
$GC,5715,-0.96,-175.2,423.7,-6.9,329,5719,0.00,2.30,0.00,0.000,6,0.000,0.029,2575,2079,3372
$GC,6046,-0.96,-175.2,443.9,-6.0,337,6050,0.00,2.40,0.00,0.000,4,0.000,0.045,2575,3478,3370
$GC,6078,-0.96,-175.2,446.3,-7.3,337,6082,0.00,2.33,0.00,0.000,6,0.000,0.029,2575,2091,3370
$STATE,6169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6169,begin apogee
$GC,6174,-0.31,0.0,452.2,6.5,340,6319,0.68,0.00,142.15,0.897,6,0.048,0.000,2730,2089,2664
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6322,0.96,175.2,460.1,0.0,343,6472,1.20,0.00,145.40,0.871,6,0.038,0.000,3009,2089,1949
$GC,6809,0.96,175.2,424.4,10.2,355,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2089,1938
$GC,7134,0.96,175.2,394.8,8.5,363,7138,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3477,1936
$GC,7173,0.96,175.2,391.6,8.6,364,7177,0.00,2.38,0.00,0.000,6,0.000,0.031,3008,2079,1935
$GC,7496,0.96,175.2,363.5,8.9,372,7500,0.00,2.45,0.00,0.000,4,0.000,0.048,3008,679,1933
$GC,7579,0.96,175.2,355.2,9.7,374,7584,0.00,2.35,0.00,0.000,6,0.000,0.033,3008,2076,1931
$GC,7908,0.96,175.2,325.8,8.6,382,7913,0.00,2.45,0.00,0.000,4,0.000,0.079,3008,677,1930
$GC,7935,0.96,175.2,323.5,8.4,382,7940,0.00,2.40,0.00,0.000,6,0.000,0.038,3008,2085,1930
$GC,8254,0.96,175.2,298.1,8.1,391,8258,0.00,2.47,0.00,0.000,4,0.000,0.079,3009,672,1929
$GC,8330,0.96,175.2,291.1,8.7,394,8337,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2076,1927
$GC,8646,0.96,175.2,266.1,7.9,410,8650,0.00,2.42,0.00,0.000,4,0.000,0.041,3008,3483,1927
$GC,8666,0.96,175.2,264.2,8.8,411,8671,0.00,2.40,0.00,0.000,6,0.000,0.036,3008,2077,1927
$GC,8993,0.96,175.2,241.0,7.3,427,8998,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,674,1927
$GC,9048,0.96,175.2,236.5,8.6,429,9055,0.00,2.38,0.00,0.000,6,0.000,0.027,3009,2084,1925
$GC,9365,1.00,211.0,216.5,6.2,445,9399,0.00,2.45,28.33,0.739,4,0.000,0.071,3008,3464,1803
$GC,9567,1.00,211.0,200.9,9.3,454,9572,0.00,2.35,0.00,0.000,6,0.000,0.026,3008,2081,1801
$GC,9894,1.00,211.0,175.7,7.7,484,9898,0.00,2.42,0.00,0.000,4,0.000,0.075,3008,674,1798
$GC,9989,1.00,211.0,167.9,7.2,492,9992,0.00,1.62,0.00,0.000,6,0.000,0.071,3008,1706,1795
$GC,10320,1.03,229.4,148.0,6.6,523,10343,0.00,3.05,16.42,0.647,4,0.000,0.061,3008,3482,1727
$GC,10517,1.03,229.4,131.8,9.0,540,10524,0.00,2.33,0.00,0.000,6,0.000,0.024,3008,2069,1727
$GC,10843,1.05,250.1,107.0,6.6,571,10868,0.00,2.42,19.08,0.614,4,0.000,0.071,3008,690,1643
$GC,10913,1.07,266.0,102.3,6.7,577,10933,0.00,2.33,15.32,0.589,6,0.000,0.021,3008,2095,1578
$GC,11259,1.15,326.8,84.1,5.5,610,11315,0.15,0.00,53.15,0.595,6,0.044,0.000,3062,2095,1330
$GC,11628,1.15,326.8,47.9,10.1,645,11632,0.00,2.40,0.00,0.000,4,0.000,0.038,3062,678,1325
$GC,11673,1.15,326.8,43.1,10.8,649,11678,0.00,2.28,0.00,0.000,6,0.000,0.055,3062,2081,1323
$GC,12009,1.15,326.8,11.9,9.1,697,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2085,1323
$STATE,12108,end climb,SURFACE_DEPTH_REACHED
$STATE,12108,begin surface coast
$FINISH,-0.1,1.011888
$STATE,12143,end surface coast,CONTROL_FINISHED_OK
$STATE,12143,begin surface
$SM_CCo,12223,0.00,0.000,0,0,1319,329.93
$SM_GC,0.87,11.35,0.00,0.00,0.038,0.000,0.000,421,2083,1319,-10.82,0.14,329.93
$IRIDIUM_FIX,2052.52,-15747.49,141097,000019
$TT8_MAMPS,0.029146
$HUMID,1873
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.90
$XPDR_PINGS,676
$24V_AH,23.3,40.618
$10V_AH,10.2,23.585
$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,25.450,97.775,419.850,0.000,0.000,29.516,28.746,281.609,169.000,0.000,0.000,13.415,1267.295,8837.270,474.184,1575.708,517.309,33.366,1258.911,0.000,1570.767,0.000,0.470
$DEVICE_MAMPS,154.167,79.001,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.162,472.690,797.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38034,721
$CAP_FILE_SIZE,98578,10
$CFSIZE,260165632,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200708,073525,2104.935,-15749.338,86,1.1,86,9.8