version: 66.03
glider: 139
mission: 3
dive: 77
start: 7 20 108 7 42 49
data:
$ID,139
$MISSION,3
$DIVE,77
$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,-1271957.9
$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,39
$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
$GPS1,073525,2104.935,-15749.338,86,1.1,86,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.9
$GPS2,074158,2104.953,-15749.334,17,1.5,17,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.198,0.160
$KALMAN_X,-16998.4,750.8,-234.4,22468.0,46.5
$KALMAN_Y,-1364.4,-31.5,-282.1,-20024.6,244.1
$MHEAD_RNG_PITCHd_Wd,299.2,12492,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-60.33,0.000,2,0.000,0.000,420,2085,3083
$GC,84,-0.96,-175.2,4.3,-7.8,11,108,12.38,2.30,-4.68,0.000,4,0.162,0.074,2578,3474,3382
$GC,259,-0.96,-175.2,37.2,-9.1,35,266,0.00,2.33,0.00,0.000,6,0.000,0.056,2577,2073,3385
$GC,584,-0.96,-175.2,67.5,-9.5,66,588,0.00,2.33,0.00,0.000,4,0.000,0.036,2577,683,3385
$GC,652,-0.96,-175.2,74.5,-10.6,72,656,0.00,2.22,0.00,0.000,6,0.000,0.018,2577,2079,3385
$GC,976,-0.96,-175.2,102.2,-8.4,102,980,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3463,3386
$GC,1015,-0.96,-175.2,105.5,-8.7,105,1019,0.00,2.28,0.00,0.000,6,0.000,0.056,2577,2068,3386
$GC,1341,-0.96,-175.2,135.3,-9.8,135,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2066,3387
$GC,1658,-0.96,-175.2,159.8,-6.9,165,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2066,3387
$GC,1977,-0.96,-175.2,186.2,-8.8,195,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2066,3387
$GC,2291,-0.96,-175.2,211.0,-6.6,218,2295,0.00,2.33,0.00,0.000,4,0.000,0.037,2577,686,3387
$GC,2323,-0.96,-175.2,213.4,-7.1,219,2330,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2086,3388
$GC,2639,-0.96,-175.2,231.6,-5.0,235,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2090,3387
$GC,2948,-0.96,-175.2,248.1,-5.9,250,2952,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,684,3387
$GC,3009,-0.96,-175.2,252.5,-7.5,253,3014,0.00,2.25,0.00,0.000,6,0.000,0.026,2578,2076,3386
$GC,3336,-0.96,-175.2,273.3,-5.3,269,3340,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,3473,3386
$GC,3363,-0.96,-175.2,274.9,-5.8,270,3367,0.00,2.28,0.00,0.000,6,0.000,0.029,2577,2082,3386
$GC,3684,-0.96,-175.2,294.7,-6.5,286,3688,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,682,3385
$GC,3746,-0.96,-175.2,298.7,-6.3,289,3750,0.00,2.28,0.00,0.000,6,0.000,0.024,2577,2076,3384
$GC,4067,-0.96,-175.2,315.3,-4.7,298,4071,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,3466,3383
$GC,4094,-0.96,-175.2,316.5,-4.7,298,4098,0.00,2.30,0.00,0.000,6,0.000,0.044,2577,2078,3382
$GC,4431,-0.96,-175.2,336.8,-6.7,307,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3381
$GC,4756,-0.96,-175.2,363.6,-8.3,315,4760,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,673,3379
$GC,4805,-0.96,-175.2,367.7,-8.3,316,4809,0.00,2.33,0.00,0.000,6,0.000,0.061,2578,2067,3379
$GC,5124,-0.96,-175.2,390.2,-6.8,324,5128,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3471,3377
$GC,5167,-0.96,-175.2,393.0,-6.1,325,5171,0.00,2.33,0.00,0.000,6,0.000,0.062,2578,2073,3377
$GC,5492,-0.96,-175.2,412.5,-6.1,333,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2072,3375
$GC,5816,-0.96,-175.2,431.8,-6.1,341,5821,0.00,2.42,0.00,0.000,4,0.000,0.044,2578,3477,3373
$GC,5838,-0.96,-175.2,433.1,-6.0,341,5842,0.00,2.33,0.00,0.000,6,0.000,0.028,2578,2078,3373
$STATE,6132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6132,begin apogee
$GC,6136,-0.31,0.0,450.0,5.6,349,6282,0.65,0.00,142.57,0.895,6,0.169,0.000,2730,2076,2664
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6285,0.96,175.2,456.7,0.0,352,6441,1.20,2.55,145.43,0.869,4,0.040,0.044,3007,3473,1948
$GC,6451,0.96,175.2,454.9,7.7,356,6456,0.00,2.40,0.00,0.000,6,0.000,0.030,3007,2089,1947
$GC,6776,0.96,175.2,426.3,8.6,364,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2087,1938
$GC,7101,0.96,175.2,397.1,9.1,372,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2087,1936
$GC,7426,0.96,175.2,370.8,7.9,380,7430,0.00,2.47,0.00,0.000,4,0.000,0.048,3007,675,1933
$GC,7458,0.96,175.2,368.0,8.9,380,7465,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2067,1932
$GC,7789,0.96,175.2,339.5,8.8,389,7793,0.00,2.45,0.00,0.000,4,0.000,0.048,3007,3477,1931
$GC,7838,0.96,175.2,335.0,8.9,390,7842,0.00,2.38,0.00,0.000,6,0.000,0.064,3007,2074,1931
$GC,8156,0.96,175.2,310.6,7.2,398,8160,0.00,2.45,0.00,0.000,4,0.000,0.047,3007,3478,1930
$GC,8318,0.96,175.7,299.0,7.1,401,8322,0.00,2.38,0.00,0.000,6,0.000,0.031,3007,2072,1930
$GC,8633,1.00,210.6,279.2,6.2,416,8668,0.00,2.53,28.40,0.793,4,0.000,0.058,3007,676,1804
$GC,8792,1.00,210.6,266.1,8.9,423,8797,0.00,2.35,0.00,0.000,6,0.000,0.028,3007,2080,1797
$GC,9113,1.00,210.6,240.2,7.8,439,9117,0.00,2.40,0.00,0.000,4,0.000,0.041,3007,3477,1797
$GC,9162,1.00,210.6,236.2,8.5,441,9166,0.00,2.40,0.00,0.000,6,0.000,0.028,3007,2051,1797
$GC,9489,1.00,210.6,211.5,8.0,457,9493,0.00,2.38,0.00,0.000,4,0.000,0.044,3007,677,1796
$GC,9611,1.00,210.6,200.5,8.8,462,9618,0.00,2.38,0.00,0.000,6,0.000,0.068,3007,2089,1794
$GC,9937,1.00,210.6,175.4,7.2,492,9941,0.00,2.45,0.00,0.000,4,0.000,0.074,3007,677,1794
$GC,10009,1.00,210.6,169.5,7.6,498,10014,0.00,2.33,0.00,0.000,6,0.000,0.044,3007,2086,1793
$GC,10334,1.05,246.5,147.2,6.2,528,10367,0.00,0.00,30.92,0.662,6,0.000,0.000,3007,2091,1659
$GC,10684,1.05,246.5,122.9,7.5,561,10688,0.00,2.42,0.00,0.000,4,0.000,0.043,3007,676,1654
$GC,10772,1.05,246.5,115.1,9.0,568,10779,0.00,2.33,0.00,0.000,6,0.000,0.057,3007,2081,1651
$GC,11099,1.05,246.5,92.4,7.2,599,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2085,1651
$GC,11416,1.06,258.1,70.2,6.8,629,11439,0.00,2.35,11.05,0.537,4,0.000,0.067,3007,3475,1611
$GC,11477,1.06,258.1,65.6,7.7,634,11484,0.00,2.35,0.00,0.000,6,0.000,0.021,3007,2069,1610
$GC,11803,1.07,268.4,45.2,6.9,665,11816,0.00,0.00,10.73,0.522,6,0.000,0.000,3007,2067,1569
$GC,12133,1.15,327.9,27.3,5.5,700,12191,0.15,2.45,51.50,0.539,4,0.051,0.031,3061,3469,1327
$GC,12286,1.15,327.9,14.0,9.3,727,12292,0.00,2.28,0.00,0.000,6,0.000,0.021,3061,2073,1324
$STATE,12403,end climb,SURFACE_DEPTH_REACHED
$STATE,12403,begin surface coast
$FINISH,0.0,1.009840
$STATE,12434,end surface coast,CONTROL_FINISHED_OK
$STATE,12434,begin surface
$SM_CCo,12514,0.00,0.000,0,0,1318,330.17
$SM_GC,0.85,11.40,0.00,0.00,0.035,0.000,0.000,423,2068,1318,-10.82,-0.31,330.17
$IRIDIUM_FIX,2057.14,-15748.75,141097,040451
$TT8_MAMPS,0.029146
$HUMID,1857
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,706
$24V_AH,23.3,40.750
$10V_AH,10.2,23.667
$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,25.775,103.900,420.600,0.000,0.000,25.844,24.592,220.072,176.500,0.000,0.000,18.859,1311.325,8976.967,487.765,1671.402,448.409,33.363,1307.558,0.000,1659.251,0.000,0.471
$DEVICE_MAMPS,168.740,74.399,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.901,498.080,859.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,753
$CAP_FILE_SIZE,100978,7
$CFSIZE,260165632,253771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200708,111238,2105.522,-15749.837,40,1.2,40,9.8