version: 66.03
glider: 139
mission: 3
dive: 87
start: 7 21 108 19 7 11
data:
$ID,139
$MISSION,3
$DIVE,87
$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,-1272134.2
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,185532,2105.325,-15750.455,39,1.6,39,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.4
$GPS2,190620,2105.355,-15750.515,8,1.7,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.209
$KALMAN_X,-16324.9,-771.0,-722.7,21776.7,1042.6
$KALMAN_Y,-8765.1,-97.8,-127.8,-11972.1,11.7
$MHEAD_RNG_PITCHd_Wd,135.6,8363,-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,-60.20,0.000,2,0.000,0.000,431,2085,3067
$GC,84,-0.96,-175.2,4.1,-7.3,11,108,12.12,2.40,-5.03,0.000,4,0.156,0.050,2576,674,3382
$GC,165,-0.96,-175.2,28.9,-16.1,25,171,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2079,3383
$GC,284,-0.96,-175.2,43.9,-12.1,37,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2083,3384
$GC,602,-0.96,-175.2,74.7,-9.3,67,606,0.00,2.38,0.00,0.000,4,0.000,0.035,2576,672,3384
$GC,647,-0.96,-175.2,79.2,-9.5,71,651,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2081,3385
$GC,974,-0.96,-175.2,108.7,-9.2,101,978,0.00,2.30,0.00,0.000,4,0.000,0.039,2576,3461,3385
$GC,1017,-0.96,-175.2,113.1,-9.5,104,1024,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2077,3385
$GC,1345,-0.96,-175.2,141.1,-9.4,135,1349,0.00,2.35,0.00,0.000,4,0.000,0.071,2575,683,3386
$GC,1377,-0.96,-175.2,144.7,-9.7,137,1384,0.00,2.28,0.00,0.000,6,0.000,0.054,2576,2079,3386
$GC,1705,-0.96,-175.2,174.5,-7.6,168,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3386
$GC,2021,-0.96,-175.2,197.2,-7.1,198,2025,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,680,3387
$GC,2055,-0.96,-175.2,199.6,-7.4,201,2059,0.00,2.25,0.00,0.000,6,0.000,0.020,2575,2080,3387
$GC,2381,-0.96,-175.2,220.5,-5.7,217,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3386
$GC,2689,-0.96,-175.2,240.9,-7.2,232,2693,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,680,3386
$GC,2718,-0.96,-175.2,242.8,-7.2,233,2722,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2078,3386
$GC,3033,-0.96,-175.2,260.8,-5.4,248,3037,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,683,3385
$GC,3065,-0.96,-175.2,262.8,-6.7,249,3069,0.00,2.28,0.00,0.000,6,0.000,0.059,2575,2081,3385
$GC,3387,-0.96,-175.2,283.0,-6.3,265,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2085,3384
$GC,3716,-0.96,-175.2,302.8,-5.9,280,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2086,3382
$GC,4041,-0.96,-175.2,325.0,-6.5,288,4045,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,3466,3380
$GC,4062,-0.96,-175.2,326.3,-5.6,288,4067,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2085,3380
$GC,4404,-0.96,-175.2,344.6,-5.8,297,4408,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,679,3379
$GC,4431,-0.96,-175.2,346.6,-7.1,297,4435,0.00,2.30,0.00,0.000,6,0.000,0.059,2576,2074,3378
$GC,4773,-0.96,-175.2,371.8,-7.6,306,4778,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,3468,3377
$GC,4806,-0.96,-175.2,374.3,-7.4,306,4812,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2071,3376
$GC,5137,-0.96,-175.2,396.8,-6.8,315,5141,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,683,3374
$GC,5169,-0.96,-175.2,399.3,-7.4,315,5176,0.00,2.33,0.00,0.000,6,0.000,0.051,2576,2080,3374
$GC,5500,-0.96,-175.2,424.9,-8.0,324,5505,0.00,2.40,0.00,0.000,4,0.000,0.045,2576,3474,3372
$GC,5606,-0.96,-175.2,433.2,-8.0,326,5610,0.00,2.35,0.00,0.000,6,0.000,0.038,2576,2066,3371
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5830,begin apogee
$GC,5835,-0.31,0.0,450.1,7.6,332,5980,0.68,0.00,141.80,0.892,6,0.051,0.000,2729,2065,2664
$STATE,5980,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5983,0.96,175.2,459.3,0.0,335,6137,1.20,2.47,144.95,0.869,4,0.039,0.072,3006,681,1947
$GC,6187,0.96,175.2,456.1,8.5,340,6191,0.00,2.38,0.00,0.000,6,0.000,0.029,3006,2082,1939
$GC,6510,0.96,175.2,429.6,8.2,348,6514,0.00,2.45,0.00,0.000,4,0.000,0.045,3006,3482,1936
$GC,6548,0.96,175.2,426.3,8.6,348,6555,0.00,2.40,0.00,0.000,6,0.000,0.052,3006,2092,1936
$GC,6879,0.96,175.2,398.0,8.8,357,6883,0.00,2.47,0.00,0.000,4,0.000,0.048,3005,677,1933
$GC,6928,0.96,175.2,393.3,9.4,358,6933,0.00,2.40,0.00,0.000,6,0.000,0.029,3006,2079,1931
$GC,7247,0.96,175.2,366.2,8.3,366,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2082,1931
$GC,7572,0.96,175.2,338.3,9.0,374,7576,0.00,2.42,0.00,0.000,4,0.000,0.054,3006,3476,1930
$GC,7682,0.96,175.2,328.1,9.0,376,7687,0.00,2.40,0.00,0.000,6,0.000,0.029,3006,2076,1930
$GC,8025,0.96,175.2,300.6,8.0,385,8029,0.00,2.42,0.00,0.000,4,0.000,0.062,3006,678,1927
$GC,8052,0.96,175.2,298.1,9.2,385,8057,0.00,2.35,0.00,0.000,6,0.000,0.028,3006,2087,1927
$GC,8367,0.98,187.2,273.8,6.8,400,8381,0.00,2.45,7.70,0.698,4,0.000,0.074,3006,3473,1900
$GC,8460,0.98,187.2,266.3,8.5,404,8465,0.00,2.35,0.00,0.000,6,0.000,0.062,3006,2076,1900
$GC,8787,1.01,217.3,243.2,6.3,420,8822,0.00,2.53,27.55,0.761,4,0.000,0.046,3006,679,1776
$GC,8952,1.01,217.3,228.9,8.6,427,8956,0.00,2.33,0.00,0.000,6,0.000,0.026,3006,2085,1770
$GC,9273,1.01,217.3,203.8,8.6,443,9278,0.00,2.40,0.00,0.000,4,0.000,0.038,3006,3483,1770
$GC,9346,1.01,217.3,196.5,10.3,448,9350,0.00,2.38,0.00,0.000,6,0.000,0.042,3006,2069,1770
$GC,9677,1.10,286.8,171.3,5.2,479,9743,0.12,2.45,60.25,0.697,4,0.053,0.074,3042,680,1493
$GC,9776,1.10,286.8,163.2,9.5,488,9783,0.00,2.35,0.00,0.000,6,0.000,0.023,3042,2079,1489
$GC,10102,1.10,286.8,130.4,9.8,519,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2083,1486
$GC,10420,1.10,286.8,102.0,8.6,549,10424,0.00,2.42,0.00,0.000,4,0.000,0.040,3042,673,1485
$GC,10504,1.10,286.8,93.8,10.8,556,10508,0.00,2.30,0.00,0.000,6,0.000,0.021,3042,2087,1483
$GC,10829,1.10,286.8,63.7,8.2,586,10834,0.00,2.42,0.00,0.000,4,0.000,0.073,3042,677,1483
$GC,10937,1.10,286.8,52.3,11.1,595,10941,0.00,2.28,0.00,0.000,6,0.000,0.020,3042,2081,1482
$GC,11264,1.10,286.8,24.4,8.0,631,11270,0.00,2.40,0.00,0.000,4,0.000,0.070,3042,670,1482
$GC,11294,1.10,286.8,21.8,8.9,636,11300,0.00,2.30,0.00,0.000,6,0.000,0.019,3042,2080,1482
$GC,11414,1.10,286.8,12.4,8.2,657,11421,0.00,2.30,0.00,0.000,4,0.000,0.031,3042,3465,1483
$GC,11443,1.10,286.8,9.8,8.2,662,11450,0.00,2.08,0.00,0.000,6,0.000,0.058,3042,2168,1483
$STATE,11532,end climb,SURFACE_DEPTH_REACHED
$STATE,11533,begin surface coast
$FINISH,0.2,1.010943
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11576,begin surface
$SM_CCo,11596,27.35,0.522,0,0,1359,320.12
$SM_GC,1.00,0.00,0.00,27.35,0.000,0.000,0.522,429,2050,1359,-10.88,-0.82,320.12
$IRIDIUM_FIX,2057.14,-15751.76,151097,191917
$TT8_MAMPS,0.029146
$HUMID,1885
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.80
$XPDR_PINGS,656
$24V_AH,23.3,42.100
$10V_AH,10.2,24.461
$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,25.400,117.825,382.250,27.350,0.000,56.680,62.561,340.826,164.000,0.000,0.000,14.600,1232.952,8345.536,489.663,1534.241,658.678,33.370,1273.566,0.000,1533.816,0.000,0.471
$DEVICE_MAMPS,155.701,74.399,892.021,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.550,457.319,758.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34771,685
$CAP_FILE_SIZE,101015,10
$CFSIZE,260165632,253267968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210708,222226,2104.153,-15748.999,53,1.9,53,9.8