version: 66.03
glider: 139
mission: 3
dive: 91
start: 7 22 108 9 56 28
data:
$ID,139
$MISSION,3
$DIVE,91
$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,-1272329.6
$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,65
$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
$GPS1,093507,2103.044,-15747.404,66,1.3,66,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-66.7
$GPS2,095539,2103.077,-15747.295,37,1.5,37,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.186,0.174
$KALMAN_X,-18297.4,488.2,51.4,27258.3,-85.9
$KALMAN_Y,-10013.8,-72.2,-154.8,-14939.8,98.3
$MHEAD_RNG_PITCHd_Wd,303.3,17437,-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,20,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.88,0.000,2,0.000,0.000,430,2089,2808
$GC,75,-0.96,-175.2,3.2,-5.8,9,104,12.10,2.28,-10.18,0.000,4,0.155,0.041,2578,3461,3381
$GC,249,-0.96,-175.2,30.6,-9.2,39,256,0.00,2.30,0.00,0.000,6,0.000,0.020,2578,2068,3382
$GC,574,-0.96,-175.2,64.2,-11.2,70,578,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,682,3382
$GC,630,-0.96,-175.2,70.5,-10.9,75,634,0.00,2.22,0.00,0.000,6,0.000,0.036,2577,2075,3383
$GC,955,-0.96,-175.2,101.3,-8.4,105,959,0.00,2.20,0.00,0.000,4,0.000,0.070,2577,737,3383
$GC,995,-0.96,-175.2,105.1,-9.2,108,999,0.00,2.15,0.00,0.000,6,0.000,0.018,2578,2078,3383
$GC,1326,-0.96,-175.2,132.6,-8.1,139,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3383
$GC,1644,-0.96,-175.2,159.8,-8.3,169,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3383
$GC,1962,-0.96,-175.2,183.1,-6.5,199,1966,0.00,2.30,0.00,0.000,4,0.000,0.032,2578,3463,3383
$GC,1985,-0.96,-175.2,184.8,-7.0,201,1989,0.00,2.25,0.00,0.000,6,0.000,0.021,2578,2079,3383
$GC,2306,-0.96,-175.2,210.7,-8.3,225,2310,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,683,3383
$GC,2345,-0.96,-175.2,213.8,-8.1,227,2349,0.00,2.25,0.00,0.000,6,0.000,0.058,2578,2079,3382
$GC,2671,-0.96,-175.2,237.7,-7.5,243,2675,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,686,3382
$GC,2694,-0.96,-175.2,239.4,-7.3,244,2698,0.00,2.25,0.00,0.000,6,0.000,0.021,2578,2078,3382
$GC,3020,-0.96,-175.2,259.6,-6.2,260,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3381
$GC,3329,-0.96,-175.2,280.5,-6.5,275,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3380
$GC,3658,-0.96,-175.2,304.3,-7.5,290,3662,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,686,3379
$GC,3691,-0.96,-175.2,307.1,-8.5,290,3697,0.00,2.28,0.00,0.000,6,0.000,0.024,2578,2078,3379
$GC,4022,-0.96,-175.2,330.1,-6.6,299,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3377
$GC,4347,-0.96,-175.2,352.3,-7.0,307,4351,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,688,3375
$GC,4368,-0.96,-175.2,354.2,-8.5,307,4372,0.00,2.28,0.00,0.000,6,0.000,0.035,2577,2079,3375
$GC,4710,-0.96,-175.2,376.2,-6.4,316,4714,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3469,3373
$GC,4730,-0.96,-175.2,378.0,-7.8,316,4735,0.00,2.33,0.00,0.000,6,0.000,0.062,2577,2089,3373
$GC,5073,-0.96,-175.2,396.9,-5.3,325,5078,0.00,2.42,0.00,0.000,4,0.000,0.043,2577,675,3371
$GC,5106,-0.96,-175.2,398.7,-5.4,325,5112,0.00,2.30,0.00,0.000,6,0.000,0.027,2578,2073,3370
$GC,5437,-0.96,-175.2,426.3,-9.0,334,5441,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3473,3368
$GC,5497,-0.96,-175.2,431.7,-8.5,335,5501,0.00,2.35,0.00,0.000,6,0.000,0.028,2578,2082,3368
$STATE,5762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5762,begin apogee
$GC,5767,-0.31,0.0,453.0,7.8,342,5911,0.68,0.00,141.10,0.888,6,0.162,0.000,2732,2080,2663
$STATE,5911,end apogee,CONTROL_FINISHED_OK
$STATE,5912,begin climb
$GC,5913,0.96,175.2,460.9,0.0,345,6068,1.20,2.55,145.27,0.863,4,0.040,0.077,3009,682,1946
$GC,6085,0.96,175.2,457.0,8.4,349,6090,0.00,2.35,0.00,0.000,6,0.000,0.028,3009,2075,1942
$GC,6397,0.96,175.2,428.6,8.9,357,6402,0.00,2.45,0.00,0.000,4,0.000,0.047,3009,683,1937
$GC,6463,0.96,175.2,422.6,8.8,358,6468,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2072,1935
$GC,6806,0.96,175.2,394.1,7.6,367,6810,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3475,1934
$GC,6956,0.96,175.2,381.8,8.4,370,6960,0.00,2.38,0.00,0.000,6,0.000,0.030,3009,2091,1933
$GC,7304,0.96,175.2,352.4,8.6,379,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2090,1931
$GC,7629,0.96,175.2,328.4,7.6,387,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2090,1929
$GC,7953,0.96,175.2,302.5,8.3,395,7958,0.00,2.40,0.00,0.000,4,0.000,0.042,3009,3477,1928
$GC,8016,0.96,175.2,296.9,9.5,397,8020,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2068,1928
$GC,8342,0.96,175.2,271.3,7.7,413,8346,0.00,2.42,0.00,0.000,4,0.000,0.045,3009,672,1927
$GC,8396,0.96,175.2,266.6,8.5,415,8403,0.00,2.38,0.00,0.000,6,0.000,0.045,3010,2080,1924
$GC,8712,0.98,192.1,242.9,6.7,431,8733,0.00,2.47,11.62,0.713,4,0.000,0.040,3009,3474,1880
$GC,8788,0.98,192.1,237.5,7.4,434,8792,0.00,2.35,0.00,0.000,6,0.000,0.027,3009,2077,1880
$GC,9109,1.01,217.4,218.3,6.5,450,9139,0.00,2.47,23.35,0.720,4,0.000,0.071,3009,3468,1777
$GC,9174,1.01,217.4,212.9,9.6,453,9178,0.00,2.35,0.00,0.000,6,0.000,0.026,3009,2073,1776
$GC,9494,1.01,217.4,185.7,8.2,476,9498,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,676,1772
$GC,9578,1.01,217.4,178.8,8.2,483,9583,0.00,2.33,0.00,0.000,6,0.000,0.058,3009,2085,1769
$GC,9904,1.15,328.6,159.9,4.1,513,10008,0.15,2.50,95.10,0.670,4,0.048,0.050,3059,680,1322
$GC,10025,1.15,328.6,150.6,10.3,524,10032,0.00,2.30,0.00,0.000,6,0.000,0.022,3059,2084,1319
$GC,10351,1.15,328.6,116.4,11.3,555,10355,0.00,2.45,0.00,0.000,4,0.000,0.073,3059,673,1315
$GC,10405,1.15,328.6,109.3,12.3,559,10412,0.00,2.33,0.00,0.000,6,0.000,0.021,3059,2082,1313
$GC,10733,1.15,328.6,75.3,9.5,590,10737,0.00,2.38,0.00,0.000,4,0.000,0.054,3059,676,1314
$GC,10817,1.15,328.6,67.2,8.8,597,10821,0.00,2.28,0.00,0.000,6,0.000,0.019,3059,2081,1312
$GC,11143,1.15,328.6,36.5,8.2,627,11147,0.00,2.40,0.00,0.000,4,0.000,0.051,3059,676,1311
$GC,11227,1.15,328.6,29.0,9.4,635,11233,0.00,2.30,0.00,0.000,6,0.000,0.054,3060,2085,1311
$GC,11346,1.15,328.6,19.4,7.6,656,11352,0.00,2.30,0.00,0.000,4,0.000,0.031,3060,3467,1311
$GC,11392,1.15,328.6,15.5,8.8,664,11399,0.00,2.28,0.00,0.000,6,0.000,0.023,3060,2071,1311
$GC,11511,1.15,328.6,4.6,10.1,685,11518,0.00,2.35,0.00,0.000,4,0.000,0.047,3059,681,1311
$STATE,11533,end climb,SURFACE_DEPTH_REACHED
$STATE,11533,begin surface coast
$FINISH,0.1,1.008584
$STATE,11568,end surface coast,CONTROL_FINISHED_OK
$STATE,11568,begin surface
$SM_CCo,11651,0.00,0.000,0,0,1308,332.63
$SM_GC,0.82,11.40,0.00,0.00,0.039,0.000,0.000,428,2089,1308,-10.81,0.28,332.63
$IRIDIUM_FIX,2052.52,-15747.49,161097,090923
$TT8_MAMPS,0.029146
$HUMID,1860
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,664
$24V_AH,23.4,42.710
$10V_AH,10.2,24.802
$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,25.525,117.325,416.450,0.000,0.000,144.184,157.023,518.506,166.000,0.000,0.000,39.430,1222.766,8571.972,498.342,1556.874,1019.059,33.369,1270.061,0.000,1522.467,0.000,0.470
$DEVICE_MAMPS,161.837,77.467,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.738,454.861,768.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34919,695
$CAP_FILE_SIZE,107396,11
$CFSIZE,260165632,253038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220708,131228,2103.845,-15748.112,54,3.4,73,9.8