version: 66.03
glider: 139
mission: 3
dive: 92
start: 7 22 108 13 34 56
data:
$ID,139
$MISSION,3
$DIVE,92
$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,543.09418
$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,-1272373.2
$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,40
$R_STBD_OVSHOOT,51
$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
$GPS1,131228,2103.845,-15748.112,54,3.4,73,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-67.7
$GPS2,133407,2103.823,-15748.264,41,1.3,41,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.052,0.249
$KALMAN_X,-17997.4,79.9,822.3,24930.4,-1527.8
$KALMAN_Y,-10938.3,-409.3,321.8,-12766.1,-1040.5
$MHEAD_RNG_PITCHd_Wd,338.3,15272,-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,20,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.45,0.000,2,0.000,0.000,428,2088,2856
$GC,79,-0.96,-175.2,3.1,-5.0,10,109,12.12,2.33,-9.20,0.000,4,0.155,0.041,2577,3465,3382
$GC,230,-0.96,-175.2,30.9,-12.4,36,234,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2079,3383
$GC,554,-0.96,-175.2,68.1,-11.5,66,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3383
$GC,873,-0.96,-175.2,102.7,-10.5,96,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3384
$GC,1191,-0.96,-175.2,134.5,-8.7,126,1195,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,676,3385
$GC,1213,-0.96,-175.2,136.6,-9.3,127,1219,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2082,3384
$GC,1540,-0.96,-175.2,163.3,-7.3,158,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2086,3384
$GC,1855,-0.96,-175.2,188.8,-8.2,188,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2086,3384
$GC,2171,-0.96,-175.2,209.7,-6.4,211,2175,0.00,2.38,0.00,0.000,4,0.000,0.070,2576,679,3384
$GC,2210,-0.96,-175.2,212.3,-6.6,213,2214,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2075,3384
$GC,2537,-0.96,-175.2,230.8,-5.7,229,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3384
$GC,2846,-0.96,-175.2,249.6,-6.3,244,2850,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,675,3382
$GC,2885,-0.96,-175.2,252.2,-6.9,246,2889,0.00,2.28,0.00,0.000,6,0.000,0.026,2577,2079,3383
$GC,3210,-0.96,-175.2,277.6,-8.6,262,3214,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,683,3381
$GC,3236,-0.96,-175.2,279.9,-8.4,263,3241,0.00,2.28,0.00,0.000,6,0.000,0.057,2576,2080,3381
$GC,3562,-0.96,-175.2,304.4,-7.4,278,3566,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,683,3380
$GC,3594,-0.96,-175.2,307.0,-8.1,278,3601,0.00,2.30,0.00,0.000,6,0.000,0.023,2576,2078,3380
$GC,3926,-0.96,-175.2,329.2,-6.1,287,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3378
$GC,4251,-0.96,-175.2,348.7,-5.9,295,4255,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,3469,3376
$GC,4277,-0.96,-175.2,350.4,-6.0,295,4282,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2074,3376
$GC,4620,-0.96,-175.2,369.0,-5.1,304,4624,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,682,3374
$GC,4663,-0.96,-175.2,371.1,-5.3,305,4667,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2072,3374
$GC,4987,-0.96,-175.2,384.3,-3.8,313,4992,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,3477,3372
$GC,5020,-0.96,-175.2,385.7,-3.9,313,5026,0.00,2.33,0.00,0.000,6,0.000,0.027,2577,2081,3372
$GC,5351,-0.96,-175.2,401.1,-5.0,322,5355,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,678,3369
$GC,5391,-0.96,-175.2,403.4,-6.5,323,5395,0.00,2.33,0.00,0.000,6,0.000,0.064,2576,2076,3369
$GC,5714,-0.96,-175.2,427.8,-8.1,331,5718,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,3474,3367
$GC,5769,-0.96,-175.2,432.5,-7.8,332,5773,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2075,3366
$STATE,6039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6039,begin apogee
$GC,6044,-0.31,0.0,453.0,7.5,339,6188,0.68,0.00,140.85,0.892,6,0.048,0.000,2731,2074,2664
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6190,0.96,175.2,460.9,0.0,342,6347,1.20,2.50,145.15,0.867,4,0.039,0.050,3009,3474,1948
$GC,6374,0.96,175.2,457.2,8.6,346,6378,0.00,2.40,0.00,0.000,6,0.000,0.063,3009,2089,1946
$GC,6722,0.96,175.2,425.5,8.9,355,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2088,1937
$GC,7047,0.96,175.2,398.6,8.0,363,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2088,1934
$GC,7372,0.96,177.5,376.2,7.1,371,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2088,1933
$GC,7696,0.96,177.5,351.7,7.8,379,7701,0.00,2.47,0.00,0.000,4,0.000,0.079,3009,673,1931
$GC,7729,0.96,177.5,348.6,9.6,379,7735,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2077,1929
$GC,8060,0.96,177.5,317.2,9.4,388,8064,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,3484,1929
$GC,8120,0.96,177.5,311.7,9.3,389,8124,0.00,2.40,0.00,0.000,6,0.000,0.064,3009,2079,1929
$GC,8450,0.96,177.5,287.3,7.4,401,8454,0.00,2.45,0.00,0.000,4,0.000,0.046,3009,669,1927
$GC,8506,0.96,177.5,282.9,7.8,403,8512,0.00,2.35,0.00,0.000,6,0.000,0.028,3009,2082,1926
$GC,8821,1.05,244.5,263.7,5.3,419,8884,0.00,2.58,57.12,0.780,4,0.000,0.048,3009,669,1666
$GC,8952,1.05,244.5,254.0,9.2,425,8956,0.00,2.38,0.00,0.000,6,0.000,0.027,3009,2084,1659
$GC,9278,1.05,244.5,225.5,8.3,441,9282,0.00,2.40,0.00,0.000,4,0.000,0.039,3009,3481,1657
$GC,9371,1.05,244.5,216.9,9.9,445,9376,0.00,2.40,0.00,0.000,6,0.000,0.061,3009,2077,1656
$GC,9696,1.05,244.5,187.5,7.5,468,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2075,1654
$GC,10017,1.12,303.6,166.7,5.5,498,10073,0.12,2.47,50.38,0.684,4,0.053,0.045,3049,676,1425
$GC,10190,1.12,303.6,151.0,10.3,513,10197,0.00,2.33,0.00,0.000,6,0.000,0.057,3049,2087,1418
$GC,10516,1.12,303.6,114.8,10.8,544,10520,0.00,2.45,0.00,0.000,4,0.000,0.058,3049,671,1417
$GC,10548,1.12,303.6,110.8,12.7,546,10555,0.00,2.33,0.00,0.000,6,0.000,0.021,3049,2074,1416
$GC,10876,1.12,303.6,77.9,9.2,577,10880,0.00,2.42,0.00,0.000,4,0.000,0.048,3049,668,1415
$GC,10932,1.12,303.6,72.3,8.9,581,10938,0.00,2.28,0.00,0.000,6,0.000,0.021,3049,2083,1415
$GC,11257,1.12,303.6,45.3,8.5,612,11261,0.00,2.42,0.00,0.000,4,0.000,0.073,3049,672,1414
$GC,11285,1.12,303.6,42.1,11.4,614,11289,0.00,2.28,0.00,0.000,6,0.000,0.020,3049,2075,1414
$GC,11619,1.16,333.5,19.2,6.3,659,11648,0.00,0.00,25.23,0.529,6,0.000,0.000,3049,2081,1303
$GC,11760,1.16,333.5,7.1,9.2,684,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2081,1301
$STATE,11826,end climb,SURFACE_DEPTH_REACHED
$STATE,11827,begin surface coast
$FINISH,0.1,1.010670
$STATE,11867,end surface coast,CONTROL_FINISHED_OK
$STATE,11867,begin surface
$SM_CCo,11887,168.18,0.522,0,0,450,543.09
$SM_GC,0.75,0.00,0.00,168.18,0.000,0.000,0.522,419,2079,450,-10.93,0.03,543.09
$IRIDIUM_FIX,2057.14,-15748.75,161097,131300
$TT8_MAMPS,0.029146
$HUMID,1815
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,23.00
$XPDR_PINGS,654
$24V_AH,23.4,42.895
$10V_AH,10.2,24.888
$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,25.450,99.375,418.725,168.175,0.000,137.221,152.984,537.943,163.500,0.000,0.000,43.056,1229.145,8824.469,648.163,1555.256,1084.492,33.370,1415.802,0.000,1515.305,0.000,0.470
$DEVICE_MAMPS,154.934,79.001,892.021,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.943,458.236,770.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,703
$CAP_FILE_SIZE,105458,4
$CFSIZE,260165632,252993536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220708,165738,2104.763,-15749.137,69,1.0,69,9.8