version: 66.03
glider: 139
mission: 3
dive: 96
start: 7 23 108 3 59 51
data:
$ID,139
$MISSION,3
$DIVE,96
$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,-1272495.4
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,034432,2106.383,-15751.277,63,1.8,63,9.8
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-66.7
$GPS2,035902,2106.494,-15751.510,33,1.4,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.078,0.242
$KALMAN_X,-15585.1,430.7,275.5,17119.7,-683.2
$KALMAN_Y,-15164.4,127.3,17.3,-3828.7,-1331.2
$MHEAD_RNG_PITCHd_Wd,332.4,7809,-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,-175.2,0.0,0.0,0,77,0.00,0.00,-55.12,0.000,2,0.000,0.000,433,2084,2872
$GC,79,-0.96,-175.2,3.5,-5.9,10,109,12.12,2.33,-8.62,0.000,4,0.156,0.041,2577,3453,3382
$GC,332,-0.96,-175.2,42.1,-10.2,45,339,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2071,3384
$GC,657,-0.96,-175.2,79.2,-10.8,76,661,0.00,2.30,0.00,0.000,4,0.000,0.030,2577,3460,3385
$GC,691,-0.96,-175.2,82.9,-11.0,79,695,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2079,3385
$GC,1017,-0.96,-175.2,113.0,-9.4,109,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3385
$GC,1334,-0.96,-175.2,141.9,-8.9,139,1338,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,675,3385
$GC,1385,-0.96,-175.2,146.7,-9.6,143,1389,0.00,2.25,0.00,0.000,6,0.000,0.053,2577,2082,3386
$GC,1711,-0.96,-175.2,177.9,-9.1,173,1714,0.00,1.65,0.00,0.000,4,0.000,0.066,2578,3109,3386
$GC,1756,-0.96,-175.2,182.0,-8.4,177,1759,0.00,1.70,0.00,0.000,6,0.000,0.021,2577,2074,3386
$GC,2084,-0.96,-175.2,205.5,-6.1,204,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3386
$GC,2393,-0.96,-175.2,223.9,-6.1,219,2397,0.00,2.35,0.00,0.000,4,0.000,0.043,2577,680,3385
$GC,2454,-0.96,-175.2,227.8,-6.5,222,2459,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2077,3385
$GC,2781,-0.96,-175.2,245.5,-5.7,238,2785,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,684,3384
$GC,2802,-0.96,-175.2,246.9,-6.1,239,2806,0.00,2.25,0.00,0.000,6,0.000,0.058,2577,2078,3384
$GC,3123,-0.96,-175.2,265.5,-5.0,255,3127,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3464,3383
$GC,3163,-0.96,-175.2,267.4,-5.1,257,3167,0.00,2.28,0.00,0.000,6,0.000,0.028,2577,2080,3383
$GC,3490,-0.96,-175.2,283.6,-5.4,273,3494,0.00,2.17,0.00,0.000,4,0.000,0.061,2577,768,3381
$GC,3545,-0.96,-175.2,286.8,-5.6,275,3549,0.00,2.12,0.00,0.000,6,0.000,0.064,2577,2076,3381
$GC,3865,-0.96,-175.2,305.2,-5.9,289,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3379
$GC,4190,-0.96,-175.2,326.2,-6.3,297,4194,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,680,3378
$GC,4212,-0.96,-175.2,327.6,-6.0,297,4216,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2082,3378
$GC,4548,-0.96,-175.2,345.6,-5.7,306,4553,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,679,3375
$GC,4570,-0.96,-175.2,346.9,-5.8,306,4574,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2082,3376
$GC,4907,-0.96,-175.2,365.5,-4.9,315,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3374
$GC,5232,-0.96,-175.2,380.4,-5.1,323,5236,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,683,3372
$GC,5265,-0.96,-175.2,382.2,-5.8,323,5271,0.00,2.30,0.00,0.000,6,0.000,0.027,2577,2076,3372
$GC,5596,-0.96,-175.2,396.8,-3.9,332,5599,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,3480,3370
$GC,5617,-0.96,-175.2,397.8,-4.3,332,5621,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2084,3370
$GC,5965,-0.96,-175.2,418.8,-7.0,341,5969,0.00,2.42,0.00,0.000,4,0.000,0.044,2577,677,3368
$GC,5986,-0.96,-175.2,420.4,-7.7,341,5990,0.00,2.33,0.00,0.000,6,0.000,0.061,2577,2076,3368
$GC,6328,-0.96,-175.2,442.1,-5.9,350,6332,0.00,2.42,0.00,0.000,4,0.000,0.044,2577,672,3365
$GC,6349,-0.96,-175.2,443.4,-5.7,350,6353,0.00,2.35,0.00,0.000,6,0.000,0.050,2577,2081,3366
$STATE,6486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6486,begin apogee
$GC,6491,-0.31,0.0,450.7,5.3,354,6635,0.68,0.00,141.02,0.898,6,0.058,0.000,2726,2085,2664
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6636,begin climb
$GC,6638,0.96,175.2,455.5,0.0,357,6788,1.23,0.00,146.05,0.871,6,0.098,0.000,3014,2084,1949
$GC,7094,0.96,175.2,428.6,8.8,369,7098,0.00,2.47,0.00,0.000,4,0.000,0.046,3014,676,1938
$GC,7178,0.96,175.2,420.5,9.8,371,7182,0.00,2.38,0.00,0.000,6,0.000,0.064,3014,2079,1935
$GC,7501,0.96,175.2,394.2,7.7,379,7505,0.00,2.42,0.00,0.000,4,0.000,0.043,3014,3477,1934
$GC,7584,0.96,175.2,387.8,8.1,381,7589,0.00,2.35,0.00,0.000,6,0.000,0.064,3014,2082,1934
$GC,7914,0.96,175.2,362.4,8.2,389,7918,0.00,2.45,0.00,0.000,4,0.000,0.077,3014,3482,1932
$GC,7968,0.96,175.2,356.6,10.9,390,7972,0.00,2.38,0.00,0.000,6,0.000,0.030,3014,2080,1932
$GC,8281,0.96,175.2,323.8,10.3,398,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2079,1931
$GC,8587,0.96,175.2,296.2,8.7,406,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2079,1931
$GC,8896,0.99,200.2,273.9,6.5,421,8917,0.00,0.00,19.58,0.774,6,0.000,0.000,3014,2079,1847
$GC,9225,0.99,200.2,248.8,8.0,437,9229,0.00,2.42,0.00,0.000,4,0.000,0.041,3014,3481,1842
$GC,9364,1.00,204.9,239.2,7.0,443,9375,0.00,2.38,4.90,0.574,6,0.000,0.028,3014,2071,1828
$GC,9684,1.00,204.9,215.9,7.4,459,9688,0.00,2.40,0.00,0.000,4,0.000,0.044,3014,676,1826
$GC,9800,1.04,243.4,208.3,6.1,464,9848,0.00,2.35,36.85,0.703,6,0.000,0.025,3014,2094,1670
$GC,10163,1.04,243.4,182.1,7.2,492,10167,0.00,2.45,0.00,0.000,4,0.000,0.041,3014,676,1664
$GC,10285,1.04,243.4,172.5,7.4,502,10292,0.00,2.35,0.00,0.000,6,0.000,0.023,3014,2079,1661
$GC,10612,1.04,243.4,149.5,7.4,533,10616,0.00,2.42,0.00,0.000,4,0.000,0.044,3014,674,1661
$GC,10652,1.04,243.4,146.3,8.1,536,10656,0.00,2.33,0.00,0.000,6,0.000,0.022,3014,2091,1660
$GC,10977,1.09,276.6,123.9,6.2,566,11011,0.00,2.50,28.58,0.633,4,0.000,0.069,3014,681,1534
$GC,11063,1.09,276.6,117.8,7.9,574,11067,0.00,2.30,0.00,0.000,6,0.000,0.058,3014,2086,1531
$GC,11392,1.09,276.6,92.9,7.8,605,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2090,1531
$GC,11711,1.09,277.7,69.7,7.1,635,11715,0.00,2.42,0.00,0.000,4,0.000,0.038,3014,666,1530
$GC,11785,1.09,277.7,64.1,7.3,641,11789,0.00,2.08,0.00,0.000,6,0.000,0.057,3014,1979,1529
$GC,12116,1.14,318.0,41.0,6.0,672,12160,0.12,2.53,36.50,0.555,4,0.046,0.036,3060,3471,1366
$GC,12217,1.16,335.4,33.3,6.7,681,12239,0.00,2.33,15.95,0.519,6,0.000,0.056,3060,2063,1296
$STATE,12566,end climb,SURFACE_DEPTH_REACHED
$STATE,12566,begin surface coast
$FINISH,0.4,1.022806
$STATE,12597,end surface coast,CONTROL_FINISHED_OK
$STATE,12597,begin surface
$SM_CCo,12677,0.00,0.000,0,0,1286,338.02
$SM_GC,1.01,11.35,0.00,0.00,0.041,0.000,0.000,431,2058,1286,-10.81,-0.62,338.02
$IRIDIUM_FIX,2057.14,-15751.76,171097,030304
$TT8_MAMPS,0.028379
$HUMID,1865
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.80
$XPDR_PINGS,707
$24V_AH,23.3,43.495
$10V_AH,10.2,25.231
$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,25.500,111.225,429.425,0.000,0.000,79.227,87.285,433.048,176.750,0.000,0.000,35.014,1319.122,9234.855,515.560,1659.492,803.199,33.368,1320.028,0.000,1636.923,0.000,0.470
$DEVICE_MAMPS,155.701,76.700,898.157,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.359,490.666,827.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37985,745
$CAP_FILE_SIZE,108543,9
$CFSIZE,260165632,252780544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230708,073208,2107.730,-15752.231,25,1.8,25,9.8