version: 66.03
glider: 139
mission: 3
dive: 98
start: 7 23 108 11 15 4
data:
$ID,139
$MISSION,3
$DIVE,98
$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,-1272525.6
$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,45
$R_STBD_OVSHOOT,63
$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
$GPS1,110602,2108.161,-15753.242,36,2.0,36,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.4
$GPS2,111414,2108.123,-15753.294,12,1.6,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.154,0.203
$KALMAN_X,-14513.1,47.4,142.1,13488.1,626.4
$KALMAN_Y,-16893.2,-17.9,48.9,1029.5,-1088.9
$MHEAD_RNG_PITCHd_Wd,312.9,3500,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-48.60,0.000,2,0.000,0.000,430,2088,2765
$GC,74,-0.96,-175.2,3.4,-6.1,9,104,12.07,2.28,-10.82,0.000,4,0.154,0.067,2577,3457,3381
$GC,194,-0.96,-175.2,28.3,-12.5,30,200,0.00,2.22,0.00,0.000,6,0.000,0.021,2577,2083,3382
$GC,307,-0.96,-175.2,42.1,-12.6,42,312,0.00,2.38,0.00,0.000,4,0.000,0.036,2577,674,3383
$GC,336,-0.96,-175.2,46.1,-14.3,44,340,0.00,2.25,0.00,0.000,6,0.000,0.055,2578,2072,3382
$GC,661,-0.96,-175.2,83.5,-11.3,74,665,0.00,2.33,0.00,0.000,4,0.000,0.044,2578,3471,3383
$GC,784,-0.96,-175.2,97.3,-10.3,85,788,0.00,2.28,0.00,0.000,6,0.000,0.019,2577,2070,3384
$GC,1110,-0.96,-175.2,129.6,-9.5,115,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2068,3384
$GC,1429,-0.96,-175.2,154.8,-6.6,145,1433,0.00,2.33,0.00,0.000,4,0.000,0.070,2577,687,3385
$GC,1450,-0.96,-175.2,156.5,-7.0,146,1457,0.00,2.28,0.00,0.000,6,0.000,0.033,2577,2085,3385
$GC,1776,-0.96,-175.2,181.0,-6.9,177,1781,0.00,2.38,0.00,0.000,4,0.000,0.064,2577,683,3385
$GC,1820,-0.96,-175.2,184.7,-8.4,180,1827,0.00,2.28,0.00,0.000,6,0.000,0.054,2577,2078,3385
$GC,2143,-0.96,-175.2,207.1,-6.6,206,2147,0.00,2.33,0.00,0.000,4,0.000,0.068,2577,3464,3386
$GC,2170,-0.96,-175.2,209.0,-6.8,207,2174,0.00,2.25,0.00,0.000,6,0.000,0.021,2577,2078,3386
$GC,2492,-0.96,-175.2,228.3,-5.9,223,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3385
$GC,2801,-0.96,-175.2,247.3,-6.1,238,2805,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,686,3384
$GC,2828,-0.96,-175.2,249.1,-6.4,239,2832,0.00,2.08,0.00,0.000,6,0.000,0.059,2577,1984,3384
$GC,3149,-0.96,-175.2,269.0,-6.4,255,3154,0.00,2.42,0.00,0.000,4,0.000,0.067,2577,3454,3383
$GC,3182,-0.96,-175.2,271.4,-7.0,256,3189,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2085,3383
$GC,3497,-0.96,-175.2,288.7,-4.7,272,3502,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,683,3382
$GC,3530,-0.96,-175.2,290.2,-4.6,273,3536,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2078,3382
$GC,3866,-0.96,-175.2,309.5,-6.7,287,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3380
$GC,4189,-0.96,-175.2,329.5,-6.0,295,4193,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,686,3379
$GC,4233,-0.96,-175.2,332.3,-6.4,296,4237,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2076,3379
$GC,4557,-0.96,-175.2,355.5,-7.6,304,4561,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3475,3377
$GC,4623,-0.96,-175.2,360.4,-7.2,305,4628,0.00,2.35,0.00,0.000,6,0.000,0.025,2578,2077,3376
$GC,4966,-0.96,-175.2,386.7,-7.9,314,4970,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,676,3375
$GC,5010,-0.96,-175.2,390.3,-8.1,315,5015,0.00,2.30,0.00,0.000,6,0.000,0.026,2577,2079,3375
$GC,5334,-0.96,-175.2,415.1,-7.3,323,5338,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,3473,3373
$GC,5395,-0.96,-175.2,419.0,-6.3,324,5399,0.00,2.33,0.00,0.000,6,0.000,0.063,2577,2070,3372
$GC,5742,-0.96,-175.2,439.5,-5.7,333,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2068,3370
$STATE,5902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5902,begin apogee
$GC,5907,-0.31,0.0,450.5,6.8,337,6052,0.68,0.00,141.62,0.897,6,0.049,0.000,2731,2068,2664
$STATE,6052,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6054,0.96,175.2,458.9,0.0,340,6207,0.10,2.47,144.50,0.871,4,0.506,0.079,2768,687,1947
$GC,6246,1.01,219.0,457.1,5.9,344,6299,1.12,2.35,40.10,0.813,6,0.046,0.028,3022,2086,1771
$GC,6622,1.01,219.0,416.7,11.2,354,6626,0.00,2.42,0.00,0.000,4,0.000,0.044,3022,3472,1762
$GC,6829,1.01,219.0,393.6,10.4,358,6833,0.00,2.35,0.00,0.000,6,0.000,0.036,3022,2091,1761
$GC,7165,1.01,219.0,361.2,9.7,367,7170,0.00,2.50,0.00,0.000,4,0.000,0.049,3022,667,1758
$GC,7206,1.01,219.0,356.9,11.5,368,7210,0.00,2.38,0.00,0.000,6,0.000,0.031,3022,2076,1755
$GC,7529,1.01,219.0,324.8,10.0,376,7533,0.00,2.42,0.00,0.000,4,0.000,0.045,3022,3474,1755
$GC,7577,1.01,219.0,319.1,11.8,377,7582,0.00,2.40,0.00,0.000,6,0.000,0.041,3022,2082,1755
$GC,7898,1.01,219.0,284.6,10.2,388,7902,0.00,2.47,0.00,0.000,4,0.000,0.082,3021,669,1753
$GC,8042,1.01,219.0,268.0,12.6,394,8049,0.00,2.38,0.00,0.000,6,0.000,0.028,3022,2072,1750
$GC,8357,1.01,219.0,240.1,8.8,410,8361,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,3482,1750
$GC,8420,1.01,219.0,234.0,9.7,413,8424,0.00,2.38,0.00,0.000,6,0.000,0.028,3022,2070,1750
$GC,8746,1.01,219.0,204.8,8.9,429,8750,0.00,2.42,0.00,0.000,4,0.000,0.038,3021,3477,1750
$GC,8829,1.01,219.0,197.4,8.8,434,8833,0.00,2.35,0.00,0.000,6,0.000,0.026,3022,2074,1750
$GC,9154,1.01,219.0,170.8,8.1,464,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2073,1750
$GC,9472,1.01,219.0,147.9,7.7,494,9476,0.00,2.40,0.00,0.000,4,0.000,0.041,3022,676,1749
$GC,9560,1.01,219.0,141.1,7.4,501,9567,0.00,2.35,0.00,0.000,6,0.000,0.023,3022,2092,1748
$GC,9888,1.02,221.9,118.6,7.1,532,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2098,1748
$GC,10203,1.02,223.0,97.0,7.1,562,10207,0.00,2.40,0.00,0.000,4,0.000,0.038,3021,677,1748
$GC,10282,1.02,223.0,90.8,7.8,569,10286,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2093,1749
$GC,10613,1.06,253.8,69.3,6.3,600,10646,0.00,2.40,27.52,0.579,4,0.000,0.040,3022,3467,1628
$GC,10691,1.06,253.8,64.1,7.3,607,10696,0.00,2.30,0.00,0.000,6,0.000,0.021,3022,2071,1628
$GC,11016,1.07,263.0,42.0,6.9,637,11030,0.00,2.38,9.48,0.504,4,0.000,0.040,3022,3461,1590
$GC,11071,1.07,263.0,37.8,7.5,642,11075,0.00,2.28,0.00,0.000,6,0.000,0.036,3022,2076,1590
$GC,11407,1.16,333.6,17.0,5.2,691,11474,0.10,0.00,60.60,0.534,6,0.054,0.000,3061,2075,1301
$STATE,11573,end climb,SURFACE_DEPTH_REACHED
$STATE,11573,begin surface coast
$FINISH,0.2,1.023030
$STATE,11603,end surface coast,CONTROL_FINISHED_OK
$STATE,11603,begin surface
$SM_CCo,11682,0.00,0.000,0,0,1292,336.55
$SM_GC,0.92,11.38,0.00,0.00,0.037,0.000,0.000,427,2072,1292,-10.81,-0.25,336.55
$IRIDIUM_FIX,2059.45,-15753.90,171097,070749
$TT8_MAMPS,0.029146
$HUMID,1866
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.10
$XPDR_PINGS,715
$24V_AH,23.3,43.767
$10V_AH,10.2,25.391
$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,25.450,112.600,423.825,0.000,0.000,31.756,28.916,310.524,178.750,0.000,0.000,13.931,1286.540,8174.306,481.586,1669.604,548.490,33.371,1311.975,0.000,1657.470,0.000,0.470
$DEVICE_MAMPS,506.220,82.069,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.367,482.128,839.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,726
$CAP_FILE_SIZE,103431,13
$CFSIZE,260165632,252678144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230708,143108,2108.697,-15753.467,47,1.2,47,9.8