version: 66.03
glider: 139
mission: 3
dive: 101
start: 7 23 108 21 45 10
data:
$ID,139
$MISSION,3
$DIVE,101
$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,-1272580.9
$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,96
$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
$GPS1,212439,2108.399,-15753.099,84,1.0,84,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.0
$GPS2,214420,2108.384,-15753.089,12,1.2,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,-0.235
$KALMAN_X,-12463.5,-211.4,-744.7,12938.6,2298.9
$KALMAN_Y,-19059.3,25.6,189.0,3490.0,-769.8
$MHEAD_RNG_PITCHd_Wd,147.9,15475,-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,-175.2,0.0,0.0,0,82,0.00,0.00,-59.00,0.000,2,0.000,0.000,424,2125,2967
$GC,85,-0.96,-175.2,3.7,-6.3,11,108,12.12,0.00,-6.80,0.000,6,0.154,0.000,2576,2126,3383
$GC,225,-0.96,-175.2,34.3,-12.9,33,229,0.00,2.45,0.00,0.000,4,0.000,0.037,2575,678,3385
$GC,257,-0.96,-175.2,38.6,-12.3,35,264,0.00,2.20,0.00,0.000,6,0.000,0.018,2576,2044,3385
$GC,582,-0.96,-175.2,77.1,-11.1,66,586,0.00,2.33,0.00,0.000,4,0.000,0.029,2576,3454,3385
$GC,604,-0.96,-175.2,79.4,-9.9,68,608,0.00,2.22,0.00,0.000,6,0.000,0.020,2575,2077,3385
$GC,930,-0.96,-175.2,107.7,-9.8,98,934,0.00,2.00,0.00,0.000,4,0.000,0.064,2575,855,3386
$GC,997,-0.96,-175.2,114.2,-8.7,104,1001,0.00,1.95,0.00,0.000,6,0.000,0.018,2576,2082,3386
$GC,1330,-0.96,-175.2,143.9,-7.2,135,1333,0.00,2.30,0.00,0.000,4,0.000,0.048,2576,3460,3386
$GC,1356,-0.96,-175.2,146.2,-7.3,137,1363,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2077,3386
$GC,1682,-0.96,-175.2,171.3,-8.4,168,1686,0.00,2.35,0.00,0.000,4,0.000,0.068,2575,679,3386
$GC,1737,-0.96,-175.2,176.2,-8.8,172,1744,0.00,2.28,0.00,0.000,6,0.000,0.019,2576,2075,3387
$GC,2072,-0.96,-175.2,203.0,-7.4,202,2076,0.00,2.33,0.00,0.000,4,0.000,0.063,2576,3464,3386
$GC,2099,-0.96,-175.2,205.0,-7.3,203,2103,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2079,3386
$GC,2421,-0.96,-175.2,229.9,-7.4,219,2425,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,681,3385
$GC,2465,-0.96,-175.2,232.9,-6.4,221,2469,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2077,3385
$GC,2792,-0.96,-175.2,248.8,-5.0,237,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3384
$GC,3101,-0.96,-175.2,266.9,-6.7,252,3105,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3464,3383
$GC,3144,-0.96,-175.2,270.3,-7.8,254,3148,0.00,2.30,0.00,0.000,6,0.000,0.058,2575,2080,3383
$GC,3471,-0.96,-175.2,291.3,-6.3,270,3475,0.00,2.35,0.00,0.000,4,0.000,0.073,2575,686,3381
$GC,3526,-0.96,-175.2,295.1,-7.0,272,3530,0.00,2.28,0.00,0.000,6,0.000,0.058,2575,2078,3381
$GC,3863,-0.96,-175.2,314.2,-4.9,283,3868,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3477,3380
$GC,3896,-0.96,-175.2,315.8,-5.2,283,3902,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2081,3379
$GC,4227,-0.96,-175.2,337.4,-7.3,292,4231,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3476,3377
$GC,4237,-0.96,-175.2,338.3,-7.6,292,4242,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2075,3377
$GC,4550,-0.96,-175.2,362.2,-7.5,300,4554,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,677,3376
$GC,4600,-0.96,-175.2,366.0,-7.6,301,4604,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2075,3375
$GC,4918,-0.96,-175.2,387.8,-6.8,309,4923,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3470,3373
$GC,4979,-0.96,-175.2,391.8,-6.0,310,4983,0.00,2.30,0.00,0.000,6,0.000,0.043,2576,2077,3372
$GC,5328,-0.96,-175.2,412.7,-6.1,319,5332,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,685,3371
$GC,5372,-0.96,-175.2,415.7,-6.6,320,5375,0.00,2.30,0.00,0.000,6,0.000,0.027,2575,2080,3370
$GC,5696,-0.96,-175.2,435.2,-6.0,328,5700,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3474,3369
$GC,5728,-0.96,-175.2,437.1,-5.6,328,5734,0.00,2.33,0.00,0.000,6,0.000,0.036,2576,2074,3369
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5976,begin apogee
$GC,5981,-0.31,0.0,452.1,6.3,335,6125,0.68,0.00,141.23,0.900,6,0.163,0.000,2729,2073,2664
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6128,0.96,175.2,459.5,0.0,338,6284,1.23,2.53,145.27,0.872,4,0.115,0.069,3010,685,1946
$GC,6300,0.96,175.2,457.8,8.1,342,6305,0.00,2.38,0.00,0.000,6,0.000,0.028,3010,2066,1942
$GC,6619,0.96,175.2,431.5,8.1,350,6623,0.00,2.42,0.00,0.000,4,0.000,0.047,3010,687,1937
$GC,6646,0.96,175.2,429.0,9.2,350,6651,0.00,2.35,0.00,0.000,6,0.000,0.029,3010,2083,1935
$GC,6977,0.96,175.2,400.8,7.9,358,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2086,1934
$GC,7302,0.96,175.2,374.6,8.7,366,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2086,1932
$GC,7627,0.96,175.2,346.5,8.0,374,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2086,1931
$GC,7951,0.96,175.2,319.7,8.6,382,7956,0.00,2.42,0.00,0.000,4,0.000,0.045,3010,3482,1929
$GC,8085,0.96,175.2,307.8,8.6,385,8089,0.00,2.35,0.00,0.000,6,0.000,0.029,3010,2088,1929
$GC,8412,0.96,175.2,280.1,8.1,398,8416,0.00,2.45,0.00,0.000,4,0.000,0.077,3010,672,1927
$GC,8489,0.96,175.2,274.9,7.3,401,8496,0.00,2.38,0.00,0.000,6,0.000,0.028,3010,2087,1926
$GC,8805,0.96,175.2,249.4,7.4,417,8809,0.00,2.38,0.00,0.000,4,0.000,0.041,3010,3473,1926
$GC,8957,0.96,175.2,237.6,7.8,424,8961,0.00,2.35,0.00,0.000,6,0.000,0.027,3010,2069,1926
$GC,9283,0.96,175.2,211.9,7.7,440,9287,0.00,2.40,0.00,0.000,4,0.000,0.043,3010,676,1926
$GC,9422,1.05,251.7,203.7,5.1,446,9490,0.00,2.33,62.67,0.729,6,0.000,0.030,3010,2089,1637
$GC,9807,1.05,251.7,173.7,9.3,478,9811,0.00,2.45,0.00,0.000,4,0.000,0.041,3010,674,1629
$GC,9850,1.05,251.7,169.4,10.5,481,9856,0.00,2.35,0.00,0.000,6,0.000,0.036,3010,2077,1626
$GC,10178,1.05,251.7,145.5,7.6,512,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2081,1626
$GC,10493,1.05,251.7,117.6,7.3,542,10497,0.00,2.40,0.00,0.000,4,0.000,0.038,3010,678,1626
$GC,10578,1.11,298.0,112.3,5.9,549,10630,0.12,2.28,41.05,0.606,6,0.051,0.021,3049,2092,1448
$GC,10949,1.11,298.0,76.8,9.0,584,10953,0.00,2.42,0.00,0.000,4,0.000,0.038,3049,671,1444
$GC,10994,1.11,298.0,72.3,10.8,588,10998,0.00,2.28,0.00,0.000,6,0.000,0.020,3049,2076,1442
$GC,11318,1.11,298.0,42.0,9.1,618,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2081,1442
$GC,11645,1.11,298.0,16.4,8.0,662,11651,0.00,2.38,0.00,0.000,4,0.000,0.071,3049,674,1442
$GC,11747,1.11,298.0,8.6,8.4,680,11753,0.00,2.25,0.00,0.000,6,0.000,0.037,3050,2089,1440
$STATE,11808,end climb,SURFACE_DEPTH_REACHED
$STATE,11808,begin surface coast
$FINISH,0.2,1.022886
$STATE,11843,end surface coast,CONTROL_FINISHED_OK
$STATE,11843,begin surface
$SM_CCo,11863,196.90,0.522,0,0,449,543.09
$SM_GC,0.85,0.00,0.00,196.90,0.000,0.000,0.522,428,2092,449,-10.89,0.37,543.09
$IRIDIUM_FIX,2101.76,-15753.03,171097,212134
$TT8_MAMPS,0.029146
$HUMID,1809
$INTERNAL_PRESSURE,8.59026
$TCM_TEMP,22.70
$XPDR_PINGS,676
$24V_AH,23.3,44.254
$10V_AH,10.2,25.636
$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,25.350,116.400,390.225,196.900,0.000,135.976,219.813,431.752,169.000,0.000,0.000,15.857,1255.159,8712.583,663.459,1600.820,998.787,33.373,1471.151,0.000,1588.569,0.000,0.470
$DEVICE_MAMPS,163.371,76.700,899.691,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.620,457.020,772.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,697
$CAP_FILE_SIZE,109246,13
$CFSIZE,260165632,252514304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240708,010726,2107.137,-15751.838,38,1.4,38,9.8