version: 66.03
glider: 139
mission: 3
dive: 102
start: 7 24 108 1 16 38
data:
$ID,139
$MISSION,3
$DIVE,102
$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,-1272598.6
$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,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
$GPS1,010726,2107.137,-15751.838,38,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-62.6
$GPS2,011546,2107.056,-15751.878,15,1.3,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.175
$KALMAN_X,-12885.5,15.4,335.2,14149.5,279.6
$KALMAN_Y,-18881.5,355.1,173.5,531.1,-492.2
$MHEAD_RNG_PITCHd_Wd,123.6,12251,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.96,-175.2,0.0,0.0,0,103,0.00,0.00,-81.70,0.000,2,0.000,0.000,428,2092,2769
$GC,105,-0.96,-175.2,3.1,-5.2,15,135,12.05,2.40,-11.25,0.000,4,0.151,0.046,2577,670,3381
$GC,158,-0.96,-175.2,16.2,-18.9,24,165,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2080,3382
$GC,282,-0.96,-175.2,31.4,-12.0,45,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2084,3382
$GC,601,-0.96,-175.2,70.5,-10.8,75,605,0.00,2.38,0.00,0.000,4,0.000,0.035,2577,676,3383
$GC,651,-0.96,-175.2,76.1,-10.2,79,656,0.00,2.25,0.00,0.000,6,0.000,0.054,2578,2082,3383
$GC,977,-0.96,-175.2,105.9,-9.8,109,981,0.00,2.30,0.00,0.000,4,0.000,0.044,2577,3464,3383
$GC,1016,-0.96,-175.2,109.9,-9.6,112,1020,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2068,3384
$GC,1347,-0.96,-175.2,139.6,-8.1,143,1351,0.00,2.33,0.00,0.000,4,0.000,0.067,2577,685,3384
$GC,1391,-0.96,-175.2,143.6,-8.3,146,1398,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2082,3384
$GC,1717,-0.96,-175.2,167.2,-8.1,177,1721,0.00,2.30,0.00,0.000,4,0.000,0.067,2577,3464,3384
$GC,1749,-0.96,-175.2,169.7,-7.1,179,1755,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2077,3383
$GC,2075,-0.96,-175.2,193.6,-7.6,210,2079,0.00,2.35,0.00,0.000,4,0.000,0.041,2577,686,3383
$GC,2124,-0.96,-175.2,197.3,-7.3,214,2128,0.00,2.25,0.00,0.000,6,0.000,0.054,2577,2081,3383
$GC,2441,-0.96,-175.2,216.6,-6.9,231,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3383
$GC,2749,-0.96,-175.2,241.0,-8.2,246,2754,0.00,2.38,0.00,0.000,4,0.000,0.037,2577,679,3382
$GC,2782,-0.96,-175.2,243.5,-8.0,247,2788,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2068,3382
$GC,3098,-0.96,-175.2,263.0,-6.4,263,3102,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3464,3381
$GC,3141,-0.96,-175.2,266.2,-7.1,265,3146,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2077,3381
$GC,3468,-0.96,-175.2,290.1,-7.0,281,3472,0.00,2.35,0.00,0.000,4,0.000,0.040,2577,680,3380
$GC,3501,-0.96,-175.2,292.5,-7.2,282,3505,0.00,2.30,0.00,0.000,6,0.000,0.023,2578,2072,3380
$GC,3840,-0.96,-175.2,311.5,-5.6,294,3844,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3473,3378
$GC,3889,-0.96,-175.2,315.1,-7.0,295,3893,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2076,3377
$GC,4208,-0.96,-175.2,334.4,-5.4,303,4212,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,680,3376
$GC,4268,-0.96,-175.2,337.4,-4.9,304,4273,0.00,2.30,0.00,0.000,6,0.000,0.032,2577,2077,3375
$GC,4618,-0.96,-175.2,354.6,-5.9,313,4622,0.00,2.38,0.00,0.000,4,0.000,0.045,2577,3471,3374
$GC,4639,-0.96,-175.2,356.3,-7.1,313,4643,0.00,2.08,0.00,0.000,6,0.000,0.053,2577,2198,3373
$GC,4981,-0.96,-175.2,377.5,-5.2,322,4986,0.00,2.60,0.00,0.000,4,0.000,0.042,2577,677,3371
$GC,5036,-0.96,-175.2,380.0,-5.1,323,5040,0.00,2.33,0.00,0.000,6,0.000,0.027,2577,2081,3371
$GC,5349,-0.96,-175.2,398.5,-6.3,331,5354,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,680,3369
$GC,5382,-0.96,-175.2,400.9,-7.3,331,5388,0.00,2.35,0.00,0.000,6,0.000,0.028,2577,2100,3369
$GC,5713,-0.96,-175.2,426.0,-7.9,340,5717,0.00,2.38,0.00,0.000,4,0.000,0.045,2577,3478,3367
$GC,5784,-0.96,-175.2,431.5,-7.4,341,5788,0.00,2.35,0.00,0.000,6,0.000,0.027,2577,2083,3366
$STATE,6078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6078,begin apogee
$GC,6083,-0.31,0.0,451.5,6.8,349,6227,0.68,0.00,140.88,0.897,6,0.049,0.000,2731,2081,2664
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6230,0.96,175.2,458.9,0.0,352,6380,0.15,0.00,145.00,0.869,6,0.357,0.000,2779,2081,1948
$GC,6718,1.10,284.8,443.4,4.2,364,6819,1.10,2.50,93.57,0.867,4,0.048,0.055,3030,681,1502
$GC,6908,1.10,284.8,425.2,11.8,368,6912,0.00,2.38,0.00,0.000,6,0.000,0.029,3031,2070,1493
$GC,7250,1.10,284.8,385.0,12.3,377,7254,0.00,2.45,0.00,0.000,4,0.000,0.048,3031,681,1490
$GC,7304,1.10,284.8,377.3,14.2,378,7309,0.00,2.40,0.00,0.000,6,0.000,0.036,3030,2083,1488
$GC,7617,1.10,284.8,336.7,12.8,386,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2088,1487
$GC,7942,1.10,284.8,298.9,11.1,394,7946,0.00,2.45,0.00,0.000,4,0.000,0.048,3031,683,1485
$GC,7981,1.10,284.8,294.3,12.1,396,7986,0.00,2.35,0.00,0.000,6,0.000,0.038,3031,2082,1484
$GC,8307,1.10,284.8,258.1,11.7,412,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,1484
$GC,8617,1.10,284.8,224.1,9.2,427,8621,0.00,2.45,0.00,0.000,4,0.000,0.045,3031,678,1483
$GC,8666,1.10,284.8,219.0,10.1,429,8670,0.00,2.38,0.00,0.000,6,0.000,0.045,3031,2083,1481
$GC,8991,1.10,284.8,185.9,11.0,450,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2088,1481
$GC,9308,1.10,284.8,155.7,8.7,480,9312,0.00,2.42,0.00,0.000,4,0.000,0.041,3031,680,1481
$GC,9363,1.10,284.8,150.1,10.6,484,9370,0.00,2.35,0.00,0.000,6,0.000,0.024,3031,2089,1480
$GC,9689,1.10,284.8,122.2,8.3,515,9693,0.00,2.42,0.00,0.000,4,0.000,0.072,3031,679,1480
$GC,9733,1.10,284.8,117.7,10.1,518,9740,0.00,2.33,0.00,0.000,6,0.000,0.022,3030,2084,1479
$GC,10059,1.10,284.8,87.4,9.2,549,10063,0.00,2.42,0.00,0.000,4,0.000,0.073,3031,674,1479
$GC,10102,1.10,284.8,82.5,11.1,552,10109,0.00,2.30,0.00,0.000,6,0.000,0.020,3031,2076,1480
$GC,10429,1.10,284.8,54.4,8.1,583,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2081,1480
$GC,10746,1.10,284.8,34.5,7.5,613,10750,0.00,2.33,0.00,0.000,4,0.000,0.031,3031,3465,1481
$GC,10836,1.10,289.5,28.0,7.0,623,10842,0.00,2.25,0.00,0.000,6,0.000,0.021,3031,2072,1482
$GC,10955,1.11,297.0,20.0,6.9,644,10968,0.00,0.00,8.48,0.476,6,0.000,0.000,3031,2071,1453
$GC,11081,1.11,297.0,11.8,8.0,666,11087,0.00,2.35,0.00,0.000,4,0.000,0.071,3030,675,1452
$GC,11122,1.11,297.0,8.4,8.5,673,11128,0.00,2.25,0.00,0.000,6,0.000,0.053,3031,2093,1451
$STATE,11199,end climb,SURFACE_DEPTH_REACHED
$STATE,11200,begin surface coast
$FINISH,0.4,1.011598
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11260,20.42,0.509,0,0,1359,320.12
$SM_GC,0.69,0.00,0.00,20.42,0.000,0.000,0.509,418,2098,1359,-10.93,0.51,320.12
$IRIDIUM_FIX,2059.45,-15753.90,171097,212140
$TT8_MAMPS,0.029146
$HUMID,1881
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,653
$24V_AH,21.3,44.394
$10V_AH,10.2,25.714
$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,25.100,112.500,387.925,20.425,0.000,27.368,27.332,326.086,163.250,0.000,0.000,17.170,1226.157,7939.432,505.893,1546.590,554.172,33.378,1286.908,0.000,1534.520,0.000,0.470
$DEVICE_MAMPS,356.655,72.865,896.623,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.057,457.697,800.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34799,694
$CAP_FILE_SIZE,99770,9
$CFSIZE,260165632,252485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240708,042607,2105.609,-15751.035,45,1.1,50,9.8