version: 66.03
glider: 139
mission: 3
dive: 103
start: 7 24 108 4 45 33
data:
$ID,139
$MISSION,3
$DIVE,103
$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,-1272635.9
$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,43
$R_STBD_OVSHOOT,66
$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
$GPS1,042607,2105.609,-15751.035,45,1.1,50,9.8
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.6
$GPS2,044444,2105.677,-15751.190,35,1.3,35,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.083
$KALMAN_X,-13715.0,-44.9,89.2,16472.3,-1103.3
$KALMAN_Y,-19126.0,453.5,-21.0,-1672.3,-602.4
$MHEAD_RNG_PITCHd_Wd,99.2,9635,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-48.92,0.000,2,0.000,0.000,417,2098,2765
$GC,73,-0.96,-175.2,3.1,-5.5,9,102,12.20,2.40,-11.32,0.000,4,0.154,0.047,2577,678,3380
$GC,131,-0.96,-175.2,17.9,-18.9,19,137,0.00,2.22,0.00,0.000,6,0.000,0.018,2578,2077,3381
$GC,254,-0.96,-175.2,34.9,-13.6,38,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2082,3381
$GC,572,-0.96,-175.2,73.8,-8.5,68,576,0.00,2.30,0.00,0.000,4,0.000,0.030,2578,3466,3382
$GC,612,-0.96,-175.2,76.9,-7.9,71,616,0.00,2.25,0.00,0.000,6,0.000,0.020,2578,2077,3381
$GC,936,-0.96,-175.2,109.5,-10.9,101,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2076,3382
$GC,1255,-0.96,-175.2,141.4,-8.5,131,1259,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,677,3383
$GC,1288,-0.96,-175.2,143.9,-7.9,134,1292,0.00,2.25,0.00,0.000,6,0.000,0.035,2578,2078,3383
$GC,1619,-0.96,-175.2,165.0,-7.1,165,1623,0.00,2.30,0.00,0.000,4,0.000,0.065,2578,3463,3383
$GC,1652,-0.96,-175.2,167.7,-7.3,167,1658,0.00,2.25,0.00,0.000,6,0.000,0.040,2577,2078,3383
$GC,1977,-0.96,-175.2,194.3,-8.6,198,1982,0.00,2.35,0.00,0.000,4,0.000,0.048,2577,682,3383
$GC,2028,-0.96,-175.2,198.7,-8.4,202,2032,0.00,2.25,0.00,0.000,6,0.000,0.041,2578,2076,3383
$GC,2360,-0.96,-175.2,222.4,-6.7,219,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3383
$GC,2668,-0.96,-175.2,239.7,-6.1,234,2672,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3464,3382
$GC,2700,-0.96,-175.2,242.1,-7.2,235,2706,0.00,2.30,0.00,0.000,6,0.000,0.021,2578,2075,3382
$GC,3016,-0.96,-175.2,260.3,-5.3,251,3020,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,683,3381
$GC,3078,-0.96,-175.2,263.8,-6.0,254,3082,0.00,2.28,0.00,0.000,6,0.000,0.057,2578,2082,3381
$GC,3404,-0.96,-175.2,282.3,-5.5,270,3408,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,683,3379
$GC,3431,-0.96,-175.2,283.8,-5.8,271,3435,0.00,2.28,0.00,0.000,6,0.000,0.059,2578,2082,3380
$GC,3772,-0.96,-175.2,302.7,-5.8,287,3776,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,3473,3378
$GC,3811,-0.96,-175.2,305.0,-5.9,288,3815,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2080,3377
$GC,4135,-0.96,-175.2,323.3,-5.2,296,4139,0.00,2.38,0.00,0.000,4,0.000,0.074,2578,681,3376
$GC,4195,-0.96,-175.2,326.9,-5.8,297,4200,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2069,3375
$GC,4544,-0.96,-175.2,347.3,-5.7,306,4547,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3473,3374
$GC,4570,-0.96,-175.2,349.0,-6.0,306,4575,0.00,2.33,0.00,0.000,6,0.000,0.025,2578,2069,3374
$GC,4913,-0.96,-175.2,372.5,-7.6,315,4917,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3470,3372
$GC,4972,-0.96,-175.2,377.4,-8.0,316,4977,0.00,2.33,0.00,0.000,6,0.000,0.025,2578,2080,3371
$GC,5321,-0.96,-175.2,401.8,-6.1,325,5325,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,682,3369
$GC,5427,-0.96,-175.2,407.6,-5.7,327,5431,0.00,2.30,0.00,0.000,6,0.000,0.062,2578,2076,3369
$GC,5775,-0.96,-175.2,429.5,-6.9,336,5779,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3474,3366
$GC,5824,-0.96,-175.2,433.6,-8.0,337,5828,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2078,3366
$STATE,6018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6023,-0.31,0.0,450.7,8.9,342,6167,0.68,0.00,141.10,0.892,6,0.050,0.000,2731,2078,2664
$STATE,6168,end apogee,CONTROL_FINISHED_OK
$STATE,6168,begin climb
$GC,6170,0.96,175.2,461.3,0.0,345,6323,0.08,2.50,144.85,0.868,4,1.634,0.066,2764,676,1948
$GC,6576,1.02,226.9,453.7,5.7,354,6638,1.15,2.35,46.62,0.831,6,0.048,0.028,3022,2081,1737
$GC,6962,1.02,226.9,413.3,11.5,364,6966,0.00,2.45,0.00,0.000,4,0.000,0.048,3021,683,1729
$GC,7078,1.02,226.9,400.1,10.4,366,7082,0.00,2.38,0.00,0.000,6,0.000,0.029,3021,2076,1724
$GC,7415,1.02,226.9,368.4,10.2,375,7419,0.00,2.42,0.00,0.000,4,0.000,0.043,3021,3475,1724
$GC,7464,1.02,226.9,362.2,12.3,376,7468,0.00,2.38,0.00,0.000,6,0.000,0.030,3022,2091,1724
$GC,7782,1.02,226.9,330.4,8.7,384,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2090,1723
$GC,8107,1.02,226.9,301.8,9.1,392,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2090,1722
$GC,8416,1.02,226.9,274.3,9.3,406,8420,0.00,2.45,0.00,0.000,4,0.000,0.047,3022,677,1721
$GC,8454,1.02,226.9,270.3,10.4,408,8459,0.00,2.35,0.00,0.000,6,0.000,0.031,3022,2084,1719
$GC,8780,1.02,226.9,242.2,7.9,424,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2088,1720
$GC,9090,1.02,226.9,217.0,9.2,439,9094,0.00,2.45,0.00,0.000,4,0.000,0.043,3021,674,1719
$GC,9174,1.02,226.9,208.2,10.9,443,9178,0.00,2.33,0.00,0.000,6,0.000,0.025,3022,2082,1717
$GC,9496,1.02,226.9,179.5,8.3,469,9500,0.00,2.38,0.00,0.000,4,0.000,0.038,3021,3480,1717
$GC,9579,1.02,226.9,172.7,7.6,476,9586,0.00,2.38,0.00,0.000,6,0.000,0.051,3022,2073,1717
$GC,9905,1.02,226.9,149.3,7.2,507,9909,0.00,2.40,0.00,0.000,4,0.000,0.047,3022,676,1717
$GC,9960,1.02,226.9,144.2,9.8,511,9967,0.00,2.33,0.00,0.000,6,0.000,0.023,3022,2076,1717
$GC,10288,1.03,232.7,119.0,7.0,542,10292,0.00,2.40,0.00,0.000,4,0.000,0.071,3022,679,1716
$GC,10328,1.03,232.7,116.0,7.2,545,10332,0.00,2.30,0.00,0.000,6,0.000,0.022,3022,2086,1716
$GC,10655,1.14,323.7,94.2,4.7,575,10738,0.00,0.00,79.95,0.614,6,0.000,0.000,3021,2091,1343
$GC,11064,1.14,323.7,64.2,9.9,614,11068,0.00,2.40,0.00,0.000,4,0.000,0.037,3021,678,1337
$GC,11163,1.14,323.7,52.5,11.2,622,11171,0.00,2.30,0.00,0.000,6,0.000,0.019,3022,2084,1334
$GC,11492,1.18,354.8,30.8,6.3,653,11526,0.12,2.33,26.62,0.537,4,0.046,0.066,3068,3463,1215
$GC,11571,1.18,354.8,22.5,11.1,666,11578,0.00,2.28,0.00,0.000,6,0.000,0.034,3068,2073,1215
$GC,11691,1.18,354.8,10.0,10.8,687,11697,0.00,2.35,0.00,0.000,4,0.000,0.036,3068,674,1213
$GC,11738,1.18,354.8,5.3,10.0,695,11745,0.00,2.25,0.00,0.000,6,0.000,0.057,3068,2083,1212
$STATE,11760,end climb,SURFACE_DEPTH_REACHED
$STATE,11760,begin surface coast
$FINISH,0.2,1.022611
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11870,0.00,0.000,0,0,1208,357.16
$SM_GC,1.18,11.43,0.00,0.00,0.041,0.000,0.000,433,2088,1208,-10.80,0.25,357.16
$IRIDIUM_FIX,2057.14,-15748.75,181097,040441
$TT8_MAMPS,0.029146
$HUMID,1887
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.70
$XPDR_PINGS,712
$24V_AH,23.3,44.563
$10V_AH,10.2,25.800
$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,25.650,117.075,439.150,0.000,0.000,87.823,90.818,660.071,178.000,0.000,0.000,36.641,1260.016,8507.820,504.578,1652.076,1048.614,33.366,1332.381,0.000,1625.855,0.000,0.470
$DEVICE_MAMPS,1634.477,74.399,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.596,474.603,787.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34810,704
$CAP_FILE_SIZE,110956,12
$CFSIZE,260165632,252428288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240708,080555,2104.677,-15750.354,117,0.8,117,9.8