version: 66.03
glider: 139
mission: 3
dive: 106
start: 7 24 108 15 36 56
data:
$ID,139
$MISSION,3
$DIVE,106
$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,-1272699.2
$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,57
$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
$GPS1,152452,2102.559,-15747.701,111,2.2,130,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.9
$GPS2,153605,2102.600,-15747.782,9,1.8,23,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.013
$KALMAN_X,-16341.3,-376.4,462.8,24934.7,-1327.3
$KALMAN_Y,-19708.6,-391.7,131.5,-6096.3,-375.9
$MHEAD_RNG_PITCHd_Wd,83.7,1546,-14.5,-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,-1.06,-125.0,0.0,0.0,0,75,0.00,0.00,-54.70,0.000,2,0.000,0.000,431,2062,2941
$GC,78,-1.08,-136.4,4.0,-6.7,10,102,12.00,2.35,-4.78,0.000,4,0.156,0.049,2552,679,3224
$GC,136,-1.08,-136.4,23.2,-25.2,20,143,0.00,2.28,0.00,0.000,6,0.000,0.019,2551,2100,3225
$GC,257,-1.08,-136.4,39.0,-11.9,35,261,0.00,2.28,0.00,0.000,4,0.000,0.030,2551,3470,3226
$GC,322,-1.08,-136.4,45.9,-8.4,40,329,0.00,2.30,0.00,0.000,6,0.000,0.021,2551,2077,3226
$GC,648,-1.08,-136.4,80.0,-11.5,71,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2077,3227
$GC,966,-1.08,-136.4,114.6,-10.1,101,970,0.00,2.33,0.00,0.000,4,0.000,0.030,2551,3468,3227
$GC,1051,-1.08,-136.4,122.8,-10.2,108,1055,0.00,2.28,0.00,0.000,6,0.000,0.021,2551,2073,3228
$GC,1376,-1.08,-136.4,152.8,-10.3,138,1380,0.00,2.35,0.00,0.000,4,0.000,0.070,2551,677,3228
$GC,1425,-1.08,-136.4,157.9,-10.3,142,1430,0.00,2.28,0.00,0.000,6,0.000,0.055,2551,2092,3228
$GC,1751,-1.08,-136.4,189.0,-9.2,172,1754,0.00,2.05,0.00,0.000,4,0.000,0.051,2551,3350,3228
$GC,1795,-1.08,-136.4,193.0,-8.4,176,1799,0.00,2.08,0.00,0.000,6,0.000,0.061,2551,2074,3228
$GC,2118,-1.09,-146.0,216.1,-6.8,196,2122,0.00,2.35,0.00,0.000,4,0.000,0.037,2551,677,3228
$GC,2212,-1.11,-164.2,222.7,-6.4,200,2216,0.00,2.25,0.00,0.000,6,0.000,0.056,2551,2077,3228
$GC,2533,-1.11,-164.2,246.1,-8.5,216,2537,0.00,2.33,0.00,0.000,4,0.000,0.033,2551,3468,3228
$GC,2582,-1.11,-164.2,250.8,-9.1,218,2587,0.00,2.30,0.00,0.000,6,0.000,0.058,2551,2081,3228
$GC,2903,-1.11,-164.2,277.2,-8.6,234,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2080,3227
$GC,3213,-1.12,-175.2,297.4,-6.6,249,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2081,3226
$GC,3538,-1.12,-175.2,319.2,-6.9,258,3542,0.00,2.38,0.00,0.000,4,0.000,0.041,2551,683,3225
$GC,3588,-1.12,-175.2,323.2,-8.3,259,3592,0.00,2.28,0.00,0.000,6,0.000,0.024,2551,2075,3225
$GC,3906,-1.12,-175.2,348.7,-8.5,267,3910,0.00,2.38,0.00,0.000,4,0.000,0.038,2551,3477,3223
$GC,3982,-1.12,-175.2,355.0,-7.8,268,3989,0.00,2.35,0.00,0.000,6,0.000,0.045,2551,2083,3222
$GC,4314,-1.12,-175.2,378.9,-7.0,277,4318,0.00,2.40,0.00,0.000,4,0.000,0.042,2551,677,3220
$GC,4341,-1.12,-175.2,380.9,-7.3,277,4345,0.00,2.33,0.00,0.000,6,0.000,0.025,2551,2074,3220
$GC,4678,-1.12,-175.2,401.4,-5.7,286,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2077,3218
$GC,5003,-1.12,-175.2,421.8,-6.6,294,5007,0.00,2.40,0.00,0.000,4,0.000,0.043,2551,3472,3216
$GC,5035,-1.12,-175.2,423.9,-6.2,294,5042,0.00,2.33,0.00,0.000,6,0.000,0.037,2551,2083,3216
$GC,5366,-1.12,-175.2,443.1,-5.5,303,5370,0.00,2.40,0.00,0.000,4,0.000,0.043,2551,3470,3214
$GC,5395,-1.12,-175.2,444.7,-6.0,303,5399,0.00,2.33,0.00,0.000,6,0.000,0.028,2551,2078,3214
$STATE,5479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5479,begin apogee
$GC,5484,-0.31,0.0,450.0,6.0,305,5602,0.80,0.00,110.80,0.889,6,0.158,0.000,2725,2077,2663
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5603,begin climb
$GC,5605,1.12,175.2,455.3,0.0,308,5754,0.17,0.00,146.23,0.866,6,0.188,0.000,2780,2077,1949
$GC,6047,1.15,196.7,437.1,6.3,319,6072,1.15,2.47,18.38,0.820,4,0.046,0.087,3042,678,1861
$GC,6099,1.15,196.7,431.9,11.6,320,6103,0.00,2.38,0.00,0.000,6,0.000,0.064,3042,2080,1857
$GC,6412,1.15,196.7,396.6,11.0,328,6416,0.00,2.42,0.00,0.000,4,0.000,0.044,3042,3477,1855
$GC,6483,1.15,196.7,388.2,12.0,329,6488,0.00,2.40,0.00,0.000,6,0.000,0.030,3042,2083,1856
$GC,6820,1.15,196.7,349.9,11.5,338,6824,0.00,2.42,0.00,0.000,4,0.000,0.043,3042,3477,1852
$GC,6909,1.15,196.7,339.7,11.9,340,6914,0.00,2.38,0.00,0.000,6,0.000,0.031,3042,2080,1852
$GC,7233,1.15,196.7,306.5,10.4,348,7237,0.00,2.42,0.00,0.000,4,0.000,0.043,3042,3477,1850
$GC,7321,1.15,196.7,295.7,11.9,350,7325,0.00,2.38,0.00,0.000,6,0.000,0.058,3042,2079,1850
$GC,7647,1.15,196.7,261.1,10.1,366,7651,0.00,2.42,0.00,0.000,4,0.000,0.041,3042,3477,1848
$GC,7704,1.15,196.7,255.5,9.6,368,7710,0.00,2.35,0.00,0.000,6,0.000,0.047,3042,2077,1848
$GC,8018,1.15,196.7,230.3,7.3,384,8023,0.00,2.42,0.00,0.000,4,0.000,0.044,3042,676,1846
$GC,8057,1.15,196.7,227.3,7.8,386,8062,0.00,2.35,0.00,0.000,6,0.000,0.060,3042,2085,1844
$GC,8383,1.15,196.7,201.0,8.5,402,8387,0.00,2.45,0.00,0.000,4,0.000,0.044,3042,674,1844
$GC,8449,1.15,196.7,195.3,8.6,407,8455,0.00,2.33,0.00,0.000,6,0.000,0.054,3042,2092,1843
$GC,8774,1.15,196.7,170.3,7.5,438,8778,0.00,2.35,0.00,0.000,4,0.000,0.035,3042,3475,1843
$GC,8824,1.15,196.7,166.0,8.4,442,8829,0.00,2.35,0.00,0.000,6,0.000,0.060,3042,2066,1843
$GC,9150,1.15,196.7,138.4,8.5,472,9154,0.00,2.40,0.00,0.000,4,0.000,0.041,3042,3473,1843
$GC,9170,1.15,196.7,136.2,9.4,473,9177,0.00,2.35,0.00,0.000,6,0.000,0.023,3042,2072,1843
$GC,9497,1.24,265.5,113.8,4.5,504,9571,0.00,2.47,59.15,0.618,4,0.000,0.071,3042,680,1578
$GC,9594,1.24,265.5,108.1,7.4,513,9599,0.10,2.30,0.00,0.000,6,0.055,0.021,3076,2087,1576
$GC,9920,1.24,265.5,75.2,10.5,543,9924,0.00,2.33,0.00,0.000,4,0.000,0.037,3076,3470,1574
$GC,10004,1.24,265.5,66.3,9.8,550,10008,0.00,2.30,0.00,0.000,6,0.000,0.028,3076,2080,1574
$GC,10330,1.24,265.5,37.8,8.3,580,10334,0.00,2.33,0.00,0.000,4,0.000,0.065,3076,3466,1574
$GC,10476,1.24,265.5,24.4,9.9,597,10482,0.00,2.25,0.00,0.000,6,0.000,0.030,3076,2074,1574
$GC,10595,1.24,265.5,14.9,7.2,618,10602,0.00,2.38,0.00,0.000,4,0.000,0.040,3076,664,1573
$GC,10625,1.24,265.5,12.2,8.8,623,10631,0.00,2.28,0.00,0.000,6,0.000,0.019,3076,2084,1572
$STATE,10736,end climb,SURFACE_DEPTH_REACHED
$STATE,10736,begin surface coast
$FINISH,0.4,1.022808
$STATE,10773,end surface coast,CONTROL_FINISHED_OK
$STATE,10773,begin surface
$SM_CCo,10793,44.62,0.525,0,0,1358,320.12
$SM_GC,1.08,0.00,0.00,44.62,0.000,0.000,0.525,429,2088,1358,-10.88,0.20,320.12
$IRIDIUM_FIX,2054.83,-15749.62,181097,151533
$TT8_MAMPS,0.029146
$HUMID,1891
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.60
$XPDR_PINGS,635
$24V_AH,23.3,45.001
$10V_AH,10.2,26.050
$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,25.625,117.000,334.550,44.625,0.000,55.928,58.578,356.508,158.750,0.000,0.000,25.223,1168.814,7700.652,508.512,1459.014,662.668,33.365,1222.896,0.000,1447.101,0.000,0.471
$DEVICE_MAMPS,187.915,86.671,888.953,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.916,429.444,735.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34811,649
$CAP_FILE_SIZE,98846,12
$CFSIZE,260165632,252268544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240708,183902,2101.873,-15746.521,51,1.0,51,9.8