version: 66.03
glider: 139
mission: 3
dive: 115
start: 7 25 108 23 49 12
data:
$ID,139
$MISSION,3
$DIVE,115
$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,-1272870
$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,39
$R_STBD_OVSHOOT,59
$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
$GPS1,233755,2108.588,-15753.124,63,1.6,63,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.8
$GPS2,234821,2108.544,-15753.150,12,1.8,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.199,0.159
$KALMAN_X,-16414.6,448.6,-5.2,15375.8,779.8
$KALMAN_Y,-30413.2,260.5,-125.1,15221.7,-778.4
$MHEAD_RNG_PITCHd_Wd,298.8,3165,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.95,0.000,2,0.000,0.000,421,2089,2927
$GC,79,-0.96,-175.2,3.5,-5.1,10,104,12.18,2.35,-7.72,0.000,4,0.155,0.052,2577,3463,3382
$GC,299,-0.96,-175.2,39.2,-11.4,42,306,0.00,2.30,0.00,0.000,6,0.000,0.021,2577,2075,3384
$GC,624,-0.96,-175.2,78.8,-9.6,73,628,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,683,3385
$GC,673,-0.96,-175.2,83.8,-9.6,77,681,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2074,3385
$GC,999,-0.96,-175.2,115.6,-9.3,108,1002,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3461,3386
$GC,1021,-0.96,-175.2,117.6,-9.0,110,1025,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2075,3386
$GC,1352,-0.96,-175.2,146.7,-8.4,141,1356,0.00,2.35,0.00,0.000,4,0.000,0.070,2576,683,3387
$GC,1380,-0.96,-175.2,149.3,-9.3,143,1385,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2085,3387
$GC,1706,-0.96,-175.2,173.2,-6.2,173,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2090,3387
$GC,2024,-0.96,-175.2,191.3,-6.9,203,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2090,3387
$GC,2336,-0.96,-175.2,212.4,-6.8,224,2340,0.00,2.38,0.00,0.000,4,0.000,0.036,2576,681,3387
$GC,2369,-0.96,-175.2,215.2,-8.1,225,2375,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2075,3387
$GC,2685,-0.96,-175.2,236.9,-5.8,241,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3387
$GC,2994,-0.96,-175.2,254.2,-5.9,256,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3386
$GC,3304,-0.96,-175.2,270.9,-5.3,271,3308,0.00,2.38,0.00,0.000,4,0.000,0.073,2577,689,3384
$GC,3330,-0.96,-175.2,272.4,-5.8,272,3335,0.00,2.28,0.00,0.000,6,0.000,0.023,2577,2092,3384
$GC,3652,-0.96,-175.2,290.6,-5.7,288,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2097,3383
$GC,3959,-0.96,-175.2,308.1,-5.8,300,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2097,3381
$GC,4284,-0.96,-175.2,323.3,-4.4,308,4288,0.00,2.40,0.00,0.000,4,0.000,0.040,2577,687,3380
$GC,4316,-0.96,-175.2,325.1,-5.9,308,4323,0.00,2.30,0.00,0.000,6,0.000,0.061,2577,2085,3379
$GC,4647,-0.96,-175.2,345.9,-6.7,317,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2089,3377
$GC,4972,-0.96,-175.2,365.1,-5.4,325,4976,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,691,3376
$GC,5005,-0.96,-175.2,366.6,-5.1,325,5009,0.00,2.28,0.00,0.000,6,0.000,0.026,2577,2078,3376
$GC,5342,-0.96,-175.2,379.9,-3.9,334,5346,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3469,3374
$GC,5374,-0.96,-175.2,381.3,-4.6,334,5380,0.00,2.30,0.00,0.000,6,0.000,0.038,2577,2088,3374
$GC,5705,-0.96,-175.2,399.7,-6.1,343,5709,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,3469,3372
$GC,5727,-0.96,-175.2,401.2,-6.8,343,5731,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2071,3372
$GC,6069,-0.96,-175.2,426.8,-7.7,352,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2069,3370
$GC,6394,-0.96,-175.2,449.5,-6.5,360,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2069,3369
$STATE,6432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6433,begin apogee
$GC,6437,-0.31,0.0,452.0,6.4,361,6581,0.20,0.00,141.38,0.902,6,0.345,0.000,2636,2069,2664
$STATE,6582,end apogee,CONTROL_FINISHED_OK
$STATE,6582,begin climb
$GC,6584,0.96,175.2,457.7,0.0,364,6741,1.67,2.55,145.27,0.874,4,0.052,0.074,3002,3466,1948
$GC,6824,0.96,175.2,445.7,9.7,369,6829,0.00,2.38,0.00,0.000,6,0.000,0.031,3003,2092,1944
$GC,7161,0.96,175.2,415.3,8.9,378,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2091,1937
$GC,7486,0.96,175.2,386.0,8.8,386,7490,0.00,2.40,0.00,0.000,4,0.000,0.044,3003,3466,1935
$GC,7530,0.96,175.2,382.1,9.0,387,7534,0.00,2.38,0.00,0.000,6,0.000,0.031,3003,2070,1935
$GC,7853,0.96,175.2,356.4,7.8,395,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2068,1933
$GC,8178,0.96,175.2,327.9,9.6,403,8182,0.00,2.45,0.00,0.000,4,0.000,0.080,3003,669,1931
$GC,8357,0.96,175.2,308.9,11.5,407,8361,0.00,2.35,0.00,0.000,6,0.000,0.029,3003,2077,1928
$GC,8677,0.96,175.2,277.2,9.4,420,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2081,1928
$GC,8987,0.96,175.2,252.8,7.5,435,8991,0.00,2.42,0.00,0.000,4,0.000,0.041,3003,3484,1927
$GC,9059,0.96,175.2,247.1,7.6,438,9063,0.00,2.40,0.00,0.000,6,0.000,0.045,3003,2074,1927
$GC,9380,1.04,237.1,224.8,5.5,454,9436,0.00,2.47,50.72,0.759,4,0.000,0.077,3003,674,1695
$GC,9609,1.04,237.1,204.0,11.0,463,9616,0.00,2.38,0.00,0.000,6,0.000,0.059,3003,2080,1686
$GC,9934,1.04,237.1,177.1,8.0,492,9938,0.00,2.38,0.00,0.000,4,0.000,0.054,3003,3471,1686
$GC,10000,1.04,237.1,171.3,8.8,497,10006,0.00,2.38,0.00,0.000,6,0.000,0.025,3003,2072,1686
$GC,10326,1.07,262.1,145.1,6.5,528,10353,0.10,2.45,21.23,0.660,4,0.060,0.050,3032,3479,1594
$GC,10369,1.07,262.1,141.8,8.0,531,10376,0.00,2.38,0.00,0.000,6,0.000,0.039,3032,2085,1593
$GC,10697,1.07,262.1,114.9,9.5,562,10701,0.00,2.42,0.00,0.000,4,0.000,0.075,3032,671,1591
$GC,10736,1.07,262.1,110.5,11.0,565,10740,0.00,2.33,0.00,0.000,6,0.000,0.028,3032,2087,1589
$GC,11061,1.07,262.1,79.0,8.6,595,11065,0.00,2.30,0.00,0.000,4,0.000,0.049,3032,3467,1589
$GC,11112,1.07,262.1,74.6,8.1,599,11116,0.00,2.28,0.00,0.000,6,0.000,0.022,3032,2074,1589
$GC,11443,1.18,350.6,52.6,4.7,630,11524,0.00,0.00,75.45,0.578,6,0.000,0.000,3032,2072,1232
$GC,11846,1.18,350.6,25.3,9.4,672,11853,0.00,2.35,0.00,0.000,4,0.000,0.072,3032,681,1226
$GC,11887,1.18,350.6,21.4,9.3,679,11893,0.00,2.25,0.00,0.000,6,0.000,0.056,3032,2087,1224
$GC,12006,1.18,350.6,11.7,7.4,700,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2091,1225
$STATE,12095,end climb,SURFACE_DEPTH_REACHED
$STATE,12095,begin surface coast
$FINISH,1.0,1.022882
$STATE,12125,end surface coast,CONTROL_FINISHED_OK
$STATE,12125,begin surface
$SM_CCo,12204,0.00,0.000,0,0,1220,353.97
$SM_GC,1.15,11.25,0.00,0.00,0.032,0.000,0.000,424,2090,1220,-10.82,0.31,353.97
$IRIDIUM_FIX,2059.45,-15758.18,191097,232337
$TT8_MAMPS,0.029146
$HUMID,1882
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.70
$XPDR_PINGS,678
$24V_AH,23.3,46.363
$10V_AH,10.2,26.791
$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,25.400,94.050,434.050,0.000,0.000,48.902,65.549,328.573,169.500,0.000,0.000,14.241,1256.387,8878.024,488.159,1578.855,616.334,33.364,1277.333,0.000,1565.950,0.000,0.471
$DEVICE_MAMPS,345.150,79.768,901.992,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.209,466.944,799.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38092,721
$CAP_FILE_SIZE,98739,12
$CFSIZE,260165632,251817984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260708,031356,2108.930,-15753.786,45,1.5,45,9.8