version: 66.03
glider: 139
mission: 3
dive: 117
start: 7 26 108 6 29 39
data:
$ID,139
$MISSION,3
$DIVE,117
$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,-1272925.4
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,062208,2109.819,-15754.209,26,2.0,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.1
$GPS2,062850,2109.864,-15754.312,39,1.8,39,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.116
$KALMAN_X,-15025.3,354.3,-23.9,12094.4,-260.8
$KALMAN_Y,-32524.3,63.6,142.2,19702.7,-1397.9
$MHEAD_RNG_PITCHd_Wd,107.2,18923,-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,-175.2,0.0,0.0,0,77,0.00,0.00,-55.00,0.000,2,0.000,0.000,429,2075,2900
$GC,79,-0.96,-175.2,3.3,-4.2,10,109,12.18,2.38,-8.48,0.000,4,0.156,0.075,2577,3478,3383
$GC,121,-0.96,-175.2,17.5,-32.3,17,127,0.00,2.28,0.00,0.000,6,0.000,0.022,2577,2086,3383
$GC,244,-0.96,-175.2,33.3,-12.1,37,248,0.00,2.38,0.00,0.000,4,0.000,0.035,2577,676,3384
$GC,273,-0.96,-175.2,36.8,-12.8,39,277,0.00,2.28,0.00,0.000,6,0.000,0.018,2577,2090,3385
$GC,598,-0.96,-175.2,73.3,-11.1,69,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2094,3386
$GC,916,-0.96,-175.2,103.1,-10.9,99,919,0.00,2.40,0.00,0.000,4,0.000,0.035,2577,669,3387
$GC,938,-0.96,-175.2,105.7,-11.2,101,942,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2085,3387
$GC,1269,-0.96,-175.2,135.9,-8.1,132,1273,0.00,2.40,0.00,0.000,4,0.000,0.053,2577,673,3387
$GC,1301,-0.96,-175.2,138.9,-8.6,134,1308,0.00,2.28,0.00,0.000,6,0.000,0.032,2577,2072,3388
$GC,1627,-0.96,-175.2,166.1,-7.1,165,1631,0.00,2.33,0.00,0.000,4,0.000,0.045,2578,3469,3388
$GC,1684,-0.96,-175.2,170.2,-7.0,170,1688,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2069,3388
$GC,2009,-0.96,-175.2,197.7,-6.0,200,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2068,3388
$GC,2319,-0.96,-175.2,221.6,-8.2,217,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2068,3388
$GC,2628,-0.96,-175.2,243.7,-6.1,232,2632,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,679,3388
$GC,2671,-0.96,-175.2,246.1,-5.0,234,2675,0.00,2.28,0.00,0.000,6,0.000,0.021,2577,2082,3388
$GC,2998,-0.96,-175.2,266.4,-6.8,250,3002,0.00,2.33,0.00,0.000,4,0.000,0.036,2577,3469,3387
$GC,3025,-0.96,-175.2,268.3,-6.8,251,3029,0.00,2.28,0.00,0.000,6,0.000,0.058,2577,2080,3387
$GC,3352,-0.96,-175.2,289.8,-6.6,267,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3386
$GC,3658,-0.96,-175.2,311.6,-6.8,278,3662,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,3466,3385
$GC,3679,-0.96,-175.2,313.1,-6.7,278,3683,0.00,2.28,0.00,0.000,6,0.000,0.025,2577,2082,3384
$GC,4021,-0.96,-175.2,333.2,-5.8,287,4025,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,679,3383
$GC,4059,-0.96,-175.2,335.7,-6.6,287,4066,0.00,2.28,0.00,0.000,6,0.000,0.060,2577,2070,3383
$GC,4391,-0.96,-175.2,356.3,-6.3,296,4395,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,675,3381
$GC,4408,-0.96,-175.2,357.4,-6.2,296,4412,0.00,2.30,0.00,0.000,6,0.000,0.025,2577,2082,3381
$GC,4749,-0.96,-175.2,381.3,-7.2,305,4753,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3474,3379
$GC,4849,-0.96,-175.2,388.0,-6.3,307,4853,0.00,2.30,0.00,0.000,6,0.000,0.061,2578,2075,3378
$GC,5161,-0.96,-175.2,406.9,-5.8,315,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2073,3376
$GC,5486,-0.96,-175.2,426.4,-6.6,323,5490,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,683,3375
$GC,5541,-0.96,-175.2,430.5,-7.3,324,5545,0.00,2.33,0.00,0.000,6,0.000,0.027,2577,2069,3375
$STATE,5811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5811,begin apogee
$GC,5816,-0.31,0.0,450.1,7.2,331,5962,0.52,0.00,142.43,0.894,6,0.073,0.000,2702,2072,2664
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5964,0.96,175.2,457.4,0.0,334,6120,1.35,2.50,144.93,0.868,4,0.038,0.056,3009,684,1947
$GC,6164,0.96,175.2,450.6,10.0,339,6168,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2071,1940
$GC,6506,0.96,175.2,423.4,7.3,348,6510,0.00,2.42,0.00,0.000,4,0.000,0.045,3009,685,1936
$GC,6561,0.96,175.2,418.6,9.4,349,6565,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2076,1934
$GC,6874,0.96,175.2,392.2,8.3,357,6878,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,3477,1934
$GC,6900,0.96,175.2,389.7,9.1,357,6905,0.00,2.38,0.00,0.000,6,0.000,0.030,3009,2092,1934
$GC,7237,0.96,175.2,360.7,8.8,366,7241,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3481,1932
$GC,7308,0.96,175.2,353.2,11.0,367,7312,0.00,2.38,0.00,0.000,6,0.000,0.031,3009,2080,1932
$GC,7645,0.96,175.2,320.5,9.4,376,7649,0.00,2.45,0.00,0.000,4,0.000,0.048,3009,675,1930
$GC,7716,0.96,175.2,314.3,8.5,377,7721,0.00,2.38,0.00,0.000,6,0.000,0.063,3009,2089,1928
$GC,8034,0.96,175.2,289.7,8.3,388,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2091,1928
$GC,8344,0.97,180.7,266.7,7.0,403,8348,0.00,2.40,0.00,0.000,4,0.000,0.055,3009,3481,1927
$GC,8563,0.97,180.7,250.0,8.0,413,8568,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2069,1927
$GC,8890,1.01,213.5,228.2,6.2,429,8926,0.00,2.45,30.40,0.748,4,0.000,0.077,3009,679,1792
$GC,8993,1.01,213.5,220.4,8.2,433,8998,0.00,2.35,0.00,0.000,6,0.000,0.038,3009,2084,1787
$GC,9310,1.02,224.4,198.9,6.8,449,9325,0.00,2.40,9.95,0.653,4,0.000,0.038,3009,3473,1749
$GC,9364,1.03,234.2,195.2,6.9,453,9381,0.00,2.35,10.35,0.648,6,0.000,0.060,3009,2074,1709
$GC,9698,1.06,254.7,174.7,6.6,485,9720,0.00,0.00,18.98,0.666,6,0.000,0.000,3009,2073,1625
$GC,10039,1.06,254.7,150.6,7.7,517,10043,0.00,2.40,0.00,0.000,4,0.000,0.048,3009,675,1621
$GC,10078,1.06,254.7,147.6,7.8,520,10082,0.00,2.33,0.00,0.000,6,0.000,0.056,3009,2091,1618
$GC,10402,1.06,254.7,122.6,8.2,550,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2095,1618
$GC,10721,1.06,254.7,98.0,9.0,580,10725,0.00,2.33,0.00,0.000,4,0.000,0.032,3009,3477,1618
$GC,10749,1.06,254.7,95.6,8.6,582,10755,0.00,2.30,0.00,0.000,6,0.000,0.021,3009,2068,1619
$GC,11074,1.06,254.7,69.4,7.9,613,11078,0.00,2.35,0.00,0.000,4,0.000,0.071,3009,681,1619
$GC,11332,1.09,282.8,51.7,6.4,635,11363,0.08,2.30,24.95,0.557,6,0.038,0.019,3048,2092,1510
$GC,11687,1.09,282.8,22.7,8.6,675,11693,0.00,2.40,0.00,0.000,4,0.000,0.038,3048,677,1506
$GC,11722,1.10,287.3,20.3,7.0,681,11734,0.00,2.28,4.93,0.403,6,0.000,0.019,3048,2077,1491
$GC,11848,1.10,287.3,11.7,9.3,703,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2078,1491
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.3,1.022912
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11994,begin surface
$SM_CCo,12013,28.40,0.515,0,0,1359,320.12
$SM_GC,1.45,0.00,0.00,28.40,0.000,0.000,0.515,431,2078,1359,-10.87,-0.03,320.12
$IRIDIUM_FIX,2101.76,-15755.17,201097,030333
$TT8_MAMPS,0.028379
$HUMID,1850
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.40
$XPDR_PINGS,709
$24V_AH,23.3,46.610
$10V_AH,10.2,26.942
$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,25.400,112.875,386.900,28.400,0.000,25.812,27.927,200.906,177.250,0.000,0.000,40.907,1297.834,8539.055,488.110,1670.404,439.781,33.370,1307.550,0.000,1634.844,0.000,0.471
$DEVICE_MAMPS,155.701,77.467,893.555,515.424,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.583,483.084,819.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,729
$CAP_FILE_SIZE,102182,10
$CFSIZE,260165632,251719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260708,095207,2108.852,-15753.252,68,0.9,68,9.8