version: 66.03
glider: 139
mission: 3
dive: 120
start: 7 26 108 17 31 1
data:
$ID,139
$MISSION,3
$DIVE,120
$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,-1272974
$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,40
$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
$GPS1,172338,2106.256,-15750.810,30,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.4
$GPS2,173009,2106.245,-15750.843,14,1.4,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.162
$KALMAN_X,-15733.9,-733.9,418.9,19443.9,-337.2
$KALMAN_Y,-33218.5,232.6,-16.4,13685.1,-273.9
$MHEAD_RNG_PITCHd_Wd,119.8,9930,-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,-54.75,0.000,2,0.000,0.000,425,2098,2805
$GC,79,-0.96,-175.2,3.1,-4.2,10,109,12.23,2.40,-10.25,0.000,4,0.158,0.048,2575,679,3381
$GC,165,-0.96,-175.2,22.9,-14.7,25,172,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2100,3382
$GC,282,-0.96,-175.2,37.2,-12.9,41,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2105,3382
$GC,600,-0.96,-175.2,70.7,-8.8,71,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2105,3383
$GC,919,-0.96,-175.2,97.1,-7.7,101,923,0.00,2.38,0.00,0.000,4,0.000,0.035,2575,680,3385
$GC,957,-0.96,-175.2,100.1,-7.5,104,964,0.00,2.28,0.00,0.000,6,0.000,0.044,2575,2081,3384
$GC,1285,-0.96,-175.2,129.9,-9.4,135,1289,0.00,2.38,0.00,0.000,4,0.000,0.054,2575,679,3385
$GC,1305,-0.96,-175.2,132.4,-10.2,136,1312,0.00,2.28,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,1631,-0.96,-175.2,166.0,-8.9,167,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3385
$GC,1949,-0.96,-175.2,188.1,-7.2,197,1953,0.00,2.38,0.00,0.000,4,0.000,0.036,2575,673,3385
$GC,1981,-0.96,-175.2,190.8,-7.9,199,1987,0.00,2.30,0.00,0.000,6,0.000,0.019,2575,2081,3386
$GC,2300,-0.96,-175.2,215.9,-7.0,220,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2084,3386
$GC,2610,-0.96,-175.2,236.9,-6.9,235,2614,0.00,2.38,0.00,0.000,4,0.000,0.037,2575,679,3386
$GC,2653,-0.96,-175.2,240.0,-6.9,237,2658,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2084,3386
$GC,2981,-0.96,-175.2,262.9,-6.8,253,2984,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,3464,3385
$GC,3008,-0.96,-175.2,264.6,-5.9,254,3012,0.00,2.28,0.00,0.000,6,0.000,0.022,2575,2072,3385
$GC,3334,-0.96,-175.2,278.8,-4.7,270,3338,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,684,3383
$GC,3367,-0.96,-175.2,280.7,-5.8,271,3371,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2084,3384
$GC,3708,-0.96,-175.2,303.0,-7.1,287,3712,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3474,3382
$GC,3730,-0.96,-175.2,304.5,-6.9,287,3734,0.00,2.30,0.00,0.000,6,0.000,0.024,2575,2076,3382
$GC,4072,-0.96,-175.2,317.9,-3.5,296,4076,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,683,3381
$GC,4093,-0.96,-175.2,319.1,-5.5,296,4097,0.00,2.33,0.00,0.000,6,0.000,0.043,2575,2076,3381
$GC,4436,-0.96,-175.2,339.4,-5.4,305,4439,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,680,3379
$GC,4462,-0.96,-175.2,341.2,-5.9,305,4467,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2078,3379
$GC,4805,-0.96,-175.2,363.9,-7.0,314,4809,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3468,3377
$GC,4844,-0.96,-175.2,366.8,-7.8,315,4848,0.00,2.30,0.00,0.000,6,0.000,0.026,2575,2082,3377
$GC,5167,-0.96,-175.2,390.6,-7.1,323,5171,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,672,3375
$GC,5200,-0.96,-175.2,393.2,-7.7,323,5206,0.00,2.35,0.00,0.000,6,0.000,0.027,2575,2077,3375
$GC,5531,-0.96,-175.2,420.9,-9.1,332,5535,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3473,3373
$GC,5620,-0.96,-175.2,429.7,-9.4,334,5624,0.00,2.35,0.00,0.000,6,0.000,0.027,2575,2081,3372
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5865,-0.31,0.0,452.1,9.1,340,6010,0.68,0.00,141.93,0.896,6,0.048,0.000,2730,2080,2664
$STATE,6011,end apogee,CONTROL_FINISHED_OK
$STATE,6011,begin climb
$GC,6013,0.96,175.2,460.7,0.0,343,6163,1.25,0.00,145.60,0.870,6,0.100,0.000,3014,2079,1949
$GC,6468,0.96,175.2,434.3,8.2,355,6472,0.00,2.45,0.00,0.000,4,0.000,0.047,3014,680,1937
$GC,6528,0.96,175.2,429.6,7.6,356,6533,0.00,2.38,0.00,0.000,6,0.000,0.054,3014,2067,1935
$GC,6877,0.96,175.2,405.3,7.6,365,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2070,1934
$GC,7201,0.96,175.2,375.8,8.9,373,7206,0.00,2.45,0.00,0.000,4,0.000,0.044,3014,3476,1933
$GC,7352,0.96,175.2,361.5,8.8,376,7356,0.00,2.40,0.00,0.000,6,0.000,0.040,3014,2082,1933
$GC,7700,0.96,175.2,331.4,9.0,385,7704,0.00,2.45,0.00,0.000,4,0.000,0.047,3014,675,1930
$GC,7738,0.96,175.2,327.6,10.3,386,7743,0.00,2.38,0.00,0.000,6,0.000,0.034,3014,2088,1929
$GC,8062,0.96,175.2,299.0,8.5,394,8066,0.00,2.40,0.00,0.000,4,0.000,0.042,3014,3478,1929
$GC,8101,0.96,175.2,295.6,8.8,396,8105,0.00,2.38,0.00,0.000,6,0.000,0.028,3014,2071,1929
$GC,8426,0.96,175.2,271.0,7.6,412,8430,0.00,2.42,0.00,0.000,4,0.000,0.041,3014,3473,1927
$GC,8465,0.96,175.2,268.1,7.5,414,8469,0.00,2.35,0.00,0.000,6,0.000,0.028,3014,2076,1927
$GC,8791,0.96,175.2,241.7,9.6,430,8795,0.00,2.42,0.00,0.000,4,0.000,0.044,3013,676,1926
$GC,8868,0.96,175.2,234.8,7.7,433,8875,0.00,2.35,0.00,0.000,6,0.000,0.026,3014,2092,1925
$GC,9184,1.02,221.4,219.8,5.9,449,9228,0.00,2.45,37.03,0.744,4,0.000,0.048,3013,3474,1761
$GC,9256,1.02,221.4,213.9,9.1,452,9260,0.00,2.35,0.00,0.000,6,0.000,0.026,3014,2078,1760
$GC,9582,1.02,221.4,186.4,7.6,476,9586,0.00,2.42,0.00,0.000,4,0.000,0.041,3014,669,1754
$GC,9632,1.02,221.4,182.2,8.3,480,9635,0.00,1.62,0.00,0.000,6,0.000,0.072,3014,1699,1752
$GC,9963,1.02,221.4,155.0,8.2,511,9968,0.00,3.03,0.00,0.000,4,0.000,0.036,3014,3473,1752
$GC,10209,1.05,247.5,136.6,6.4,532,10237,0.00,2.35,22.67,0.648,6,0.000,0.023,3014,2072,1654
$GC,10555,1.05,247.5,106.0,8.4,565,10559,0.00,2.35,0.00,0.000,4,0.000,0.038,3013,683,1650
$GC,10660,1.05,247.5,97.6,8.1,574,10667,0.00,2.33,0.00,0.000,6,0.000,0.056,3013,2088,1648
$GC,10986,1.05,247.5,73.2,7.3,605,10990,0.00,2.33,0.00,0.000,4,0.000,0.037,3014,3470,1648
$GC,11048,1.05,247.5,68.4,8.1,610,11052,0.00,2.30,0.00,0.000,6,0.000,0.056,3014,2075,1648
$GC,11372,1.17,343.4,51.8,4.5,640,11460,0.15,2.42,81.82,0.571,4,0.043,0.063,3069,3467,1262
$GC,11568,1.17,343.4,34.9,10.6,658,11572,0.00,2.30,0.00,0.000,6,0.000,0.022,3068,2074,1260
$STATE,11889,end climb,SURFACE_DEPTH_REACHED
$STATE,11889,begin surface coast
$FINISH,0.5,1.013518
$STATE,11924,end surface coast,CONTROL_FINISHED_OK
$STATE,11924,begin surface
$SM_CCo,12004,0.00,0.000,0,0,1252,346.36
$SM_GC,1.33,11.40,0.00,0.00,0.032,0.000,0.000,423,2072,1252,-10.82,-0.23,346.36
$IRIDIUM_FIX,2057.14,-15750.89,201097,141424
$TT8_MAMPS,0.029146
$HUMID,1882
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,695
$24V_AH,23.3,47.050
$10V_AH,10.2,27.192
$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,25.700,117.800,429.050,0.000,0.000,25.877,26.505,216.026,173.750,0.000,0.000,16.264,1272.018,8525.232,518.916,1617.356,450.439,33.375,1315.061,0.000,1606.513,0.000,0.470
$DEVICE_MAMPS,158.002,72.098,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.658,472.687,807.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,717
$CAP_FILE_SIZE,100405,12
$CFSIZE,260165632,251551744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260708,205232,2105.270,-15749.705,52,1.4,52,9.8