version: 66.03
glider: 139
mission: 3
dive: 121
start: 7 26 108 21 12 1
data:
$ID,139
$MISSION,3
$DIVE,121
$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,-1272985.6
$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,51
$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
$GPS1,205232,2105.270,-15749.705,52,1.4,52,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.9
$GPS2,211109,2105.266,-15749.866,9,1.8,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,-0.197
$KALMAN_X,-16106.9,-299.4,-427.8,21914.3,600.6
$KALMAN_Y,-33226.9,344.2,106.5,11644.9,-390.9
$MHEAD_RNG_PITCHd_Wd,130.8,7452,-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,20,-0.96,-175.2,0.0,0.0,0,77,0.00,0.00,-54.55,0.000,2,0.000,0.000,423,2068,2806
$GC,79,-0.96,-175.2,3.3,-5.2,10,109,12.23,2.35,-10.55,0.000,4,0.158,0.049,2575,681,3380
$GC,171,-0.96,-175.2,21.1,-11.8,26,178,0.00,2.10,0.00,0.000,6,0.000,0.050,2575,2023,3382
$GC,288,-0.96,-175.2,36.3,-13.6,43,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2027,3382
$GC,607,-0.96,-175.2,72.2,-9.0,73,611,0.00,2.40,0.00,0.000,4,0.000,0.030,2575,3469,3382
$GC,646,-0.96,-175.2,75.7,-9.0,76,650,0.00,2.28,0.00,0.000,6,0.000,0.056,2575,2071,3382
$GC,973,-0.96,-175.2,108.1,-7.3,106,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2070,3383
$GC,1288,-0.96,-175.2,136.5,-9.7,136,1292,0.00,2.33,0.00,0.000,4,0.000,0.036,2575,683,3383
$GC,1337,-0.96,-175.2,141.2,-8.6,140,1344,0.00,2.28,0.00,0.000,6,0.000,0.018,2575,2083,3384
$GC,1665,-0.96,-175.2,165.7,-8.9,171,1669,0.00,2.30,0.00,0.000,4,0.000,0.042,2575,3462,3383
$GC,1686,-0.96,-175.2,168.1,-9.1,172,1693,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2082,3383
$GC,2012,-0.96,-175.2,194.3,-8.7,203,2016,0.00,2.20,0.00,0.000,4,0.000,0.071,2575,758,3383
$GC,2067,-0.96,-175.2,199.3,-9.1,208,2071,0.00,1.65,0.00,0.000,6,0.000,0.067,2575,1819,3383
$GC,2388,-0.96,-175.2,225.8,-7.1,224,2393,0.00,2.75,0.00,0.000,4,0.000,0.033,2575,3460,3383
$GC,2455,-0.96,-175.2,230.6,-7.1,227,2459,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2077,3382
$GC,2782,-0.96,-175.2,250.9,-6.0,243,2786,0.00,2.35,0.00,0.000,4,0.000,0.038,2574,688,3381
$GC,2837,-0.96,-175.2,254.7,-6.8,245,2843,0.00,2.25,0.00,0.000,6,0.000,0.025,2575,2077,3381
$GC,3153,-0.96,-175.2,277.9,-7.1,261,3157,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,684,3380
$GC,3185,-0.96,-175.2,280.1,-6.9,262,3192,0.00,2.28,0.00,0.000,6,0.000,0.022,2575,2075,3380
$GC,3501,-0.96,-175.2,296.9,-5.2,278,3505,0.00,2.35,0.00,0.000,4,0.000,0.037,2574,3463,3379
$GC,3550,-0.96,-175.2,299.9,-6.3,280,3554,0.00,2.28,0.00,0.000,6,0.000,0.058,2575,2079,3379
$GC,3887,-0.96,-175.2,326.4,-8.4,289,3891,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,676,3376
$GC,3986,-0.96,-175.2,333.9,-6.9,291,3990,0.00,2.28,0.00,0.000,6,0.000,0.024,2575,2069,3376
$GC,4299,-0.96,-175.2,355.3,-6.9,299,4303,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,3466,3374
$GC,4377,-0.96,-175.2,360.3,-5.8,300,4383,0.00,2.30,0.00,0.000,6,0.000,0.025,2575,2072,3375
$GC,4708,-0.96,-175.2,380.4,-6.4,309,4712,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,682,3373
$GC,4752,-0.96,-175.2,383.5,-6.9,310,4756,0.00,2.28,0.00,0.000,6,0.000,0.060,2575,2073,3372
$GC,5076,-0.96,-175.2,409.6,-8.4,318,5080,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3477,3370
$GC,5125,-0.96,-175.2,413.8,-8.3,319,5129,0.00,2.35,0.00,0.000,6,0.000,0.026,2575,2082,3369
$GC,5449,-0.96,-175.2,439.6,-7.8,327,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3367
$STATE,5609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5614,-0.31,0.0,451.3,7.2,331,5758,0.68,0.00,141.07,0.896,6,0.164,0.000,2726,2080,2664
$STATE,5759,end apogee,CONTROL_FINISHED_OK
$STATE,5759,begin climb
$GC,5761,0.96,175.2,459.9,0.0,334,5915,1.23,2.47,145.02,0.871,4,0.103,0.078,3009,3467,1948
$GC,6117,0.96,175.2,441.9,9.2,342,6121,0.00,2.35,0.00,0.000,6,0.000,0.031,3009,2088,1942
$GC,6430,0.96,175.2,411.7,9.9,350,6434,0.00,2.47,0.00,0.000,4,0.000,0.048,3009,676,1936
$GC,6484,0.96,175.2,406.1,10.2,351,6488,0.00,2.38,0.00,0.000,6,0.000,0.064,3009,2064,1934
$GC,6797,0.96,175.2,376.7,9.5,359,6801,0.00,2.45,0.00,0.000,4,0.000,0.043,3009,3475,1933
$GC,6829,0.96,175.2,373.6,9.0,359,6835,0.00,2.40,0.00,0.000,6,0.000,0.036,3009,2082,1933
$GC,7160,0.96,175.2,346.9,7.5,368,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2080,1931
$GC,7485,0.96,175.2,322.8,7.6,376,7489,0.00,2.45,0.00,0.000,4,0.000,0.048,3009,3484,1930
$GC,7511,0.96,175.2,320.2,9.6,376,7515,0.00,2.38,0.00,0.000,6,0.000,0.030,3009,2080,1930
$GC,7828,1.01,218.1,297.4,6.0,385,7868,0.00,0.00,35.47,0.813,6,0.000,0.000,3009,2078,1773
$GC,8177,1.01,218.1,267.1,10.1,402,8181,0.00,2.45,0.00,0.000,4,0.000,0.041,3009,3484,1766
$GC,8233,1.01,218.1,261.2,10.8,404,8239,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2070,1766
$GC,8547,1.01,218.1,229.7,9.4,420,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2068,1764
$GC,8857,1.01,218.1,204.3,8.1,435,8861,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,673,1762
$GC,8919,1.01,218.1,199.7,7.4,438,8923,0.00,2.35,0.00,0.000,6,0.000,0.060,3009,2088,1760
$GC,9244,1.01,218.1,179.3,7.3,468,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2092,1760
$GC,9561,1.03,230.4,155.8,6.8,498,9576,0.00,2.45,9.90,0.623,4,0.000,0.083,3009,674,1723
$GC,9598,1.03,230.4,153.1,7.2,501,9605,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2086,1722
$GC,9924,1.14,320.6,134.5,4.7,532,10010,0.15,2.53,78.95,0.654,4,0.044,0.073,3055,676,1355
$GC,10051,1.14,320.6,123.4,11.6,544,10055,0.00,2.33,0.00,0.000,6,0.000,0.021,3055,2085,1350
$GC,10376,1.14,320.6,85.5,10.8,574,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2091,1348
$GC,10694,1.14,320.6,52.8,9.7,604,10698,0.00,2.42,0.00,0.000,4,0.000,0.038,3055,673,1348
$GC,10722,1.14,320.6,49.9,10.7,606,10726,0.00,2.30,0.00,0.000,6,0.000,0.033,3055,2091,1346
$GC,11052,1.14,320.6,19.9,8.0,647,11059,0.00,2.42,0.00,0.000,4,0.000,0.071,3055,673,1346
$GC,11111,1.14,320.6,15.2,8.2,657,11118,0.00,2.00,0.00,0.000,6,0.000,0.058,3055,1957,1345
$GC,11230,1.14,320.6,4.8,9.9,678,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1958,1346
$STATE,11258,end climb,SURFACE_DEPTH_REACHED
$STATE,11258,begin surface coast
$FINISH,0.5,1.022905
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11298,begin surface
$SM_CCo,11378,0.00,0.000,0,0,1343,324.04
$SM_GC,1.24,11.25,0.00,0.00,0.038,0.000,0.000,420,2115,1343,-10.82,1.02,324.04
$IRIDIUM_FIX,2059.45,-15748.75,201097,212134
$TT8_MAMPS,0.029146
$HUMID,1901
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.60
$XPDR_PINGS,669
$24V_AH,23.3,47.204
$10V_AH,10.2,27.274
$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,25.525,107.600,410.425,0.000,0.000,134.694,148.332,454.563,167.250,0.000,0.000,10.989,1224.385,8282.558,499.440,1541.919,934.630,33.397,1267.109,0.000,1536.261,0.000,0.471
$DEVICE_MAMPS,164.138,82.836,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.031,451.353,775.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34753,690
$CAP_FILE_SIZE,105017,9
$CFSIZE,260165632,251502592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270708,002239,2104.156,-15748.931,25,1.9,25,9.8