version: 66.03
glider: 139
mission: 3
dive: 126
start: 7 27 108 14 43 9
data:
$ID,139
$MISSION,3
$DIVE,126
$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,-1273086.8
$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,37
$R_STBD_OVSHOOT,63
$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
$GPS1,143438,2103.652,-15748.930,25,1.4,25,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.3
$GPS2,144220,2103.673,-15748.949,11,1.7,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.161,0.197
$KALMAN_X,-19423.1,-192.1,211.9,26055.9,-114.9
$KALMAN_Y,-35238.4,-600.6,-86.1,11853.6,-113.4
$MHEAD_RNG_PITCHd_Wd,310.9,14645,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-49.45,0.000,2,0.000,0.000,428,2084,2740
$GC,74,-0.96,-175.2,3.0,-4.4,9,104,12.20,2.45,-11.85,0.000,4,0.157,0.049,2576,680,3381
$GC,255,-0.96,-175.2,32.3,-12.9,40,259,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2083,3382
$GC,581,-0.96,-175.2,70.4,-9.2,70,584,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,679,3383
$GC,614,-0.96,-175.2,73.6,-9.4,73,618,0.00,2.25,0.00,0.000,6,0.000,0.018,2577,2086,3383
$GC,940,-0.96,-175.2,100.5,-10.0,103,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2090,3384
$GC,1257,-0.96,-175.2,131.6,-9.4,133,1261,0.00,2.40,0.00,0.000,4,0.000,0.036,2576,672,3385
$GC,1300,-0.96,-175.2,135.9,-9.2,136,1307,0.00,2.30,0.00,0.000,6,0.000,0.019,2576,2082,3385
$GC,1626,-0.96,-175.2,165.9,-8.6,167,1630,0.00,2.33,0.00,0.000,4,0.000,0.067,2577,3473,3385
$GC,1654,-0.96,-175.2,168.4,-8.5,169,1659,0.00,2.28,0.00,0.000,6,0.000,0.021,2576,2073,3385
$GC,1980,-0.96,-175.2,196.7,-8.2,199,1984,0.00,2.35,0.00,0.000,4,0.000,0.044,2576,680,3385
$GC,2036,-0.96,-175.2,200.9,-7.6,203,2041,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2083,3385
$GC,2351,-0.96,-175.2,222.7,-6.7,219,2355,0.00,2.30,0.00,0.000,4,0.000,0.032,2577,3463,3385
$GC,2379,-0.96,-175.2,224.7,-7.2,220,2383,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2078,3385
$GC,2695,-0.96,-175.2,245.1,-5.9,235,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3385
$GC,3004,-0.96,-175.2,262.1,-6.8,250,3008,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,686,3385
$GC,3035,-0.96,-175.2,264.5,-7.6,251,3042,0.00,2.28,0.00,0.000,6,0.000,0.038,2577,2073,3385
$GC,3351,-0.96,-175.2,287.0,-7.4,267,3355,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3465,3384
$GC,3391,-0.96,-175.2,290.0,-7.8,269,3395,0.00,2.28,0.00,0.000,6,0.000,0.049,2576,2081,3384
$GC,3735,-0.96,-175.2,310.8,-6.1,282,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3382
$GC,4060,-0.96,-175.2,329.3,-4.9,290,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2079,3381
$GC,4385,-0.96,-175.2,345.6,-5.6,298,4389,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,686,3379
$GC,4406,-0.96,-175.2,346.9,-6.1,298,4410,0.00,2.28,0.00,0.000,6,0.000,0.025,2576,2072,3380
$GC,4748,-0.96,-175.2,369.5,-7.0,307,4753,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3470,3377
$GC,4775,-0.96,-175.2,371.4,-6.8,307,4780,0.00,2.30,0.00,0.000,6,0.000,0.026,2576,2085,3377
$GC,5112,-0.96,-175.2,392.4,-5.8,316,5117,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,680,3375
$GC,5134,-0.96,-175.2,393.9,-6.4,316,5138,0.00,2.33,0.00,0.000,6,0.000,0.027,2576,2068,3375
$GC,5476,-0.96,-175.2,419.5,-7.5,325,5480,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3473,3373
$GC,5542,-0.96,-175.2,424.3,-7.2,326,5547,0.00,2.35,0.00,0.000,6,0.000,0.026,2577,2076,3372
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5893,-0.31,0.0,450.1,7.7,335,6038,0.68,0.00,141.95,0.884,6,0.166,0.000,2731,2075,2664
$STATE,6039,end apogee,CONTROL_FINISHED_OK
$STATE,6039,begin climb
$GC,6041,0.96,175.2,459.4,0.0,338,6198,1.20,2.50,144.98,0.860,4,0.107,0.047,3007,3475,1947
$GC,6241,0.96,175.2,456.8,8.5,342,6248,0.00,2.40,0.00,0.000,6,0.000,0.046,3008,2089,1945
$GC,6573,0.96,175.2,429.4,8.3,351,6577,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,3469,1937
$GC,6644,0.96,175.2,422.6,10.0,352,6649,0.00,2.40,0.00,0.000,6,0.000,0.036,3008,2081,1937
$GC,6981,0.96,175.2,394.2,8.2,361,6985,0.00,2.45,0.00,0.000,4,0.000,0.048,3008,676,1934
$GC,7029,0.96,175.2,389.4,9.8,362,7034,0.00,2.38,0.00,0.000,6,0.000,0.028,3008,2069,1932
$GC,7348,0.96,175.2,362.1,8.2,370,7352,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,3477,1932
$GC,7431,0.96,175.2,354.5,9.3,371,7437,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2073,1931
$GC,7762,0.96,175.6,327.6,7.1,380,7766,0.00,2.45,0.00,0.000,4,0.000,0.051,3008,673,1930
$GC,7827,0.96,175.6,322.9,7.8,381,7831,0.00,2.38,0.00,0.000,6,0.000,0.035,3008,2073,1928
$GC,8150,0.96,175.6,297.8,8.6,390,8154,0.00,2.42,0.00,0.000,4,0.000,0.042,3008,3477,1927
$GC,8288,0.96,178.0,286.9,7.1,396,8293,0.00,2.40,0.00,0.000,6,0.000,0.028,3008,2071,1927
$GC,8609,0.99,195.7,266.4,6.7,412,8631,0.00,2.45,14.88,0.742,4,0.000,0.046,3008,680,1865
$GC,8654,0.99,195.7,263.0,8.1,414,8658,0.00,2.38,0.00,0.000,6,0.000,0.027,3008,2093,1863
$GC,8980,0.99,199.8,238.7,7.0,430,8989,0.00,2.30,4.85,0.555,4,0.000,0.058,3008,3450,1849
$GC,9130,0.99,199.8,228.1,7.3,436,9136,0.00,2.30,0.00,0.000,6,0.000,0.027,3008,2071,1849
$GC,9445,0.99,199.8,202.8,7.7,452,9449,0.00,2.40,0.00,0.000,4,0.000,0.042,3008,676,1847
$GC,9551,0.99,199.8,194.4,8.2,460,9555,0.00,2.33,0.00,0.000,6,0.000,0.060,3008,2092,1844
$GC,9882,1.05,247.4,172.8,5.8,491,9934,0.00,2.45,42.35,0.678,4,0.000,0.067,3008,3475,1655
$GC,9956,1.05,247.4,167.5,7.9,498,9960,0.00,2.35,0.00,0.000,6,0.000,0.031,3008,2073,1655
$GC,10280,1.05,247.4,141.8,7.7,528,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2072,1650
$GC,10599,1.05,247.4,119.9,7.2,558,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2072,1650
$GC,10919,1.18,354.3,102.8,4.2,588,11018,0.15,2.45,90.88,0.601,4,0.044,0.065,3062,3474,1219
$GC,11040,1.18,354.3,92.8,9.6,599,11047,0.00,2.30,0.00,0.000,6,0.000,0.023,3062,2079,1218
$GC,11368,1.18,354.3,55.3,13.1,630,11372,0.00,2.40,0.00,0.000,4,0.000,0.074,3062,677,1214
$GC,11475,1.18,354.3,41.9,11.5,639,11479,0.00,2.28,0.00,0.000,6,0.000,0.019,3062,2089,1210
$GC,11809,1.18,354.3,8.8,8.7,687,11816,0.00,2.40,0.00,0.000,4,0.000,0.037,3062,676,1210
$STATE,11865,end climb,SURFACE_DEPTH_REACHED
$STATE,11865,begin surface coast
$FINISH,1.0,1.022903
$STATE,11878,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11960,0.00,0.000,0,0,1205,357.65
$SM_GC,1.42,11.38,0.00,0.00,0.034,0.000,0.000,434,2080,1205,-10.80,0.00,357.65
$IRIDIUM_FIX,2052.52,-15749.62,211097,111109
$TT8_MAMPS,0.029146
$HUMID,1901
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.00
$XPDR_PINGS,677
$24V_AH,23.3,47.937
$10V_AH,10.2,27.677
$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,25.600,117.950,439.875,0.000,0.000,29.741,31.020,272.025,169.250,0.000,0.000,18.384,1237.598,8567.740,496.096,1592.313,513.114,33.371,1303.317,0.000,1573.364,0.000,0.470
$DEVICE_MAMPS,165.672,74.399,883.584,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.214,455.420,770.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34909,699
$CAP_FILE_SIZE,99744,8
$CFSIZE,260165632,251256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270708,180338,2104.573,-15749.751,34,1.0,34,9.8