version: 66.03
glider: 139
mission: 3
dive: 93
start: 7 22 108 17 17 7
data:
$ID,139
$MISSION,3
$DIVE,93
$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,-1272385.4
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,165738,2104.763,-15749.137,69,1.0,69,9.8
$_CALLS,4
$_XMS_NAKs,35
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.2
$GPS2,171615,2104.887,-15749.346,10,1.8,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.157,0.200
$KALMAN_X,-17789.8,-236.7,-278.9,24276.6,-387.6
$KALMAN_Y,-11561.2,-431.6,-204.6,-9630.2,-298.6
$MHEAD_RNG_PITCHd_Wd,312.1,12560,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,102,0.00,0.00,-81.25,0.000,2,0.000,0.000,420,2080,2777
$GC,105,-0.96,-175.2,3.3,-5.8,15,135,12.10,2.30,-10.75,0.000,4,0.152,0.041,2577,3470,3380
$GC,365,-0.96,-175.2,43.7,-12.1,52,370,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2069,3381
$GC,691,-0.96,-175.2,80.3,-11.0,82,695,0.00,2.33,0.00,0.000,4,0.000,0.071,2577,683,3382
$GC,786,-0.96,-175.2,90.0,-9.1,90,790,0.00,2.08,0.00,0.000,6,0.000,0.055,2577,1999,3382
$GC,1117,-0.96,-175.2,118.1,-8.1,121,1121,0.00,2.45,0.00,0.000,4,0.000,0.038,2577,3469,3382
$GC,1178,-0.96,-175.2,123.0,-8.2,126,1183,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2071,3382
$GC,1506,-0.96,-175.2,148.1,-7.4,156,1510,0.00,2.33,0.00,0.000,4,0.000,0.070,2577,687,3382
$GC,1534,-0.96,-175.2,150.5,-7.6,158,1538,0.00,2.25,0.00,0.000,6,0.000,0.019,2577,2093,3382
$GC,1859,-0.96,-175.2,175.0,-8.1,188,1863,0.00,2.28,0.00,0.000,4,0.000,0.042,2577,3461,3382
$GC,1883,-0.96,-175.2,177.0,-8.6,190,1887,0.00,2.25,0.00,0.000,6,0.000,0.020,2577,2077,3381
$GC,2207,-0.96,-175.2,202.8,-7.0,218,2211,0.00,2.35,0.00,0.000,4,0.000,0.071,2577,683,3381
$GC,2239,-0.96,-175.2,205.4,-7.5,219,2245,0.00,2.28,0.00,0.000,6,0.000,0.020,2577,2076,3381
$GC,2555,-0.96,-175.2,228.9,-7.8,235,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3380
$GC,2864,-0.96,-175.2,252.9,-7.5,250,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3379
$GC,3173,-0.96,-175.2,270.9,-5.3,265,3178,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,689,3378
$GC,3195,-0.96,-175.2,272.2,-5.5,266,3199,0.00,2.25,0.00,0.000,6,0.000,0.022,2577,2074,3378
$GC,3521,-0.96,-175.2,290.5,-7.4,282,3525,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,680,3377
$GC,3571,-0.96,-175.2,294.7,-8.9,284,3575,0.00,2.30,0.00,0.000,6,0.000,0.023,2577,2076,3376
$GC,3888,-0.96,-175.2,321.7,-8.4,294,3892,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,687,3375
$GC,3927,-0.96,-175.2,324.9,-8.1,295,3931,0.00,2.30,0.00,0.000,6,0.000,0.038,2577,2089,3375
$GC,4251,-0.96,-175.2,344.0,-5.0,303,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2093,3373
$GC,4575,-0.96,-175.2,363.2,-6.4,311,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2093,3370
$GC,4900,-0.96,-175.2,380.0,-4.3,319,4904,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,693,3368
$GC,4940,-0.96,-175.2,381.5,-4.2,320,4944,0.00,2.30,0.00,0.000,6,0.000,0.037,2577,2079,3368
$GC,5263,-0.96,-175.2,395.0,-4.6,328,5267,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,3478,3366
$GC,5290,-0.96,-175.2,396.4,-5.6,328,5294,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2086,3365
$GC,5626,-0.96,-175.2,417.3,-6.4,337,5630,0.00,2.42,0.00,0.000,4,0.000,0.045,2577,677,3363
$GC,5659,-0.96,-175.2,419.7,-7.2,337,5665,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,2076,3363
$GC,5990,-0.96,-175.2,445.2,-7.7,346,5994,0.00,2.40,0.00,0.000,4,0.000,0.045,2577,3481,3360
$GC,6051,-0.96,-175.2,449.7,-7.6,347,6055,0.00,2.35,0.00,0.000,6,0.000,0.028,2577,2073,3360
$STATE,6059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6059,begin apogee
$GC,6064,-0.31,0.0,450.6,7.9,347,6206,0.12,0.00,139.68,0.897,6,0.614,0.000,2617,2072,2664
$STATE,6207,end apogee,CONTROL_FINISHED_OK
$STATE,6207,begin climb
$GC,6209,0.96,175.2,458.3,0.0,351,6366,1.75,2.55,145.07,0.871,4,0.054,0.048,3001,677,1947
$GC,6615,0.96,175.2,429.8,10.2,360,6619,0.00,2.38,0.00,0.000,6,0.000,0.030,3001,2086,1935
$GC,6961,0.96,175.2,398.7,8.3,369,6966,0.00,2.47,0.00,0.000,4,0.000,0.047,3001,679,1934
$GC,6994,0.96,175.2,396.3,7.8,369,7000,0.00,2.38,0.00,0.000,6,0.000,0.030,3001,2088,1932
$GC,7325,1.02,222.3,375.2,5.9,378,7369,0.00,2.53,39.25,0.847,4,0.000,0.081,3001,683,1756
$GC,7404,1.03,230.3,370.3,6.9,379,7418,0.00,2.38,7.78,0.723,6,0.000,0.030,3002,2089,1725
$GC,7737,1.03,230.3,342.3,9.4,388,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2092,1720
$GC,8062,1.03,230.3,306.9,11.4,396,8066,0.00,2.47,0.00,0.000,4,0.000,0.051,3001,675,1718
$GC,8172,1.03,230.3,293.2,11.5,399,8177,0.00,2.38,0.00,0.000,6,0.000,0.028,3001,2077,1715
$GC,8500,1.03,230.3,258.4,9.6,415,8504,0.00,2.45,0.00,0.000,4,0.000,0.051,3001,676,1715
$GC,8538,1.03,230.3,254.4,10.1,416,8545,0.00,2.38,0.00,0.000,6,0.000,0.048,3001,2076,1713
$GC,8853,1.03,230.3,228.4,7.2,432,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2080,1713
$GC,9163,1.06,255.8,208.6,6.4,447,9188,0.10,0.00,22.08,0.723,6,0.063,0.000,3030,2080,1620
$GC,9500,1.06,255.8,175.9,10.3,473,9504,0.00,2.42,0.00,0.000,4,0.000,0.047,3030,680,1614
$GC,9543,1.06,255.8,170.8,11.0,476,9549,0.00,2.35,0.00,0.000,6,0.000,0.025,3030,2083,1612
$GC,9871,1.06,255.8,140.1,8.8,507,9875,0.00,2.42,0.00,0.000,4,0.000,0.074,3030,679,1612
$GC,9936,1.06,255.8,134.3,8.3,512,9943,0.00,2.33,0.00,0.000,6,0.000,0.056,3030,2075,1611
$GC,10264,1.06,255.8,108.8,7.5,543,10268,0.00,2.40,0.00,0.000,4,0.000,0.064,3029,679,1611
$GC,10292,1.06,255.8,106.3,8.0,545,10297,0.00,2.30,0.00,0.000,6,0.000,0.021,3030,2088,1611
$GC,10617,1.06,255.8,82.2,7.2,575,10621,0.00,2.33,0.00,0.000,4,0.000,0.032,3030,3469,1611
$GC,10645,1.06,255.8,80.1,7.8,577,10649,0.00,2.30,0.00,0.000,6,0.000,0.021,3030,2070,1612
$GC,10969,1.07,266.7,58.1,6.8,607,10984,0.00,2.38,10.07,0.527,4,0.000,0.070,3030,682,1576
$GC,11070,1.07,266.7,50.6,7.2,616,11074,0.00,2.28,0.00,0.000,6,0.000,0.040,3030,2089,1573
$GC,11397,1.10,285.5,26.9,6.6,650,11421,0.00,2.42,17.45,0.528,4,0.000,0.043,3030,676,1498
$GC,11466,1.10,285.5,21.7,7.6,662,11473,0.00,2.25,0.00,0.000,6,0.000,0.019,3030,2079,1495
$GC,11586,1.10,285.5,13.7,7.6,683,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2084,1495
$GC,11704,1.10,285.5,4.4,7.7,704,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2084,1495
$STATE,11721,end climb,SURFACE_DEPTH_REACHED
$STATE,11721,begin surface coast
$FINISH,1.1,1.022781
$STATE,11760,end surface coast,CONTROL_FINISHED_OK
$STATE,11760,begin surface
$SM_CCo,11780,29.33,0.515,0,0,1359,320.12
$SM_GC,1.34,0.00,0.00,29.33,0.000,0.000,0.515,429,2083,1359,-10.88,0.11,320.12
$IRIDIUM_FIX,2057.14,-15751.76,161097,171716
$TT8_MAMPS,0.029146
$HUMID,1879
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.70
$XPDR_PINGS,696
$24V_AH,22.0,43.055
$10V_AH,10.2,24.975
$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,25.500,112.825,381.375,29.325,0.000,109.955,109.920,587.375,174.000,0.000,0.000,11.515,1270.165,8511.633,506.925,1614.563,1014.477,33.364,1321.892,0.000,1613.081,0.000,0.470
$DEVICE_MAMPS,613.600,80.535,896.623,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.382,475.522,822.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34893,714
$CAP_FILE_SIZE,109721,12
$CFSIZE,260165632,252940288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220708,203539,2105.769,-15750.176,65,1.1,65,9.8