version: 66.03
glider: 139
mission: 3
dive: 18
start: 7 11 108 12 47 7
data:
$ID,139
$MISSION,3
$DIVE,18
$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,200
$T_MISSION,200
$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,-1270680.4
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,43
$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
$GPS1,124025,2102.378,-15747.060,45,1.5,45,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-69.6
$GPS2,124614,2102.367,-15747.057,9,2.0,9,9.8
$SPEED_LIMITS,0.130,0.259
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,0.156
$KALMAN_X,-848.5,-564.3,15.4,11324.1,178.5
$KALMAN_Y,5511.4,-105.3,-25.0,-31876.9,464.3
$MHEAD_RNG_PITCHd_Wd,297.2,18650,-12.6,-7.500
$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,18,-1.00,-175.2,0.0,0.0,0,81,0.00,0.00,-59.92,0.000,2,0.000,0.000,426,2071,3087
$GC,83,-1.00,-175.2,4.1,-9.0,11,108,12.20,2.30,-4.57,0.000,4,0.160,0.038,2569,3470,3383
$GC,315,-0.96,-175.2,46.6,-12.0,39,321,0.00,2.30,0.00,0.000,6,0.000,0.021,2569,2082,3385
$GC,641,-0.91,-175.2,83.9,-10.7,70,646,0.12,2.30,0.00,0.000,4,0.086,0.065,2595,3457,3386
$GC,680,-0.96,-175.2,87.6,-9.3,73,685,0.00,2.25,0.00,0.000,6,0.000,0.056,2594,2076,3386
$GC,1006,-1.00,-175.2,114.7,-7.8,103,1010,0.00,2.35,0.00,0.000,4,0.000,0.070,2594,685,3387
$GC,1035,-1.07,-175.2,117.0,-8.0,105,1039,0.15,2.22,0.00,0.000,6,0.042,0.018,2545,2076,3387
$GC,1359,-0.98,-175.2,150.1,-10.5,135,1364,0.17,2.30,0.00,0.000,4,0.081,0.031,2584,3460,3387
$GC,1398,-1.04,-175.2,153.5,-7.8,138,1402,0.00,2.25,0.00,0.000,6,0.000,0.050,2584,2080,3388
$GC,1729,-1.08,-175.2,174.4,-7.1,169,1734,0.10,2.35,0.00,0.000,4,0.053,0.053,2547,685,3388
$GC,1768,-1.08,-175.2,178.1,-9.6,172,1772,0.00,2.25,0.00,0.000,6,0.000,0.021,2547,2076,3388
$GC,2092,-1.04,-175.2,205.7,-8.9,199,2096,0.10,2.33,0.00,0.000,4,0.086,0.067,2568,3471,3387
$GC,2197,-1.11,-175.2,214.4,-7.5,203,2203,0.00,2.28,0.00,0.000,6,0.000,0.021,2567,2076,3387
$GC,2513,-1.14,-175.2,235.6,-6.4,219,2517,0.00,2.35,0.00,0.000,4,0.000,0.071,2567,685,3387
$GC,2576,-1.23,-175.2,239.8,-6.2,222,2580,0.17,1.73,0.00,0.000,6,0.041,0.066,2511,1791,3387
$GC,2908,-1.14,-175.2,272.1,-11.5,238,2913,0.15,2.75,0.00,0.000,4,0.080,0.048,2547,3457,3387
$GC,3037,-1.14,-175.2,283.7,-8.5,244,3041,0.00,2.28,0.00,0.000,6,0.000,0.024,2547,2074,3386
$GC,3382,-1.14,-175.2,307.8,-6.3,258,3386,0.00,2.38,0.00,0.000,4,0.000,0.041,2546,677,3385
$GC,3408,-1.14,-175.2,309.6,-6.5,258,3413,0.00,2.33,0.00,0.000,6,0.000,0.025,2547,2074,3385
$GC,3745,-1.14,-175.2,332.9,-7.4,267,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2078,3383
$GC,4070,-1.14,-175.2,353.1,-5.9,275,4074,0.00,2.40,0.00,0.000,4,0.000,0.043,2547,678,3382
$GC,4102,-1.14,-175.2,355.3,-6.7,275,4109,0.00,2.30,0.00,0.000,6,0.000,0.027,2547,2077,3382
$GC,4433,-1.14,-175.2,380.6,-8.0,284,4437,0.00,2.40,0.00,0.000,4,0.000,0.044,2546,683,3380
$GC,4460,-1.17,-175.2,383.1,-9.2,284,4464,0.00,2.30,0.00,0.000,6,0.000,0.045,2547,2084,3380
$GC,4797,-1.17,-175.2,404.9,-5.8,293,4801,0.00,2.38,0.00,0.000,4,0.000,0.043,2547,3474,3378
$GC,4824,-1.21,-175.2,406.7,-6.8,293,4828,0.00,2.33,0.00,0.000,6,0.000,0.028,2546,2079,3378
$GC,5154,-1.21,-175.2,429.8,-7.6,301,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2077,3376
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5441,-0.31,0.0,453.2,8.2,308,5586,0.57,0.00,142.02,0.882,6,0.116,0.000,2683,2076,2664
$STATE,5587,end apogee,CONTROL_FINISHED_OK
$STATE,5587,begin climb
$GC,5589,1.00,175.2,459.5,0.0,311,5743,1.48,2.50,144.23,0.858,4,0.098,0.062,3014,3474,1948
$GC,5815,0.88,175.2,453.8,9.3,316,5820,0.15,2.38,0.00,0.000,6,0.104,0.053,2986,2083,1945
$GC,6163,0.83,175.7,427.4,7.5,325,6167,0.00,2.47,0.00,0.000,4,0.000,0.048,2986,674,1937
$GC,6196,0.75,178.5,424.9,7.4,325,6202,0.15,2.38,0.00,0.000,6,0.095,0.031,2958,2081,1934
$GC,6526,0.80,215.2,404.4,6.4,334,6568,0.00,2.50,33.40,0.843,4,0.000,0.079,2958,3470,1785
$GC,6618,0.83,215.2,397.9,7.6,336,6621,0.00,2.38,0.00,0.000,6,0.000,0.058,2958,2079,1784
$GC,6942,0.87,215.2,372.2,8.2,344,6946,0.12,2.45,0.00,0.000,4,0.059,0.048,2990,678,1779
$GC,7047,0.83,215.2,362.0,9.8,346,7051,0.00,2.40,0.00,0.000,6,0.000,0.031,2990,2100,1775
$GC,7395,0.83,215.2,332.3,8.5,355,7399,0.00,2.50,0.00,0.000,4,0.000,0.047,2990,672,1775
$GC,7461,0.78,215.2,326.2,9.0,356,7466,0.12,2.38,0.00,0.000,6,0.097,0.063,2966,2084,1773
$GC,7809,0.87,261.0,303.4,6.2,365,7851,0.00,0.00,39.70,0.801,6,0.000,0.000,2966,2088,1599
$GC,8158,0.93,261.0,277.6,7.8,380,8163,0.12,2.47,0.00,0.000,4,0.058,0.045,2999,671,1592
$GC,8275,0.93,261.0,265.3,10.7,385,8280,0.00,2.35,0.00,0.000,6,0.000,0.028,2999,2079,1590
$GC,8590,0.93,261.0,235.6,9.2,400,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2084,1590
$GC,8900,0.93,261.0,208.2,8.9,415,8904,0.00,2.45,0.00,0.000,4,0.000,0.044,3000,670,1589
$GC,8971,0.93,261.0,201.8,8.4,418,8975,0.00,2.38,0.00,0.000,6,0.000,0.059,3000,2081,1587
$GC,9300,0.93,261.0,175.3,7.6,448,9304,0.00,2.38,0.00,0.000,4,0.000,0.038,2999,3473,1587
$GC,9351,0.97,261.0,171.0,8.5,452,9355,0.00,2.35,0.00,0.000,6,0.000,0.035,3000,2071,1587
$GC,9676,0.97,267.0,144.1,7.3,482,9687,0.00,2.40,4.68,0.492,4,0.000,0.076,3000,679,1574
$GC,9737,0.97,267.0,139.3,8.2,487,9744,0.00,2.33,0.00,0.000,6,0.000,0.024,2999,2078,1573
$GC,10065,1.01,267.0,114.5,8.4,518,10069,0.00,2.40,0.00,0.000,4,0.000,0.071,2999,677,1573
$GC,10109,1.01,267.0,110.7,8.5,521,10116,0.00,2.33,0.00,0.000,6,0.000,0.041,3000,2088,1572
$GC,10436,1.11,293.7,91.0,6.7,552,10469,0.15,2.40,24.67,0.596,4,0.047,0.048,3044,3462,1465
$GC,10485,1.11,293.7,86.2,10.3,556,10492,0.00,2.33,0.00,0.000,6,0.000,0.023,3044,2077,1465
$GC,10813,1.11,293.7,58.5,7.7,587,10817,0.00,1.62,0.00,0.000,4,0.000,0.076,3044,3076,1464
$GC,10836,1.11,293.7,56.3,8.5,589,10839,0.00,1.62,0.00,0.000,6,0.000,0.031,3044,2078,1464
$GC,11167,1.11,293.7,30.1,9.0,620,11171,0.00,2.38,0.00,0.000,4,0.000,0.071,3044,674,1463
$GC,11245,1.11,293.7,23.0,8.8,633,11252,0.00,2.28,0.00,0.000,6,0.000,0.019,3044,2076,1461
$GC,11367,1.12,301.6,13.3,7.3,654,11378,0.00,0.00,8.00,0.473,6,0.000,0.000,3044,2080,1434
$GC,11491,1.13,304.6,5.1,7.4,676,11498,0.00,0.00,4.25,0.366,6,0.000,0.000,3044,2080,1422
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,-0.1,1.022795
$STATE,11549,end surface coast,CONTROL_FINISHED_OK
$STATE,11549,begin surface
$SM_CCo,11569,12.93,0.485,0,0,1358,320.12
$SM_GC,0.61,0.00,0.00,12.93,0.000,0.000,0.485,426,2078,1358,-10.90,-0.03,320.12
$IRIDIUM_FIX,2057.14,-15744.48,051097,090943
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.10
$XPDR_PINGS,640
$24V_AH,23.5,32.467
$10V_AH,10.2,18.840
$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,27.325,116.150,400.950,12.925,0.000,31.361,27.862,186.184,160.000,0.000,0.000,11.063,1258.634,8181.541,500.140,1570.942,416.518,33.351,1291.076,0.000,1567.427,0.000,0.471
$DEVICE_MAMPS,159.536,79.001,882.050,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.110,449.757,770.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34815,686
$CAP_FILE_SIZE,105493,21
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110708,160151,2103.396,-15748.295,44,2.1,63,9.8