version: 66.03
glider: 139
mission: 3
dive: 49
start: 7 16 108 1 39 56
data:
$ID,139
$MISSION,3
$DIVE,49
$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,-1271294.4
$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,41
$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
$GPS1,013253,2106.354,-15751.117,15,2.1,34,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-70.3
$GPS2,013907,2106.375,-15751.152,36,1.1,36,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.154,0.202
$KALMAN_X,-3188.5,758.8,-158.7,5440.3,-273.5
$KALMAN_Y,1070.1,357.7,-52.7,-20445.1,-399.5
$MHEAD_RNG_PITCHd_Wd,312.8,8400,-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,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.35,0.000,2,0.000,0.000,429,2089,2930
$GC,78,-0.96,-175.2,3.6,-6.9,10,103,12.23,2.35,-7.47,0.000,4,0.160,0.045,2576,3466,3382
$GC,283,-0.96,-175.2,39.1,-10.8,39,287,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2070,3385
$GC,613,-0.96,-175.2,73.4,-9.5,70,617,0.00,2.33,0.00,0.000,4,0.000,0.030,2576,3463,3386
$GC,645,-0.96,-175.2,76.7,-9.5,72,653,0.00,2.28,0.00,0.000,6,0.000,0.020,2576,2083,3386
$GC,971,-0.96,-175.2,110.8,-9.3,103,975,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,683,3387
$GC,1020,-0.96,-175.2,115.8,-10.2,107,1027,0.00,2.25,0.00,0.000,6,0.000,0.054,2576,2070,3387
$GC,1346,-0.96,-175.2,141.3,-7.1,138,1350,0.00,2.35,0.00,0.000,4,0.000,0.044,2576,683,3388
$GC,1374,-0.96,-175.2,143.2,-7.0,140,1378,0.00,2.25,0.00,0.000,6,0.000,0.018,2576,2087,3388
$GC,1699,-0.96,-175.2,166.1,-6.8,170,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2091,3388
$GC,2017,-0.96,-175.2,188.5,-7.4,200,2021,0.00,2.38,0.00,0.000,4,0.000,0.036,2576,684,3388
$GC,2049,-0.96,-175.2,191.1,-7.5,202,2056,0.00,2.25,0.00,0.000,6,0.000,0.020,2576,2068,3389
$GC,2379,-0.96,-175.2,210.6,-5.3,225,2383,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,680,3388
$GC,2406,-0.96,-175.2,212.3,-6.4,226,2410,0.00,2.25,0.00,0.000,6,0.000,0.021,2576,2076,3388
$GC,2727,-0.96,-175.2,232.2,-5.8,242,2731,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3463,3388
$GC,2760,-0.96,-175.2,234.2,-5.8,243,2766,0.00,2.28,0.00,0.000,6,0.000,0.022,2576,2073,3388
$GC,3076,-0.96,-175.2,253.4,-5.9,259,3080,0.00,2.35,0.00,0.000,4,0.000,0.050,2576,686,3387
$GC,3120,-0.96,-175.2,256.2,-6.1,261,3124,0.00,2.25,0.00,0.000,6,0.000,0.022,2576,2076,3387
$GC,3447,-0.96,-175.2,278.6,-7.5,277,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3385
$GC,3756,-0.96,-175.2,299.3,-6.4,292,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3384
$GC,4061,-0.96,-175.2,321.1,-7.2,300,4065,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,687,3383
$GC,4093,-0.96,-175.2,323.5,-7.4,300,4099,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2074,3383
$GC,4424,-0.96,-175.2,342.4,-5.2,309,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2077,3381
$GC,4749,-0.96,-175.2,357.6,-4.8,317,4753,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,684,3379
$GC,4782,-0.96,-175.2,359.4,-5.9,317,4788,0.00,2.30,0.00,0.000,6,0.000,0.027,2576,2079,3379
$GC,5113,-0.96,-175.2,377.9,-5.8,326,5117,0.00,2.38,0.00,0.000,4,0.000,0.043,2576,3470,3377
$GC,5146,-0.96,-175.2,379.8,-6.1,326,5152,0.00,2.30,0.00,0.000,6,0.000,0.061,2576,2087,3377
$GC,5476,-0.96,-175.2,397.5,-5.2,335,5480,0.00,2.42,0.00,0.000,4,0.000,0.045,2576,679,3375
$GC,5509,-0.96,-175.2,399.4,-5.9,335,5515,0.00,2.33,0.00,0.000,6,0.000,0.028,2576,2080,3375
$GC,5840,-0.96,-175.2,418.2,-6.0,344,5844,0.00,2.40,0.00,0.000,4,0.000,0.044,2576,3474,3373
$GC,5861,-0.96,-175.2,419.7,-7.2,344,5866,0.00,2.35,0.00,0.000,6,0.000,0.028,2576,2082,3373
$GC,6204,-0.96,-175.2,440.0,-5.9,353,6208,0.00,2.42,0.00,0.000,4,0.000,0.046,2576,675,3371
$GC,6236,-0.96,-175.2,442.0,-6.4,353,6242,0.00,2.35,0.00,0.000,6,0.000,0.036,2576,2086,3370
$STATE,6363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6363,begin apogee
$GC,6368,-0.31,0.0,450.6,6.7,357,6514,0.68,0.00,142.25,0.894,6,0.165,0.000,2729,2088,2664
$STATE,6514,end apogee,CONTROL_FINISHED_OK
$STATE,6514,begin climb
$GC,6516,0.96,175.2,458.8,0.0,360,6673,1.20,2.58,145.43,0.868,4,0.041,0.052,3004,679,1946
$GC,6925,0.96,175.2,435.1,9.6,369,6929,0.00,2.38,0.00,0.000,6,0.000,0.057,3004,2083,1934
$GC,7273,0.96,175.2,404.6,8.8,378,7277,0.00,2.42,0.00,0.000,4,0.000,0.045,3004,3475,1933
$GC,7316,0.96,175.2,400.4,9.8,379,7320,0.00,2.38,0.00,0.000,6,0.000,0.064,3004,2076,1933
$GC,7640,0.96,175.2,370.5,9.0,387,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2075,1932
$GC,7965,0.96,175.2,341.4,8.4,395,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2075,1931
$GC,8290,0.96,175.2,316.4,7.9,403,8294,0.00,2.42,0.00,0.000,4,0.000,0.078,3004,3476,1929
$GC,8389,0.96,175.2,308.0,8.5,405,8393,0.00,2.35,0.00,0.000,6,0.000,0.034,3004,2078,1929
$GC,8705,0.97,180.8,285.7,7.0,417,8709,0.00,2.42,0.00,0.000,4,0.000,0.054,3004,678,1927
$GC,8744,0.97,180.8,282.9,7.5,419,8748,0.00,2.35,0.00,0.000,6,0.000,0.064,3004,2082,1926
$GC,9070,1.01,218.4,261.8,6.1,435,9112,0.00,2.50,34.90,0.779,4,0.000,0.078,3004,672,1771
$GC,9163,1.01,218.4,254.9,8.3,439,9166,0.00,1.62,0.00,0.000,6,0.000,0.075,3004,1686,1767
$GC,9489,1.01,218.4,227.6,8.3,455,9494,0.00,2.78,0.00,0.000,4,0.000,0.064,3004,3334,1764
$GC,9651,1.01,218.4,213.2,8.9,462,9655,0.00,2.12,0.00,0.000,6,0.000,0.066,3004,2068,1764
$GC,9970,1.04,236.4,190.2,6.7,483,9992,0.00,2.42,15.60,0.688,4,0.000,0.047,3004,678,1699
$GC,10071,1.04,238.6,183.5,7.1,492,10075,0.00,2.33,0.00,0.000,6,0.000,0.025,3004,2085,1694
$GC,10401,1.05,246.5,161.5,6.9,523,10413,0.00,0.00,9.70,0.620,6,0.000,0.000,3004,2090,1658
$GC,10731,1.05,246.5,134.5,7.8,554,10735,0.00,2.35,0.00,0.000,4,0.000,0.035,3005,3472,1656
$GC,10804,1.05,246.5,128.5,8.1,560,10808,0.00,2.33,0.00,0.000,6,0.000,0.058,3004,2074,1656
$GC,11133,1.11,293.6,106.0,5.9,591,11178,0.12,0.00,41.72,0.617,6,0.052,0.000,3043,2072,1467
$GC,11494,1.11,293.6,73.9,9.3,625,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2072,1462
$GC,11812,1.11,293.6,48.2,8.2,655,11816,0.00,2.38,0.00,0.000,4,0.000,0.038,3042,673,1461
$GC,11953,1.11,293.6,35.6,8.3,667,11959,0.00,2.28,0.00,0.000,6,0.000,0.019,3043,2096,1458
$GC,12291,1.11,293.6,11.5,7.7,721,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2100,1459
$STATE,12402,end climb,SURFACE_DEPTH_REACHED
$STATE,12402,begin surface coast
$FINISH,0.4,1.022728
$STATE,12442,end surface coast,CONTROL_FINISHED_OK
$STATE,12444,begin surface
$SM_CCo,12463,21.98,0.506,0,0,1359,320.12
$SM_GC,0.16,0.00,0.00,21.98,0.000,0.000,0.506,429,2098,1359,-10.88,0.54,320.12
$IRIDIUM_FIX,2057.14,-15751.76,091097,222212
$TT8_MAMPS,0.029146
$HUMID,1865
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.20
$XPDR_PINGS,709
$24V_AH,23.4,36.823
$10V_AH,10.2,21.349
$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,25.525,107.550,389.600,21.975,0.000,22.964,28.833,184.288,177.250,0.000,0.000,37.683,1323.936,8909.141,486.824,1707.640,421.581,33.359,1316.931,0.000,1677.929,0.000,0.470
$DEVICE_MAMPS,164.905,78.234,893.555,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.169,496.023,834.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38051,748
$CAP_FILE_SIZE,101790,10
$CFSIZE,260165632,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160708,050938,2107.529,-15752.158,59,1.0,59,9.8