version: 66.03
glider: 139
mission: 3
dive: 155
start: 7 31 108 21 5 55
data:
$ID,139
$MISSION,3
$DIVE,155
$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,-1273754.9
$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,205
$R_STBD_OVSHOOT,66
$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
$GPS1,204808,2105.586,-15751.180,31,1.0,31,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.3
$GPS2,210503,2105.465,-15751.145,9,1.7,9,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.190
$KALMAN_X,-39598.2,-570.9,484.1,42558.1,-785.9
$KALMAN_Y,-30481.0,-275.5,-159.7,10165.8,1298.3
$MHEAD_RNG_PITCHd_Wd,128.4,9322,-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,18,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.62,0.000,2,0.000,0.000,432,2092,2878
$GC,78,-0.96,-175.2,3.6,-4.8,10,108,12.00,2.15,-8.82,0.000,4,0.152,0.049,2578,845,3383
$GC,136,-0.96,-175.2,20.3,-20.0,20,143,0.00,2.00,0.00,0.000,6,0.000,0.058,2578,2080,3384
$GC,259,-0.96,-175.2,36.1,-13.0,38,263,0.00,2.28,0.00,0.000,4,0.000,0.029,2578,3455,3384
$GC,274,-0.96,-175.2,38.3,-12.8,39,281,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2240,3384
$GC,599,-0.96,-175.2,79.6,-10.6,70,603,0.00,2.33,0.00,0.000,4,0.000,0.032,2578,842,3384
$GC,705,-0.96,-175.2,90.4,-9.4,79,712,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2069,3385
$GC,1030,-0.96,-175.2,121.8,-9.7,110,1034,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3461,3386
$GC,1056,-0.96,-175.2,124.5,-9.4,112,1063,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2233,3385
$GC,1383,-0.96,-175.2,152.2,-8.1,143,1387,0.00,2.33,0.00,0.000,4,0.000,0.065,2578,842,3386
$GC,1490,-0.96,-175.2,161.8,-8.6,152,1493,0.00,1.62,0.00,0.000,6,0.000,0.067,2578,1891,3386
$GC,1821,-0.96,-175.2,188.6,-8.8,183,1824,0.00,1.85,0.00,0.000,4,0.000,0.061,2578,3040,3385
$GC,2016,-0.96,-175.2,202.4,-7.2,199,2022,0.00,1.30,0.00,0.000,6,0.000,0.020,2578,2232,3385
$GC,2332,-0.96,-175.2,223.1,-6.9,215,2336,0.00,2.33,0.00,0.000,4,0.000,0.070,2578,846,3385
$GC,2394,-0.96,-175.2,227.7,-6.7,218,2398,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2078,3385
$GC,2726,-0.96,-175.2,248.5,-6.1,234,2730,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3469,3384
$GC,2753,-0.96,-175.2,250.2,-6.8,235,2757,0.00,2.03,0.00,0.000,6,0.000,0.021,2578,2216,3384
$GC,3075,-0.96,-175.2,268.6,-5.7,251,3079,0.00,2.30,0.00,0.000,4,0.000,0.035,2577,844,3383
$GC,3143,-0.96,-175.2,272.7,-5.8,254,3147,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2085,3383
$GC,3469,-0.96,-175.2,291.1,-5.8,270,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2090,3382
$GC,3797,-0.96,-175.2,310.1,-6.1,282,3800,0.00,2.12,0.00,0.000,4,0.000,0.038,2577,836,3381
$GC,3829,-0.96,-175.2,312.5,-7.3,282,3833,0.00,2.05,0.00,0.000,6,0.000,0.064,2578,2075,3380
$GC,4166,-0.96,-175.2,335.7,-6.9,291,4170,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3474,3378
$GC,4215,-0.96,-175.2,339.5,-7.6,292,4220,0.00,2.05,0.00,0.000,6,0.000,0.035,2578,2249,3378
$GC,4534,-0.96,-175.2,361.8,-6.9,300,4538,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,847,3376
$GC,4612,-0.96,-175.2,366.9,-6.1,301,4618,0.00,2.03,0.00,0.000,6,0.000,0.026,2578,2076,3376
$GC,4943,-0.96,-175.2,388.0,-6.2,310,4947,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3470,3374
$GC,4987,-0.96,-175.2,390.8,-6.1,311,4991,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2230,3374
$GC,5312,-0.96,-175.2,411.3,-6.7,319,5316,0.00,2.35,0.00,0.000,4,0.000,0.040,2578,847,3372
$GC,5428,-0.96,-175.2,419.4,-7.3,321,5433,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2069,3371
$GC,5766,-0.96,-175.2,440.8,-6.1,330,5770,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3471,3369
$GC,5826,-0.96,-175.2,444.4,-6.2,331,5831,0.00,2.08,0.00,0.000,6,0.000,0.035,2578,2241,3369
$STATE,5928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5928,begin apogee
$GC,5933,-0.31,0.0,450.1,5.7,334,6078,0.68,0.00,141.57,0.881,6,0.048,0.000,2733,2240,2664
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6080,0.96,175.2,457.0,0.0,337,6235,1.20,2.47,145.10,0.855,4,0.038,0.074,3010,840,1947
$GC,6408,0.96,175.2,442.3,9.0,344,6412,0.00,2.10,0.00,0.000,6,0.000,0.039,3010,2070,1936
$GC,6745,0.98,189.3,418.4,6.8,353,6761,0.00,2.17,11.38,0.774,4,0.000,0.052,3010,843,1891
$GC,6784,0.98,189.3,415.4,7.3,354,6787,0.00,2.10,0.00,0.000,6,0.000,0.029,3011,2085,1889
$GC,7113,0.98,189.3,389.4,8.4,362,7117,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,3481,1886
$GC,7190,0.98,189.3,381.5,10.3,363,7196,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2254,1886
$GC,7521,0.98,189.3,349.6,9.7,372,7525,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,840,1884
$GC,7665,0.98,189.3,336.5,8.5,375,7669,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2074,1881
$GC,7978,0.98,189.3,312.8,7.6,383,7982,0.00,2.42,0.00,0.000,4,0.000,0.076,3010,3474,1881
$GC,8050,0.98,189.3,306.2,8.8,384,8054,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2253,1881
$GC,8370,0.98,189.3,277.8,8.8,398,8374,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,849,1880
$GC,8537,0.98,189.3,263.6,8.2,405,8543,0.00,2.05,0.00,0.000,6,0.000,0.028,3010,2080,1878
$GC,8853,0.98,189.3,241.9,7.3,421,8857,0.00,2.40,0.00,0.000,4,0.000,0.040,3010,3476,1878
$GC,9014,0.98,189.3,229.0,8.1,428,9019,0.00,2.08,0.00,0.000,6,0.000,0.063,3010,2256,1878
$GC,9335,1.03,232.0,208.6,6.0,444,9378,0.00,2.15,36.28,0.713,4,0.000,0.074,3011,3478,1717
$GC,9388,1.03,232.0,204.5,8.7,446,9392,0.00,2.10,0.00,0.000,6,0.000,0.025,3010,2248,1717
$GC,9717,1.03,232.0,179.1,7.7,474,9721,0.00,2.40,0.00,0.000,4,0.000,0.038,3010,842,1713
$GC,9760,1.03,232.0,175.4,8.5,477,9766,0.00,2.08,0.00,0.000,6,0.000,0.041,3010,2085,1710
$GC,10086,1.03,232.0,148.8,8.4,508,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2089,1710
$GC,10405,1.11,293.3,129.3,5.5,538,10464,0.10,2.22,52.85,0.630,4,0.054,0.075,3047,842,1468
$GC,10521,1.11,293.3,119.5,10.2,548,10525,0.00,2.03,0.00,0.000,6,0.000,0.061,3047,2085,1462
$GC,10853,1.14,318.4,91.9,6.5,579,10877,0.00,0.00,22.33,0.581,6,0.000,0.000,3047,2089,1364
$GC,11193,1.14,318.4,65.2,8.5,611,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2089,1361
$GC,11510,1.14,318.4,36.5,8.6,641,11514,0.00,2.10,0.00,0.000,4,0.000,0.035,3046,842,1361
$GC,11581,1.14,318.4,29.9,8.9,647,11588,0.00,2.03,0.00,0.000,6,0.000,0.018,3046,2086,1359
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,1.0,1.022859
$STATE,11930,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,12010,0.00,0.000,0,0,1356,320.61
$SM_GC,1.76,11.25,0.00,0.00,0.034,0.000,0.000,433,2090,1356,-10.80,0.31,320.61
$IRIDIUM_FIX,2059.45,-15750.89,251097,212120
$TT8_MAMPS,0.029146
$HUMID,1892
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.40
$XPDR_PINGS,732
$24V_AH,23.3,52.073
$10V_AH,10.2,30.013
$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,25.225,111.850,409.500,0.000,0.000,108.424,119.735,470.302,183.000,0.000,0.000,11.401,1295.604,8590.095,479.625,1755.215,894.159,33.363,1348.243,0.000,1739.740,0.000,0.471
$DEVICE_MAMPS,151.866,75.933,881.283,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.751,464.832,790.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,709
$CAP_FILE_SIZE,108488,9
$CFSIZE,260165632,249782272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,002737,2104.546,-15751.042,57,1.7,57,9.8