version: 66.03
glider: 139
mission: 3
dive: 156
start: 8 1 108 0 37 26
data:
$ID,139
$MISSION,3
$DIVE,156
$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,-1273799.6
$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,60
$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
$GPS1,002737,2104.546,-15751.042,57,1.7,57,9.8
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.8
$GPS2,003636,2104.572,-15751.188,42,1.6,42,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.099
$KALMAN_X,-41695.6,-228.9,70.3,44661.9,-1875.8
$KALMAN_Y,-30271.6,51.5,51.3,7761.6,632.3
$MHEAD_RNG_PITCHd_Wd,103.2,8448,-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,20,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.22,0.000,2,0.000,0.000,433,2091,2739
$GC,74,-0.96,-175.2,3.2,-4.3,9,104,12.02,2.15,-12.05,0.000,4,0.152,0.084,2576,844,3381
$GC,149,-0.96,-175.2,19.2,-14.0,22,155,0.00,1.95,0.00,0.000,6,0.000,0.018,2576,2079,3383
$GC,268,-0.96,-175.2,32.9,-12.0,41,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2083,3382
$GC,586,-0.96,-175.2,72.8,-13.2,71,589,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,843,3383
$GC,608,-0.96,-175.2,75.8,-13.2,73,611,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2085,3383
$GC,938,-0.96,-175.2,114.3,-10.0,104,942,0.00,2.30,0.00,0.000,4,0.000,0.031,2576,3467,3384
$GC,970,-0.96,-175.2,117.8,-10.2,106,976,0.00,2.03,0.00,0.000,6,0.000,0.019,2576,2233,3384
$GC,1295,-0.96,-175.2,148.3,-8.7,137,1299,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,838,3385
$GC,1355,-0.96,-175.2,154.2,-9.1,142,1362,0.00,2.00,0.00,0.000,6,0.000,0.025,2576,2072,3385
$GC,1682,-0.96,-175.2,178.8,-7.1,173,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2076,3385
$GC,2009,-0.96,-175.2,201.4,-5.7,203,2013,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,839,3385
$GC,2048,-0.96,-175.2,203.7,-6.2,204,2054,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2071,3386
$GC,2363,-0.96,-175.2,227.3,-8.3,220,2367,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,3460,3386
$GC,2389,-0.96,-175.2,229.4,-8.1,221,2393,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2241,3385
$GC,2711,-0.96,-175.2,251.0,-6.4,237,2715,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,840,3385
$GC,2823,-0.96,-175.2,258.4,-6.4,242,2827,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2078,3385
$GC,3150,-0.96,-175.2,278.9,-6.6,258,3154,0.00,2.35,0.00,0.000,4,0.000,0.036,2576,3471,3384
$GC,3182,-0.96,-175.2,281.3,-7.4,259,3188,0.00,2.05,0.00,0.000,6,0.000,0.022,2576,2236,3383
$GC,3518,-0.96,-175.2,302.9,-6.0,275,3522,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,846,3382
$GC,3567,-0.96,-175.2,306.2,-7.0,276,3571,0.00,2.00,0.00,0.000,6,0.000,0.024,2576,2077,3382
$GC,3886,-0.96,-175.2,326.1,-6.5,284,3890,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3477,3380
$GC,3935,-0.96,-175.2,329.6,-7.0,285,3939,0.00,2.05,0.00,0.000,6,0.000,0.059,2576,2235,3380
$GC,4254,-0.96,-175.2,351.2,-6.6,293,4258,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,840,3378
$GC,4309,-0.96,-175.2,354.9,-7.3,294,4313,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2070,3378
$GC,4622,-0.96,-175.2,375.7,-6.3,302,4625,0.00,2.10,0.00,0.000,4,0.000,0.039,2575,841,3376
$GC,4643,-0.96,-175.2,377.1,-6.3,302,4647,0.00,2.05,0.00,0.000,6,0.000,0.026,2576,2086,3376
$GC,4992,-0.96,-175.2,400.3,-7.0,311,4996,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,3472,3373
$GC,5068,-0.96,-175.2,406.4,-7.6,312,5075,0.00,2.08,0.00,0.000,6,0.000,0.035,2576,2243,3373
$GC,5400,-0.96,-175.2,432.3,-7.8,321,5404,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,848,3371
$GC,5510,-0.96,-175.2,441.2,-7.8,323,5514,0.00,2.08,0.00,0.000,6,0.000,0.028,2576,2076,3370
$STATE,5647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5648,begin apogee
$GC,5652,-0.31,0.0,451.7,7.8,327,5797,0.68,0.00,141.82,0.882,6,0.162,0.000,2728,2078,2664
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5800,0.96,175.2,460.8,0.0,330,5953,0.08,2.17,144.75,0.858,4,1.656,0.062,2762,849,1948
$GC,5986,1.05,250.4,461.3,5.1,334,6057,1.12,2.10,64.97,0.841,6,0.041,0.028,3031,2082,1642
$GC,6364,1.05,250.4,419.4,12.3,344,6368,0.00,2.42,0.00,0.000,4,0.000,0.042,3030,3470,1633
$GC,6610,1.05,250.4,386.8,12.9,349,6615,0.00,2.10,0.00,0.000,6,0.000,0.029,3030,2251,1633
$GC,6952,1.05,250.4,345.8,11.7,358,6956,0.00,2.42,0.00,0.000,4,0.000,0.045,3030,850,1630
$GC,7103,1.05,250.4,328.3,11.3,361,7107,0.00,2.08,0.00,0.000,6,0.000,0.067,3030,2069,1626
$GC,7416,1.05,250.4,296.0,10.5,369,7420,0.00,2.42,0.00,0.000,4,0.000,0.041,3030,3477,1626
$GC,7493,1.05,250.4,287.4,11.1,372,7499,0.00,2.10,0.00,0.000,6,0.000,0.067,3030,2253,1626
$GC,7808,1.05,250.4,253.3,10.4,388,7812,0.00,2.42,0.00,0.000,4,0.000,0.044,3030,849,1625
$GC,7907,1.05,250.4,241.5,11.7,392,7914,0.00,2.08,0.00,0.000,6,0.000,0.064,3030,2077,1622
$GC,8223,1.05,250.4,213.6,7.9,408,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2082,1623
$GC,8536,1.05,250.4,182.9,10.2,430,8540,0.00,2.38,0.00,0.000,4,0.000,0.037,3030,3473,1622
$GC,8553,1.05,250.4,181.4,9.4,431,8557,0.00,2.05,0.00,0.000,6,0.000,0.030,3031,2247,1622
$GC,8884,1.05,250.4,153.4,7.9,462,8888,0.00,2.40,0.00,0.000,4,0.000,0.043,3030,842,1622
$GC,8974,1.05,250.4,146.2,8.5,470,8978,0.00,1.92,0.00,0.000,6,0.000,0.064,3030,2034,1620
$GC,9305,1.05,250.4,118.9,8.0,501,9309,0.00,2.42,0.00,0.000,4,0.000,0.064,3031,3471,1621
$GC,9411,1.05,250.4,110.3,7.8,510,9415,0.00,2.03,0.00,0.000,6,0.000,0.064,3030,2241,1621
$GC,9742,1.05,250.4,86.0,8.4,541,9746,0.00,2.10,0.00,0.000,4,0.000,0.033,3030,3487,1621
$GC,9776,1.05,250.4,82.8,9.0,544,9780,0.00,2.05,0.00,0.000,6,0.000,0.059,3030,2233,1622
$GC,10108,1.14,324.6,59.8,5.1,575,10179,0.00,0.00,63.30,0.551,6,0.000,0.000,3031,2233,1339
$GC,10494,1.14,324.6,32.3,7.8,612,10497,0.00,2.33,0.00,0.000,4,0.000,0.035,3030,843,1335
$GC,10584,1.14,324.6,24.5,9.5,625,10590,0.00,2.00,0.00,0.000,6,0.000,0.019,3030,2103,1332
$GC,10703,1.14,324.6,14.0,10.3,646,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2107,1332
$GC,10822,1.28,435.3,6.2,4.1,667,10857,0.15,0.00,32.05,0.506,2,0.040,0.000,3092,2107,1188
$STATE,10857,end climb,SURFACE_DEPTH_REACHED
$STATE,10857,begin surface coast
$FINISH,0.7,1.022680
$STATE,10885,end surface coast,CONTROL_FINISHED_OK
$STATE,10885,begin surface
$SM_CCo,10965,0.00,0.000,0,0,1181,363.53
$SM_GC,1.41,11.48,0.00,0.00,0.028,0.000,0.000,424,2107,1181,-10.80,0.79,363.53
$IRIDIUM_FIX,2057.14,-15753.90,251097,212135
$TT8_MAMPS,0.028379
$HUMID,1886
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.40
$XPDR_PINGS,682
$24V_AH,23.3,52.215
$10V_AH,10.2,30.092
$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,25.525,104.200,446.900,0.000,0.000,26.041,38.673,320.475,170.500,0.000,0.000,44.132,1215.955,7551.053,505.973,1653.680,562.619,33.393,1320.504,0.000,1613.054,0.000,0.471
$DEVICE_MAMPS,1655.953,84.370,882.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.084,453.845,782.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34939,678
$CAP_FILE_SIZE,99535,8
$CFSIZE,260165632,249749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010808,034115,2103.893,-15751.301,29,1.9,29,9.8