version: 66.03
glider: 139
mission: 3
dive: 158
start: 8 1 108 7 35 41
data:
$ID,139
$MISSION,3
$DIVE,158
$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,-1273868
$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,62
$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
$GPS1,071907,2103.310,-15750.744,107,1.0,107,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.1
$GPS2,073451,2103.309,-15750.717,13,1.0,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.060
$KALMAN_X,-46875.3,81.0,-183.0,50594.4,-1274.4
$KALMAN_Y,-30101.9,143.4,-182.9,5392.8,230.6
$MHEAD_RNG_PITCHd_Wd,93.9,6778,-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,-49.08,0.000,2,0.000,0.000,422,2091,2747
$GC,74,-0.96,-175.2,3.2,-4.1,9,104,12.07,2.28,-11.75,0.000,4,0.152,0.041,2576,3462,3381
$GC,127,-0.96,-175.2,17.0,-21.4,18,133,0.00,1.98,0.00,0.000,6,0.000,0.021,2576,2237,3381
$GC,251,-0.96,-175.2,31.6,-10.1,39,255,0.00,2.35,0.00,0.000,4,0.000,0.034,2576,837,3381
$GC,301,-0.96,-175.2,38.0,-12.1,43,305,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2077,3381
$GC,631,-0.96,-175.2,77.4,-10.5,74,635,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3463,3382
$GC,670,-0.96,-175.2,80.7,-8.1,77,674,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2235,3382
$GC,1000,-0.96,-175.2,110.1,-8.9,108,1004,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,842,3383
$GC,1133,-0.96,-175.2,122.4,-9.2,119,1140,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2078,3383
$GC,1459,-0.96,-175.2,150.2,-8.9,150,1463,0.00,2.08,0.00,0.000,4,0.000,0.073,2576,842,3383
$GC,1482,-0.96,-175.2,152.5,-9.5,152,1485,0.00,1.70,0.00,0.000,6,0.000,0.054,2576,1942,3383
$GC,1813,-0.96,-175.2,179.9,-8.2,183,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1946,3383
$GC,2138,-0.96,-175.2,206.1,-7.0,210,2143,0.00,2.53,0.00,0.000,4,0.000,0.031,2576,3460,3383
$GC,2165,-0.96,-175.2,208.1,-7.4,211,2169,0.00,2.03,0.00,0.000,6,0.000,0.062,2576,2231,3383
$GC,2487,-0.96,-175.2,230.0,-7.0,227,2491,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,839,3383
$GC,2622,-0.96,-175.2,239.6,-7.5,233,2626,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2082,3383
$GC,2954,-0.96,-175.2,263.1,-6.8,249,2958,0.00,2.10,0.00,0.000,4,0.000,0.035,2575,839,3383
$GC,2981,-0.96,-175.2,265.1,-7.2,250,2985,0.00,2.03,0.00,0.000,6,0.000,0.021,2576,2076,3382
$GC,3308,-0.96,-175.2,287.0,-5.7,266,3312,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3464,3382
$GC,3341,-0.96,-175.2,289.0,-6.2,267,3345,0.00,2.03,0.00,0.000,6,0.000,0.062,2576,2241,3382
$GC,3662,-0.96,-175.2,309.8,-6.9,280,3666,0.00,2.38,0.00,0.000,4,0.000,0.056,2576,840,3380
$GC,3728,-0.96,-175.2,314.5,-6.6,281,3732,0.00,2.03,0.00,0.000,6,0.000,0.054,2576,2077,3380
$GC,4070,-0.96,-175.2,335.3,-5.9,290,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3378
$GC,4395,-0.96,-175.2,356.3,-6.6,298,4399,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,3470,3376
$GC,4417,-0.96,-175.2,357.8,-6.5,298,4421,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2241,3376
$GC,4759,-0.96,-175.2,377.3,-5.3,307,4763,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,848,3374
$GC,4819,-0.96,-175.2,380.8,-6.0,308,4824,0.00,2.05,0.00,0.000,6,0.000,0.027,2576,2073,3374
$GC,5167,-0.96,-175.2,401.6,-6.6,317,5171,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3470,3371
$GC,5194,-0.96,-175.2,403.6,-8.0,317,5198,0.00,2.05,0.00,0.000,6,0.000,0.033,2576,2253,3371
$GC,5537,-0.96,-175.2,427.0,-6.6,326,5541,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,849,3369
$GC,5585,-0.96,-175.2,430.8,-7.7,327,5590,0.00,2.08,0.00,0.000,6,0.000,0.028,2576,2075,3368
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5862,begin apogee
$GC,5866,-0.31,0.0,451.6,7.6,334,6011,0.50,0.00,141.23,0.884,6,0.093,0.000,2702,2078,2664
$STATE,6011,end apogee,CONTROL_FINISHED_OK
$STATE,6011,begin climb
$GC,6013,0.96,175.2,459.7,0.0,337,6165,0.10,2.17,144.48,0.860,4,0.635,0.072,2742,849,1948
$GC,6299,0.96,175.2,449.3,7.9,343,6305,1.12,2.10,0.00,0.000,6,0.048,0.028,3006,2083,1939
$GC,6630,0.96,175.2,418.4,9.8,351,6634,0.00,2.17,0.00,0.000,4,0.000,0.045,3007,841,1937
$GC,6697,0.96,175.2,411.5,10.2,352,6701,0.00,2.10,0.00,0.000,6,0.000,0.029,3007,2074,1935
$GC,7039,0.96,175.2,381.1,8.6,361,7042,0.00,2.15,0.00,0.000,4,0.000,0.044,3007,843,1934
$GC,7088,0.96,175.2,376.7,9.1,362,7092,0.00,2.10,0.00,0.000,6,0.000,0.070,3007,2075,1933
$GC,7412,0.98,193.4,354.1,6.6,370,7431,0.00,2.47,14.27,0.790,4,0.000,0.051,3006,3474,1875
$GC,7545,0.98,193.4,344.0,7.9,373,7549,0.00,2.08,0.00,0.000,6,0.000,0.066,3007,2252,1874
$GC,7875,0.99,195.4,320.5,7.1,381,7879,0.00,2.42,0.00,0.000,4,0.000,0.077,3007,845,1871
$GC,8003,0.99,195.4,310.2,7.3,383,8009,0.00,2.10,0.00,0.000,6,0.000,0.052,3007,2080,1868
$GC,8316,0.99,195.4,286.8,8.6,395,8320,0.00,2.40,0.00,0.000,4,0.000,0.041,3007,3475,1868
$GC,8381,0.99,195.4,281.1,8.3,398,8386,0.00,2.08,0.00,0.000,6,0.000,0.027,3007,2252,1868
$GC,8709,1.00,205.1,258.7,6.9,414,8724,0.00,2.45,10.88,0.707,4,0.000,0.046,3006,849,1826
$GC,8796,1.00,205.1,251.7,8.5,417,8801,0.00,2.10,0.00,0.000,6,0.000,0.064,3007,2082,1822
$GC,9124,1.00,205.6,226.5,7.1,433,9128,0.00,2.38,0.00,0.000,4,0.000,0.038,3007,3474,1822
$GC,9184,1.00,205.6,222.0,7.5,435,9190,0.00,2.08,0.00,0.000,6,0.000,0.025,3007,2248,1822
$GC,9500,1.04,236.2,200.8,6.3,451,9535,0.00,2.50,28.02,0.698,4,0.000,0.070,3007,845,1699
$GC,9665,1.04,236.4,189.7,7.1,465,9669,0.00,2.05,0.00,0.000,6,0.000,0.042,3007,2086,1694
$GC,9996,1.04,236.4,163.8,7.8,496,10000,0.00,2.12,0.00,0.000,4,0.000,0.038,3006,843,1694
$GC,10085,1.04,236.4,156.1,8.5,504,10089,0.00,2.05,0.00,0.000,6,0.000,0.064,3007,2092,1692
$GC,10418,1.07,263.7,135.5,6.4,535,10451,0.00,2.20,24.62,0.623,4,0.000,0.075,3007,849,1587
$GC,10475,1.07,263.7,131.0,7.8,540,10478,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2088,1584
$GC,10806,1.07,263.7,105.1,7.7,571,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2092,1584
$GC,11123,1.09,280.5,82.5,6.7,601,11146,0.10,2.33,15.48,0.552,4,0.054,0.036,3044,3465,1519
$GC,11248,1.09,280.5,73.3,8.0,612,11251,0.00,2.00,0.00,0.000,6,0.000,0.021,3044,2238,1519
$GC,11581,1.10,284.7,48.8,7.0,643,11593,0.00,2.35,5.35,0.439,4,0.000,0.033,3044,839,1501
$GC,11642,1.10,284.7,43.2,8.5,648,11649,0.00,2.03,0.00,0.000,6,0.000,0.018,3044,2086,1499
$GC,11977,1.20,373.7,19.8,4.7,693,12060,0.00,2.17,75.50,0.525,4,0.000,0.036,3044,845,1139
$GC,12078,1.21,377.6,12.9,7.0,711,12090,0.00,1.98,4.75,0.369,6,0.000,0.018,3044,2089,1123
$STATE,12190,end climb,SURFACE_DEPTH_REACHED
$STATE,12190,begin surface coast
$FINISH,1.1,1.022909
$STATE,12224,end surface coast,CONTROL_FINISHED_OK
$STATE,12224,begin surface
$SM_CCo,12303,0.00,0.000,0,0,1117,379.48
$SM_GC,1.70,11.25,0.00,0.00,0.028,0.000,0.000,426,2089,1117,-10.80,0.28,379.48
$IRIDIUM_FIX,2057.14,-15753.90,261097,070759
$TT8_MAMPS,0.029146
$HUMID,1883
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.50
$XPDR_PINGS,724
$24V_AH,23.3,52.528
$10V_AH,10.2,30.266
$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,25.150,121.600,464.575,0.000,0.000,86.984,106.520,489.068,181.000,0.000,0.000,14.829,1322.729,8738.475,509.183,1769.527,891.752,33.364,1402.170,0.000,1758.204,0.000,0.471
$DEVICE_MAMPS,635.076,76.700,884.351,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.616,488.792,841.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37981,737
$CAP_FILE_SIZE,112552,12
$CFSIZE,260165632,249622528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,110201,2102.423,-15749.816,37,1.4,42,9.8