version: 66.03
glider: 139
mission: 3
dive: 161
start: 8 1 108 18 21 15
data:
$ID,139
$MISSION,3
$DIVE,161
$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,-1273938.1
$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,61
$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
$GPS1,181425,2101.173,-15748.508,44,1.1,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.2
$GPS2,182026,2101.161,-15748.500,19,2.0,19,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.135
$KALMAN_X,-52192.2,75.7,-481.0,60025.5,-504.1
$KALMAN_Y,-33257.9,-814.6,-218.6,5568.2,37.8
$MHEAD_RNG_PITCHd_Wd,48.1,3423,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-52.95,0.000,2,0.000,0.000,424,2090,2725
$GC,78,-0.96,-175.2,3.2,-3.7,10,108,12.15,2.35,-12.35,0.000,4,0.154,0.043,2578,3457,3382
$GC,176,-0.96,-175.2,20.9,-10.7,27,182,0.00,1.95,0.00,0.000,6,0.000,0.020,2578,2239,3384
$GC,298,-0.96,-175.2,35.4,-12.4,45,302,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,844,3383
$GC,343,-0.96,-175.2,41.2,-13.1,49,347,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2088,3383
$GC,673,-0.96,-175.2,84.4,-12.4,80,677,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,840,3384
$GC,745,-0.96,-175.2,93.6,-12.5,86,752,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2075,3384
$GC,1070,-0.96,-175.2,128.3,-9.3,117,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3385
$GC,1389,-0.96,-175.2,154.6,-6.6,147,1393,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,839,3386
$GC,1427,-0.96,-175.2,157.5,-7.1,150,1434,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2074,3386
$GC,1753,-0.96,-175.2,180.7,-7.7,181,1757,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,838,3386
$GC,1793,-0.96,-175.2,184.1,-8.8,184,1799,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2088,3386
$GC,2112,-0.96,-175.2,213.1,-8.9,208,2116,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,837,3386
$GC,2150,-0.96,-175.2,216.8,-9.0,209,2157,0.00,2.03,0.00,0.000,6,0.000,0.060,2578,2076,3386
$GC,2467,-0.96,-175.2,241.2,-7.1,225,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3386
$GC,2775,-0.96,-175.2,260.6,-4.8,240,2779,0.00,2.08,0.00,0.000,4,0.000,0.074,2578,842,3385
$GC,2798,-0.96,-175.2,261.5,-4.3,241,2802,0.00,1.73,0.00,0.000,6,0.000,0.067,2578,1941,3385
$GC,3131,-0.96,-175.2,277.9,-4.8,257,3135,0.00,2.58,0.00,0.000,4,0.000,0.067,2578,3466,3384
$GC,3185,-0.96,-175.2,281.4,-6.8,259,3191,0.00,2.03,0.00,0.000,6,0.000,0.023,2578,2222,3383
$GC,3501,-0.96,-175.2,300.2,-5.9,275,3505,0.00,2.33,0.00,0.000,4,0.000,0.038,2577,846,3382
$GC,3602,-0.96,-175.2,306.3,-5.7,277,3606,0.00,2.00,0.00,0.000,6,0.000,0.063,2578,2072,3382
$GC,3914,-0.96,-175.2,324.3,-5.8,285,3919,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3470,3381
$GC,3947,-0.96,-175.2,326.7,-7.1,285,3953,0.00,2.05,0.00,0.000,6,0.000,0.064,2578,2225,3380
$GC,4278,-0.96,-175.2,351.5,-8.0,294,4282,0.00,2.35,0.00,0.000,4,0.000,0.039,2578,841,3378
$GC,4350,-0.96,-175.2,357.5,-8.3,295,4354,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2066,3378
$GC,4687,-0.96,-175.2,379.7,-6.0,304,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2069,3376
$GC,5012,-0.96,-175.2,398.1,-5.5,312,5015,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,840,3374
$GC,5033,-0.96,-175.2,399.3,-5.6,312,5037,0.00,2.08,0.00,0.000,6,0.000,0.028,2578,2095,3374
$GC,5381,-0.96,-175.2,417.9,-5.1,321,5385,0.00,2.38,0.00,0.000,4,0.000,0.043,2578,3474,3372
$GC,5408,-0.96,-175.2,419.4,-5.3,321,5412,0.00,2.05,0.00,0.000,6,0.000,0.041,2578,2241,3371
$GC,5745,-0.96,-175.2,436.7,-5.4,330,5749,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,841,3370
$GC,5812,-0.96,-175.2,440.8,-7.1,331,5816,0.00,2.05,0.00,0.000,6,0.000,0.028,2578,2076,3369
$STATE,5949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5949,begin apogee
$GC,5953,-0.31,0.0,451.3,7.7,335,6098,0.68,0.00,141.85,0.892,6,0.047,0.000,2733,2078,2664
$STATE,6099,end apogee,CONTROL_FINISHED_OK
$STATE,6099,begin climb
$GC,6101,0.96,175.2,460.1,0.0,338,6258,1.20,2.55,145.35,0.864,4,0.038,0.044,3011,3477,1948
$GC,6408,0.96,175.2,447.6,9.1,345,6413,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2258,1943
$GC,6727,0.96,175.2,420.6,8.2,353,6731,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,850,1937
$GC,6799,0.96,175.2,415.2,7.6,354,6803,0.00,2.10,0.00,0.000,6,0.000,0.067,3011,2077,1935
$GC,7136,0.96,175.2,390.1,7.9,363,7140,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,3480,1934
$GC,7235,0.96,175.2,381.7,9.0,365,7240,0.00,2.10,0.00,0.000,6,0.000,0.029,3011,2254,1934
$GC,7554,0.96,175.2,356.0,8.3,373,7558,0.00,2.45,0.00,0.000,4,0.000,0.079,3011,841,1932
$GC,7715,0.96,175.2,341.6,9.0,376,7719,0.00,2.10,0.00,0.000,6,0.000,0.029,3011,2077,1929
$GC,8052,0.96,175.2,314.8,7.5,385,8056,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,3480,1929
$GC,8174,0.96,175.2,304.8,8.8,387,8180,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2249,1929
$GC,8489,0.96,175.2,279.9,7.7,401,8493,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,845,1928
$GC,8717,0.98,191.3,264.6,6.7,411,8733,0.00,2.10,11.10,0.719,6,0.000,0.065,3011,2084,1884
$GC,9054,0.98,191.3,240.4,7.4,428,9058,0.00,2.40,0.00,0.000,4,0.000,0.040,3011,3478,1881
$GC,9125,0.98,191.3,234.6,8.5,431,9129,0.00,2.08,0.00,0.000,6,0.000,0.026,3011,2253,1881
$GC,9447,0.98,191.3,209.7,7.4,447,9451,0.00,2.40,0.00,0.000,4,0.000,0.039,3011,847,1881
$GC,9513,0.98,191.3,204.3,8.1,450,9517,0.00,2.08,0.00,0.000,6,0.000,0.025,3011,2084,1879
$GC,9838,0.98,191.3,179.8,7.4,478,9842,0.00,2.38,0.00,0.000,4,0.000,0.068,3011,3490,1879
$GC,10024,0.98,191.3,166.8,7.2,494,10027,0.00,2.08,0.00,0.000,6,0.000,0.061,3011,2240,1879
$GC,10355,1.11,293.0,149.1,4.4,525,10451,0.10,2.42,88.07,0.657,4,0.058,0.046,3045,842,1467
$GC,10590,1.11,293.0,127.9,10.0,546,10597,0.00,2.08,0.00,0.000,6,0.000,0.061,3045,2085,1459
$GC,10917,1.11,295.4,100.7,7.1,577,10920,0.00,2.12,0.00,0.000,4,0.000,0.048,3044,843,1458
$GC,10984,1.11,295.4,95.0,8.1,583,10988,0.00,2.03,0.00,0.000,6,0.000,0.021,3045,2086,1456
$GC,11315,1.11,295.8,71.2,7.1,614,11319,0.00,2.12,0.00,0.000,4,0.000,0.073,3044,838,1456
$GC,11347,1.11,295.8,68.5,8.1,616,11354,0.00,2.05,0.00,0.000,6,0.000,0.026,3044,2085,1456
$GC,11675,1.11,295.8,42.8,7.5,647,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2089,1456
$GC,11999,1.11,295.8,18.1,7.7,691,12005,0.00,2.08,0.00,0.000,4,0.000,0.035,3044,844,1457
$GC,12039,1.11,295.8,14.9,8.1,698,12045,0.00,1.98,0.00,0.000,6,0.000,0.018,3044,2088,1457
$GC,12158,1.11,295.8,5.7,7.6,719,12165,0.00,2.30,0.00,0.000,4,0.000,0.038,3045,3452,1457
$STATE,12192,end climb,SURFACE_DEPTH_REACHED
$STATE,12192,begin surface coast
$FINISH,2.1,1.022866
$STATE,12200,end surface coast,CONTROL_FINISHED_OK
$STATE,12200,begin surface
$SM_CCo,12222,21.65,0.502,0,0,1358,320.12
$SM_GC,1.16,0.00,0.00,21.65,0.000,0.000,0.502,422,2233,1358,-10.91,4.38,320.12
$IRIDIUM_FIX,2054.83,-15749.62,261097,141450
$TT8_MAMPS,0.029146
$HUMID,1884
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.50
$XPDR_PINGS,727
$24V_AH,23.3,52.927
$10V_AH,10.2,30.508
$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,25.425,121.500,386.375,21.650,0.000,24.537,28.317,178.986,181.750,0.000,0.000,21.299,1317.523,8574.000,491.922,1790.640,417.837,33.374,1374.628,0.000,1763.383,0.000,0.471
$DEVICE_MAMPS,154.167,79.001,892.021,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.057,469.393,800.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,726
$CAP_FILE_SIZE,105683,11
$CFSIZE,260165632,249470976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010808,214626,2101.970,-15746.818,30,1.6,30,9.8