version: 66.03
glider: 139
mission: 3
dive: 162
start: 8 1 108 21 54 9
data:
$ID,139
$MISSION,3
$DIVE,162
$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,-1273974.2
$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
$GPS1,214626,2101.970,-15746.818,30,1.6,30,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.9
$GPS2,215320,2101.906,-15746.852,34,1.3,34,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,0.240
$KALMAN_X,-53390.6,367.9,549.3,62747.6,-1585.5
$KALMAN_Y,-34294.9,-455.7,136.8,7268.1,-232.9
$MHEAD_RNG_PITCHd_Wd,330.7,19509,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-48.95,0.000,2,0.000,0.000,423,2233,2727
$GC,75,-0.96,-175.2,3.1,-4.0,9,105,12.20,2.12,-12.48,0.000,4,0.155,0.072,2579,3467,3381
$GC,212,-0.96,-175.2,24.4,-10.8,33,219,0.00,2.00,0.00,0.000,6,0.000,0.045,2579,2225,3383
$GC,328,-0.96,-175.2,38.3,-12.5,48,332,0.00,2.33,0.00,0.000,4,0.000,0.034,2579,836,3383
$GC,371,-0.96,-175.2,43.7,-11.8,51,378,0.00,2.03,0.00,0.000,6,0.000,0.058,2579,2080,3383
$GC,696,-0.96,-175.2,83.4,-12.8,82,699,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,843,3383
$GC,719,-0.96,-175.2,86.4,-13.7,84,722,0.00,1.98,0.00,0.000,6,0.000,0.018,2579,2082,3384
$GC,1049,-0.96,-175.2,123.1,-10.1,115,1052,0.00,2.08,0.00,0.000,4,0.000,0.033,2578,842,3385
$GC,1088,-0.96,-175.2,127.0,-9.4,118,1094,0.00,1.95,0.00,0.000,6,0.000,0.018,2579,2081,3385
$GC,1416,-0.96,-175.2,153.5,-7.0,149,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2085,3386
$GC,1740,-0.96,-175.2,176.2,-6.2,180,1744,0.00,2.30,0.00,0.000,4,0.000,0.031,2579,3466,3386
$GC,1774,-0.96,-175.2,178.2,-5.9,183,1778,0.00,2.00,0.00,0.000,6,0.000,0.020,2579,2229,3386
$GC,2106,-0.96,-175.2,201.5,-7.4,213,2110,0.00,2.33,0.00,0.000,4,0.000,0.068,2578,840,3386
$GC,2178,-0.96,-175.2,206.8,-7.2,216,2182,0.00,2.00,0.00,0.000,6,0.000,0.020,2579,2069,3387
$GC,2499,-0.96,-175.2,228.2,-7.0,232,2503,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3461,3386
$GC,2532,-0.96,-175.2,230.4,-6.3,233,2536,0.00,2.03,0.00,0.000,6,0.000,0.051,2579,2234,3386
$GC,2854,-0.96,-175.2,246.1,-5.5,249,2858,0.00,2.33,0.00,0.000,4,0.000,0.036,2578,845,3385
$GC,2944,-0.96,-175.2,251.7,-5.9,253,2948,0.00,2.00,0.00,0.000,6,0.000,0.022,2579,2080,3385
$GC,3276,-0.96,-175.2,271.0,-6.5,269,3280,0.00,2.33,0.00,0.000,4,0.000,0.035,2579,3464,3384
$GC,3310,-0.96,-175.2,273.4,-7.1,270,3316,0.00,1.98,0.00,0.000,6,0.000,0.022,2579,2239,3383
$GC,3625,-0.96,-175.2,293.2,-6.1,286,3629,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,846,3383
$GC,3679,-0.96,-175.2,297.2,-7.2,288,3686,0.00,2.03,0.00,0.000,6,0.000,0.023,2579,2075,3382
$GC,4012,-0.96,-175.2,320.9,-6.6,298,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2078,3381
$GC,4337,-0.96,-175.2,338.5,-4.9,306,4340,0.00,2.08,0.00,0.000,4,0.000,0.039,2578,847,3379
$GC,4358,-0.96,-175.2,339.7,-5.0,306,4362,0.00,2.03,0.00,0.000,6,0.000,0.025,2579,2067,3379
$GC,4706,-0.96,-175.2,356.0,-5.1,315,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2071,3377
$GC,5031,-0.96,-175.2,375.4,-6.0,323,5035,0.00,2.08,0.00,0.000,4,0.000,0.041,2579,846,3376
$GC,5053,-0.96,-175.2,376.6,-5.4,323,5057,0.00,2.03,0.00,0.000,6,0.000,0.027,2579,2080,3376
$GC,5400,-0.96,-175.2,402.0,-8.1,332,5404,0.00,2.38,0.00,0.000,4,0.000,0.041,2579,3471,3373
$GC,5433,-0.96,-175.2,404.5,-7.9,332,5439,0.00,2.05,0.00,0.000,6,0.000,0.025,2579,2245,3373
$GC,5764,-0.96,-175.2,424.5,-5.6,341,5768,0.00,2.38,0.00,0.000,4,0.000,0.040,2579,847,3371
$GC,5887,-0.96,-175.2,432.3,-6.7,343,5893,0.00,2.08,0.00,0.000,6,0.000,0.067,2579,2096,3370
$STATE,6175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6175,begin apogee
$GC,6180,-0.31,0.0,451.6,7.0,351,6325,0.45,0.00,141.80,0.886,6,0.109,0.000,2695,2097,2664
$STATE,6325,end apogee,CONTROL_FINISHED_OK
$STATE,6326,begin climb
$GC,6327,0.96,175.2,459.7,0.0,354,6484,1.38,2.25,145.23,0.860,4,0.100,0.080,3010,850,1946
$GC,6671,0.96,175.2,445.8,7.3,362,6675,0.00,2.08,0.00,0.000,6,0.000,0.066,3009,2083,1937
$GC,7000,0.96,175.2,423.8,7.8,370,7004,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,3475,1936
$GC,7060,0.96,175.2,418.3,9.9,371,7064,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2249,1935
$GC,7408,0.96,175.2,390.8,7.9,380,7412,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,850,1933
$GC,7491,0.99,195.3,384.9,6.6,382,7512,0.00,2.08,15.93,0.808,6,0.000,0.066,3009,2085,1867
$GC,7854,0.99,195.3,358.9,7.7,391,7858,0.00,2.40,0.00,0.000,4,0.000,0.043,3010,3473,1862
$GC,8054,0.99,195.3,339.3,10.5,395,8058,0.00,2.08,0.00,0.000,6,0.000,0.058,3010,2258,1862
$GC,8397,0.99,195.3,310.2,7.7,404,8401,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,849,1860
$GC,8474,0.99,195.3,303.7,8.8,405,8480,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2094,1858
$GC,8789,1.00,204.3,280.9,6.9,419,8803,0.00,2.42,7.88,0.686,4,0.000,0.041,3010,3468,1831
$GC,8888,1.00,204.3,273.6,7.7,423,8893,0.00,2.08,0.00,0.000,6,0.000,0.066,3010,2251,1831
$GC,9210,1.01,215.1,251.7,6.8,439,9235,0.00,2.47,13.20,0.617,4,0.000,0.041,3009,852,1785
$GC,9302,1.01,215.1,245.1,7.4,443,9306,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2082,1783
$GC,9629,1.01,215.1,218.9,8.7,459,9633,0.00,2.12,0.00,0.000,4,0.000,0.041,3010,848,1782
$GC,9741,1.01,215.1,207.4,10.6,464,9745,0.00,2.05,0.00,0.000,6,0.000,0.025,3010,2086,1781
$GC,10071,1.07,266.1,184.7,5.8,490,10123,0.00,0.00,45.38,0.692,6,0.000,0.000,3010,2091,1579
$GC,10441,1.12,303.6,158.4,6.1,525,10484,0.12,2.45,32.97,0.653,4,0.051,0.067,3051,3472,1425
$GC,10579,1.12,303.6,144.2,11.6,537,10586,0.00,2.05,0.00,0.000,6,0.000,0.023,3051,2252,1424
$GC,10907,1.12,303.6,112.9,8.5,568,10911,0.00,2.40,0.00,0.000,4,0.000,0.055,3050,846,1421
$GC,10984,1.12,303.6,105.4,10.0,574,10991,0.00,2.05,0.00,0.000,6,0.000,0.021,3051,2091,1419
$GC,11312,1.12,303.6,77.4,8.6,605,11316,0.00,2.12,0.00,0.000,4,0.000,0.067,3050,840,1419
$GC,11372,1.12,303.6,72.2,8.0,610,11379,0.00,2.03,0.00,0.000,6,0.000,0.020,3050,2078,1418
$GC,11700,1.12,303.6,46.9,8.6,641,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2083,1418
$GC,12022,1.12,303.6,20.3,7.7,682,12028,0.00,2.10,0.00,0.000,4,0.000,0.035,3050,849,1419
$GC,12057,1.12,303.6,17.3,8.2,688,12064,0.00,2.00,0.00,0.000,6,0.000,0.019,3051,2084,1419
$GC,12178,1.12,303.6,7.5,8.2,709,12185,0.00,2.28,0.00,0.000,4,0.000,0.029,3050,3464,1420
$STATE,12223,end climb,SURFACE_DEPTH_REACHED
$STATE,12223,begin surface coast
$FINISH,2.5,1.022836
$STATE,12231,end surface coast,CONTROL_FINISHED_OK
$STATE,12231,begin surface
$SM_CCo,12253,13.88,0.486,0,0,1359,320.12
$SM_GC,3.07,0.00,0.00,13.88,0.000,0.000,0.486,431,2220,1359,-10.87,3.99,320.12
$IRIDIUM_FIX,2054.83,-15748.75,261097,181806
$TT8_MAMPS,0.029146
$HUMID,1897
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.40
$XPDR_PINGS,730
$24V_AH,23.3,53.059
$10V_AH,10.2,30.587
$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,25.675,116.675,402.375,13.875,0.000,32.011,34.202,202.807,182.500,0.000,0.000,35.542,1307.403,8645.230,508.008,1742.898,465.175,33.367,1371.098,0.000,1711.265,0.000,0.471
$DEVICE_MAMPS,154.934,79.768,885.885,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.648,465.384,780.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38073,718
$CAP_FILE_SIZE,104738,9
$CFSIZE,260165632,249421824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020808,012008,2102.750,-15747.608,54,2.0,54,9.8