version: 66.03
glider: 139
mission: 3
dive: 163
start: 8 2 108 1 36 11
data:
$ID,139
$MISSION,3
$DIVE,163
$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,543.09418
$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,-1274010.6
$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,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
$GPS1,012008,2102.750,-15747.608,54,2.0,54,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.2
$GPS2,013522,2102.686,-15747.850,14,2.2,33,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.030,0.253
$KALMAN_X,-54179.3,525.9,517.6,61683.8,-2499.6
$KALMAN_Y,-36089.8,71.0,-153.4,10277.6,-891.8
$MHEAD_RNG_PITCHd_Wd,356.9,17276,-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,-49.15,0.000,2,0.000,0.000,431,2220,2749
$GC,74,-0.96,-175.2,3.3,-4.4,9,104,12.02,2.05,-11.85,0.000,4,0.153,0.042,2577,3460,3381
$GC,145,-0.96,-175.2,18.3,-13.6,21,151,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2230,3382
$GC,263,-0.96,-175.2,32.9,-12.2,40,267,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,842,3382
$GC,306,-0.96,-175.2,38.6,-12.5,43,313,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2074,3382
$GC,632,-0.96,-175.2,77.4,-12.2,74,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3383
$GC,950,-0.96,-175.2,111.9,-10.6,104,953,0.00,2.08,0.00,0.000,4,0.000,0.034,2576,836,3383
$GC,995,-0.96,-175.2,117.1,-11.4,108,999,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2083,3383
$GC,1326,-0.96,-175.2,152.4,-9.6,139,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3384
$GC,1644,-0.96,-175.2,178.5,-8.0,169,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3385
$GC,1970,-0.96,-175.2,207.8,-8.7,196,1973,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,835,3385
$GC,2002,-0.96,-175.2,211.1,-9.9,197,2006,0.00,2.03,0.00,0.000,6,0.000,0.020,2577,2071,3385
$GC,2324,-0.96,-175.2,236.6,-7.3,213,2327,0.00,2.08,0.00,0.000,4,0.000,0.036,2577,841,3385
$GC,2356,-0.96,-175.2,239.0,-7.3,214,2360,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2098,3384
$GC,2677,-0.96,-175.2,259.0,-6.7,230,2681,0.00,2.30,0.00,0.000,4,0.000,0.035,2577,3469,3383
$GC,2704,-0.96,-175.2,261.0,-7.1,231,2708,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2225,3383
$GC,3026,-0.96,-175.2,281.7,-6.8,247,3030,0.00,2.33,0.00,0.000,4,0.000,0.037,2577,846,3382
$GC,3132,-0.96,-175.2,289.2,-7.2,252,3136,0.00,2.00,0.00,0.000,6,0.000,0.031,2577,2073,3382
$GC,3461,-0.96,-175.2,313.5,-7.4,264,3465,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,3473,3380
$GC,3488,-0.96,-175.2,315.3,-6.6,264,3492,0.00,2.03,0.00,0.000,6,0.000,0.023,2577,2235,3380
$GC,3830,-0.96,-175.2,335.6,-5.2,273,3834,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,848,3378
$GC,3908,-0.96,-175.2,339.3,-4.9,274,3914,0.00,2.03,0.00,0.000,6,0.000,0.067,2577,2078,3378
$GC,4239,-0.96,-175.2,356.8,-5.9,283,4243,0.00,2.35,0.00,0.000,4,0.000,0.040,2577,3470,3375
$GC,4305,-0.96,-175.2,361.6,-7.4,284,4310,0.00,2.05,0.00,0.000,6,0.000,0.048,2577,2248,3376
$GC,4654,-0.96,-175.2,389.8,-8.1,293,4658,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,846,3374
$GC,4765,-0.96,-175.2,398.0,-6.7,295,4769,0.00,2.05,0.00,0.000,6,0.000,0.068,2577,2083,3373
$GC,5107,-0.96,-175.2,420.3,-6.7,304,5112,0.00,2.38,0.00,0.000,4,0.000,0.042,2577,3473,3370
$GC,5162,-0.96,-175.2,424.2,-7.2,305,5166,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2252,3370
$GC,5476,-0.96,-175.2,445.6,-6.9,313,5480,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,845,3369
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5552,-0.31,0.0,450.2,6.7,314,5696,0.08,0.00,141.12,0.878,6,1.048,0.000,2608,2082,2664
$STATE,5697,end apogee,CONTROL_FINISHED_OK
$STATE,5697,begin climb
$GC,5699,0.96,175.2,456.1,0.0,318,5853,1.80,2.25,144.65,0.853,4,0.054,0.044,3000,845,1948
$GC,6077,0.96,175.2,430.2,10.2,326,6083,0.00,2.10,0.00,0.000,6,0.000,0.028,3000,2075,1936
$GC,6408,0.96,175.2,399.0,9.3,335,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2078,1935
$GC,6733,0.96,175.2,369.0,9.5,343,6737,0.00,2.42,0.00,0.000,4,0.000,0.041,3000,3480,1933
$GC,6888,0.96,175.2,355.0,8.7,346,6893,0.00,2.10,0.00,0.000,6,0.000,0.056,3000,2252,1933
$GC,7231,0.96,175.2,326.4,8.8,355,7235,0.00,2.42,0.00,0.000,4,0.000,0.044,3000,850,1930
$GC,7336,0.96,175.2,317.4,7.9,357,7340,0.00,2.08,0.00,0.000,6,0.000,0.028,3000,2074,1928
$GC,7651,0.96,175.2,293.6,7.8,367,7654,0.00,2.12,0.00,0.000,4,0.000,0.042,3000,848,1928
$GC,7673,0.96,175.2,291.7,8.3,368,7677,0.00,2.08,0.00,0.000,6,0.000,0.035,3000,2088,1927
$GC,8004,0.96,175.2,264.8,7.7,384,8008,0.00,2.15,0.00,0.000,4,0.000,0.041,3000,845,1927
$GC,8072,0.98,191.8,260.1,6.7,387,8088,0.00,2.05,11.43,0.721,6,0.000,0.028,3000,2082,1882
$GC,8397,0.98,191.8,236.0,9.1,402,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2084,1879
$GC,8707,1.05,244.4,214.2,5.7,417,8761,0.10,2.47,46.97,0.723,4,0.061,0.071,3031,3470,1667
$GC,8873,1.05,244.4,200.4,10.3,424,8880,0.00,2.08,0.00,0.000,6,0.000,0.025,3031,2248,1663
$GC,9199,1.05,244.4,167.2,9.9,455,9203,0.00,2.10,0.00,0.000,4,0.000,0.077,3031,3473,1660
$GC,9260,1.05,244.4,160.9,10.1,460,9266,0.00,2.08,0.00,0.000,6,0.000,0.024,3031,2241,1660
$GC,9585,1.05,244.4,130.7,7.8,491,9589,0.00,2.38,0.00,0.000,4,0.000,0.037,3030,844,1659
$GC,9647,1.05,244.4,125.5,8.5,496,9651,0.00,2.00,0.00,0.000,6,0.000,0.061,3031,2083,1657
$GC,9978,1.06,260.0,100.6,6.7,527,9997,0.00,0.00,13.32,0.581,6,0.000,0.000,3031,2086,1603
$GC,10318,1.09,280.1,77.5,6.6,559,10341,0.00,2.17,18.60,0.570,4,0.000,0.045,3030,839,1522
$GC,10402,1.09,280.1,70.6,8.5,566,10409,0.00,2.05,0.00,0.000,6,0.000,0.041,3030,2085,1518
$GC,10728,1.09,280.1,47.9,7.3,597,10732,0.00,2.10,0.00,0.000,4,0.000,0.074,3030,843,1517
$GC,10796,1.09,280.1,42.7,7.5,603,10800,0.00,1.98,0.00,0.000,6,0.000,0.060,3031,2081,1516
$GC,11127,1.09,280.1,19.8,7.3,646,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,1516
$GC,11246,1.09,280.1,10.8,8.1,667,11252,0.00,2.28,0.00,0.000,4,0.000,0.030,3030,3461,1517
$GC,11293,1.09,280.1,7.0,8.1,675,11300,0.00,1.98,0.00,0.000,6,0.000,0.019,3030,2226,1517
$STATE,11349,end climb,SURFACE_DEPTH_REACHED
$STATE,11349,begin surface coast
$FINISH,0.8,1.010077
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11415,211.02,0.512,0,0,449,543.09
$SM_GC,1.30,0.00,0.00,211.02,0.000,0.000,0.512,429,2220,449,-10.88,4.01,543.09
$IRIDIUM_FIX,2057.14,-15746.61,271097,010121
$TT8_MAMPS,0.029146
$HUMID,1809
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.50
$XPDR_PINGS,708
$24V_AH,22.0,53.221
$10V_AH,10.2,30.671
$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,25.175,103.200,376.100,211.025,0.000,142.671,156.577,208.781,177.000,0.000,0.000,35.770,1251.984,8225.078,658.382,1689.001,701.366,33.365,1474.438,0.000,1650.472,0.000,0.471
$DEVICE_MAMPS,1048.489,76.700,878.215,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.112,454.318,795.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34934,693
$CAP_FILE_SIZE,100487,8
$CFSIZE,260165632,249344000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020808,045108,2103.334,-15748.935,33,0.9,33,9.8