version: 66.03
glider: 139
mission: 3
dive: 164
start: 8 2 108 5 1 5
data:
$ID,139
$MISSION,3
$DIVE,164
$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,-1274027.1
$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,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
$GPS1,045108,2103.334,-15748.935,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.5
$GPS2,050015,2103.331,-15748.963,14,0.9,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.059,0.247
$KALMAN_X,-55149.6,318.5,-599.7,62063.4,-1113.3
$KALMAN_Y,-37997.4,359.1,-510.7,13447.3,-940.5
$MHEAD_RNG_PITCHd_Wd,336.7,15105,-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,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,110,0.00,0.00,-86.30,0.000,2,0.000,0.000,429,2221,2910
$GC,113,-0.96,-175.2,3.9,-5.0,16,137,11.98,2.12,-8.10,0.000,4,0.149,0.041,2577,3464,3382
$GC,244,-0.96,-175.2,30.1,-11.8,39,251,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2233,3383
$GC,569,-0.96,-175.2,70.0,-11.9,70,573,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,835,3383
$GC,685,-0.96,-175.2,82.5,-10.5,80,692,0.00,2.03,0.00,0.000,6,0.000,0.018,2577,2083,3383
$GC,1010,-0.96,-175.2,112.8,-8.8,111,1014,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,843,3384
$GC,1059,-0.96,-175.2,117.2,-8.9,115,1067,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2078,3384
$GC,1388,-0.96,-175.2,148.0,-9.3,146,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3385
$GC,1702,-0.96,-175.2,173.7,-7.1,176,1706,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,840,3384
$GC,1758,-0.96,-175.2,177.8,-7.3,181,1762,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2079,3384
$GC,2100,-0.96,-175.2,201.3,-6.0,212,2104,0.00,2.33,0.00,0.000,4,0.000,0.041,2577,3467,3384
$GC,2139,-0.96,-175.2,204.2,-6.7,214,2143,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2229,3384
$GC,2471,-0.96,-175.2,225.9,-7.0,230,2475,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,845,3383
$GC,2536,-0.96,-175.2,230.8,-7.3,233,2541,0.00,2.03,0.00,0.000,6,0.000,0.059,2577,2079,3384
$GC,2864,-0.96,-175.2,251.8,-7.2,249,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3383
$GC,3173,-0.96,-175.2,273.9,-8.0,264,3176,0.00,2.10,0.00,0.000,4,0.000,0.037,2576,840,3381
$GC,3210,-0.96,-175.2,277.2,-8.6,265,3217,0.00,2.03,0.00,0.000,6,0.000,0.022,2577,2072,3381
$GC,3527,-0.96,-175.2,298.1,-5.8,281,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3379
$GC,3852,-0.96,-175.2,318.5,-6.3,290,3855,0.00,2.10,0.00,0.000,4,0.000,0.039,2576,838,3378
$GC,3890,-0.96,-175.2,321.1,-6.5,290,3896,0.00,2.05,0.00,0.000,6,0.000,0.064,2577,2084,3378
$GC,4221,-0.96,-175.2,341.5,-6.6,299,4225,0.00,2.12,0.00,0.000,4,0.000,0.039,2576,838,3376
$GC,4248,-0.96,-175.2,343.6,-7.4,299,4252,0.00,2.08,0.00,0.000,6,0.000,0.025,2577,2078,3376
$GC,4591,-0.96,-175.2,366.4,-6.3,308,4595,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3470,3373
$GC,4612,-0.96,-175.2,367.7,-6.2,308,4616,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2229,3373
$GC,4954,-0.96,-175.2,387.2,-5.9,317,4958,0.00,2.35,0.00,0.000,4,0.000,0.041,2576,848,3370
$GC,5009,-0.96,-175.2,391.0,-6.6,318,5014,0.00,2.08,0.00,0.000,6,0.000,0.028,2577,2096,3371
$GC,5323,-0.96,-175.2,407.4,-4.8,326,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2098,3369
$GC,5647,-0.96,-175.2,421.5,-4.2,334,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2099,3367
$GC,5972,-0.96,-175.2,438.1,-5.8,342,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2099,3364
$STATE,6173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6173,begin apogee
$GC,6178,-0.31,0.0,450.2,6.0,347,6322,0.43,0.00,140.68,0.892,6,0.120,0.000,2683,2099,2664
$STATE,6322,end apogee,CONTROL_FINISHED_OK
$STATE,6322,begin climb
$GC,6324,0.96,175.2,455.8,0.0,350,6479,1.45,2.28,145.68,0.864,4,0.044,0.043,3007,849,1947
$GC,6524,0.96,175.2,452.3,7.9,355,6528,0.00,2.08,0.00,0.000,6,0.000,0.028,3007,2076,1940
$GC,6866,0.96,175.2,423.0,9.0,364,6870,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,3477,1936
$GC,6971,0.96,175.2,412.8,9.3,366,6975,0.00,2.10,0.00,0.000,6,0.000,0.029,3007,2257,1936
$GC,7319,0.96,175.2,379.2,9.9,375,7323,0.00,2.45,0.00,0.000,4,0.000,0.045,3007,850,1934
$GC,7458,0.96,175.2,365.0,9.3,378,7462,0.00,2.10,0.00,0.000,6,0.000,0.038,3007,2076,1930
$GC,7777,0.98,191.0,341.5,6.7,386,7795,0.00,2.53,11.68,0.767,4,0.000,0.044,3007,3478,1885
$GC,7845,0.98,191.0,336.7,7.6,387,7849,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2254,1885
$GC,8188,1.02,222.8,313.4,6.3,396,8222,0.00,2.50,29.12,0.799,4,0.000,0.064,3007,850,1754
$GC,8336,1.02,222.8,301.4,8.5,399,8340,0.00,2.08,0.00,0.000,6,0.000,0.067,3007,2082,1747
$GC,8653,1.02,222.8,274.1,9.7,414,8656,0.00,2.15,0.00,0.000,4,0.000,0.044,3007,849,1746
$GC,8690,1.02,222.8,269.9,10.7,415,8697,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2083,1743
$GC,9006,1.02,222.8,242.3,8.4,431,9011,0.00,2.40,0.00,0.000,4,0.000,0.040,3007,3477,1743
$GC,9106,1.02,222.8,233.4,8.7,435,9113,0.00,2.05,0.00,0.000,6,0.000,0.026,3007,2250,1743
$GC,9422,1.02,222.8,208.4,8.6,451,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2250,1743
$GC,9737,1.02,222.8,183.9,7.2,476,9741,0.00,2.40,0.00,0.000,4,0.000,0.039,3007,847,1743
$GC,9810,1.02,224.7,178.8,7.1,482,9813,0.00,2.05,0.00,0.000,6,0.000,0.025,3007,2091,1740
$GC,10141,1.09,277.4,161.6,5.7,513,10194,0.10,2.22,46.08,0.664,4,0.057,0.074,3040,846,1532
$GC,10262,1.09,277.4,151.5,9.7,524,10269,0.00,2.03,0.00,0.000,6,0.000,0.023,3040,2091,1527
$GC,10588,1.09,277.4,125.4,7.7,555,10592,0.00,1.58,0.00,0.000,4,0.000,0.056,3040,3063,1527
$GC,10662,1.09,277.4,119.1,9.0,561,10668,0.00,1.35,0.00,0.000,6,0.000,0.022,3040,2244,1527
$GC,10987,1.09,277.4,90.7,8.0,592,10991,0.00,2.38,0.00,0.000,4,0.000,0.069,3040,843,1527
$GC,11098,1.09,277.4,81.3,7.6,601,11105,0.00,2.03,0.00,0.000,6,0.000,0.026,3040,2080,1525
$GC,11426,1.09,277.4,55.8,8.3,632,11430,0.00,2.33,0.00,0.000,4,0.000,0.066,3040,3464,1524
$GC,11469,1.09,277.4,52.3,7.3,635,11476,0.00,2.03,0.00,0.000,6,0.000,0.020,3040,2240,1525
$GC,11798,1.17,346.0,34.2,5.3,666,11862,0.00,2.45,58.55,0.539,4,0.000,0.080,3040,844,1252
$GC,11938,1.19,359.6,24.8,6.8,684,11956,0.00,2.00,12.40,0.486,6,0.000,0.019,3040,2084,1196
$GC,12069,1.19,359.6,13.5,9.0,707,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2084,1194
$GC,12188,1.19,359.6,3.1,8.9,728,12194,0.00,2.08,0.00,0.000,4,0.000,0.034,3039,842,1193
$STATE,12198,end climb,SURFACE_DEPTH_REACHED
$STATE,12198,begin surface coast
$FINISH,0.8,1.010789
$STATE,12233,end surface coast,CONTROL_FINISHED_OK
$STATE,12233,begin surface
$SM_CCo,12316,0.00,0.000,0,0,1188,361.82
$SM_GC,1.63,11.18,0.00,0.00,0.028,0.000,0.000,426,2054,1188,-10.80,-0.71,361.82
$IRIDIUM_FIX,2057.14,-15746.61,271097,010126
$TT8_MAMPS,0.029146
$HUMID,1892
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,713
$24V_AH,23.3,53.366
$10V_AH,10.2,30.753
$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,25.125,106.850,444.175,0.000,0.000,24.596,27.328,372.508,178.250,0.000,0.000,15.837,1290.076,8732.392,551.114,1661.739,615.567,33.361,1378.742,0.000,1653.344,0.000,0.471
$DEVICE_MAMPS,148.798,79.768,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.813,479.421,820.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38042,736
$CAP_FILE_SIZE,104621,8
$CFSIZE,260165632,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020808,082732,2104.510,-15750.194,36,1.4,36,9.8