version: 66.03
glider: 139
mission: 3
dive: 166
start: 8 2 108 12 4 57
data:
$ID,139
$MISSION,3
$DIVE,166
$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,-1274095.8
$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,64
$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
$GPS1,115423,2105.475,-15751.716,32,3.2,51,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.0
$GPS2,120408,2105.435,-15751.778,32,1.4,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175,0.185
$KALMAN_X,-58506.3,-622.5,422.9,60493.3,-2149.6
$KALMAN_Y,-40872.4,-80.2,468.7,19669.1,-2412.8
$MHEAD_RNG_PITCHd_Wd,33.6,9058,-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,19,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.30,0.000,2,0.000,0.000,431,2096,2734
$GC,74,-0.96,-175.2,3.2,-3.9,9,103,12.02,0.00,-12.15,0.000,6,0.152,0.000,2576,2097,3382
$GC,216,-0.96,-175.2,28.8,-11.9,34,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2097,3383
$GC,334,-0.96,-175.2,44.3,-13.3,46,337,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,844,3383
$GC,356,-0.96,-175.2,46.9,-11.8,48,360,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2088,3383
$GC,686,-0.96,-175.2,88.3,-10.2,79,690,0.00,2.10,0.00,0.000,4,0.000,0.034,2577,838,3384
$GC,724,-0.96,-175.2,92.5,-11.1,82,731,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2075,3384
$GC,1049,-0.96,-175.2,125.5,-9.4,113,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3385
$GC,1368,-0.96,-175.2,151.3,-7.9,143,1372,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,836,3386
$GC,1413,-0.96,-175.2,155.1,-8.3,147,1416,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2087,3386
$GC,1743,-0.96,-175.2,183.1,-7.8,178,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2091,3386
$GC,2069,-0.96,-175.2,208.0,-7.7,204,2072,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,836,3386
$GC,2163,-0.96,-175.2,215.3,-7.0,208,2167,0.00,2.03,0.00,0.000,6,0.000,0.020,2577,2080,3386
$GC,2490,-0.96,-175.2,238.6,-7.6,224,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2084,3386
$GC,2799,-0.96,-175.2,259.2,-5.9,239,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3385
$GC,3108,-0.96,-175.2,276.3,-4.8,254,3112,0.00,2.10,0.00,0.000,4,0.000,0.037,2576,838,3385
$GC,3136,-0.96,-175.2,277.5,-4.5,255,3140,0.00,2.00,0.00,0.000,6,0.000,0.064,2577,2074,3384
$GC,3463,-0.96,-175.2,289.4,-3.7,271,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3383
$GC,3791,-0.96,-175.2,305.1,-5.4,285,3795,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,3467,3382
$GC,3818,-0.96,-175.2,306.9,-6.3,285,3822,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2245,3382
$GC,4160,-0.96,-175.2,331.2,-7.8,294,4164,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,839,3380
$GC,4243,-0.96,-175.2,338.6,-9.0,296,4247,0.00,2.03,0.00,0.000,6,0.000,0.029,2577,2073,3380
$GC,4572,-0.96,-175.2,365.4,-7.5,304,4576,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,3477,3378
$GC,4616,-0.96,-175.2,368.5,-7.0,305,4620,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2236,3378
$GC,4940,-0.96,-175.2,385.9,-4.7,313,4944,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,842,3376
$GC,5012,-0.96,-175.2,389.5,-5.5,314,5017,0.00,2.08,0.00,0.000,6,0.000,0.066,2577,2075,3375
$GC,5349,-0.96,-175.2,412.1,-7.1,323,5353,0.00,2.40,0.00,0.000,4,0.000,0.044,2577,3474,3374
$GC,5421,-0.96,-175.2,418.0,-8.2,324,5425,0.00,2.08,0.00,0.000,6,0.000,0.026,2577,2239,3373
$GC,5763,-0.96,-175.2,445.6,-7.9,333,5767,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,848,3371
$STATE,5822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5822,begin apogee
$GC,5829,-0.31,0.0,450.0,6.7,334,5974,0.65,0.00,142.00,0.885,6,0.051,0.000,2728,2080,2664
$STATE,5975,end apogee,CONTROL_FINISHED_OK
$STATE,5975,begin climb
$GC,5977,0.96,175.2,458.2,0.0,338,6132,1.20,2.47,145.12,0.858,4,0.038,0.078,3010,3473,1948
$GC,6164,0.96,175.2,450.5,10.5,342,6168,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2254,1946
$GC,6507,0.96,175.2,418.3,8.7,351,6511,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,850,1937
$GC,6647,0.96,175.2,407.3,7.3,354,6651,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2087,1933
$GC,6960,1.04,239.9,388.9,5.4,362,7017,0.00,0.00,55.28,0.841,6,0.000,0.000,3009,2091,1685
$GC,7325,1.05,245.1,365.1,7.0,371,7334,0.00,2.20,4.55,0.578,4,0.000,0.082,3009,848,1664
$GC,7362,1.05,245.1,362.0,8.2,371,7368,0.00,2.10,0.00,0.000,6,0.000,0.067,3009,2072,1662
$GC,7693,1.05,245.1,333.9,9.0,380,7697,0.00,2.15,0.00,0.000,4,0.000,0.067,3009,841,1660
$GC,7725,1.05,245.1,330.8,9.8,380,7732,0.00,2.12,0.00,0.000,6,0.000,0.038,3009,2102,1658
$GC,8056,1.05,245.1,303.3,8.0,389,8060,0.00,2.38,0.00,0.000,4,0.000,0.041,3009,3483,1658
$GC,8162,1.05,245.1,295.6,7.2,391,8168,0.00,2.10,0.00,0.000,6,0.000,0.035,3010,2251,1658
$GC,8477,1.05,245.1,270.7,8.7,407,8482,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,842,1657
$GC,8588,1.05,245.1,260.0,9.7,412,8593,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2085,1654
$GC,8915,1.05,245.1,229.8,10.0,428,8919,0.00,2.38,0.00,0.000,4,0.000,0.038,3010,3474,1654
$GC,8999,1.05,245.1,221.8,9.8,432,9003,0.00,2.05,0.00,0.000,6,0.000,0.044,3010,2248,1654
$GC,9322,1.05,245.1,195.9,7.5,450,9326,0.00,2.40,0.00,0.000,4,0.000,0.039,3010,848,1654
$GC,9540,1.05,245.1,176.3,9.5,469,9544,0.00,1.77,0.00,0.000,6,0.000,0.067,3009,1961,1652
$GC,9872,1.07,264.7,149.1,6.6,500,9904,0.00,2.62,18.85,0.588,4,0.000,0.034,3009,3470,1584
$GC,9927,1.11,294.7,145.5,6.3,505,9961,0.12,2.03,27.55,0.634,6,0.048,0.022,3052,2242,1462
$GC,10277,1.11,294.7,110.8,9.0,538,10281,0.00,2.35,0.00,0.000,4,0.000,0.036,3051,845,1457
$GC,10356,1.11,294.7,103.8,9.1,545,10360,0.00,2.03,0.00,0.000,6,0.000,0.021,3052,2099,1455
$GC,10687,1.11,294.7,78.2,8.1,576,10690,0.00,1.62,0.00,0.000,4,0.000,0.076,3052,3097,1455
$GC,10732,1.19,362.7,75.2,5.3,580,10796,0.00,1.40,58.28,0.578,6,0.000,0.021,3052,2238,1184
$GC,11114,1.27,422.9,46.6,5.5,616,11170,0.00,2.40,50.30,0.543,4,0.000,0.068,3051,850,937
$GC,11311,1.27,422.9,29.9,9.7,634,11317,0.00,1.98,0.00,0.000,6,0.000,0.018,3052,2096,932
$GC,11431,1.27,422.9,17.9,9.7,655,11437,0.00,2.12,0.00,0.000,4,0.000,0.035,3051,835,933
$GC,11454,1.27,422.9,15.7,9.4,659,11460,0.00,1.98,0.00,0.000,6,0.000,0.018,3051,2079,931
$GC,11573,1.27,422.9,5.9,9.1,680,11579,0.00,2.10,0.00,0.000,4,0.000,0.035,3052,836,931
$GC,11604,1.27,422.9,3.3,9.1,685,11610,0.03,1.98,0.00,0.000,6,0.158,0.018,3042,2078,931
$STATE,11615,end climb,SURFACE_DEPTH_REACHED
$STATE,11615,begin surface coast
$FINISH,0.7,1.010524
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11729,0.00,0.000,0,0,930,425.35
$SM_GC,1.59,11.15,0.00,0.00,0.031,0.000,0.000,418,2081,930,-10.83,0.06,425.35
$IRIDIUM_FIX,2059.45,-15750.89,271097,121214
$TT8_MAMPS,0.029146
$HUMID,1874
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.50
$XPDR_PINGS,690
$24V_AH,23.3,53.646
$10V_AH,10.2,30.909
$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,25.175,106.975,501.925,0.000,0.000,55.996,63.286,258.411,172.500,0.000,0.000,34.388,1235.485,8286.192,544.800,1672.563,560.725,33.371,1388.175,0.000,1636.456,0.000,0.472
$DEVICE_MAMPS,158.002,82.069,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.935,451.524,773.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34874,693
$CAP_FILE_SIZE,100746,5
$CFSIZE,260165632,249229312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020808,152129,2105.617,-15752.368,8,3.5,27,9.8