version: 66.03
glider: 139
mission: 3
dive: 168
start: 8 2 108 18 50 47
data:
$ID,139
$MISSION,3
$DIVE,168
$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,-1274154.9
$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,63
$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
$GPS1,184338,2106.533,-15753.045,25,1.6,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.0
$GPS2,184957,2106.518,-15752.995,13,1.6,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.078,0.242
$KALMAN_X,-62826.4,-537.9,-549.4,63590.6,-328.8
$KALMAN_Y,-43313.9,-238.9,-333.2,25078.2,-502.6
$MHEAD_RNG_PITCHd_Wd,332.5,6264,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.78,0.000,2,0.000,0.000,427,2090,2740
$GC,79,-0.96,-175.2,3.6,-4.6,10,109,12.05,2.28,-11.90,0.000,4,0.153,0.057,2574,3457,3380
$GC,234,-0.96,-175.2,28.3,-11.0,37,241,0.00,1.95,0.00,0.000,6,0.000,0.020,2574,2238,3381
$GC,348,-0.96,-175.2,42.0,-12.7,49,352,0.00,2.35,0.00,0.000,4,0.000,0.034,2574,835,3382
$GC,387,-0.96,-175.2,46.9,-12.1,52,391,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2087,3381
$GC,718,-0.96,-175.2,83.8,-10.3,83,722,0.00,2.10,0.00,0.000,4,0.000,0.044,2574,842,3382
$GC,752,-0.96,-175.2,87.5,-10.4,86,755,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2079,3382
$GC,1082,-0.96,-175.2,117.0,-9.1,117,1086,0.00,2.08,0.00,0.000,4,0.000,0.033,2574,841,3384
$GC,1127,-0.96,-175.2,121.1,-8.4,121,1131,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2083,3384
$GC,1459,-0.96,-175.2,149.0,-9.8,152,1462,0.00,2.10,0.00,0.000,4,0.000,0.073,2574,838,3384
$GC,1526,-0.96,-175.2,155.8,-9.0,158,1529,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2077,3384
$GC,1857,-0.96,-175.2,186.5,-9.2,189,1861,0.00,2.08,0.00,0.000,4,0.000,0.049,2574,844,3385
$GC,1895,-0.96,-175.2,190.0,-8.9,192,1901,0.00,2.00,0.00,0.000,6,0.000,0.019,2574,2076,3385
$GC,2223,-0.96,-175.2,215.6,-7.5,214,2228,0.00,2.33,0.00,0.000,4,0.000,0.032,2575,3470,3385
$GC,2290,-0.96,-175.2,219.9,-5.9,217,2294,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2230,3385
$GC,2617,-0.96,-175.2,240.8,-7.6,233,2621,0.00,2.33,0.00,0.000,4,0.000,0.035,2574,840,3384
$GC,2671,-0.96,-175.2,245.2,-7.3,235,2678,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2070,3384
$GC,2988,-0.96,-175.2,265.7,-6.3,251,2992,0.00,2.33,0.00,0.000,4,0.000,0.034,2574,3461,3384
$GC,3027,-0.96,-175.2,268.3,-6.6,253,3031,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,2229,3384
$GC,3360,-0.96,-175.2,290.6,-6.0,269,3364,0.00,2.35,0.00,0.000,4,0.000,0.071,2574,838,3384
$GC,3449,-0.96,-175.2,296.3,-7.1,273,3453,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,2071,3384
$GC,3791,-0.96,-175.2,321.6,-8.0,283,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3382
$GC,4116,-0.96,-175.2,344.3,-5.8,291,4120,0.00,2.08,0.00,0.000,4,0.000,0.039,2574,847,3381
$GC,4155,-0.96,-175.2,346.3,-5.2,291,4161,0.00,2.00,0.00,0.000,6,0.000,0.025,2574,2078,3381
$GC,4485,-0.96,-175.2,367.0,-7.3,300,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3379
$GC,4810,-0.96,-175.2,391.6,-7.2,308,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3377
$GC,5136,-0.96,-175.2,412.6,-5.9,316,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3375
$GC,5461,-0.96,-175.2,426.4,-3.6,324,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2082,3373
$GC,5785,-0.96,-175.2,440.2,-5.1,332,5789,0.00,2.10,0.00,0.000,4,0.000,0.043,2574,849,3370
$GC,5806,-0.96,-175.2,441.8,-7.4,332,5811,0.00,2.05,0.00,0.000,6,0.000,0.029,2574,2065,3370
$STATE,5949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5950,begin apogee
$GC,5954,-0.31,0.0,453.0,7.9,336,6099,0.70,0.00,141.93,0.894,6,0.058,0.000,2729,2068,2664
$STATE,6100,end apogee,CONTROL_FINISHED_OK
$STATE,6100,begin climb
$GC,6102,0.96,175.2,462.8,0.0,339,6257,1.20,2.22,145.38,0.868,4,0.038,0.052,3008,848,1947
$GC,6286,0.98,191.0,465.2,6.7,343,6308,0.00,2.12,14.40,0.788,6,0.000,0.029,3008,2080,1883
$GC,6632,0.98,191.0,432.8,10.2,352,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2083,1876
$GC,6957,0.98,191.0,406.1,7.5,360,6960,0.00,2.15,0.00,0.000,4,0.000,0.057,3007,850,1873
$GC,7023,0.98,191.0,401.1,7.2,361,7027,0.00,2.10,0.00,0.000,6,0.000,0.035,3008,2079,1871
$GC,7371,0.98,191.0,375.3,8.2,370,7375,0.00,2.42,0.00,0.000,4,0.000,0.077,3008,3474,1870
$GC,7414,0.98,191.0,371.1,10.4,371,7418,0.00,2.10,0.00,0.000,6,0.000,0.066,3008,2252,1870
$GC,7738,0.98,191.0,343.7,7.5,379,7742,0.00,2.42,0.00,0.000,4,0.000,0.045,3008,849,1868
$GC,7795,1.00,203.7,339.7,6.8,380,7809,0.00,2.08,9.40,0.756,6,0.000,0.029,3008,2091,1833
$GC,8152,1.00,203.7,313.5,8.1,389,8156,0.00,2.17,0.00,0.000,4,0.000,0.080,3008,840,1830
$GC,8229,1.00,203.7,305.4,10.8,390,8236,0.00,2.10,0.00,0.000,6,0.000,0.028,3008,2076,1828
$GC,8544,1.04,236.3,283.4,6.3,404,8586,0.00,2.25,31.77,0.749,4,0.000,0.078,3008,842,1699
$GC,8632,1.07,266.4,277.8,6.3,408,8666,0.00,2.08,27.62,0.764,6,0.000,0.028,3008,2088,1578
$GC,8982,1.07,266.4,249.7,8.4,425,8986,0.00,2.38,0.00,0.000,4,0.000,0.039,3008,3470,1571
$GC,9014,1.07,266.4,246.8,9.0,426,9018,0.00,2.08,0.00,0.000,6,0.000,0.026,3008,2251,1571
$GC,9335,1.07,266.4,215.2,9.7,442,9339,0.00,2.40,0.00,0.000,4,0.000,0.041,3008,848,1569
$GC,9440,1.07,266.4,203.0,10.5,446,9447,0.00,2.08,0.00,0.000,6,0.000,0.030,3008,2080,1566
$GC,9764,1.07,266.4,173.7,8.4,475,9768,0.00,2.38,0.00,0.000,4,0.000,0.035,3008,3474,1566
$GC,9825,1.07,266.4,168.1,10.0,480,9829,0.00,2.03,0.00,0.000,6,0.000,0.023,3008,2244,1566
$GC,10158,1.07,266.4,139.2,9.2,511,10162,0.00,2.40,0.00,0.000,4,0.000,0.071,3008,840,1566
$GC,10335,1.07,266.4,122.5,8.9,526,10342,0.00,2.08,0.00,0.000,6,0.000,0.027,3008,2089,1565
$GC,10664,1.11,294.3,96.7,6.4,557,10697,0.12,2.20,23.83,0.594,4,0.047,0.055,3052,846,1462
$GC,10903,1.11,294.3,69.8,10.4,578,10910,0.00,2.05,0.00,0.000,6,0.000,0.041,3053,2086,1458
$GC,11230,1.14,318.5,43.3,6.5,609,11257,0.00,2.15,22.02,0.542,4,0.000,0.054,3053,837,1364
$GC,11313,1.14,318.5,36.8,8.7,616,11317,0.00,2.03,0.00,0.000,6,0.000,0.020,3053,2089,1361
$GC,11651,1.14,318.5,8.4,8.3,669,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2093,1361
$STATE,11717,end climb,SURFACE_DEPTH_REACHED
$STATE,11717,begin surface coast
$FINISH,0.9,1.016004
$STATE,11758,end surface coast,CONTROL_FINISHED_OK
$STATE,11758,begin surface
$SM_CCo,11838,0.00,0.000,0,0,1356,320.85
$SM_GC,1.63,11.30,0.00,0.00,0.031,0.000,0.000,427,2092,1356,-10.82,0.34,320.85
$IRIDIUM_FIX,2057.14,-15751.76,271097,151508
$TT8_MAMPS,0.029146
$HUMID,1916
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,646
$24V_AH,23.3,53.909
$10V_AH,10.2,31.056
$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,25.375,102.850,416.350,0.000,0.000,26.135,54.377,177.867,161.500,0.000,0.000,14.880,1230.289,8466.461,483.615,1586.292,440.317,33.375,1285.500,0.000,1574.895,0.000,0.471
$DEVICE_MAMPS,153.400,79.768,893.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.859,444.663,763.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34876,688
$CAP_FILE_SIZE,95919,10
$CFSIZE,260165632,249139200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020808,220908,2107.692,-15753.467,28,1.5,28,9.8