version: 66.03
glider: 139
mission: 3
dive: 169
start: 8 2 108 22 16 16
data:
$ID,139
$MISSION,3
$DIVE,169
$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,-1274171.4
$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,58
$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
$GPS1,220908,2107.692,-15753.467,28,1.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.2
$GPS2,221526,2107.644,-15753.415,14,1.5,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.017,0.254
$KALMAN_X,-64385.4,168.7,552.6,62612.1,-1323.0
$KALMAN_Y,-45023.5,-59.8,229.7,28134.1,-1379.8
$MHEAD_RNG_PITCHd_Wd,354.0,4090,-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,-49.50,0.000,2,0.000,0.000,427,2092,2731
$GC,74,-0.96,-175.2,3.0,-3.0,9,104,12.05,1.42,-12.45,0.000,4,0.152,0.083,2577,2969,3381
$GC,239,-0.96,-175.2,28.5,-11.6,38,245,0.00,1.17,0.00,0.000,6,0.000,0.094,2577,2234,3383
$GC,352,-0.96,-175.2,42.4,-12.8,50,356,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,841,3383
$GC,412,-0.96,-175.2,50.1,-12.0,55,419,0.00,2.00,0.00,0.000,6,0.000,0.061,2578,2071,3383
$GC,737,-0.96,-175.2,85.3,-9.2,86,741,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,835,3384
$GC,786,-0.96,-175.2,89.8,-8.5,90,793,0.00,2.03,0.00,0.000,6,0.000,0.058,2578,2081,3384
$GC,1113,-0.96,-175.2,115.9,-8.7,121,1117,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,844,3385
$GC,1191,-0.96,-175.2,123.1,-8.4,128,1195,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2092,3386
$GC,1523,-0.96,-175.2,151.2,-8.5,159,1526,0.00,2.10,0.00,0.000,4,0.000,0.044,2577,844,3386
$GC,1568,-0.96,-175.2,154.7,-7.0,163,1571,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2079,3386
$GC,1899,-0.96,-175.2,178.5,-7.8,194,1903,0.00,2.33,0.00,0.000,4,0.000,0.044,2578,3463,3385
$GC,1942,-0.96,-175.2,181.9,-7.5,197,1948,0.00,2.03,0.00,0.000,6,0.000,0.020,2577,2215,3386
$GC,2275,-0.96,-175.2,208.0,-9.1,225,2279,0.00,2.30,0.00,0.000,4,0.000,0.035,2577,842,3386
$GC,2324,-0.96,-175.2,212.6,-8.9,227,2329,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2071,3386
$GC,2646,-0.96,-175.2,237.1,-7.4,243,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2075,3386
$GC,2955,-0.96,-175.2,259.9,-6.7,258,2959,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,3470,3385
$GC,2976,-0.96,-175.2,261.2,-5.8,259,2980,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2238,3385
$GC,3303,-0.96,-175.2,282.6,-6.5,275,3307,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,842,3384
$GC,3380,-0.96,-175.2,287.6,-6.6,278,3387,0.00,2.00,0.00,0.000,6,0.000,0.062,2577,2066,3384
$GC,3715,-0.96,-175.2,307.1,-5.8,292,3719,0.00,2.38,0.00,0.000,4,0.000,0.072,2577,3467,3382
$GC,3741,-0.96,-175.2,308.7,-5.5,292,3745,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2235,3382
$GC,4078,-0.96,-175.2,327.6,-5.8,301,4082,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,847,3381
$GC,4151,-0.96,-175.2,331.9,-6.3,302,4155,0.00,2.03,0.00,0.000,6,0.000,0.037,2577,2082,3381
$GC,4487,-0.96,-175.2,356.0,-7.1,311,4491,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3476,3379
$GC,4520,-0.96,-175.2,358.6,-7.7,311,4526,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2248,3378
$GC,4851,-0.96,-175.2,383.1,-7.3,320,4855,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,3471,3377
$GC,4962,-0.96,-175.2,391.2,-7.7,322,4966,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2246,3376
$GC,5311,-0.96,-175.2,414.2,-6.5,331,5315,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,848,3374
$GC,5417,-0.96,-175.2,421.8,-6.8,333,5421,0.00,2.03,0.00,0.000,6,0.000,0.056,2577,2072,3374
$GC,5764,-0.96,-175.2,446.8,-7.4,342,5768,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,3473,3372
$STATE,5806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5806,begin apogee
$GC,5813,-0.31,0.0,450.1,7.2,343,5958,0.10,0.00,142.32,0.880,6,0.270,0.000,2605,2239,2664
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5961,0.96,175.2,456.7,0.0,346,6118,1.83,2.25,145.43,0.853,4,0.054,0.051,3003,3470,1949
$GC,6370,0.96,175.2,432.6,8.7,355,6374,0.00,2.10,0.00,0.000,6,0.000,0.029,3003,2251,1942
$GC,6718,0.96,175.2,406.4,7.6,364,6722,0.00,2.45,0.00,0.000,4,0.000,0.045,3003,845,1936
$GC,6789,0.96,175.2,400.4,8.5,365,6793,0.00,2.10,0.00,0.000,6,0.000,0.029,3003,2078,1933
$GC,7126,0.96,175.2,374.9,7.5,374,7130,0.00,2.42,0.00,0.000,4,0.000,0.044,3003,3474,1933
$GC,7198,0.98,194.3,370.0,6.6,375,7217,0.00,2.10,15.23,0.797,6,0.000,0.038,3003,2252,1871
$GC,7537,0.98,194.3,344.3,7.7,384,7541,0.00,2.42,0.00,0.000,4,0.000,0.044,3002,850,1866
$GC,7598,0.98,194.3,339.2,8.9,385,7602,0.00,2.08,0.00,0.000,6,0.000,0.028,3003,2089,1864
$GC,7910,0.98,194.3,313.6,8.3,393,7914,0.00,2.17,0.00,0.000,4,0.000,0.043,3003,841,1864
$GC,7994,0.98,194.3,305.3,10.4,395,7998,0.00,2.08,0.00,0.000,6,0.000,0.028,3003,2079,1862
$GC,8328,1.03,232.1,280.7,6.1,409,8370,0.00,2.50,33.15,0.779,4,0.000,0.072,3002,3473,1717
$GC,8437,1.03,232.1,273.1,8.3,414,8441,0.00,2.08,0.00,0.000,6,0.000,0.045,3003,2249,1715
$GC,8769,1.03,232.1,249.1,7.4,430,8773,0.00,2.42,0.00,0.000,4,0.000,0.043,3003,845,1712
$GC,8812,1.03,232.1,245.4,8.4,432,8816,0.00,2.10,0.00,0.000,6,0.000,0.061,3003,2083,1709
$GC,9139,1.03,232.1,219.9,7.7,448,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2086,1709
$GC,9450,1.03,232.1,195.2,8.1,465,9454,0.00,2.38,0.00,0.000,4,0.000,0.046,3003,3478,1709
$GC,9500,1.03,232.1,190.8,8.4,469,9504,0.00,2.05,0.00,0.000,6,0.000,0.045,3003,2247,1709
$GC,9831,1.03,232.1,167.0,7.3,500,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2247,1709
$GC,10149,1.09,280.1,147.2,5.8,530,10196,0.12,2.45,41.47,0.652,4,0.051,0.074,3042,839,1521
$GC,10298,1.09,280.1,133.9,10.7,543,10302,0.00,2.05,0.00,0.000,6,0.000,0.022,3042,2088,1515
$GC,10631,1.09,280.1,99.9,10.1,574,10634,0.00,2.15,0.00,0.000,4,0.000,0.053,3042,837,1514
$GC,10743,1.09,280.1,87.6,11.1,584,10747,0.00,2.05,0.00,0.000,6,0.000,0.060,3042,2092,1512
$GC,11076,1.09,280.1,57.3,7.9,615,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2096,1512
$GC,11392,1.12,305.3,36.4,6.5,645,11416,0.00,0.00,22.05,0.537,6,0.000,0.000,3042,2096,1419
$GC,11744,1.12,305.3,9.4,8.5,700,11751,0.00,2.10,0.00,0.000,4,0.000,0.035,3042,843,1416
$GC,11796,1.12,305.3,5.0,8.4,709,11803,0.00,1.98,0.00,0.000,6,0.000,0.019,3042,2091,1414
$STATE,11825,end climb,SURFACE_DEPTH_REACHED
$STATE,11825,begin surface coast
$FINISH,0.8,1.021229
$STATE,11864,end surface coast,CONTROL_FINISHED_OK
$STATE,11864,begin surface
$SM_CCo,11884,12.70,0.492,0,0,1358,320.12
$SM_GC,2.04,0.00,0.00,12.70,0.000,0.000,0.492,422,2094,1358,-10.92,0.42,320.12
$IRIDIUM_FIX,2101.76,-15750.89,271097,181814
$TT8_MAMPS,0.029146
$HUMID,1906
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.90
$XPDR_PINGS,729
$24V_AH,21.6,54.038
$10V_AH,10.2,31.135
$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,25.350,111.225,399.650,12.700,0.000,33.039,43.035,180.250,182.250,0.000,0.000,15.822,1306.427,8297.220,469.754,1745.146,446.975,33.376,1331.682,0.000,1730.345,0.000,0.470
$DEVICE_MAMPS,269.984,93.574,879.749,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.664,473.833,810.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37888,721
$CAP_FILE_SIZE,102306,14
$CFSIZE,260165632,249081856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030808,013626,2108.607,-15753.957,75,0.9,75,9.8