version: 66.03
glider: 139
mission: 3
dive: 170
start: 8 3 108 1 43 51
data:
$ID,139
$MISSION,3
$DIVE,170
$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,-1274185.2
$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
$GPS1,013626,2108.607,-15753.957,75,0.9,75,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.1
$GPS2,014259,2108.606,-15754.029,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.116,0.226
$KALMAN_X,-66194.5,797.1,462.6,62826.7,-2965.9
$KALMAN_Y,-46593.4,148.4,170.2,31333.9,-1983.6
$MHEAD_RNG_PITCHd_Wd,17.4,2016,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.50,0.000,2,0.000,0.000,423,2094,2912
$GC,78,-0.96,-175.2,4.0,-5.3,10,108,12.18,2.33,-8.10,0.000,4,0.156,0.041,2575,3461,3382
$GC,181,-0.96,-175.2,26.3,-11.9,28,188,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2247,3383
$GC,302,-0.96,-175.2,40.3,-11.5,42,306,0.00,2.35,0.00,0.000,4,0.000,0.034,2575,844,3383
$GC,345,-0.96,-175.2,46.0,-13.2,45,352,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2071,3383
$GC,670,-0.96,-175.2,82.6,-9.5,76,674,0.00,2.33,0.00,0.000,4,0.000,0.031,2575,3468,3384
$GC,709,-0.96,-175.2,86.1,-8.5,79,713,0.00,2.00,0.00,0.000,6,0.000,0.019,2574,2233,3384
$GC,1039,-0.96,-175.2,115.1,-9.0,110,1043,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,842,3385
$GC,1134,-0.96,-175.2,124.9,-10.3,118,1138,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2082,3385
$GC,1465,-0.96,-175.2,158.0,-8.9,149,1469,0.00,2.10,0.00,0.000,4,0.000,0.052,2575,836,3386
$GC,1488,-0.96,-175.2,160.0,-8.5,151,1491,0.00,2.00,0.00,0.000,6,0.000,0.041,2575,2085,3386
$GC,1819,-0.96,-175.2,189.4,-7.9,182,1823,0.00,2.30,0.00,0.000,4,0.000,0.039,2575,3460,3386
$GC,1881,-0.96,-175.2,194.5,-7.8,187,1885,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2234,3386
$GC,2204,-0.96,-175.2,217.0,-6.2,206,2208,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,844,3386
$GC,2264,-0.96,-175.2,221.2,-6.7,208,2271,0.00,2.00,0.00,0.000,6,0.000,0.028,2575,2070,3386
$GC,2579,-0.96,-175.2,243.0,-7.8,224,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3386
$GC,2889,-0.96,-175.2,265.1,-7.8,239,2893,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,3465,3386
$GC,2921,-0.96,-175.2,267.9,-8.2,240,2928,0.00,2.03,0.00,0.000,6,0.000,0.032,2575,2242,3386
$GC,3237,-0.96,-175.2,289.8,-6.5,256,3241,0.00,2.38,0.00,0.000,4,0.000,0.037,2575,836,3385
$GC,3314,-0.96,-175.2,296.1,-8.7,259,3321,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2069,3385
$GC,3626,-0.96,-175.2,319.3,-7.1,269,3630,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3470,3383
$GC,3671,-0.96,-175.2,322.6,-7.2,270,3675,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2230,3383
$GC,4000,-0.96,-175.2,345.8,-7.2,278,4004,0.00,2.33,0.00,0.000,4,0.000,0.037,2575,845,3381
$GC,4106,-0.96,-175.2,354.2,-7.6,280,4110,0.00,2.05,0.00,0.000,6,0.000,0.051,2575,2076,3381
$GC,4419,-0.96,-175.2,380.5,-8.4,288,4423,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,3471,3380
$GC,4502,-0.96,-175.2,387.0,-7.5,290,4506,0.00,2.05,0.00,0.000,6,0.000,0.066,2575,2232,3379
$GC,4832,-0.96,-175.2,407.1,-5.6,298,4836,0.00,2.35,0.00,0.000,4,0.000,0.039,2575,847,3376
$GC,4943,-0.96,-175.2,414.1,-6.1,300,4947,0.00,2.03,0.00,0.000,6,0.000,0.065,2575,2068,3376
$GC,5285,-0.96,-175.2,439.7,-7.9,309,5289,0.00,2.42,0.00,0.000,4,0.000,0.043,2575,3480,3375
$GC,5358,-0.96,-175.2,444.9,-7.0,310,5361,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2241,3374
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5453,-0.31,0.0,450.9,6.4,313,5598,0.68,0.00,142.55,0.879,6,0.048,0.000,2729,2240,2664
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5601,0.96,175.2,458.2,0.0,316,5755,1.20,2.20,145.35,0.854,4,0.035,0.061,3011,3471,1948
$GC,6007,0.96,175.2,430.0,11.1,325,6011,0.00,2.10,0.00,0.000,6,0.000,0.035,3011,2233,1941
$GC,6355,0.96,175.2,399.4,8.4,334,6359,0.00,2.17,0.00,0.000,4,0.000,0.044,3011,3473,1936
$GC,6461,0.96,175.2,389.7,9.5,336,6465,0.00,2.10,0.00,0.000,6,0.000,0.068,3011,2254,1936
$GC,6809,0.96,175.2,356.5,9.6,345,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2254,1933
$GC,7133,0.96,175.2,325.1,9.4,353,7137,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,843,1931
$GC,7250,0.96,175.2,314.8,8.9,355,7255,0.00,2.10,0.00,0.000,6,0.000,0.057,3011,2076,1928
$GC,7574,1.00,208.0,293.5,6.2,366,7605,0.00,2.47,25.98,0.779,4,0.000,0.073,3011,3480,1816
$GC,7705,1.00,208.0,284.1,7.9,372,7709,0.00,2.10,0.00,0.000,6,0.000,0.065,3011,2253,1815
$GC,8032,1.00,208.0,257.5,8.4,388,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2252,1811
$GC,8342,1.00,208.0,232.3,7.4,403,8346,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,842,1809
$GC,8463,1.00,208.0,222.1,8.4,408,8471,0.00,2.08,0.00,0.000,6,0.000,0.067,3011,2077,1806
$GC,8779,1.02,222.0,200.0,6.8,424,8793,0.00,0.00,12.27,0.659,6,0.000,0.000,3011,2081,1758
$GC,9109,1.07,263.5,176.7,6.0,455,9152,0.00,2.47,37.50,0.672,4,0.000,0.069,3011,3473,1589
$GC,9253,1.07,263.5,164.8,8.4,468,9257,0.00,2.05,0.00,0.000,6,0.000,0.024,3011,2241,1587
$GC,9584,1.07,263.5,142.5,7.6,499,9588,0.00,2.38,0.00,0.000,4,0.000,0.070,3011,845,1584
$GC,9661,1.07,263.5,136.3,7.9,505,9668,0.00,2.05,0.00,0.000,6,0.000,0.021,3011,2089,1582
$GC,9989,1.12,305.3,114.9,6.0,536,10033,0.12,2.15,36.45,0.603,4,0.337,0.076,3060,846,1418
$GC,10056,1.12,305.3,109.0,9.6,542,10060,0.00,2.03,0.00,0.000,6,0.000,0.021,3060,2086,1415
$GC,10387,1.12,305.3,77.8,7.3,573,10391,0.00,2.12,0.00,0.000,4,0.000,0.043,3060,841,1414
$GC,10481,1.12,305.3,69.4,8.6,581,10490,0.08,2.03,0.00,0.000,6,0.071,0.019,3040,2080,1411
$GC,10808,1.13,314.4,46.1,6.9,612,10823,0.00,2.17,8.25,0.488,4,0.000,0.035,3039,837,1381
$GC,10880,1.13,314.4,40.9,7.9,618,10887,0.00,1.98,0.00,0.000,6,0.000,0.019,3040,2083,1380
$GC,11214,1.13,314.4,15.0,8.1,665,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2088,1380
$GC,11332,1.13,314.4,6.3,7.4,686,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2088,1380
$STATE,11372,end climb,SURFACE_DEPTH_REACHED
$STATE,11372,begin surface coast
$FINISH,0.9,1.011484
$STATE,11405,end surface coast,CONTROL_FINISHED_OK
$STATE,11405,begin surface
$SM_CCo,11425,5.50,0.417,0,0,1359,320.12
$SM_GC,2.80,0.00,0.00,5.50,0.000,0.000,0.417,424,2086,1359,-10.90,0.20,320.12
$IRIDIUM_FIX,2101.76,-15753.90,271097,222207
$TT8_MAMPS,0.029146
$HUMID,1890
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.40
$XPDR_PINGS,706
$24V_AH,21.5,54.168
$10V_AH,10.2,31.215
$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,25.350,104.425,408.350,5.500,0.000,24.417,27.940,219.342,176.500,0.000,0.000,13.288,1262.975,7893.041,483.017,1716.149,458.359,33.399,1331.358,0.000,1704.645,0.000,0.471
$DEVICE_MAMPS,336.713,75.933,878.982,417.248,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.728,464.586,799.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34746,699
$CAP_FILE_SIZE,100020,9
$CFSIZE,260165632,249032704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,045607,2109.274,-15754.324,68,1.8,68,9.8