version: 66.03
glider: 139
mission: 3
dive: 171
start: 8 3 108 5 3 17
data:
$ID,139
$MISSION,3
$DIVE,171
$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,-1274199.9
$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,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
$GPS1,045607,2109.274,-15754.324,68,1.8,68,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.2
$GPS2,050226,2109.293,-15754.355,12,1.7,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.004
$KALMAN_X,-67370.1,945.3,-542.5,64288.2,-1796.6
$KALMAN_Y,-47870.2,251.8,-237.8,34184.0,-1375.3
$MHEAD_RNG_PITCHd_Wd,81.1,18208,-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,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.65,0.000,2,0.000,0.000,424,2087,2761
$GC,75,-0.96,-175.2,3.6,-4.6,9,105,12.05,2.10,-11.40,0.000,4,0.151,0.049,2576,840,3380
$GC,133,-0.96,-175.2,18.8,-20.3,19,139,0.00,1.98,0.00,0.000,6,0.000,0.044,2576,2099,3381
$GC,251,-0.96,-175.2,33.0,-11.1,38,255,0.00,2.28,0.00,0.000,4,0.000,0.031,2576,3463,3382
$GC,272,-0.96,-175.2,35.2,-9.9,39,278,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2247,3382
$GC,597,-0.96,-175.2,73.6,-10.1,70,601,0.00,2.35,0.00,0.000,4,0.000,0.034,2576,841,3382
$GC,692,-0.96,-175.2,84.3,-9.9,78,696,0.00,1.70,0.00,0.000,6,0.000,0.064,2576,1941,3383
$GC,1023,-0.96,-175.2,116.2,-8.1,109,1028,0.00,2.53,0.00,0.000,4,0.000,0.055,2576,3460,3384
$GC,1089,-0.96,-175.2,121.5,-7.8,114,1096,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2230,3384
$GC,1415,-0.96,-175.2,149.5,-9.4,145,1419,0.00,2.35,0.00,0.000,4,0.000,0.067,2576,822,3385
$GC,1516,-0.96,-175.2,159.9,-10.1,154,1520,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2077,3385
$GC,1848,-0.96,-175.2,190.6,-8.6,185,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3385
$GC,2168,-0.96,-175.2,214.8,-7.9,207,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3385
$GC,2478,-0.96,-175.2,239.5,-7.4,222,2481,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,844,3385
$GC,2557,-0.96,-175.2,245.1,-7.0,225,2560,0.00,1.98,0.00,0.000,6,0.000,0.021,2576,2078,3385
$GC,2878,-0.96,-175.2,265.3,-6.6,241,2881,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,845,3384
$GC,2900,-0.96,-175.2,267.1,-7.7,242,2904,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2085,3384
$GC,3232,-0.96,-175.2,290.7,-6.9,258,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2089,3383
$GC,3561,-0.96,-175.2,309.9,-5.7,270,3564,0.00,2.10,0.00,0.000,4,0.000,0.054,2576,845,3382
$GC,3588,-0.96,-175.2,311.8,-6.2,270,3592,0.00,2.03,0.00,0.000,6,0.000,0.024,2576,2071,3382
$GC,3930,-0.96,-175.2,330.4,-5.4,279,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3381
$GC,4255,-0.96,-175.2,350.5,-6.5,287,4259,0.00,2.10,0.00,0.000,4,0.000,0.040,2576,842,3379
$GC,4288,-0.96,-175.2,353.0,-8.0,287,4292,0.00,2.05,0.00,0.000,6,0.000,0.064,2576,2068,3379
$GC,4625,-0.96,-175.2,376.3,-6.9,296,4629,0.00,2.40,0.00,0.000,4,0.000,0.041,2576,3473,3376
$GC,4665,-0.96,-175.2,378.8,-7.0,297,4669,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2244,3376
$GC,4995,-0.96,-175.2,400.7,-6.7,305,4999,0.00,2.38,0.00,0.000,4,0.000,0.040,2576,847,3374
$GC,5100,-0.96,-175.2,408.1,-7.3,307,5104,0.00,2.05,0.00,0.000,6,0.000,0.027,2576,2071,3374
$GC,5448,-0.96,-175.2,432.8,-7.1,316,5453,0.00,2.42,0.00,0.000,4,0.000,0.043,2576,3480,3371
$GC,5503,-0.96,-175.2,436.9,-7.0,317,5507,0.00,2.08,0.00,0.000,6,0.000,0.026,2576,2231,3371
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5738,-0.31,0.0,451.8,6.2,323,5883,0.25,0.00,141.95,0.886,6,0.314,0.000,2646,2230,2664
$STATE,5883,end apogee,CONTROL_FINISHED_OK
$STATE,5884,begin climb
$GC,5886,0.96,175.2,457.8,0.0,326,6041,1.60,2.28,145.20,0.858,4,0.049,0.044,3002,3471,1949
$GC,6075,0.96,175.2,451.7,9.3,330,6079,0.00,2.10,0.00,0.000,6,0.000,0.067,3002,2256,1946
$GC,6417,0.96,175.2,419.7,9.1,339,6421,0.00,2.45,0.00,0.000,4,0.000,0.045,3002,850,1938
$GC,6556,0.96,175.2,407.6,8.8,342,6560,0.00,2.08,0.00,0.000,6,0.000,0.028,3002,2071,1935
$GC,6874,0.96,175.2,382.3,8.3,350,6879,0.00,2.45,0.00,0.000,4,0.000,0.044,3002,3480,1933
$GC,6923,0.96,175.2,377.4,9.9,351,6928,0.00,2.10,0.00,0.000,6,0.000,0.044,3002,2254,1934
$GC,7242,0.96,175.2,349.9,8.1,359,7246,0.00,2.15,0.00,0.000,4,0.000,0.066,3002,3478,1932
$GC,7326,0.96,175.2,342.9,8.6,360,7332,0.00,2.08,0.00,0.000,6,0.000,0.029,3002,2252,1931
$GC,7656,0.97,184.4,318.6,6.9,369,7667,0.00,2.45,6.00,0.653,4,0.000,0.047,3002,850,1912
$GC,7835,0.97,184.4,305.3,7.9,373,7839,0.00,2.08,0.00,0.000,6,0.000,0.028,3002,2075,1908
$GC,8164,0.99,200.3,282.2,6.7,387,8185,0.00,1.45,15.00,0.754,4,0.000,0.072,3002,2946,1847
$GC,8321,0.99,200.3,270.6,7.7,394,8324,0.00,1.17,0.00,0.000,6,0.000,0.028,3002,2251,1846
$GC,8653,0.99,203.0,247.1,7.1,410,8657,0.00,2.42,0.00,0.000,4,0.000,0.041,3002,840,1843
$GC,8763,0.99,203.0,238.3,8.2,415,8768,0.00,2.10,0.00,0.000,6,0.000,0.052,3002,2082,1840
$GC,9090,1.00,204.8,214.4,7.1,431,9099,0.00,2.17,4.47,0.516,4,0.000,0.076,3002,839,1829
$GC,9145,1.01,214.4,210.6,6.9,433,9159,0.00,2.08,10.45,0.660,6,0.000,0.025,3002,2079,1790
$GC,9483,1.10,289.0,189.7,5.1,457,9556,0.15,2.42,65.97,0.696,4,0.048,0.071,3052,3474,1483
$GC,9636,1.10,289.0,175.7,11.0,471,9639,0.00,2.05,0.00,0.000,6,0.000,0.025,3052,2247,1481
$GC,9968,1.10,289.0,141.2,9.2,502,9973,0.00,2.40,0.00,0.000,4,0.000,0.072,3051,845,1477
$GC,10030,1.10,289.0,134.8,10.7,507,10034,0.00,2.03,0.00,0.000,6,0.000,0.022,3052,2086,1475
$GC,10363,1.10,289.0,101.8,9.5,538,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2091,1475
$GC,10679,1.10,289.0,75.6,7.4,568,10682,0.00,2.30,0.00,0.000,4,0.000,0.032,3051,3467,1475
$GC,10712,1.10,289.0,72.6,8.6,571,10716,0.00,2.00,0.00,0.000,6,0.000,0.021,3051,2240,1475
$GC,11044,1.11,294.0,47.0,7.0,602,11055,0.00,2.40,4.05,0.392,4,0.000,0.035,3051,844,1464
$GC,11127,1.11,294.0,40.3,8.2,609,11135,0.00,2.03,0.00,0.000,6,0.000,0.019,3051,2088,1463
$GC,11463,1.11,294.0,14.6,8.9,657,11469,0.00,2.28,0.00,0.000,4,0.000,0.066,3051,3458,1463
$GC,11503,1.11,294.0,10.6,9.9,664,11509,0.00,2.00,0.00,0.000,6,0.000,0.019,3052,2237,1463
$STATE,11587,end climb,SURFACE_DEPTH_REACHED
$STATE,11587,begin surface coast
$FINISH,1.0,1.022884
$STATE,11622,end surface coast,CONTROL_FINISHED_OK
$STATE,11622,begin surface
$SM_CCo,11642,23.02,0.508,0,0,1359,320.12
$SM_GC,1.71,0.00,0.00,23.02,0.000,0.000,0.508,428,2231,1359,-10.88,4.30,320.12
$IRIDIUM_FIX,2101.76,-15753.03,281097,010105
$TT8_MAMPS,0.029146
$HUMID,1910
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.10
$XPDR_PINGS,697
$24V_AH,23.3,54.297
$10V_AH,10.2,31.292
$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,25.325,106.525,393.100,23.025,0.000,31.034,29.560,194.535,174.250,0.000,0.000,13.942,1254.733,8190.837,480.157,1667.588,440.359,33.375,1307.175,0.000,1651.959,0.000,0.471
$DEVICE_MAMPS,313.703,75.933,885.885,507.754,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.878,445.127,765.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34874,685
$CAP_FILE_SIZE,99902,12
$CFSIZE,260165632,248983552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,081901,2108.885,-15753.430,41,0.9,41,9.8