version: 66.03
glider: 139
mission: 3
dive: 172
start: 8 3 108 8 34 11
data:
$ID,139
$MISSION,3
$DIVE,172
$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,-1274218.2
$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,62
$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
$GPS1,081901,2108.885,-15753.430,41,0.9,41,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.0
$GPS2,083321,2108.843,-15753.283,15,1.3,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.043
$KALMAN_X,-68692.4,459.2,-82.1,67491.7,-1553.5
$KALMAN_Y,-48950.6,249.6,63.4,34130.1,-1230.8
$MHEAD_RNG_PITCHd_Wd,90.0,16327,-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,20,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.28,0.000,2,0.000,0.000,429,2232,2898
$GC,79,-0.96,-175.2,3.9,-5.1,10,109,12.05,2.40,-8.35,0.000,4,0.153,0.049,2577,846,3382
$GC,143,-0.96,-175.2,21.4,-16.9,21,149,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2083,3383
$GC,260,-0.96,-175.2,35.1,-11.6,38,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2088,3383
$GC,578,-0.96,-175.2,70.7,-11.3,68,582,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,835,3383
$GC,605,-0.96,-175.2,74.3,-13.3,70,612,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2071,3384
$GC,930,-0.96,-175.2,106.1,-9.5,101,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2075,3384
$GC,1249,-0.96,-175.2,134.5,-7.9,131,1253,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,835,3385
$GC,1275,-0.96,-175.2,137.2,-9.3,133,1282,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2074,3385
$GC,1601,-0.96,-175.2,166.2,-8.3,164,1605,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,839,3385
$GC,1639,-0.96,-175.2,169.5,-7.9,167,1646,0.00,2.00,0.00,0.000,6,0.000,0.024,2577,2077,3385
$GC,1965,-0.96,-175.2,194.2,-6.9,198,1969,0.00,2.30,0.00,0.000,4,0.000,0.067,2578,3459,3385
$GC,1983,-0.96,-175.2,195.5,-7.1,199,1987,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2234,3385
$GC,2315,-0.96,-175.2,222.2,-8.1,218,2319,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,844,3385
$GC,2386,-0.96,-175.2,227.0,-6.3,221,2390,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2074,3385
$GC,2708,-0.96,-175.2,248.9,-7.7,237,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3385
$GC,3016,-0.96,-175.2,274.3,-7.4,252,3020,0.00,2.08,0.00,0.000,4,0.000,0.036,2577,844,3384
$GC,3084,-0.96,-175.2,279.6,-7.4,255,3088,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2076,3384
$GC,3416,-0.96,-175.2,298.3,-5.0,271,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3383
$GC,3741,-0.96,-175.2,315.5,-5.5,280,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3381
$GC,4066,-0.96,-175.2,333.4,-5.5,288,4070,0.00,2.10,0.00,0.000,4,0.000,0.039,2577,839,3380
$GC,4112,-0.96,-175.2,336.0,-5.8,289,4115,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2075,3379
$GC,4441,-0.96,-175.2,352.7,-5.0,297,4445,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3472,3377
$GC,4462,-0.96,-175.2,353.7,-4.6,297,4466,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2228,3377
$GC,4810,-0.96,-175.2,370.5,-5.1,306,4814,0.00,2.35,0.00,0.000,4,0.000,0.040,2578,847,3375
$GC,4854,-0.96,-175.2,373.3,-6.4,307,4858,0.00,2.03,0.00,0.000,6,0.000,0.027,2578,2076,3375
$GC,5178,-0.96,-175.2,394.2,-6.2,315,5182,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3473,3372
$GC,5204,-0.96,-175.2,395.9,-6.5,315,5208,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2238,3372
$GC,5541,-0.96,-175.2,412.3,-4.3,324,5545,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,849,3370
$GC,5608,-0.96,-175.2,415.8,-5.0,325,5612,0.00,2.05,0.00,0.000,6,0.000,0.066,2578,2080,3369
$GC,5950,-0.96,-175.2,431.8,-5.3,334,5954,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3474,3367
$GC,6000,-0.96,-175.2,434.9,-5.8,335,6004,0.00,2.05,0.00,0.000,6,0.000,0.028,2578,2241,3366
$STATE,6235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6235,begin apogee
$GC,6240,-0.31,0.0,450.4,6.8,341,6384,0.68,0.00,141.18,0.897,6,0.163,0.000,2730,2240,2664
$STATE,6385,end apogee,CONTROL_FINISHED_OK
$STATE,6385,begin climb
$GC,6387,0.96,175.2,459.8,0.0,344,6542,1.23,2.50,145.62,0.871,4,0.038,0.072,3010,845,1947
$GC,6619,0.96,175.2,455.6,8.7,350,6624,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2072,1939
$GC,6932,0.96,175.2,430.6,7.7,358,6936,0.00,2.15,0.00,0.000,4,0.000,0.044,3010,846,1936
$GC,6982,0.96,175.2,426.2,8.9,359,6986,0.00,2.10,0.00,0.000,6,0.000,0.068,3010,2074,1934
$GC,7306,0.96,175.2,399.3,8.1,367,7310,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,3481,1933
$GC,7365,0.96,175.2,393.5,9.3,368,7370,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2256,1933
$GC,7713,0.96,175.2,360.3,9.7,377,7717,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,849,1931
$GC,7841,0.96,175.2,347.8,9.5,379,7848,0.00,2.10,0.00,0.000,6,0.000,0.066,3010,2078,1929
$GC,8173,0.96,176.8,323.4,7.1,388,8176,0.00,2.15,0.00,0.000,4,0.000,0.081,3010,847,1929
$GC,8256,0.96,176.8,317.3,7.3,389,8262,0.00,2.10,0.00,0.000,6,0.000,0.067,3010,2081,1927
$GC,8568,0.96,176.8,294.2,7.4,399,8572,0.00,2.42,0.00,0.000,4,0.000,0.042,3010,3480,1927
$GC,8667,0.96,176.8,286.5,7.6,403,8672,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2248,1928
$GC,8989,0.96,176.8,263.7,7.3,419,8993,0.00,2.40,0.00,0.000,4,0.000,0.041,3010,842,1926
$GC,9060,0.96,176.8,258.2,8.1,422,9064,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2084,1925
$GC,9381,0.96,176.8,234.3,7.6,438,9385,0.00,2.40,0.00,0.000,4,0.000,0.040,3010,3483,1924
$GC,9458,0.96,176.8,228.6,7.2,441,9464,0.00,2.10,0.00,0.000,6,0.000,0.034,3010,2244,1925
$GC,9774,1.00,207.9,208.9,6.3,457,9804,0.00,2.45,25.38,0.717,4,0.000,0.073,3010,841,1814
$GC,9865,1.00,207.9,202.7,7.6,461,9869,0.00,2.10,0.00,0.000,6,0.000,0.032,3010,2085,1811
$GC,10196,1.00,207.9,173.9,8.6,490,10200,0.00,2.33,0.00,0.000,4,0.000,0.060,3010,3476,1810
$GC,10262,1.00,207.9,167.9,8.9,495,10268,0.00,2.08,0.00,0.000,6,0.000,0.023,3010,2242,1810
$GC,10590,1.00,207.9,141.0,7.5,526,10594,0.00,2.38,0.00,0.000,4,0.000,0.050,3010,845,1809
$GC,10622,1.00,207.9,138.3,7.7,528,10629,0.00,2.08,0.00,0.000,6,0.000,0.062,3010,2089,1808
$GC,10949,1.08,273.3,120.2,5.4,559,11013,0.00,2.15,56.70,0.634,4,0.000,0.075,3010,846,1547
$GC,11086,1.10,289.2,111.4,6.7,571,11106,0.10,2.03,14.15,0.580,6,0.054,0.062,3046,2096,1484
$GC,11431,1.10,289.2,78.8,9.5,604,11435,0.00,2.12,0.00,0.000,4,0.000,0.036,3045,844,1481
$GC,11491,1.10,289.2,72.8,9.4,609,11498,0.00,2.03,0.00,0.000,6,0.000,0.030,3045,2071,1478
$GC,11820,1.12,307.7,46.9,6.6,640,11839,0.00,0.00,16.77,0.541,6,0.000,0.000,3045,2075,1409
$GC,12161,1.12,307.7,21.9,7.4,681,12167,0.00,2.33,0.00,0.000,4,0.000,0.067,3045,3468,1407
$GC,12191,1.16,338.6,20.1,6.3,686,12225,0.00,1.98,27.48,0.529,6,0.000,0.020,3046,2237,1283
$GC,12340,1.16,338.6,9.8,7.5,712,12346,0.00,2.35,0.00,0.000,4,0.000,0.035,3045,837,1279
$GC,12403,1.16,338.6,3.5,9.4,723,12409,0.00,1.98,0.00,0.000,6,0.000,0.018,3045,2082,1277
$STATE,12413,end climb,SURFACE_DEPTH_REACHED
$STATE,12414,begin surface coast
$FINISH,1.2,1.022880
$STATE,12449,end surface coast,CONTROL_FINISHED_OK
$STATE,12449,begin surface
$SM_CCo,12529,0.00,0.000,0,0,1274,340.97
$SM_GC,1.73,11.30,0.00,0.00,0.041,0.000,0.000,428,2087,1274,-10.81,0.20,340.97
$IRIDIUM_FIX,2101.76,-15756.04,281097,080807
$TT8_MAMPS,0.029146
$HUMID,1914
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.80
$XPDR_PINGS,722
$24V_AH,23.3,54.448
$10V_AH,10.2,31.377
$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,25.350,121.600,427.275,0.000,0.000,81.381,85.983,436.772,180.500,0.000,0.000,17.756,1303.521,9056.317,515.312,1691.450,808.461,33.375,1365.650,0.000,1676.708,0.000,0.470
$DEVICE_MAMPS,162.604,80.535,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.729,471.539,814.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,731
$CAP_FILE_SIZE,112385,9
$CFSIZE,260165632,248918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030808,120408,2108.247,-15752.446,33,1.0,33,9.8