version: 66.03
glider: 139
mission: 3
dive: 175
start: 8 3 108 18 58 29
data:
$ID,139
$MISSION,3
$DIVE,175
$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,-1274269.1
$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,66
$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
$GPS1,185037,2106.425,-15753.349,36,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.3
$GPS2,185739,2106.404,-15753.315,11,1.1,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.090
$KALMAN_X,-75331.2,-1088.1,-888.4,76442.2,-390.9
$KALMAN_Y,-50587.7,118.6,-214.5,31664.3,-664.8
$MHEAD_RNG_PITCHd_Wd,101.0,13373,-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,-49.62,0.000,2,0.000,0.000,423,2096,2742
$GC,74,-0.96,-175.2,3.4,-3.9,9,104,12.12,2.17,-11.98,0.000,4,0.154,0.048,2576,844,3382
$GC,116,-0.96,-175.2,15.1,-26.4,16,122,0.00,1.95,0.00,0.000,6,0.000,0.018,2577,2073,3383
$GC,235,-0.96,-175.2,30.6,-13.1,37,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3384
$GC,553,-0.96,-175.2,73.3,-12.3,67,557,0.00,2.30,0.00,0.000,4,0.000,0.029,2577,3461,3384
$GC,574,-0.96,-175.2,75.7,-11.3,68,580,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2240,3384
$GC,899,-0.96,-175.2,106.5,-9.3,99,903,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,841,3385
$GC,988,-0.96,-175.2,113.9,-8.2,107,992,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2080,3386
$GC,1320,-0.96,-175.2,146.4,-10.2,138,1324,0.00,2.30,0.00,0.000,4,0.000,0.054,2577,3463,3386
$GC,1352,-0.96,-175.2,150.0,-10.6,140,1359,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2240,3386
$GC,1679,-0.96,-175.2,182.5,-9.1,171,1682,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,842,3386
$GC,1734,-0.96,-175.2,187.7,-9.0,176,1738,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2079,3386
$GC,2069,-0.96,-175.2,216.8,-8.2,199,2073,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,842,3386
$GC,2130,-0.96,-175.2,221.1,-6.9,201,2137,0.00,1.98,0.00,0.000,6,0.000,0.035,2577,2077,3387
$GC,2446,-0.96,-175.2,242.2,-7.3,217,2450,0.00,2.30,0.00,0.000,4,0.000,0.033,2576,3462,3386
$GC,2467,-0.96,-175.2,244.0,-7.9,218,2471,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2244,3386
$GC,2794,-0.96,-175.2,271.0,-8.5,234,2798,0.00,2.38,0.00,0.000,4,0.000,0.051,2576,835,3386
$GC,2860,-0.96,-175.2,277.1,-8.2,237,2864,0.00,2.03,0.00,0.000,6,0.000,0.060,2576,2067,3386
$GC,3207,-0.96,-175.2,302.4,-5.7,253,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2071,3385
$GC,3531,-0.96,-175.2,326.3,-8.6,261,3535,0.00,2.08,0.00,0.000,4,0.000,0.037,2576,837,3383
$GC,3592,-0.96,-175.2,331.8,-8.7,262,3596,0.00,2.05,0.00,0.000,6,0.000,0.061,2576,2071,3383
$GC,3905,-0.96,-175.2,352.9,-5.7,270,3909,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3474,3381
$GC,3994,-0.96,-175.2,358.4,-6.3,272,3998,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2238,3380
$GC,4319,-0.96,-175.2,378.3,-6.4,280,4323,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,837,3378
$GC,4430,-0.96,-175.2,385.2,-5.8,282,4434,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2082,3378
$GC,4773,-0.96,-175.2,406.2,-6.1,291,4777,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,3470,3376
$GC,4816,-0.96,-175.2,409.2,-6.2,292,4820,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2243,3375
$GC,5140,-0.96,-175.2,438.6,-10.5,300,5145,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,848,3373
$GC,5240,-0.96,-175.2,449.5,-10.3,302,5245,0.00,2.05,0.00,0.000,6,0.000,0.028,2576,2085,3373
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5249,begin apogee
$GC,5254,-0.31,0.0,450.6,10.3,302,5399,0.08,0.00,142.30,0.886,6,1.304,0.000,2599,2089,2664
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5401,0.96,175.2,461.6,0.0,306,5559,1.85,2.53,145.02,0.861,4,0.055,0.044,3003,3475,1948
$GC,5732,0.96,175.2,442.4,10.0,313,5736,0.00,2.10,0.00,0.000,6,0.000,0.028,3003,2254,1943
$GC,6068,0.96,175.2,411.9,9.1,322,6073,0.00,2.45,0.00,0.000,4,0.000,0.044,3003,847,1937
$GC,6153,0.96,175.2,403.3,9.9,324,6156,0.00,2.08,0.00,0.000,6,0.000,0.067,3003,2077,1934
$GC,6482,0.96,175.2,372.4,8.6,332,6486,0.00,2.42,0.00,0.000,4,0.000,0.043,3003,3474,1933
$GC,6570,0.96,175.2,365.3,8.3,334,6574,0.00,2.10,0.00,0.000,6,0.000,0.028,3003,2252,1933
$GC,6895,0.98,192.9,340.9,6.7,342,6914,0.00,2.53,13.65,0.785,4,0.000,0.056,3003,846,1876
$GC,7004,1.02,221.5,334.4,6.4,344,7044,0.00,2.10,28.52,0.763,6,0.000,0.029,3003,2079,1759
$GC,7352,1.02,221.5,306.6,8.8,353,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2082,1753
$GC,7660,1.02,221.5,277.1,9.8,366,7663,0.00,2.15,0.00,0.000,4,0.000,0.044,3003,845,1750
$GC,7682,1.02,221.5,275.0,9.6,367,7686,0.00,2.08,0.00,0.000,6,0.000,0.028,3003,2083,1749
$GC,8014,1.02,221.5,249.4,7.2,383,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2086,1749
$GC,8323,1.02,221.5,224.4,7.5,398,8326,0.00,2.15,0.00,0.000,4,0.000,0.041,3003,842,1749
$GC,8468,1.11,293.8,215.3,5.2,404,8535,0.10,2.08,61.92,0.725,6,0.040,0.026,3041,2079,1466
$GC,8850,1.11,293.8,176.6,9.5,432,8854,0.00,2.12,0.00,0.000,4,0.000,0.041,3041,845,1459
$GC,8935,1.11,293.8,167.9,11.3,439,8941,0.00,2.03,0.00,0.000,6,0.000,0.024,3041,2082,1456
$GC,9262,1.11,293.8,140.2,8.8,470,9266,0.00,2.35,0.00,0.000,4,0.000,0.067,3042,3470,1456
$GC,9290,1.11,293.8,137.2,10.3,472,9293,0.00,1.90,0.00,0.000,6,0.000,0.064,3042,2299,1456
$GC,9622,1.11,293.8,104.1,10.4,503,9626,0.00,2.47,0.00,0.000,4,0.000,0.051,3041,846,1456
$GC,9733,1.11,293.8,93.0,9.1,512,9740,0.00,2.05,0.00,0.000,6,0.000,0.054,3042,2083,1454
$GC,10060,1.11,293.8,65.6,7.5,543,10063,0.00,2.12,0.00,0.000,4,0.000,0.073,3042,838,1454
$GC,10109,1.11,297.7,61.8,7.0,547,10115,0.00,2.03,0.00,0.000,6,0.000,0.019,3042,2079,1454
$GC,10435,1.11,297.7,35.3,8.2,578,10439,0.00,2.10,0.00,0.000,4,0.000,0.074,3041,841,1455
$GC,10480,1.11,297.7,31.3,9.4,582,10484,0.00,2.00,0.00,0.000,6,0.000,0.020,3041,2084,1455
$GC,10824,1.11,297.7,4.8,7.6,641,10830,0.00,2.08,0.00,0.000,4,0.000,0.034,3041,842,1456
$STATE,10845,end climb,SURFACE_DEPTH_REACHED
$STATE,10845,begin surface coast
$FINISH,1.0,1.008747
$STATE,10880,end surface coast,CONTROL_FINISHED_OK
$STATE,10880,begin surface
$SM_CCo,10902,21.62,0.510,0,0,1359,320.12
$SM_GC,1.56,0.00,0.00,21.62,0.000,0.000,0.510,432,2094,1359,-10.87,0.45,320.12
$IRIDIUM_FIX,2059.45,-15750.89,281097,151535
$TT8_MAMPS,0.029146
$HUMID,1912
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,671
$24V_AH,21.8,54.859
$10V_AH,10.2,31.610
$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,25.350,107.900,391.425,21.625,0.000,30.131,29.318,237.066,167.750,0.000,0.000,14.635,1202.706,7562.304,476.537,1615.825,476.358,33.378,1285.809,0.000,1606.437,0.000,0.471
$DEVICE_MAMPS,1303.900,73.632,885.885,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.298,426.257,736.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34868,651
$CAP_FILE_SIZE,97670,11
$CFSIZE,260165632,248782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030808,220138,2105.270,-15752.859,27,1.7,27,9.8