version: 66.03
glider: 139
mission: 3
dive: 176
start: 8 3 108 22 8 41
data:
$ID,139
$MISSION,3
$DIVE,176
$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,-1274281.5
$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,71
$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
$GPS1,220138,2105.270,-15752.859,27,1.7,27,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.5
$GPS2,220751,2105.159,-15752.828,10,1.7,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.017
$KALMAN_X,-78958.2,-660.3,151.9,79446.2,-1962.6
$KALMAN_Y,-51712.2,-2.9,-133.7,30528.7,-854.2
$MHEAD_RNG_PITCHd_Wd,76.5,11459,-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,-49.67,0.000,2,0.000,0.000,432,2095,2729
$GC,74,-0.96,-175.2,3.2,-3.3,9,104,12.05,2.33,-12.40,0.000,4,0.153,0.075,2577,3450,3381
$GC,138,-0.96,-175.2,17.2,-14.2,20,145,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2241,3383
$GC,264,-0.96,-175.2,31.8,-11.5,41,268,0.00,2.05,0.00,0.000,4,0.000,0.060,2577,993,3383
$GC,314,-0.96,-175.2,37.4,-10.8,45,320,0.00,1.73,0.00,0.000,6,0.000,0.018,2577,2062,3383
$GC,638,-0.96,-175.2,76.2,-12.0,76,642,0.00,2.05,0.00,0.000,4,0.000,0.034,2577,842,3384
$GC,740,-0.96,-175.2,86.6,-9.5,85,744,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2083,3384
$GC,1071,-0.96,-175.2,113.8,-7.9,116,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3386
$GC,1389,-0.96,-175.2,142.0,-9.4,146,1393,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,839,3386
$GC,1468,-0.96,-175.2,148.9,-8.8,153,1471,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2086,3386
$GC,1799,-0.96,-175.2,172.6,-6.1,184,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2090,3386
$GC,2116,-0.96,-175.2,196.1,-9.4,214,2120,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3464,3386
$GC,2148,-0.96,-175.2,199.7,-10.6,216,2155,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2241,3386
$GC,2464,-0.96,-175.2,227.2,-7.4,232,2468,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,834,3386
$GC,2541,-0.96,-175.2,232.7,-7.2,235,2547,0.00,2.03,0.00,0.000,6,0.000,0.020,2577,2082,3386
$GC,2857,-0.96,-175.2,249.3,-4.6,251,2861,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3467,3386
$GC,2896,-0.96,-175.2,251.5,-6.0,253,2900,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2233,3386
$GC,3229,-0.96,-175.2,270.4,-5.8,269,3233,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,836,3385
$GC,3316,-0.96,-175.2,275.6,-5.6,273,3319,0.00,1.65,0.00,0.000,6,0.000,0.048,2577,1891,3386
$GC,3648,-0.96,-175.2,295.3,-6.1,289,3652,0.00,2.15,0.00,0.000,4,0.000,0.069,2577,3211,3384
$GC,3709,-0.96,-175.2,298.9,-6.0,292,3713,0.03,1.60,0.00,0.000,6,0.138,0.024,2560,2227,3383
$GC,4057,-0.96,-175.2,319.5,-6.3,301,4062,0.12,2.35,0.00,0.000,4,0.079,0.038,2586,842,3382
$GC,4129,-0.96,-175.2,323.8,-6.1,302,4133,0.00,2.05,0.00,0.000,6,0.000,0.025,2586,2071,3382
$GC,4465,-0.96,-175.2,345.2,-6.8,311,4469,0.00,2.40,0.00,0.000,4,0.000,0.040,2586,3476,3380
$GC,4492,-0.96,-175.2,347.2,-7.2,311,4496,0.00,2.08,0.00,0.000,6,0.000,0.064,2586,2240,3380
$GC,4829,-0.96,-175.2,374.1,-8.0,320,4833,0.00,2.38,0.00,0.000,4,0.000,0.039,2586,846,3377
$GC,4889,-0.96,-175.2,378.8,-7.5,321,4893,0.00,2.05,0.00,0.000,6,0.000,0.066,2586,2071,3377
$GC,5237,-0.96,-175.2,405.0,-7.5,330,5241,0.00,2.40,0.00,0.000,4,0.000,0.041,2586,3473,3375
$GC,5269,-0.96,-175.2,407.5,-7.5,330,5275,0.00,2.08,0.00,0.000,6,0.000,0.065,2586,2237,3375
$GC,5600,-0.96,-175.2,432.9,-7.7,339,5604,0.00,2.38,0.00,0.000,4,0.000,0.041,2586,848,3373
$GC,5700,-0.96,-175.2,440.0,-6.8,341,5704,0.00,2.05,0.00,0.000,6,0.000,0.028,2586,2080,3373
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5853,-0.31,0.0,450.2,6.8,345,5999,0.62,0.00,142.35,0.887,6,0.044,0.000,2733,2082,2664
$STATE,5999,end apogee,CONTROL_FINISHED_OK
$STATE,6000,begin climb
$GC,6002,0.96,175.2,457.6,0.0,348,6156,1.17,2.20,145.10,0.863,4,0.114,0.079,3008,845,1948
$GC,6369,0.96,175.2,440.0,7.9,356,6373,0.00,2.10,0.00,0.000,6,0.000,0.028,3008,2090,1936
$GC,6711,0.96,175.2,414.1,7.7,365,6714,0.00,2.17,0.00,0.000,4,0.000,0.043,3008,846,1935
$GC,6800,0.96,175.2,405.7,9.5,367,6804,0.00,2.08,0.00,0.000,6,0.000,0.028,3008,2080,1933
$GC,7130,0.96,175.2,378.9,8.0,375,7134,0.00,2.42,0.00,0.000,4,0.000,0.042,3008,3477,1932
$GC,7270,0.96,175.2,367.1,7.9,378,7274,0.00,2.05,0.00,0.000,6,0.000,0.028,3008,2252,1932
$GC,7588,0.98,193.8,344.9,6.6,386,7604,0.00,0.00,14.35,0.787,6,0.000,0.000,3008,2252,1873
$GC,7913,0.98,193.8,318.7,8.7,394,7918,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,841,1869
$GC,7985,0.98,193.8,312.6,8.8,395,7990,0.00,2.12,0.00,0.000,6,0.000,0.061,3008,2084,1867
$GC,8303,1.03,235.0,293.3,6.0,406,8346,0.00,2.25,37.05,0.788,4,0.000,0.043,3008,848,1704
$GC,8475,1.03,235.0,274.9,10.4,413,8481,0.00,2.08,0.00,0.000,6,0.000,0.028,3008,2089,1697
$GC,8790,1.03,235.0,247.5,8.9,429,8794,0.00,2.40,0.00,0.000,4,0.000,0.039,3008,3479,1696
$GC,8862,1.03,235.0,240.5,9.4,432,8866,0.00,2.10,0.00,0.000,6,0.000,0.064,3008,2250,1696
$GC,9183,1.03,235.0,211.8,8.7,448,9187,0.00,2.42,0.00,0.000,4,0.000,0.041,3008,842,1695
$GC,9334,1.03,235.0,196.9,10.0,456,9337,0.00,2.05,0.00,0.000,6,0.000,0.025,3008,2084,1692
$GC,9665,1.03,235.0,168.0,7.8,487,9669,0.00,2.15,0.00,0.000,4,0.000,0.076,3008,839,1692
$GC,9698,1.03,235.0,165.2,8.4,490,9702,0.00,2.05,0.00,0.000,6,0.000,0.024,3008,2083,1691
$GC,10030,1.04,239.5,142.1,7.0,521,10034,0.00,2.35,0.00,0.000,4,0.000,0.039,3008,3468,1691
$GC,10148,1.06,256.5,134.1,6.7,531,10170,0.00,2.05,18.02,0.630,6,0.000,0.023,3008,2242,1618
$GC,10488,1.07,263.2,112.6,7.0,563,10500,0.00,2.45,7.22,0.528,4,0.000,0.036,3008,842,1590
$GC,10613,1.07,263.2,101.7,9.4,574,10617,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2090,1587
$GC,10945,1.07,263.2,73.4,7.9,605,10949,0.00,2.33,0.00,0.000,4,0.000,0.038,3008,3474,1587
$GC,10973,1.07,263.2,71.1,7.9,607,10976,0.00,2.03,0.00,0.000,6,0.000,0.021,3008,2230,1587
$GC,11306,1.27,428.4,53.7,2.6,638,11456,0.12,2.42,137.93,0.563,4,0.309,0.042,3067,846,915
$GC,11547,1.27,428.4,34.3,9.6,660,11550,0.00,1.70,0.00,0.000,6,0.000,0.057,3067,1940,911
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,1.0,1.022842
$STATE,11880,end surface coast,CONTROL_FINISHED_OK
$STATE,11880,begin surface
$SM_CCo,11960,0.00,0.000,0,0,906,430.99
$SM_GC,1.69,11.32,0.00,0.00,0.038,0.000,0.000,423,2109,906,-10.81,0.85,430.99
$IRIDIUM_FIX,2059.45,-15753.90,281097,191925
$TT8_MAMPS,0.029146
$HUMID,1902
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.20
$XPDR_PINGS,733
$24V_AH,21.6,55.003
$10V_AH,10.2,31.690
$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,25.450,111.800,502.025,0.000,0.000,28.125,39.112,184.206,183.250,0.000,0.000,11.746,1295.042,8262.815,530.395,1777.379,455.994,33.375,1423.557,0.000,1772.292,0.000,0.470
$DEVICE_MAMPS,309.101,79.001,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.723,474.908,810.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37954,715
$CAP_FILE_SIZE,103067,11
$CFSIZE,260165632,248721408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,012907,2104.557,-15752.940,31,1.2,31,9.8