version: 66.03
glider: 139
mission: 3
dive: 177
start: 8 4 108 1 43 0
data:
$ID,139
$MISSION,3
$DIVE,177
$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,-1274319
$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,80
$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
$GPS1,012907,2104.557,-15752.940,31,1.2,31,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.8
$GPS2,014211,2104.439,-15753.192,15,2.6,34,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,0.147
$KALMAN_X,-83547.9,-60.1,293.7,82665.4,-3980.1
$KALMAN_Y,-53241.6,-199.9,43.5,30744.4,-1354.3
$MHEAD_RNG_PITCHd_Wd,44.8,11497,-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,-175.2,0.0,0.0,0,86,0.00,0.00,-64.75,0.000,2,0.000,0.000,424,2108,2697
$GC,89,-0.96,-175.2,3.0,-2.9,12,124,12.18,2.28,-13.30,0.000,4,0.156,0.039,2578,3458,3381
$GC,170,-0.96,-175.2,18.5,-12.7,26,176,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2230,3382
$GC,293,-0.96,-175.2,32.8,-11.9,46,297,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,842,3382
$GC,321,-0.96,-175.2,36.2,-11.9,48,324,0.00,1.75,0.00,0.000,6,0.000,0.051,2578,1974,3382
$GC,651,-0.96,-175.2,78.3,-11.7,79,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1978,3383
$GC,969,-0.96,-175.2,114.8,-10.7,109,973,0.00,2.42,0.00,0.000,4,0.000,0.029,2578,3440,3383
$GC,996,-0.96,-175.2,117.6,-9.9,111,1003,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2232,3384
$GC,1322,-0.96,-175.2,144.8,-7.6,142,1326,0.00,2.33,0.00,0.000,4,0.000,0.067,2578,844,3384
$GC,1389,-0.96,-175.2,150.3,-8.0,147,1396,0.00,1.95,0.00,0.000,6,0.000,0.018,2578,2056,3384
$GC,1714,-0.96,-175.2,174.9,-7.4,178,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2060,3384
$GC,2032,-0.96,-175.2,197.1,-6.9,208,2036,0.00,2.05,0.00,0.000,4,0.000,0.035,2578,839,3384
$GC,2059,-0.96,-175.2,199.3,-7.8,210,2066,0.00,2.00,0.00,0.000,6,0.000,0.038,2578,2068,3384
$GC,2386,-0.96,-175.2,222.9,-6.5,227,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2072,3384
$GC,2695,-0.96,-175.2,241.6,-6.3,242,2699,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,3467,3383
$GC,2716,-0.96,-175.2,243.3,-7.1,243,2720,0.00,2.03,0.00,0.000,6,0.000,0.021,2578,2240,3383
$GC,3043,-0.96,-175.2,264.4,-6.3,259,3047,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,841,3382
$GC,3115,-0.96,-175.2,269.5,-7.3,262,3119,0.00,2.03,0.00,0.000,6,0.000,0.037,2578,2073,3382
$GC,3437,-0.96,-175.2,291.2,-6.5,278,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2077,3380
$GC,3743,-0.96,-175.2,311.0,-6.3,289,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2077,3379
$GC,4068,-0.96,-175.2,327.7,-4.8,297,4072,0.00,2.08,0.00,0.000,4,0.000,0.039,2578,846,3377
$GC,4090,-0.96,-175.2,328.8,-4.9,297,4094,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2077,3377
$GC,4438,-0.96,-175.2,346.0,-5.3,306,4441,0.00,2.10,0.00,0.000,4,0.000,0.039,2577,842,3375
$GC,4483,-0.96,-175.2,348.8,-6.7,307,4486,0.00,2.03,0.00,0.000,6,0.000,0.026,2578,2078,3375
$GC,4812,-0.96,-175.2,367.6,-5.9,315,4816,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3469,3373
$GC,4839,-0.96,-175.2,369.5,-7.5,315,4843,0.00,2.05,0.00,0.000,6,0.000,0.033,2578,2249,3372
$GC,5176,-0.96,-175.2,393.2,-7.3,324,5180,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,844,3370
$GC,5253,-0.96,-175.2,399.5,-8.0,325,5259,0.00,2.08,0.00,0.000,6,0.000,0.066,2578,2094,3369
$GC,5584,-0.96,-175.2,425.2,-7.0,334,5588,0.00,2.38,0.00,0.000,4,0.000,0.042,2578,3476,3368
$GC,5605,-0.96,-175.2,426.5,-6.0,334,5609,0.00,2.05,0.00,0.000,6,0.000,0.050,2578,2238,3367
$GC,5948,-0.96,-175.2,444.9,-5.4,343,5952,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,848,3365
$STATE,6040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6040,begin apogee
$GC,6047,-0.31,0.0,450.2,5.1,345,6191,0.65,0.00,140.82,0.890,6,0.053,0.000,2726,2080,2664
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6192,begin climb
$GC,6194,0.96,175.2,456.1,0.0,348,6348,1.23,2.20,144.85,0.864,4,0.066,0.081,3011,843,1948
$GC,6504,0.96,175.2,441.0,10.2,355,6508,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2075,1937
$GC,6817,0.96,175.2,412.7,9.1,363,6821,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3476,1936
$GC,7007,0.96,175.2,394.0,9.8,367,7011,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2244,1935
$GC,7354,0.96,175.2,362.1,9.0,376,7358,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,843,1933
$GC,7386,0.96,175.2,358.8,10.0,376,7392,0.00,2.10,0.00,0.000,6,0.000,0.066,3011,2077,1931
$GC,7717,0.96,175.2,329.8,8.8,385,7720,0.00,2.15,0.00,0.000,4,0.000,0.044,3011,841,1930
$GC,7777,0.96,175.2,324.4,8.4,386,7782,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2080,1929
$GC,8091,0.96,175.2,301.2,7.2,394,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1929
$GC,8399,0.96,175.2,276.5,7.6,408,8403,0.00,2.40,0.00,0.000,4,0.000,0.041,3011,3477,1928
$GC,8448,0.96,175.2,272.4,7.9,410,8452,0.00,2.08,0.00,0.000,6,0.000,0.026,3011,2252,1928
$GC,8775,0.96,175.2,246.5,7.8,426,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2252,1927
$GC,9085,1.00,210.3,227.0,6.2,441,9119,0.00,2.20,27.70,0.738,4,0.000,0.081,3011,3477,1806
$GC,9328,1.00,210.3,209.8,9.3,452,9331,0.00,2.08,0.00,0.000,6,0.000,0.063,3010,2240,1804
$GC,9656,1.07,260.6,182.7,5.8,477,9708,0.00,2.47,44.10,0.696,4,0.000,0.071,3011,848,1599
$GC,9854,1.07,260.6,167.4,9.2,495,9858,0.00,2.05,0.00,0.000,6,0.000,0.024,3011,2093,1592
$GC,10187,1.07,260.6,141.9,8.0,526,10190,0.00,1.67,0.00,0.000,4,0.000,0.077,3011,3106,1592
$GC,10243,1.07,260.6,137.0,8.0,531,10247,0.00,1.45,0.00,0.000,6,0.000,0.023,3011,2238,1592
$GC,10575,1.07,267.4,113.5,7.0,562,10587,0.00,2.38,6.12,0.504,4,0.000,0.035,3011,837,1572
$GC,10610,1.07,267.4,110.8,7.6,565,10614,0.00,2.05,0.00,0.000,6,0.000,0.031,3011,2092,1570
$GC,10940,1.13,313.0,89.8,5.9,596,10986,0.12,2.17,40.60,0.591,4,0.046,0.071,3055,836,1385
$GC,11036,1.13,313.0,82.7,8.2,604,11043,0.00,2.05,0.00,0.000,6,0.000,0.041,3055,2078,1382
$GC,11364,1.21,381.2,62.1,5.3,635,11429,0.00,2.12,57.58,0.565,4,0.000,0.064,3055,845,1109
$GC,11509,1.21,381.2,52.6,8.0,648,11513,0.00,2.00,0.00,0.000,6,0.000,0.058,3055,2084,1104
$GC,11836,1.21,381.2,26.5,8.2,682,11842,0.00,2.10,0.00,0.000,4,0.000,0.044,3055,837,1103
$GC,11928,1.21,381.2,16.9,10.4,698,11935,0.00,1.98,0.00,0.000,6,0.000,0.018,3055,2088,1102
$GC,12048,1.21,381.2,7.4,8.6,719,12054,0.00,2.10,0.00,0.000,4,0.000,0.035,3055,839,1102
$GC,12078,1.21,381.2,4.5,9.8,724,12085,0.00,1.98,0.00,0.000,6,0.000,0.018,3055,2090,1102
$STATE,12089,end climb,SURFACE_DEPTH_REACHED
$STATE,12089,begin surface coast
$FINISH,1.2,1.022866
$STATE,12118,end surface coast,CONTROL_FINISHED_OK
$STATE,12118,begin surface
$SM_CCo,12198,0.00,0.000,0,0,1099,384.14
$SM_GC,1.61,11.35,0.00,0.00,0.032,0.000,0.000,432,2091,1099,-10.81,0.34,384.14
$IRIDIUM_FIX,2057.14,-15751.76,291097,010101
$TT8_MAMPS,0.029146
$HUMID,1885
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.50
$XPDR_PINGS,710
$24V_AH,23.3,55.153
$10V_AH,10.2,31.775
$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,25.525,110.750,461.775,0.000,0.000,88.940,87.777,331.559,177.500,0.000,0.000,36.856,1293.507,8697.910,521.887,1742.941,711.165,33.376,1397.549,0.000,1710.127,0.000,0.471
$DEVICE_MAMPS,155.701,81.302,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.590,485.400,826.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37984,731
$CAP_FILE_SIZE,106978,13
$CFSIZE,260165632,248668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040808,050731,2104.338,-15753.867,37,1.5,37,9.8