version: 66.03
glider: 139
mission: 3
dive: 178
start: 8 4 108 5 15 29
data:
$ID,139
$MISSION,3
$DIVE,178
$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,-1274334.8
$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,70
$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
$GPS1,050731,2104.338,-15753.867,37,1.5,37,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.9
$GPS2,051439,2104.323,-15753.950,13,1.5,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.103
$KALMAN_X,-87164.1,479.5,-568.0,85280.5,-2983.6
$KALMAN_Y,-54951.3,-407.8,-113.8,32604.2,-1283.8
$MHEAD_RNG_PITCHd_Wd,56.3,12671,-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,-175.2,0.0,0.0,0,87,0.00,0.00,-65.30,0.000,2,0.000,0.000,432,2090,2932
$GC,90,-0.96,-175.2,3.9,-4.3,12,115,12.05,2.33,-7.70,0.000,4,0.153,0.038,2575,3461,3382
$GC,177,-0.96,-175.2,26.4,-14.2,27,183,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2234,3384
$GC,297,-0.96,-175.2,40.9,-12.7,41,301,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,836,3384
$GC,328,-0.96,-175.2,44.4,-10.4,43,336,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2070,3385
$GC,654,-0.96,-175.2,83.5,-11.1,74,658,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,836,3385
$GC,703,-0.96,-175.2,89.2,-11.7,78,710,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2071,3385
$GC,1028,-0.96,-175.2,126.4,-10.0,109,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3386
$GC,1347,-0.96,-175.2,154.5,-7.7,139,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3387
$GC,1665,-0.96,-175.2,179.4,-9.6,169,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3387
$GC,1980,-0.96,-175.2,211.1,-10.6,194,1984,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,835,3387
$GC,2041,-0.96,-175.2,217.3,-10.0,196,2048,0.00,2.03,0.00,0.000,6,0.000,0.048,2575,2079,3387
$GC,2357,-0.96,-175.2,238.3,-5.4,212,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3387
$GC,2667,-0.96,-175.2,256.9,-6.8,227,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3386
$GC,2975,-0.96,-175.2,276.0,-5.6,242,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3385
$GC,3285,-0.96,-175.2,292.4,-5.4,257,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3383
$GC,3611,-0.96,-175.2,313.4,-6.6,268,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3381
$GC,3936,-0.96,-175.2,334.4,-6.1,276,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3380
$GC,4261,-0.96,-175.2,352.7,-5.8,284,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3378
$GC,4586,-0.96,-175.2,371.1,-5.6,292,4590,0.00,2.12,0.00,0.000,4,0.000,0.041,2574,841,3376
$GC,4619,-0.96,-175.2,373.4,-6.8,292,4623,0.00,2.03,0.00,0.000,6,0.000,0.027,2575,2071,3375
$GC,4957,-0.96,-175.2,395.6,-6.9,301,4961,0.00,2.40,0.00,0.000,4,0.000,0.077,2575,3470,3373
$GC,4989,-0.96,-175.2,398.1,-7.1,301,4995,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2236,3373
$GC,5321,-0.96,-175.2,420.4,-6.4,310,5324,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,844,3371
$GC,5382,-0.96,-175.2,423.8,-5.3,311,5385,0.00,2.05,0.00,0.000,6,0.000,0.067,2575,2075,3371
$GC,5694,-0.96,-175.2,442.9,-6.4,319,5699,0.00,2.40,0.00,0.000,4,0.000,0.044,2575,3474,3369
$GC,5779,-0.96,-175.2,447.8,-5.5,321,5783,0.00,2.05,0.00,0.000,6,0.000,0.065,2576,2243,3369
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5820,-0.31,0.0,450.3,6.1,321,5965,0.65,0.00,141.68,0.892,6,0.054,0.000,2725,2241,2664
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,0.96,175.2,457.9,0.0,325,6122,1.23,2.20,145.25,0.865,4,0.036,0.080,3009,3473,1947
$GC,6227,0.96,175.2,447.6,9.4,331,6231,0.00,2.10,0.00,0.000,6,0.000,0.061,3009,2260,1943
$GC,6546,0.96,175.2,421.3,8.0,339,6550,0.00,2.47,0.00,0.000,4,0.000,0.045,3009,845,1937
$GC,6738,0.96,175.2,404.4,9.4,343,6742,0.00,2.08,0.00,0.000,6,0.000,0.029,3009,2078,1933
$GC,7085,0.96,175.2,376.1,7.7,352,7089,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,3477,1932
$GC,7162,0.96,175.2,370.7,7.1,353,7168,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2252,1932
$GC,7493,0.96,175.2,345.3,8.4,362,7497,0.00,2.45,0.00,0.000,4,0.000,0.076,3009,842,1930
$GC,7536,0.96,175.2,341.3,9.3,363,7540,0.00,2.10,0.00,0.000,6,0.000,0.029,3009,2077,1928
$GC,7860,0.96,175.2,313.2,9.1,371,7864,0.00,2.42,0.00,0.000,4,0.000,0.042,3009,3475,1928
$GC,7920,0.96,175.2,307.8,8.6,372,7924,0.00,2.10,0.00,0.000,6,0.000,0.036,3009,2247,1928
$GC,8251,0.96,175.9,280.9,7.1,386,8255,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,843,1927
$GC,8283,0.97,185.9,278.6,6.9,387,8294,0.00,2.10,6.45,0.654,6,0.000,0.028,3009,2084,1906
$GC,8615,1.04,239.5,260.6,5.7,404,8669,0.00,2.47,48.25,0.774,4,0.000,0.041,3010,3472,1686
$GC,8692,1.05,246.0,255.7,7.0,407,8704,0.00,2.10,7.18,0.632,6,0.000,0.027,3009,2247,1661
$GC,9025,1.05,246.0,228.2,9.0,424,9029,0.00,2.40,0.00,0.000,4,0.000,0.052,3009,849,1654
$GC,9130,1.05,246.0,218.1,9.1,428,9137,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2080,1651
$GC,9448,1.12,301.7,194.0,5.6,448,9502,0.12,2.25,48.25,0.706,4,0.052,0.082,3048,839,1432
$GC,9614,1.12,301.7,178.4,11.3,463,9618,0.00,2.05,0.00,0.000,6,0.000,0.025,3048,2081,1426
$GC,9945,1.12,301.7,140.0,11.2,494,9949,0.00,2.12,0.00,0.000,4,0.000,0.047,3047,846,1425
$GC,10017,1.12,301.7,132.0,10.6,500,10024,0.00,2.05,0.00,0.000,6,0.000,0.022,3048,2080,1423
$GC,10345,1.12,301.7,98.2,10.2,531,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2084,1423
$GC,10660,1.12,301.7,68.4,8.7,561,10664,0.00,2.33,0.00,0.000,4,0.000,0.032,3048,3467,1423
$GC,10717,1.12,301.7,63.5,8.1,566,10720,0.00,2.00,0.00,0.000,6,0.000,0.021,3048,2241,1423
$GC,11048,1.12,301.7,35.9,9.6,597,11052,0.00,2.38,0.00,0.000,4,0.000,0.039,3048,840,1423
$GC,11256,1.12,301.7,18.5,8.3,627,11263,0.00,2.00,0.00,0.000,6,0.000,0.030,3048,2093,1423
$GC,11375,1.12,301.7,8.6,8.5,648,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2098,1423
$STATE,11447,end climb,SURFACE_DEPTH_REACHED
$STATE,11447,begin surface coast
$FINISH,1.1,1.022891
$STATE,11487,end surface coast,CONTROL_FINISHED_OK
$STATE,11488,begin surface
$SM_CCo,11507,14.73,0.502,0,0,1359,320.12
$SM_GC,1.53,0.00,0.00,14.73,0.000,0.000,0.502,426,2098,1359,-10.90,0.54,320.12
$IRIDIUM_FIX,2057.14,-15751.76,291097,010112
$TT8_MAMPS,0.029146
$HUMID,1950
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.00
$XPDR_PINGS,651
$24V_AH,23.3,55.285
$10V_AH,10.2,31.849
$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,25.475,87.500,397.050,14.725,0.000,28.418,23.167,242.622,162.750,0.000,0.000,15.088,1189.527,8256.842,477.572,1544.602,468.575,33.371,1247.977,0.000,1531.842,0.000,0.470
$DEVICE_MAMPS,152.633,82.069,892.021,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.469,431.729,731.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,668
$CAP_FILE_SIZE,94549,11
$CFSIZE,260165632,248631296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,082907,2104.162,-15754.169,58,0.9,58,9.8