version: 66.03
glider: 139
mission: 3
dive: 179
start: 8 4 108 8 36 23
data:
$ID,139
$MISSION,3
$DIVE,179
$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,-1274349.8
$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,55
$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
$GPS1,082907,2104.162,-15754.169,58,0.9,58,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.4
$GPS2,083533,2104.092,-15754.203,12,1.0,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,0.089
$KALMAN_X,-90997.6,493.1,-113.5,88213.1,-3482.9
$KALMAN_Y,-56630.6,-372.5,-199.4,33905.4,-990.1
$MHEAD_RNG_PITCHd_Wd,59.8,12974,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-48.22,0.000,2,0.000,0.000,426,2098,2701
$GC,74,-0.96,-175.2,3.3,-3.7,9,104,12.20,2.35,-12.85,0.000,4,0.157,0.079,2577,3464,3382
$GC,133,-0.96,-175.2,16.8,-16.7,19,139,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2240,3383
$GC,251,-0.96,-175.2,31.5,-12.4,39,255,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,836,3383
$GC,283,-0.96,-175.2,35.5,-11.8,41,290,0.00,2.03,0.00,0.000,6,0.000,0.018,2577,2080,3383
$GC,608,-0.96,-175.2,71.6,-10.4,72,612,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,842,3384
$GC,664,-0.96,-175.2,77.0,-9.8,77,668,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2079,3384
$GC,994,-0.96,-175.2,113.7,-11.5,108,998,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,843,3385
$GC,1021,-0.96,-175.2,116.9,-11.9,110,1028,0.00,2.00,0.00,0.000,6,0.000,0.061,2577,2072,3385
$GC,1347,-0.96,-175.2,147.1,-8.4,141,1351,0.00,2.33,0.00,0.000,4,0.000,0.037,2577,3464,3386
$GC,1368,-0.96,-175.2,149.0,-8.3,142,1375,0.00,2.00,0.00,0.000,6,0.000,0.025,2577,2240,3386
$GC,1695,-0.96,-175.2,173.5,-8.1,173,1699,0.00,2.35,0.00,0.000,4,0.000,0.053,2577,839,3386
$GC,1851,-0.96,-175.2,187.3,-8.4,186,1858,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2071,3386
$GC,2171,-0.96,-175.2,208.4,-5.3,210,2175,0.00,2.08,0.00,0.000,4,0.000,0.034,2576,836,3387
$GC,2227,-0.96,-175.2,211.2,-5.0,212,2231,0.00,2.00,0.00,0.000,6,0.000,0.037,2577,2084,3387
$GC,2547,-0.96,-175.2,231.1,-7.2,228,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2088,3387
$GC,2857,-0.96,-175.2,250.8,-4.8,243,2861,0.00,2.10,0.00,0.000,4,0.000,0.036,2577,842,3387
$GC,2924,-0.96,-175.2,254.2,-5.3,246,2928,0.00,1.98,0.00,0.000,6,0.000,0.021,2577,2074,3387
$GC,3250,-0.96,-175.2,272.5,-5.9,262,3254,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,3466,3386
$GC,3272,-0.96,-175.2,274.0,-6.4,263,3276,0.00,2.00,0.00,0.000,6,0.000,0.022,2577,2236,3386
$GC,3599,-0.96,-175.2,295.9,-7.1,279,3603,0.00,2.35,0.00,0.000,4,0.000,0.051,2577,846,3384
$GC,3688,-0.96,-175.2,302.4,-6.8,283,3692,0.00,2.03,0.00,0.000,6,0.000,0.064,2577,2065,3385
$GC,4013,-0.96,-175.2,322.0,-6.0,291,4017,0.00,2.08,0.00,0.000,4,0.000,0.037,2577,836,3383
$GC,4034,-0.96,-175.2,323.4,-6.1,291,4038,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2076,3383
$GC,4382,-0.96,-175.2,348.3,-7.4,300,4386,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,3474,3381
$GC,4459,-0.96,-175.2,353.2,-5.4,301,4465,0.00,2.03,0.00,0.000,6,0.000,0.044,2577,2243,3381
$GC,4791,-0.96,-175.2,369.7,-4.7,310,4795,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,842,3378
$GC,4914,-0.96,-175.2,377.1,-6.4,312,4917,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2084,3378
$GC,5250,-0.96,-175.2,403.2,-8.1,321,5254,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3474,3376
$GC,5340,-0.96,-175.2,410.3,-8.7,323,5343,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2245,3376
$GC,5669,-0.96,-175.2,434.1,-6.9,331,5673,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,848,3374
$GC,5838,-0.96,-175.2,445.7,-7.1,334,5843,0.00,2.05,0.00,0.000,6,0.000,0.030,2577,2082,3373
$STATE,5922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5922,begin apogee
$GC,5927,-0.31,0.0,452.0,7.3,337,6072,0.68,0.00,142.45,0.892,6,0.048,0.000,2731,2083,2664
$STATE,6073,end apogee,CONTROL_FINISHED_OK
$STATE,6073,begin climb
$GC,6075,0.96,175.2,461.5,0.0,340,6229,1.17,2.20,145.00,0.867,4,0.035,0.078,3009,846,1948
$GC,6461,0.96,175.2,447.7,8.4,349,6464,0.00,2.08,0.00,0.000,6,0.000,0.066,3010,2076,1936
$GC,6790,0.96,175.2,416.6,9.9,357,6794,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,3474,1934
$GC,6845,0.96,175.2,410.4,11.3,358,6849,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2245,1934
$GC,7163,0.96,175.2,375.3,10.6,366,7167,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,849,1932
$GC,7292,0.96,175.2,362.9,8.9,369,7296,0.00,2.08,0.00,0.000,6,0.000,0.067,3010,2079,1931
$GC,7622,1.03,233.3,342.2,5.6,377,7676,0.00,2.50,48.88,0.828,4,0.000,0.075,3010,3471,1712
$GC,7721,1.03,233.3,335.6,7.7,379,7725,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2254,1710
$GC,8034,1.03,233.3,308.3,9.4,387,8038,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,848,1704
$GC,8167,1.03,233.3,293.2,11.3,391,8171,0.00,2.10,0.00,0.000,6,0.000,0.037,3009,2078,1700
$GC,8494,1.03,233.3,259.0,10.1,407,8498,0.00,2.42,0.00,0.000,4,0.000,0.041,3010,3481,1700
$GC,8538,1.03,233.3,254.5,10.0,409,8542,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2247,1700
$GC,8865,1.03,233.3,224.3,8.5,425,8869,0.00,2.42,0.00,0.000,4,0.000,0.042,3010,840,1699
$GC,9022,1.03,233.3,210.5,7.9,432,9026,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2089,1696
$GC,9347,1.03,233.3,189.0,7.6,454,9351,0.00,2.15,0.00,0.000,4,0.000,0.040,3009,844,1696
$GC,9521,1.04,237.5,176.1,7.0,469,9528,0.00,2.03,0.00,0.000,6,0.000,0.033,3010,2082,1695
$GC,9847,1.04,240.9,153.7,7.0,500,9859,0.00,2.38,5.05,0.515,4,0.000,0.035,3010,3477,1681
$GC,9893,1.04,241.0,150.1,7.1,504,9897,0.00,2.05,0.00,0.000,6,0.000,0.022,3010,2236,1681
$GC,10225,1.04,241.3,128.3,7.1,535,10229,0.00,2.38,0.00,0.000,4,0.000,0.061,3009,839,1681
$GC,10320,1.04,241.3,120.9,7.8,543,10324,0.00,2.03,0.00,0.000,6,0.000,0.021,3010,2093,1680
$GC,10651,1.04,241.3,93.9,8.0,574,10655,0.00,2.33,0.00,0.000,4,0.000,0.035,3010,3475,1680
$GC,10724,1.04,241.3,87.8,8.6,580,10727,0.00,2.03,0.00,0.000,6,0.000,0.041,3010,2237,1681
$GC,11055,1.16,334.1,69.5,4.6,611,11143,0.15,2.42,80.80,0.574,4,0.041,0.042,3065,848,1301
$GC,11239,1.16,334.1,53.6,9.8,628,11243,0.00,2.00,0.00,0.000,6,0.000,0.059,3065,2085,1296
$GC,11566,1.16,334.1,25.5,9.1,662,11572,0.00,2.10,0.00,0.000,4,0.000,0.035,3065,842,1294
$GC,11674,1.16,334.1,14.3,10.7,681,11680,0.00,2.03,0.00,0.000,6,0.000,0.059,3065,2086,1293
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,1.0,1.021568
$STATE,11811,end surface coast,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$SM_CCo,11891,0.00,0.000,0,0,1289,337.29
$SM_GC,1.74,11.32,0.00,0.00,0.031,0.000,0.000,425,2091,1289,-10.81,0.34,337.29
$IRIDIUM_FIX,2054.83,-15744.48,291097,050519
$TT8_MAMPS,0.029146
$HUMID,1898
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.80
$XPDR_PINGS,747
$24V_AH,23.3,55.419
$10V_AH,10.2,31.930
$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,25.525,121.500,422.175,0.000,0.000,27.375,30.989,206.541,186.750,0.000,0.000,14.331,1302.399,8199.155,478.668,1824.247,460.410,33.366,1386.392,0.000,1809.047,0.000,0.470
$DEVICE_MAMPS,157.235,79.001,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.624,467.922,790.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,705
$CAP_FILE_SIZE,105484,10
$CFSIZE,260165632,248573952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,115559,2104.001,-15754.179,30,3.7,49,9.8