version: 66.03
glider: 139
mission: 3
dive: 180
start: 8 4 108 12 7 50
data:
$ID,139
$MISSION,3
$DIVE,180
$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,-1274395.5
$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,61
$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
$GPS1,115559,2104.001,-15754.179,30,3.7,49,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.0
$GPS2,120701,2103.874,-15754.247,37,1.1,43,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.142
$KALMAN_X,-94536.2,195.6,636.0,91217.7,-4817.3
$KALMAN_Y,-58562.5,-178.8,15.8,35024.0,-1288.9
$MHEAD_RNG_PITCHd_Wd,46.4,12950,-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,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,75,0.00,0.00,-54.15,0.000,2,0.000,0.000,425,2091,2808
$GC,78,-0.96,-175.2,3.8,-4.3,10,108,12.07,2.28,-10.35,0.000,4,0.153,0.041,2577,3461,3380
$GC,153,-0.96,-175.2,20.6,-12.7,23,159,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2230,3382
$GC,275,-0.96,-175.2,36.0,-12.7,41,279,0.00,2.30,0.00,0.000,4,0.000,0.034,2576,844,3382
$GC,313,-0.96,-175.2,40.8,-12.0,44,319,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2074,3382
$GC,638,-0.96,-175.2,80.2,-10.5,75,641,0.00,2.05,0.00,0.000,4,0.000,0.035,2577,843,3383
$GC,694,-0.96,-175.2,86.3,-10.4,80,698,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2083,3383
$GC,1024,-0.96,-175.2,119.2,-10.7,111,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3384
$GC,1343,-0.96,-175.2,153.1,-11.2,141,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3384
$GC,1663,-0.96,-175.2,179.5,-6.0,171,1667,0.00,2.10,0.00,0.000,4,0.000,0.071,2577,838,3384
$GC,1702,-0.96,-175.2,182.0,-6.7,174,1708,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2072,3384
$GC,2035,-0.96,-175.2,205.2,-7.4,203,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3384
$GC,2345,-0.96,-175.2,227.2,-7.0,218,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3385
$GC,2654,-0.96,-175.2,247.5,-6.1,233,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3385
$GC,2963,-0.96,-175.2,265.9,-6.0,248,2967,0.00,2.08,0.00,0.000,4,0.000,0.037,2577,844,3384
$GC,2996,-0.96,-175.2,267.7,-5.5,249,3000,0.00,2.03,0.00,0.000,6,0.000,0.044,2577,2070,3383
$GC,3317,-0.96,-175.2,285.7,-5.9,265,3321,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,847,3382
$GC,3340,-0.96,-175.2,287.1,-6.2,266,3343,0.00,2.00,0.00,0.000,6,0.000,0.024,2577,2078,3382
$GC,3670,-0.96,-175.2,306.9,-5.7,279,3674,0.00,2.10,0.00,0.000,4,0.000,0.038,2577,843,3380
$GC,3703,-0.96,-175.2,308.9,-5.4,279,3707,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2092,3380
$GC,4040,-0.96,-175.2,323.7,-4.4,288,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2096,3378
$GC,4365,-0.96,-175.2,341.6,-6.1,296,4369,0.00,2.12,0.00,0.000,4,0.000,0.039,2577,847,3376
$GC,4397,-0.96,-175.2,343.9,-7.3,296,4404,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2076,3376
$GC,4729,-0.96,-175.2,366.7,-7.0,305,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3375
$GC,5054,-0.96,-175.2,386.4,-5.6,313,5057,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,848,3372
$GC,5092,-0.96,-175.2,388.5,-5.6,313,5098,0.00,2.00,0.00,0.000,6,0.000,0.051,2577,2084,3373
$GC,5423,-0.96,-175.2,404.0,-4.6,322,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3371
$GC,5748,-0.96,-175.2,419.7,-4.8,330,5752,0.00,2.40,0.00,0.000,4,0.000,0.043,2577,3478,3369
$GC,5769,-0.96,-175.2,420.8,-4.8,330,5773,0.00,2.05,0.00,0.000,6,0.000,0.044,2577,2244,3368
$GC,6111,-0.96,-175.2,444.7,-7.5,339,6115,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,848,3366
$STATE,6181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6181,begin apogee
$GC,6188,-0.31,0.0,450.3,7.8,340,6332,0.12,0.00,141.20,0.891,6,0.408,0.000,2617,2080,2664
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6335,0.96,175.2,458.6,0.0,344,6492,1.75,2.55,145.07,0.864,4,0.103,0.072,3001,3478,1948
$GC,6744,0.96,175.2,432.4,10.1,353,6748,0.00,2.08,0.00,0.000,6,0.000,0.068,3001,2253,1942
$GC,7091,0.96,175.2,402.9,7.9,362,7095,0.00,2.45,0.00,0.000,4,0.000,0.044,3001,849,1937
$GC,7181,0.96,175.2,395.6,8.0,364,7185,0.00,2.08,0.00,0.000,6,0.000,0.029,3000,2081,1933
$GC,7500,1.00,204.1,374.5,6.4,372,7529,0.00,2.22,24.02,0.826,4,0.000,0.082,3001,856,1830
$GC,7630,1.00,204.1,364.3,8.1,375,7634,0.00,2.08,0.00,0.000,6,0.000,0.028,3001,2089,1824
$GC,7960,1.00,204.1,338.2,8.4,383,7963,0.00,2.40,0.00,0.000,4,0.000,0.042,3001,3474,1823
$GC,7986,1.00,204.1,335.6,9.6,383,7991,0.00,2.10,0.00,0.000,6,0.000,0.066,3001,2251,1823
$GC,8329,1.00,204.1,304.4,8.7,392,8333,0.00,2.42,0.00,0.000,4,0.000,0.044,3001,849,1822
$GC,8422,1.00,204.1,296.8,7.8,394,8426,0.00,2.08,0.00,0.000,6,0.000,0.028,3001,2076,1819
$GC,8744,1.04,236.9,275.1,6.3,410,8786,0.00,2.17,30.25,0.740,4,0.000,0.078,3001,849,1697
$GC,8841,1.04,236.9,268.1,8.4,414,8845,0.00,2.10,0.00,0.000,6,0.000,0.028,3001,2083,1693
$GC,9162,1.04,236.9,242.5,8.4,430,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2088,1691
$GC,9472,1.04,236.9,215.4,8.0,445,9476,0.00,2.40,0.00,0.000,4,0.000,0.038,3001,3481,1690
$GC,9557,1.04,236.9,209.6,7.2,449,9561,0.00,2.08,0.00,0.000,6,0.000,0.063,3000,2242,1691
$GC,9885,1.06,260.1,184.6,6.5,474,9911,0.12,2.15,20.83,0.676,4,0.051,0.076,3039,3477,1602
$GC,10018,1.06,260.1,173.2,8.7,485,10024,0.00,2.05,0.00,0.000,6,0.000,0.025,3039,2246,1601
$GC,10343,1.06,260.1,146.4,9.0,516,10348,0.00,2.40,0.00,0.000,4,0.000,0.048,3039,842,1599
$GC,10454,1.06,260.1,135.3,10.2,525,10462,0.00,2.08,0.00,0.000,6,0.000,0.028,3039,2088,1597
$GC,10783,1.09,281.3,109.0,6.6,556,10808,0.00,2.40,19.12,0.600,4,0.000,0.067,3039,3465,1516
$GC,10842,1.09,282.4,104.9,7.1,561,10848,0.00,2.05,0.00,0.000,6,0.000,0.021,3038,2242,1516
$GC,11168,1.11,297.1,84.9,6.7,592,11187,0.00,0.00,15.20,0.564,6,0.000,0.000,3039,2242,1451
$GC,11508,1.12,307.5,58.7,6.9,624,11523,0.00,2.40,10.25,0.521,4,0.000,0.069,3039,836,1410
$GC,11653,1.12,307.5,45.6,9.1,636,11659,0.00,2.00,0.00,0.000,6,0.000,0.058,3039,2086,1407
$GC,11984,1.12,307.5,19.0,8.0,679,11990,0.00,2.10,0.00,0.000,4,0.000,0.037,3039,838,1406
$GC,12060,1.12,307.5,13.1,7.4,692,12066,0.00,2.00,0.00,0.000,6,0.000,0.018,3039,2103,1406
$STATE,12173,end climb,SURFACE_DEPTH_REACHED
$STATE,12173,begin surface coast
$FINISH,0.9,1.023005
$STATE,12214,end surface coast,CONTROL_FINISHED_OK
$STATE,12214,begin surface
$SM_CCo,12234,11.20,0.478,0,0,1358,320.12
$SM_GC,2.44,0.00,0.00,11.20,0.000,0.000,0.478,423,2106,1358,-10.91,0.76,320.12
$IRIDIUM_FIX,2057.14,-15756.04,291097,121245
$TT8_MAMPS,0.029146
$HUMID,1900
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.10
$XPDR_PINGS,714
$24V_AH,21.7,55.559
$10V_AH,10.2,32.011
$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,25.200,99.025,405.950,11.200,0.000,60.094,57.867,316.561,178.500,0.000,0.000,45.065,1282.724,8803.228,486.693,1696.827,624.917,33.370,1310.540,0.000,1650.522,0.000,0.470
$DEVICE_MAMPS,408.044,82.069,891.254,477.841,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.771,462.549,794.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38004,719
$CAP_FILE_SIZE,102867,10
$CFSIZE,260165632,248524800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,040808,153307,2103.880,-15754.551,29,1.2,34,9.8