version: 66.03
glider: 139
mission: 3
dive: 181
start: 8 4 108 15 44 25
data:
$ID,139
$MISSION,3
$DIVE,181
$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,-1274416
$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,64
$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
$GPS1,153307,2103.880,-15754.551,29,1.2,34,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.5
$GPS2,154336,2103.854,-15754.685,18,1.3,18,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,0.166
$KALMAN_X,-97198.7,-103.9,178.7,93874.0,-3976.3
$KALMAN_Y,-60636.5,72.0,13.5,36812.5,-1760.9
$MHEAD_RNG_PITCHd_Wd,39.5,13681,-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,20,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.78,0.000,2,0.000,0.000,423,2106,2741
$GC,75,-0.96,-175.2,3.3,-3.8,9,105,12.12,2.33,-12.05,0.000,4,0.153,0.077,2578,3460,3382
$GC,150,-0.96,-175.2,19.5,-14.3,22,156,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2235,3383
$GC,274,-0.96,-175.2,34.0,-12.5,41,278,0.00,2.35,0.00,0.000,4,0.000,0.068,2578,836,3384
$GC,336,-0.96,-175.2,41.8,-12.5,46,340,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2083,3384
$GC,666,-0.96,-175.2,78.7,-10.4,77,670,0.00,2.10,0.00,0.000,4,0.000,0.033,2578,833,3385
$GC,693,-0.96,-175.2,81.8,-11.2,79,700,0.00,2.03,0.00,0.000,6,0.000,0.018,2578,2082,3385
$GC,1018,-0.96,-175.2,114.3,-9.7,110,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2085,3385
$GC,1337,-0.96,-175.2,146.8,-10.7,140,1340,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,843,3385
$GC,1393,-0.96,-175.2,153.0,-10.8,145,1396,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2079,3386
$GC,1724,-0.96,-175.2,180.4,-6.2,176,1728,0.00,2.10,0.00,0.000,4,0.000,0.052,2578,833,3386
$GC,1758,-0.96,-175.2,182.5,-6.1,179,1762,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2080,3386
$GC,2099,-0.96,-175.2,203.0,-6.7,209,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2084,3386
$GC,2407,-0.96,-175.2,227.2,-7.6,224,2411,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,3467,3386
$GC,2433,-0.96,-175.2,229.5,-8.3,225,2437,0.00,2.03,0.00,0.000,6,0.000,0.020,2578,2239,3386
$GC,2755,-0.96,-175.2,253.8,-7.7,241,2759,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,839,3386
$GC,2781,-0.96,-175.2,255.9,-8.0,242,2785,0.00,2.03,0.00,0.000,6,0.000,0.060,2578,2074,3386
$GC,3102,-0.96,-175.2,276.3,-6.9,258,3106,0.00,2.08,0.00,0.000,4,0.000,0.036,2578,840,3385
$GC,3125,-0.96,-175.2,277.9,-7.0,259,3129,0.00,2.00,0.00,0.000,6,0.000,0.029,2578,2079,3385
$GC,3477,-0.96,-175.2,303.2,-7.3,275,3481,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,3470,3384
$GC,3498,-0.96,-175.2,304.8,-7.2,275,3502,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,2222,3384
$GC,3840,-0.96,-175.2,327.4,-5.7,284,3844,0.00,2.33,0.00,0.000,4,0.000,0.038,2578,847,3382
$GC,3918,-0.96,-175.2,332.9,-7.0,285,3924,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2082,3382
$GC,4249,-0.96,-175.2,355.1,-6.2,294,4253,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,3477,3380
$GC,4288,-0.96,-175.2,357.6,-7.0,295,4291,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2235,3380
$GC,4617,-0.96,-175.2,377.3,-5.5,303,4622,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,840,3378
$GC,4684,-0.96,-175.2,380.6,-4.8,304,4688,0.00,2.08,0.00,0.000,6,0.000,0.026,2578,2078,3377
$GC,5026,-0.96,-175.2,396.8,-4.6,313,5030,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,3476,3375
$GC,5059,-0.96,-175.2,398.4,-4.9,313,5063,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2237,3375
$GC,5396,-0.96,-175.2,419.0,-7.0,322,5400,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,844,3373
$GC,5479,-0.96,-175.2,425.7,-8.8,324,5483,0.00,2.05,0.00,0.000,6,0.000,0.028,2578,2078,3372
$STATE,5807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5807,begin apogee
$GC,5812,-0.31,0.0,452.8,8.0,332,5957,0.20,0.00,142.27,0.884,6,0.137,0.000,2630,2080,2664
$STATE,5957,end apogee,CONTROL_FINISHED_OK
$STATE,5957,begin climb
$GC,5959,0.96,175.2,459.1,0.0,335,6116,1.70,2.53,145.25,0.858,4,0.103,0.060,3005,3468,1948
$GC,6335,0.96,175.2,432.4,9.1,343,6339,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2249,1942
$GC,6671,0.96,175.2,405.2,7.7,352,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2248,1937
$GC,6996,0.96,178.4,382.6,7.1,360,7000,0.00,2.42,0.00,0.000,4,0.000,0.045,3005,851,1935
$GC,7063,0.96,178.4,377.8,7.6,361,7067,0.00,2.05,0.00,0.000,6,0.000,0.028,3005,2074,1932
$GC,7405,0.99,199.1,355.3,6.6,370,7426,0.00,0.00,19.27,0.806,6,0.000,0.000,3005,2078,1852
$GC,7730,0.99,199.1,326.5,10.2,378,7734,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,3474,1847
$GC,7813,0.99,199.1,317.0,12.0,380,7817,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2245,1846
$GC,8145,0.99,199.1,283.4,8.8,392,8149,0.00,2.42,0.00,0.000,4,0.000,0.047,3004,846,1845
$GC,8244,0.99,199.1,275.2,8.4,396,8251,0.00,2.10,0.00,0.000,6,0.000,0.028,3004,2084,1841
$GC,8560,1.04,242.3,256.4,6.0,412,8610,0.00,2.45,39.83,0.731,4,0.000,0.072,3005,3477,1675
$GC,8683,1.04,242.3,246.5,8.5,417,8689,0.00,2.10,0.00,0.000,6,0.000,0.050,3005,2252,1673
$GC,8999,1.04,242.3,216.3,10.8,433,9003,0.00,2.42,0.00,0.000,4,0.000,0.041,3005,843,1670
$GC,9031,1.04,242.3,212.6,10.9,434,9038,0.00,2.10,0.00,0.000,6,0.000,0.067,3005,2084,1668
$GC,9351,1.14,324.1,185.4,4.9,458,9429,0.15,2.42,71.22,0.692,4,0.048,0.069,3054,3479,1340
$GC,9642,1.14,324.1,156.0,12.8,484,9646,0.00,2.05,0.00,0.000,6,0.000,0.025,3054,2249,1336
$GC,9974,1.14,324.1,119.9,10.2,515,9978,0.00,2.40,0.00,0.000,4,0.000,0.051,3054,846,1334
$GC,10118,1.14,324.1,106.4,9.5,527,10125,0.00,2.05,0.00,0.000,6,0.000,0.021,3054,2086,1331
$GC,10446,1.14,324.1,81.4,7.5,558,10450,0.00,2.33,0.00,0.000,4,0.000,0.066,3054,3467,1331
$GC,10489,1.14,324.1,77.5,8.7,561,10496,0.00,2.05,0.00,0.000,6,0.000,0.061,3054,2241,1331
$GC,10816,1.14,324.1,51.5,8.3,592,10820,0.00,2.38,0.00,0.000,4,0.000,0.051,3054,837,1331
$GC,10991,1.14,324.1,34.8,10.1,607,10994,0.00,2.00,0.00,0.000,6,0.000,0.019,3054,2084,1330
$GC,11330,1.14,324.1,3.1,10.3,663,11337,0.00,2.10,0.00,0.000,4,0.000,0.036,3054,843,1331
$STATE,11341,end climb,SURFACE_DEPTH_REACHED
$STATE,11341,begin surface coast
$FINISH,0.9,1.018862
$STATE,11370,end surface coast,CONTROL_FINISHED_OK
$STATE,11370,begin surface
$SM_CCo,11452,0.00,0.000,0,0,1328,327.72
$SM_GC,1.69,11.27,0.00,0.00,0.031,0.000,0.000,425,2073,1328,-10.80,-0.14,327.72
$IRIDIUM_FIX,2057.14,-15753.90,291097,151545
$TT8_MAMPS,0.029146
$HUMID,1896
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,667
$24V_AH,23.3,55.700
$10V_AH,10.2,32.089
$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,25.450,109.200,417.850,0.000,0.000,56.055,58.731,321.653,166.750,0.000,0.000,19.852,1212.926,8125.082,483.921,1619.438,628.120,33.368,1291.419,0.000,1607.254,0.000,0.471
$DEVICE_MAMPS,153.400,76.700,884.351,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.818,438.438,742.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,670
$CAP_FILE_SIZE,98699,9
$CFSIZE,260165632,248483840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040808,185631,2104.022,-15755.472,39,1.5,39,9.8