version: 66.03
glider: 139
mission: 3
dive: 183
start: 8 4 108 22 35 23
data:
$ID,139
$MISSION,3
$DIVE,183
$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,-1274447.6
$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,53
$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
$GPS1,222738,2104.157,-15755.374,93,1.2,93,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.4
$GPS2,223433,2103.992,-15755.364,14,1.5,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,0.153
$KALMAN_X,-103358.7,-82.7,65.4,98960.8,-2533.6
$KALMAN_Y,-64358.4,166.0,6.7,40699.1,-1933.1
$MHEAD_RNG_PITCHd_Wd,43.3,14884,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,73,0.00,0.00,-49.67,0.000,2,0.000,0.000,426,2080,2755
$GC,76,-0.96,-175.2,3.5,-4.4,9,106,12.18,2.33,-11.68,0.000,4,0.155,0.076,2578,3471,3381
$GC,157,-0.96,-175.2,20.2,-12.8,23,163,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2232,3382
$GC,280,-0.96,-175.2,35.8,-13.0,41,284,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,841,3383
$GC,336,-0.96,-175.2,42.8,-12.1,46,340,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2088,3382
$GC,666,-0.96,-175.2,81.1,-10.4,77,670,0.00,2.10,0.00,0.000,4,0.000,0.034,2577,838,3383
$GC,801,-0.96,-175.2,96.1,-10.7,89,805,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2078,3383
$GC,1131,-0.96,-175.2,130.3,-9.7,120,1135,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,843,3384
$GC,1203,-0.96,-175.2,137.5,-10.3,126,1210,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2079,3384
$GC,1531,-0.96,-175.2,170.8,-9.1,157,1534,0.00,1.65,0.00,0.000,4,0.000,0.067,2578,3105,3385
$GC,1559,-0.96,-175.2,173.6,-9.0,159,1565,0.00,1.40,0.00,0.000,6,0.000,0.021,2578,2239,3385
$GC,1885,-0.96,-175.2,192.9,-7.4,190,1889,0.00,2.33,0.00,0.000,4,0.000,0.038,2578,842,3385
$GC,1924,-0.96,-175.2,196.0,-7.7,193,1927,0.00,1.67,0.00,0.000,6,0.000,0.066,2578,1923,3385
$GC,2256,-0.96,-175.2,221.9,-7.8,212,2260,0.00,2.58,0.00,0.000,4,0.000,0.032,2578,3461,3385
$GC,2340,-0.96,-175.2,228.7,-8.4,216,2343,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2232,3385
$GC,2671,-0.96,-175.2,252.5,-4.3,232,2675,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,844,3385
$GC,2788,-0.96,-175.2,257.7,-2.9,237,2792,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2075,3385
$GC,3110,-0.96,-175.2,267.6,-4.3,253,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3383
$GC,3419,-0.96,-175.2,280.6,-4.5,268,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3382
$GC,3729,-0.96,-175.2,293.9,-6.6,283,3732,0.00,2.10,0.00,0.000,4,0.000,0.038,2577,836,3382
$GC,3761,-0.96,-175.2,296.4,-7.4,284,3765,0.00,2.05,0.00,0.000,6,0.000,0.064,2578,2074,3381
$GC,4079,-0.96,-175.2,315.5,-5.9,294,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3379
$GC,4404,-0.96,-175.2,340.6,-6.8,302,4408,0.00,2.10,0.00,0.000,4,0.000,0.040,2577,841,3377
$GC,4433,-0.96,-175.2,341.7,-3.9,302,4436,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2076,3377
$GC,4774,-0.96,-175.2,364.0,-7.4,311,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3376
$GC,5100,-0.96,-175.2,381.5,-5.2,319,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2079,3374
$GC,5425,-0.96,-175.2,401.7,-6.6,327,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3372
$GC,5750,-0.96,-175.2,421.9,-6.4,335,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3370
$GC,6074,-0.96,-175.2,444.8,-6.8,343,6078,0.00,2.12,0.00,0.000,4,0.000,0.042,2577,840,3368
$GC,6096,-0.96,-175.2,446.2,-6.0,343,6100,0.00,2.05,0.00,0.000,6,0.000,0.028,2578,2074,3368
$STATE,6200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6200,begin apogee
$GC,6205,-0.31,0.0,451.7,5.2,346,6350,0.65,0.00,141.98,0.889,6,0.239,0.000,2727,2075,2663
$STATE,6351,end apogee,CONTROL_FINISHED_OK
$STATE,6351,begin climb
$GC,6353,0.96,175.2,456.8,0.0,349,6508,1.20,2.25,145.48,0.864,4,0.037,0.078,3010,843,1946
$GC,6564,0.96,175.2,449.9,9.7,354,6569,0.00,2.10,0.00,0.000,6,0.000,0.059,3010,2069,1941
$GC,6888,0.96,175.2,420.6,8.4,362,6892,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,3476,1937
$GC,6926,0.96,175.2,417.7,7.9,363,6930,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2247,1936
$GC,7256,0.98,192.3,395.9,6.7,371,7275,0.00,2.50,13.73,0.798,4,0.000,0.078,3010,858,1879
$GC,7320,0.99,195.4,391.3,7.1,372,7324,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2085,1875
$GC,7667,0.99,195.4,363.2,8.8,381,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2088,1874
$GC,7992,0.99,195.4,336.1,8.0,389,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2089,1872
$GC,8318,0.99,195.4,309.2,8.6,397,8321,0.00,2.15,0.00,0.000,4,0.000,0.079,3010,849,1871
$GC,8400,0.99,195.4,301.7,8.6,398,8407,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2072,1869
$GC,8716,1.02,224.2,279.5,6.4,413,8750,0.00,2.20,28.00,0.775,4,0.000,0.077,3009,852,1748
$GC,8773,1.04,240.2,275.8,6.7,415,8794,0.00,2.08,15.60,0.736,6,0.000,0.027,3010,2092,1684
$GC,9104,1.04,240.2,250.1,8.0,431,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2093,1679
$GC,9413,1.04,240.2,225.2,7.8,446,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2093,1678
$GC,9722,1.04,240.2,200.7,7.6,461,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2094,1677
$GC,10041,1.04,240.2,176.3,8.4,490,10045,0.00,2.15,0.00,0.000,4,0.000,0.078,3009,846,1676
$GC,10075,1.04,240.2,173.3,8.9,493,10079,0.00,2.05,0.00,0.000,6,0.000,0.031,3010,2084,1674
$GC,10407,1.04,240.2,145.9,8.8,524,10411,0.00,2.38,0.00,0.000,4,0.000,0.041,3010,3475,1674
$GC,10603,1.07,262.0,130.4,6.5,541,10628,0.00,2.05,19.35,0.623,6,0.000,0.024,3010,2237,1594
$GC,10954,1.15,332.5,113.2,5.2,574,11021,0.15,2.42,61.55,0.617,4,0.043,0.069,3058,838,1307
$GC,11101,1.15,332.5,100.9,9.4,587,11104,0.00,2.05,0.00,0.000,6,0.000,0.021,3058,2092,1301
$GC,11432,1.15,332.5,66.7,12.2,618,11435,0.00,2.12,0.00,0.000,4,0.000,0.044,3058,845,1301
$GC,11499,1.15,332.5,58.1,12.4,624,11504,0.00,1.98,0.00,0.000,6,0.000,0.044,3058,2076,1299
$GC,11830,1.15,332.5,21.5,9.8,662,11836,0.00,2.10,0.00,0.000,4,0.000,0.036,3058,836,1299
$GC,11905,1.15,332.5,13.6,10.2,675,11911,0.00,2.00,0.00,0.000,6,0.000,0.019,3058,2086,1298
$STATE,12011,end climb,SURFACE_DEPTH_REACHED
$STATE,12011,begin surface coast
$FINISH,1.1,1.022860
$STATE,12041,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12121,0.00,0.000,0,0,1296,335.57
$SM_GC,1.70,11.23,0.00,0.00,0.029,0.000,0.000,422,2091,1296,-10.81,0.34,335.57
$IRIDIUM_FIX,2054.83,-15759.05,291097,191926
$TT8_MAMPS,0.029146
$HUMID,1921
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.90
$XPDR_PINGS,659
$24V_AH,23.3,55.963
$10V_AH,10.2,32.244
$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,25.400,88.425,425.675,0.000,0.000,32.672,37.796,216.583,164.750,0.000,0.000,15.765,1236.152,8798.832,462.121,1544.961,480.239,33.369,1240.002,0.000,1540.715,0.000,0.470
$DEVICE_MAMPS,239.304,79.001,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.167,462.196,758.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34879,699
$CAP_FILE_SIZE,94057,8
$CFSIZE,260165632,248393728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050808,015844,2104.511,-15755.142,38,0.9,45,9.8