version: 66.03
glider: 139
mission: 3
dive: 234
start: 8 12 108 5 32 57
data:
$ID,139
$MISSION,3
$DIVE,234
$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,-1275525.5
$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,60
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,052338,2108.377,-15757.685,89,1.2,89,9.8
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.2
$GPS2,053208,2108.328,-15757.778,9,1.4,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.136
$KALMAN_X,-749.7,-749.7,-749.7,1862.3,166.0
$KALMAN_Y,3.7,3.7,3.7,-1856.7,-0.8
$MHEAD_RNG_PITCHd_Wd,112.6,21794,-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,-175.2,0.0,0.0,0,65,0.00,0.00,-43.55,0.000,2,0.000,0.000,431,2085,2553
$GC,68,-0.96,-175.2,3.0,-2.4,8,103,12.00,2.17,-17.58,0.000,4,0.150,0.088,2578,838,3381
$GC,127,-0.96,-175.2,13.4,-13.7,18,133,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2080,3381
$GC,246,-0.96,-175.2,26.9,-10.8,39,252,0.00,2.08,0.00,0.000,4,0.000,0.072,2578,844,3383
$GC,264,-0.96,-175.2,29.0,-11.1,42,270,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2087,3382
$GC,383,-0.96,-175.2,42.1,-11.4,54,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2091,3382
$GC,701,-0.96,-175.2,77.0,-9.6,84,704,0.00,2.10,0.00,0.000,4,0.000,0.034,2577,836,3384
$GC,757,-0.96,-175.2,82.2,-9.3,89,761,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2086,3384
$GC,1088,-0.96,-175.2,108.8,-8.2,120,1092,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3467,3384
$GC,1128,-0.96,-175.2,112.1,-7.9,123,1131,0.00,2.00,0.00,0.000,6,0.000,0.025,2578,2232,3385
$GC,1459,-0.96,-175.2,142.0,-9.0,154,1463,0.00,2.33,0.00,0.000,4,0.000,0.060,2578,844,3385
$GC,1544,-0.96,-175.2,149.8,-8.9,161,1547,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2079,3385
$GC,1875,-0.96,-175.2,178.1,-7.5,192,1878,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,843,3385
$GC,1932,-0.96,-175.2,182.3,-6.9,197,1936,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2076,3384
$GC,2263,-0.96,-175.2,201.7,-5.6,227,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3385
$GC,2570,-0.96,-175.2,223.3,-7.7,242,2574,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,839,3385
$GC,2599,-0.96,-175.2,225.5,-7.8,243,2602,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2087,3385
$GC,2926,-0.96,-175.2,250.2,-7.0,259,2929,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,842,3384
$GC,2959,-0.96,-175.2,252.4,-7.1,260,2962,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2086,3384
$GC,3279,-0.96,-175.2,272.9,-7.3,276,3283,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,3468,3383
$GC,3305,-0.96,-175.2,275.0,-7.5,277,3309,0.00,2.03,0.00,0.000,6,0.000,0.022,2578,2243,3383
$GC,3627,-0.96,-175.2,297.8,-7.5,293,3631,0.00,2.35,0.00,0.000,4,0.000,0.069,2578,842,3382
$GC,3705,-0.96,-175.2,304.2,-8.0,295,3711,0.00,2.03,0.00,0.000,6,0.000,0.063,2578,2066,3382
$GC,4036,-0.96,-175.2,325.9,-5.9,304,4040,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3467,3380
$GC,4063,-0.96,-175.2,327.4,-5.0,304,4067,0.00,2.00,0.00,0.000,6,0.000,0.023,2578,2241,3380
$GC,4399,-0.96,-175.2,344.2,-5.1,313,4404,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,843,3379
$GC,4454,-0.96,-175.2,348.2,-7.2,314,4459,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2070,3378
$GC,4768,-0.96,-175.2,373.6,-8.2,322,4772,0.00,2.40,0.00,0.000,4,0.000,0.040,2578,3476,3377
$GC,4833,-0.96,-175.2,378.9,-8.2,323,4838,0.00,2.08,0.00,0.000,6,0.000,0.034,2578,2241,3376
$GC,5179,-0.96,-175.2,401.5,-6.0,332,5182,0.00,2.12,0.00,0.000,4,0.000,0.042,2578,3474,3374
$GC,5257,-0.96,-175.2,406.4,-6.6,333,5261,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2232,3373
$GC,5594,-0.96,-175.2,426.2,-5.9,342,5598,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,839,3372
$GC,5711,-0.96,-175.2,434.7,-7.0,344,5715,0.00,2.08,0.00,0.000,6,0.000,0.065,2578,2071,3371
$STATE,5924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5924,begin apogee
$GC,5929,-0.31,0.0,451.3,8.0,350,6074,0.68,0.00,142.05,0.888,6,0.047,0.000,2733,2072,2664
$STATE,6075,end apogee,CONTROL_FINISHED_OK
$STATE,6075,begin climb
$GC,6077,0.96,175.2,461.0,0.0,353,6233,1.17,2.55,145.65,0.861,4,0.034,0.051,3012,3476,1948
$GC,6267,0.96,175.2,458.5,9.1,357,6271,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2257,1946
$GC,6610,0.96,175.2,425.7,10.1,366,6614,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,849,1939
$GC,6693,0.96,175.2,416.6,11.5,368,6697,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2082,1935
$GC,7023,0.96,175.2,383.5,10.0,376,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2085,1935
$GC,7347,0.96,175.2,353.5,9.5,384,7351,0.00,2.15,0.00,0.000,4,0.000,0.043,3011,849,1933
$GC,7392,0.96,175.2,349.0,11.0,385,7396,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2083,1931
$GC,7722,0.96,175.2,321.0,8.0,393,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2086,1931
$GC,8046,1.01,214.9,300.8,6.1,401,8081,0.00,0.00,32.83,0.789,6,0.000,0.000,3011,2086,1787
$GC,8391,1.01,214.9,272.2,8.7,416,8395,0.00,2.15,0.00,0.000,4,0.000,0.043,3011,846,1780
$GC,8431,1.01,214.9,269.0,8.5,418,8434,0.00,2.08,0.00,0.000,6,0.000,0.034,3011,2083,1778
$GC,8763,1.03,235.8,246.4,6.6,434,8788,0.00,2.50,18.30,0.726,4,0.000,0.045,3011,3478,1702
$GC,8806,1.08,274.7,243.5,6.1,436,8849,0.00,2.08,35.80,0.734,6,0.000,0.066,3011,2249,1543
$GC,9158,1.08,274.7,208.0,11.6,453,9162,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,842,1536
$GC,9280,1.08,274.7,194.4,9.7,460,9287,0.00,2.08,0.00,0.000,6,0.000,0.025,3011,2077,1532
$GC,9607,1.08,274.7,167.6,7.3,491,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2082,1532
$GC,9924,1.08,274.7,144.2,8.3,521,9928,0.00,2.38,0.00,0.000,4,0.000,0.035,3011,3476,1532
$GC,9996,1.08,274.7,138.1,8.4,527,10000,0.00,2.08,0.00,0.000,6,0.000,0.034,3011,2221,1532
$GC,10328,1.08,274.7,110.9,10.0,558,10332,0.00,2.35,0.00,0.000,4,0.000,0.044,3011,839,1532
$GC,10434,1.08,274.7,98.8,10.6,567,10438,0.00,2.05,0.00,0.000,6,0.000,0.053,3011,2096,1530
$GC,10766,1.08,274.7,69.6,7.8,598,10769,0.00,2.15,0.00,0.000,4,0.000,0.052,3011,839,1530
$GC,10827,1.11,299.5,65.5,6.5,603,10855,0.08,2.05,20.95,0.566,6,0.038,0.020,3049,2091,1442
$GC,11172,1.11,299.5,39.8,9.5,636,11176,0.00,2.30,0.00,0.000,4,0.000,0.031,3050,3460,1440
$GC,11228,1.11,299.5,34.7,9.0,641,11232,0.00,2.00,0.00,0.000,6,0.000,0.061,3049,2242,1440
$GC,11568,1.12,303.4,4.8,7.0,697,11581,0.00,2.40,4.72,0.384,4,0.000,0.059,3049,845,1426
$STATE,11596,end climb,SURFACE_DEPTH_REACHED
$STATE,11596,begin surface coast
$FINISH,1.3,1.011414
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11670,13.82,0.492,0,0,1359,320.12
$SM_GC,1.86,0.00,0.00,13.82,0.000,0.000,0.492,432,2084,1359,-10.87,0.14,320.12
$IRIDIUM_FIX,2101.76,-15758.18,061197,020244
$TT8_MAMPS,0.029146
$HUMID,1960
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.90
$XPDR_PINGS,699
$24V_AH,23.3,63.309
$10V_AH,10.2,36.338
$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,25.175,112.225,400.300,13.825,0.000,31.148,25.523,322.428,178.750,0.000,0.000,15.621,1284.253,8196.111,471.065,1639.587,592.279,30.190,1286.307,0.000,1621.364,0.000,29.242
$DEVICE_MAMPS,150.332,88.205,888.186,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.391,478.850,809.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37879,711
$CAP_FILE_SIZE,104111,6
$CFSIZE,260165632,245809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120808,084932,2107.553,-15758.767,73,1.2,73,9.8