version: 66.03
glider: 139
mission: 3
dive: 165
start: 8 2 108 8 35 21
data:
$ID,139
$MISSION,3
$DIVE,165
$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,-1274060.8
$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,39
$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
$GPS1,082732,2104.510,-15750.194,36,1.4,36,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.4
$GPS2,083432,2104.478,-15750.171,31,1.2,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.064,0.246
$KALMAN_X,-56380.7,-99.1,-280.7,61312.6,-506.2
$KALMAN_Y,-39525.1,251.7,122.3,16564.9,-1510.4
$MHEAD_RNG_PITCHd_Wd,335.6,12137,-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,-175.2,0.0,0.0,0,77,0.00,0.00,-54.83,0.000,2,0.000,0.000,426,2053,2712
$GC,80,-0.96,-175.2,3.2,-3.5,10,111,12.10,2.47,-12.60,0.000,4,0.154,0.076,2577,3489,3382
$GC,218,-0.96,-175.2,25.5,-11.1,34,224,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2235,3384
$GC,332,-0.96,-175.2,40.0,-12.9,48,336,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,843,3384
$GC,377,-0.96,-175.2,46.3,-13.8,52,381,0.00,2.03,0.00,0.000,6,0.000,0.018,2577,2107,3383
$GC,708,-0.96,-175.2,90.1,-12.4,83,712,0.00,2.12,0.00,0.000,4,0.000,0.054,2576,843,3385
$GC,754,-0.96,-175.2,95.2,-11.7,87,757,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2079,3385
$GC,1085,-0.96,-175.2,132.4,-8.6,118,1089,0.00,2.08,0.00,0.000,4,0.000,0.051,2576,843,3385
$GC,1119,-0.96,-175.2,136.0,-10.7,121,1122,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2083,3386
$GC,1450,-0.96,-175.2,166.9,-8.3,152,1453,0.00,2.10,0.00,0.000,4,0.000,0.039,2576,834,3386
$GC,1539,-0.96,-175.2,174.4,-8.2,160,1543,0.00,1.90,0.00,0.000,6,0.000,0.039,2577,2049,3386
$GC,1881,-0.96,-175.2,201.6,-7.9,191,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2053,3386
$GC,2188,-0.96,-175.2,223.3,-6.0,206,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2053,3386
$GC,2498,-0.96,-175.2,242.6,-7.8,221,2501,0.00,2.03,0.00,0.000,4,0.000,0.036,2576,845,3386
$GC,2520,-0.96,-175.2,244.3,-7.9,222,2524,0.00,2.00,0.00,0.000,6,0.000,0.035,2577,2083,3386
$GC,2852,-0.96,-175.2,266.6,-6.6,238,2856,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3464,3385
$GC,2878,-0.96,-175.2,268.6,-7.2,239,2882,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2239,3385
$GC,3200,-0.96,-175.2,288.6,-6.4,255,3204,0.00,2.35,0.00,0.000,4,0.000,0.071,2576,845,3384
$GC,3267,-0.96,-175.2,293.3,-6.8,258,3271,0.00,2.03,0.00,0.000,6,0.000,0.023,2577,2097,3384
$GC,3610,-0.96,-175.2,313.5,-5.1,269,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2101,3383
$GC,3935,-0.96,-175.2,330.7,-5.4,277,3939,0.00,2.12,0.00,0.000,4,0.000,0.038,2576,841,3381
$GC,3962,-0.96,-175.2,332.4,-6.4,277,3966,0.00,2.05,0.00,0.000,6,0.000,0.067,2577,2078,3381
$GC,4304,-0.96,-175.2,355.9,-7.6,286,4308,0.00,2.10,0.00,0.000,4,0.000,0.039,2576,839,3379
$GC,4337,-0.96,-175.2,358.7,-8.8,286,4341,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2072,3379
$GC,4674,-0.96,-175.2,381.0,-5.7,295,4678,0.00,2.10,0.00,0.000,4,0.000,0.041,2576,840,3377
$GC,4701,-0.96,-175.2,382.3,-4.8,295,4705,0.00,2.08,0.00,0.000,6,0.000,0.068,2577,2098,3377
$GC,5044,-0.96,-175.2,397.2,-4.7,304,5047,0.00,2.15,0.00,0.000,4,0.000,0.041,2576,841,3375
$GC,5083,-0.96,-175.2,399.6,-6.3,305,5087,0.00,1.60,0.00,0.000,6,0.000,0.054,2577,1843,3375
$GC,5413,-0.96,-175.2,419.9,-6.0,313,5417,0.00,2.80,0.00,0.000,4,0.000,0.041,2577,3477,3372
$GC,5512,-0.96,-175.2,425.5,-5.2,315,5516,0.00,2.05,0.00,0.000,6,0.000,0.045,2577,2243,3372
$GC,5826,-0.96,-175.2,443.6,-6.0,323,5830,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,848,3370
$GC,5898,-0.96,-175.2,448.4,-6.3,324,5902,0.00,2.08,0.00,0.000,6,0.000,0.038,2577,2076,3369
$STATE,5947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5952,-0.31,0.0,451.6,6.4,326,6097,0.68,0.00,141.73,0.887,6,0.049,0.000,2730,2077,2664
$STATE,6097,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6100,0.96,175.2,459.8,0.0,329,6254,1.20,2.20,145.05,0.864,4,0.038,0.049,3009,841,1948
$GC,6382,0.96,175.2,449.1,9.7,335,6386,0.00,2.12,0.00,0.000,6,0.000,0.069,3009,2078,1938
$GC,6719,0.96,175.2,415.9,10.3,344,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2083,1935
$GC,7044,0.96,175.2,385.7,9.0,352,7047,0.00,2.17,0.00,0.000,4,0.000,0.080,3009,840,1933
$GC,7098,0.96,175.2,380.3,9.8,353,7103,0.00,2.12,0.00,0.000,6,0.000,0.028,3009,2086,1932
$GC,7418,0.96,175.2,353.2,8.4,361,7421,0.00,2.17,0.00,0.000,4,0.000,0.079,3009,842,1931
$GC,7457,0.96,175.2,349.8,8.2,362,7460,0.00,2.08,0.00,0.000,6,0.000,0.031,3009,2078,1929
$GC,7785,0.96,175.2,324.5,7.6,370,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2082,1929
$GC,8110,0.96,175.2,298.8,7.4,378,8115,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,3480,1927
$GC,8229,0.96,175.2,290.3,7.6,383,8232,0.00,2.05,0.00,0.000,6,0.000,0.028,3009,2250,1927
$GC,8550,1.01,215.2,271.3,6.1,399,8592,0.00,2.53,32.12,0.775,4,0.000,0.079,3009,850,1783
$GC,8694,1.01,215.2,261.9,7.6,405,8697,0.00,2.05,0.00,0.000,6,0.000,0.027,3009,2081,1778
$GC,9014,1.01,215.2,236.6,7.5,421,9018,0.00,2.40,0.00,0.000,4,0.000,0.039,3009,3474,1778
$GC,9081,1.03,233.7,232.3,6.6,424,9101,0.00,2.08,16.45,0.708,6,0.000,0.025,3009,2248,1711
$GC,9423,1.03,233.7,205.1,9.8,441,9427,0.00,2.40,0.00,0.000,4,0.000,0.040,3009,843,1706
$GC,9580,1.03,233.7,189.7,9.5,452,9584,0.00,2.05,0.00,0.000,6,0.000,0.025,3009,2095,1703
$GC,9911,1.03,233.7,162.4,8.1,483,9915,0.00,2.15,0.00,0.000,4,0.000,0.044,3009,846,1704
$GC,9938,1.03,233.7,159.8,9.1,485,9945,0.00,2.05,0.00,0.000,6,0.000,0.023,3010,2082,1703
$GC,10266,1.13,311.7,140.5,5.0,516,10339,0.08,0.00,67.50,0.641,6,1.270,0.000,3044,2085,1392
$GC,10656,1.13,311.7,103.5,9.8,553,10660,0.00,2.12,0.00,0.000,4,0.000,0.038,3043,840,1387
$GC,10769,1.13,311.7,91.1,12.2,563,10773,0.00,2.03,0.00,0.000,6,0.000,0.021,3043,2089,1384
$GC,11100,1.13,311.7,58.3,8.7,594,11104,0.00,2.12,0.00,0.000,4,0.000,0.044,3043,844,1384
$GC,11195,1.13,315.7,50.7,7.0,602,11201,0.00,2.03,0.00,0.000,6,0.000,0.020,3044,2084,1383
$GC,11524,1.13,315.7,24.5,9.3,638,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2088,1383
$GC,11643,1.13,315.7,15.0,7.8,659,11649,0.00,2.08,0.00,0.000,4,0.000,0.034,3043,844,1383
$GC,11677,1.13,315.7,11.8,8.8,665,11684,0.00,1.98,0.00,0.000,6,0.000,0.019,3044,2092,1383
$STATE,11785,end climb,SURFACE_DEPTH_REACHED
$STATE,11785,begin surface coast
$FINISH,0.8,1.022508
$STATE,11826,end surface coast,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$SM_CCo,11845,6.18,0.423,0,0,1358,320.12
$SM_GC,2.75,0.00,0.00,6.18,0.000,0.000,0.423,431,2096,1358,-10.87,0.48,320.12
$IRIDIUM_FIX,2054.83,-15749.62,271097,050545
$TT8_MAMPS,0.029146
$HUMID,1929
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.70
$XPDR_PINGS,670
$24V_AH,23.3,53.496
$10V_AH,10.2,30.829
$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,25.275,106.700,402.850,6.175,0.000,29.548,27.491,220.324,167.500,0.000,0.000,32.958,1253.874,8432.136,471.810,1629.835,472.844,33.366,1284.525,0.000,1605.240,0.000,0.472
$DEVICE_MAMPS,1270.152,79.768,887.419,423.384,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.032,453.520,758.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34957,691
$CAP_FILE_SIZE,99329,10
$CFSIZE,260165632,249274368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020808,115423,2105.475,-15751.716,32,3.2,51,9.8