version: 66.03
glider: 139
mission: 3
dive: 174
start: 8 3 108 15 43 22
data:
$ID,139
$MISSION,3
$DIVE,174
$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,-1274253.9
$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
$GPS1,152932,2106.998,-15753.087,67,1.0,67,9.8
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.7
$GPS2,154232,2107.034,-15753.267,11,1.6,16,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.001
$KALMAN_X,-72572.9,-1000.7,-445.1,73236.1,-1898.7
$KALMAN_Y,-49839.0,175.5,119.4,31679.1,-1034.7
$MHEAD_RNG_PITCHd_Wd,80.5,14002,-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,20,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.08,0.000,2,0.000,0.000,422,2085,2716
$GC,74,-0.96,-175.2,3.2,-3.9,9,104,12.15,2.38,-12.77,0.000,4,0.154,0.074,2575,3467,3382
$GC,133,-0.96,-175.2,17.5,-19.3,19,139,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2240,3383
$GC,250,-0.96,-175.2,33.2,-12.8,38,255,0.00,2.35,0.00,0.000,4,0.000,0.034,2575,838,3384
$GC,290,-0.96,-175.2,38.1,-11.7,41,293,0.00,2.00,0.00,0.000,6,0.000,0.058,2575,2087,3384
$GC,620,-0.96,-175.2,85.3,-14.8,72,624,0.00,2.28,0.00,0.000,4,0.000,0.030,2575,3459,3384
$GC,659,-0.96,-175.2,90.5,-13.2,75,662,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2233,3384
$GC,989,-0.96,-175.2,129.0,-11.2,106,993,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,843,3385
$GC,1050,-0.96,-175.2,135.3,-9.5,111,1054,0.00,1.83,0.00,0.000,6,0.000,0.044,2576,2015,3385
$GC,1381,-0.96,-175.2,161.8,-5.5,142,1385,0.00,2.03,0.00,0.000,4,0.000,0.064,2575,3261,3385
$GC,1427,-0.96,-175.2,164.6,-6.0,146,1430,0.00,1.65,0.00,0.000,6,0.000,0.019,2575,2229,3386
$GC,1758,-0.96,-175.2,191.9,-11.2,177,1762,0.00,2.33,0.00,0.000,4,0.000,0.068,2575,842,3386
$GC,1848,-0.96,-175.2,201.6,-9.9,184,1852,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2082,3385
$GC,2174,-0.96,-175.2,229.4,-7.0,200,2178,0.00,2.30,0.00,0.000,4,0.000,0.032,2575,3461,3385
$GC,2196,-0.96,-175.2,230.7,-6.3,201,2200,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2235,3385
$GC,2523,-0.96,-175.2,248.9,-4.6,217,2527,0.00,2.35,0.00,0.000,4,0.000,0.050,2575,835,3385
$GC,2590,-0.96,-175.2,252.3,-5.3,220,2594,0.00,2.00,0.00,0.000,6,0.000,0.061,2575,2080,3385
$GC,2917,-0.96,-175.2,274.6,-8.5,236,2921,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,3464,3384
$GC,2956,-0.96,-175.2,278.5,-9.7,238,2960,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2235,3384
$GC,3310,-0.96,-175.2,304.5,-7.1,254,3314,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,835,3383
$GC,3432,-0.96,-175.2,313.0,-6.4,256,3438,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2066,3382
$GC,3763,-0.96,-175.2,338.8,-9.0,265,3767,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,3469,3381
$GC,3840,-0.96,-175.2,346.1,-9.0,266,3847,0.00,2.05,0.00,0.000,6,0.000,0.023,2575,2233,3380
$GC,4172,-0.96,-175.2,369.0,-5.9,275,4176,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,842,3378
$GC,4283,-0.96,-175.2,375.2,-5.3,277,4287,0.00,2.03,0.00,0.000,6,0.000,0.040,2575,2075,3377
$GC,4626,-0.96,-175.2,393.3,-5.7,286,4630,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3467,3376
$GC,4710,-0.96,-175.2,398.2,-5.9,288,4714,0.00,2.03,0.00,0.000,6,0.000,0.033,2575,2243,3375
$GC,5040,-0.96,-175.2,419.4,-6.8,296,5044,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,848,3373
$GC,5168,-0.96,-175.2,430.9,-9.4,299,5172,0.00,1.62,0.00,0.000,6,0.000,0.075,2575,1857,3371
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5420,-0.31,0.0,452.8,8.7,305,5564,0.10,0.00,141.93,0.888,6,0.532,0.000,2611,2088,2663
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5567,0.96,175.2,461.2,0.0,308,5724,1.80,2.50,145.07,0.862,4,0.054,0.075,3004,3464,1948
$GC,5858,0.96,175.2,447.3,9.9,314,5865,0.00,2.10,0.00,0.000,6,0.000,0.066,3004,2251,1943
$GC,6189,0.96,175.2,415.1,10.2,323,6193,0.00,2.45,0.00,0.000,4,0.000,0.044,3004,846,1938
$GC,6261,0.96,175.2,407.3,10.1,324,6265,0.00,2.08,0.00,0.000,6,0.000,0.068,3004,2065,1935
$GC,6598,0.96,175.2,377.2,8.6,333,6602,0.00,2.45,0.00,0.000,4,0.000,0.044,3004,3472,1934
$GC,6674,0.96,175.2,369.3,10.1,334,6681,0.00,2.10,0.00,0.000,6,0.000,0.038,3004,2249,1934
$GC,7006,0.96,175.2,340.1,8.9,343,7009,0.00,2.15,0.00,0.000,4,0.000,0.044,3004,3478,1932
$GC,7072,0.96,175.2,333.9,10.0,344,7076,0.00,2.10,0.00,0.000,6,0.000,0.028,3004,2252,1931
$GC,7401,0.96,175.2,296.8,12.4,353,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2252,1930
$GC,7709,0.96,175.2,266.0,9.2,368,7713,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,849,1929
$GC,7927,1.02,221.5,252.5,5.9,378,7969,0.00,2.05,37.40,0.769,6,0.000,0.028,3004,2080,1761
$GC,8278,1.02,221.5,228.8,7.5,395,8282,0.00,2.40,0.00,0.000,4,0.000,0.039,3004,3475,1753
$GC,8355,1.02,221.5,221.9,8.9,398,8361,0.00,2.08,0.00,0.000,6,0.000,0.038,3004,2255,1754
$GC,8673,1.02,221.5,196.6,7.2,416,8677,0.00,2.42,0.00,0.000,4,0.000,0.072,3004,846,1752
$GC,8735,1.05,250.1,192.5,6.4,421,8771,0.00,1.70,26.65,0.658,6,0.000,0.071,3004,1900,1644
$GC,9090,1.09,284.7,169.6,6.2,454,9124,0.12,0.00,31.05,0.668,6,0.051,0.000,3043,1900,1503
$GC,9439,1.09,284.7,141.8,8.7,487,9443,0.00,2.67,0.00,0.000,4,0.000,0.033,3043,3477,1498
$GC,9504,1.09,284.7,136.3,8.7,492,9512,0.00,2.08,0.00,0.000,6,0.000,0.039,3043,2243,1498
$GC,9833,1.09,284.7,105.1,11.2,523,9837,0.00,2.38,0.00,0.000,4,0.000,0.042,3043,844,1498
$GC,9883,1.09,284.7,98.9,11.4,527,9887,0.00,2.03,0.00,0.000,6,0.000,0.021,3043,2095,1496
$GC,10214,1.09,284.7,69.5,7.3,558,10218,0.00,2.12,0.00,0.000,4,0.000,0.073,3043,842,1496
$GC,10246,1.09,284.7,66.8,8.2,560,10253,0.00,2.00,0.00,0.000,6,0.000,0.062,3043,2081,1496
$GC,10574,1.09,284.7,43.2,7.3,591,10578,0.00,2.30,0.00,0.000,4,0.000,0.031,3043,3462,1496
$GC,10617,1.09,284.7,39.1,8.6,594,10624,0.00,2.03,0.00,0.000,6,0.000,0.058,3043,2234,1496
$GC,10953,1.11,299.5,13.1,6.7,644,10973,0.00,2.42,13.73,0.493,4,0.000,0.068,3043,841,1442
$GC,11063,1.11,299.5,4.3,8.1,663,11069,0.00,1.98,0.00,0.000,6,0.000,0.018,3043,2093,1439
$STATE,11079,end climb,SURFACE_DEPTH_REACHED
$STATE,11079,begin surface coast
$FINISH,0.9,1.022873
$STATE,11120,end surface coast,CONTROL_FINISHED_OK
$STATE,11120,begin surface
$SM_CCo,11140,16.65,0.495,0,0,1359,320.12
$SM_GC,1.54,0.00,0.00,16.65,0.000,0.000,0.495,423,2097,1359,-10.91,0.51,320.12
$IRIDIUM_FIX,2059.45,-15756.04,281097,151527
$TT8_MAMPS,0.029146
$HUMID,1915
$INTERNAL_PRESSURE,8.69769
$TCM_TEMP,23.50
$XPDR_PINGS,685
$24V_AH,23.3,54.726
$10V_AH,10.2,31.535
$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,25.400,112.950,395.825,16.650,0.000,83.960,166.909,275.366,171.250,0.000,0.000,17.748,1233.283,7832.189,488.246,1656.498,716.814,33.379,1308.986,0.000,1639.045,0.000,0.471
$DEVICE_MAMPS,532.298,75.166,888.186,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.479,444.421,751.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34840,673
$CAP_FILE_SIZE,101715,15
$CFSIZE,260165632,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,030808,185037,2106.425,-15753.349,36,1.0,41,9.8