version: 66.03
glider: 139
mission: 3
dive: 281
start: 8 19 108 0 25 42
data:
$ID,139
$MISSION,3
$DIVE,281
$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,2
$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,543.09418
$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,-1276613.1
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,205
$R_STBD_OVSHOOT,2015
$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
$GPS1,000916,2059.916,-15811.982,63,2.5,82,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.0
$GPS2,002526,2059.883,-15811.972,32,1.6,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.252,0.035
$KALMAN_X,-82146.0,143.0,-224.2,74115.8,-2765.0
$KALMAN_Y,-9715.9,-251.3,80.1,7467.0,-611.7
$MHEAD_RNG_PITCHd_Wd,49.4,34848,-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,-175.2,0.0,0.0,0,66,0.00,0.00,-43.50,0.000,2,0.000,0.000,429,1660,2562
$GC,69,-0.96,-175.2,3.2,-2.8,8,103,12.02,0.00,-17.05,0.000,4,0.151,0.000,2577,1661,3380
$GC,317,-0.96,-175.2,37.7,-13.2,47,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1662,3382
$GC,648,-0.96,-175.2,75.6,-11.2,78,651,0.00,1.17,0.00,0.000,4,0.000,0.035,2577,961,3382
$GC,749,-0.96,-175.2,87.1,-10.7,87,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,960,3382
$GC,1080,-0.96,-175.2,118.9,-9.0,118,1082,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,960,3383
$GC,1159,-0.96,-175.2,125.9,-8.0,125,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,961,3383
$GC,1489,-0.96,-175.2,153.0,-8.5,156,1492,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,960,3383
$GC,1584,-0.96,-175.2,160.3,-7.4,164,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,960,3383
$GC,1909,-0.96,-175.2,185.3,-6.7,195,1912,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,960,3383
$GC,1955,-0.96,-175.2,188.5,-7.1,199,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,960,3383
$GC,2291,-0.96,-175.2,210.0,-6.5,224,2294,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,961,3383
$GC,2347,-0.96,-175.2,214.0,-7.6,226,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,960,3383
$GC,2668,-0.96,-175.2,235.8,-7.0,242,2671,0.00,1.08,0.00,0.000,4,0.000,0.022,2577,1663,3383
$GC,2678,-0.96,-175.2,236.6,-7.1,242,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1663,3383
$GC,2999,-0.96,-175.2,258.9,-6.5,258,3003,0.00,1.17,0.00,0.000,4,0.000,0.038,2577,968,3382
$GC,3100,-0.96,-175.2,265.1,-6.0,262,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,967,3382
$GC,3421,-0.96,-175.2,285.4,-6.8,278,3425,0.00,1.08,0.00,0.000,4,0.000,0.025,2577,1659,3380
$GC,3449,-0.96,-175.2,287.4,-7.1,279,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1660,3381
$GC,3774,-0.96,-175.2,308.4,-6.2,292,3777,0.00,1.17,0.00,0.000,4,0.000,0.040,2577,969,3379
$GC,3846,-0.96,-175.2,312.6,-5.7,293,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,968,3379
$GC,4189,-0.96,-175.2,333.2,-6.5,302,4192,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,968,3376
$GC,4239,-0.96,-175.2,336.5,-6.9,303,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,968,3376
$GC,4563,-0.96,-175.2,356.0,-5.9,311,4566,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,968,3374
$GC,4602,-0.96,-175.2,358.2,-5.5,311,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,968,3374
$GC,4934,-0.96,-175.2,380.5,-7.2,320,4937,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,968,3372
$GC,4989,-0.96,-175.2,384.9,-7.2,321,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,968,3371
$GC,5308,-0.96,-175.2,405.2,-6.0,329,5311,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,968,3369
$GC,5404,-0.96,-175.2,410.1,-4.9,331,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,968,3369
$GC,5729,-0.96,-175.2,427.7,-5.9,339,5732,0.00,0.00,0.00,0.000,4,0.000,0.000,2577,968,3367
$GC,5857,-0.96,-175.2,436.6,-7.2,341,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,968,3366
$STATE,6066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6066,begin apogee
$GC,6072,-0.31,0.0,452.7,7.9,347,6216,0.68,0.00,141.23,0.896,6,0.163,0.000,2737,968,2664
$STATE,6217,end apogee,CONTROL_FINISHED_OK
$STATE,6217,begin climb
$GC,6219,0.96,175.2,462.5,0.0,350,6369,1.17,0.00,145.35,0.871,4,0.044,0.000,3006,968,1949
$GC,6623,0.96,175.2,446.4,8.4,359,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,968,1938
$GC,6936,0.96,175.2,420.0,8.5,367,6939,0.00,0.00,0.00,0.000,4,0.000,0.000,3006,968,1935
$GC,7192,0.96,175.2,398.8,8.2,372,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,968,1934
$GC,7529,0.96,175.2,373.4,7.3,381,7532,0.00,1.12,0.00,0.000,4,0.000,0.031,3006,1651,1931
$GC,7601,1.01,213.3,368.8,6.1,382,7635,0.00,0.00,31.75,0.842,6,0.000,0.000,3006,1651,1794
$GC,7944,1.01,213.3,342.8,8.0,391,7948,0.00,1.20,0.00,0.000,4,0.000,0.045,3006,966,1787
$GC,7999,1.01,213.3,338.0,8.6,392,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,966,1785
$GC,8318,1.01,213.3,308.5,9.8,400,8321,0.00,1.12,0.00,0.000,4,0.000,0.030,3006,1648,1784
$GC,8408,1.01,213.3,299.9,9.0,402,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1649,1783
$GC,8740,1.01,213.3,273.5,7.7,418,8743,0.00,1.20,0.00,0.000,4,0.000,0.044,3006,964,1782
$GC,8868,1.01,213.3,262.8,8.4,423,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,963,1781
$GC,9183,1.01,213.3,236.0,8.9,439,9187,0.00,1.12,0.00,0.000,4,0.000,0.028,3006,1655,1780
$GC,9341,1.01,213.3,222.9,7.3,446,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1656,1780
$GC,9662,1.01,213.3,198.5,7.7,462,9666,0.00,1.20,0.00,0.000,4,0.000,0.041,3006,966,1780
$GC,9860,1.05,245.8,185.0,6.3,479,9889,0.00,0.00,26.85,0.695,6,0.000,0.000,3006,965,1662
$GC,10216,1.05,245.8,157.2,9.0,513,10219,0.00,1.10,0.00,0.000,4,0.000,0.025,3006,1656,1656
$GC,10261,1.05,245.8,153.7,7.9,517,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1657,1656
$GC,10593,1.07,266.6,130.9,6.6,548,10619,0.10,1.25,19.17,0.627,4,0.056,0.110,3041,959,1576
$GC,10671,1.07,266.6,124.1,8.5,555,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,959,1574
$GC,11001,1.07,266.6,94.5,8.1,586,11004,0.00,0.00,0.00,0.000,4,0.000,0.000,3041,959,1573
$GC,11260,1.07,266.6,76.1,8.5,609,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,959,1572
$GC,11590,1.07,266.6,49.5,9.3,640,11593,0.00,1.10,0.00,0.000,4,0.000,0.021,3040,1672,1572
$GC,11639,1.07,266.6,45.6,7.2,644,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1673,1573
$GC,11969,1.07,266.6,22.8,7.8,684,11975,0.00,1.20,0.00,0.000,4,0.000,0.101,3041,964,1573
$GC,12189,1.07,266.6,6.0,7.7,723,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,964,1574
$STATE,12228,end climb,SURFACE_DEPTH_REACHED
$STATE,12228,begin surface coast
$FINISH,1.3,0.999239
$STATE,12267,end surface coast,CONTROL_FINISHED_OK
$STATE,12268,begin surface
$SM_CCo,12288,177.20,0.514,0,0,448,543.09
$SM_GC,1.91,0.00,0.00,177.20,0.000,0.000,0.514,426,960,448,-10.90,-35.05,543.09
$IRIDIUM_FIX,2052.52,-15810.20,131197,000043
$TT8_MAMPS,0.029146
$HUMID,1876
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.90
$XPDR_PINGS,773
$24V_AH,23.3,70.256
$10V_AH,10.2,40.163
$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,25.250,17.300,364.350,177.200,0.000,152.650,420.790,0.000,197.250,0.000,0.000,34.407,1348.247,8727.158,585.973,1957.314,796.946,0.000,1508.040,0.000,1905.888,0.000,29.241
$DEVICE_MAMPS,162.604,110.448,895.856,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.061,485.944,832.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37897,737
$CAP_FILE_SIZE,99616,3
$CFSIZE,260165632,243445760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190808,035437,2059.893,-15813.219,37,1.0,37,9.8