version: 66.03
glider: 139
mission: 3
dive: 188
start: 8 5 108 16 0 31
data:
$ID,139
$MISSION,3
$DIVE,188
$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,-1274567.2
$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,67
$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
$GPS1,155237,2104.854,-15757.666,40,1.1,46,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.6
$GPS2,155939,2104.852,-15757.813,11,1.1,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,0.191
$KALMAN_X,-120124.2,-351.4,184.5,111653.0,-4042.0
$KALMAN_Y,-72338.3,-20.7,297.2,50166.4,-1919.5
$MHEAD_RNG_PITCHd_Wd,31.7,19369,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.20,0.000,2,0.000,0.000,425,2099,2800
$GC,78,-0.96,-175.2,3.5,-3.8,10,108,12.05,2.25,-10.98,0.000,4,0.151,0.039,2577,3458,3380
$GC,142,-0.96,-175.2,19.3,-18.9,21,149,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2235,3381
$GC,260,-0.96,-175.2,34.4,-12.4,39,264,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,836,3381
$GC,311,-0.96,-175.2,40.1,-11.4,43,314,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2072,3381
$GC,640,-0.96,-175.2,79.9,-12.8,74,644,0.00,2.30,0.00,0.000,4,0.000,0.030,2577,3460,3382
$GC,680,-0.96,-175.2,84.8,-12.2,77,684,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2235,3381
$GC,1010,-0.96,-175.2,120.8,-9.3,108,1014,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,842,3383
$GC,1106,-0.96,-175.2,128.6,-8.2,116,1110,0.00,1.98,0.00,0.000,6,0.000,0.058,2577,2080,3383
$GC,1439,-0.96,-175.2,156.7,-7.6,147,1442,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,839,3384
$GC,1488,-0.96,-175.2,160.7,-7.2,151,1494,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2075,3384
$GC,1815,-0.96,-175.2,179.6,-5.0,182,1818,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,844,3384
$GC,1871,-0.96,-175.2,182.3,-4.7,187,1875,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2078,3384
$GC,2211,-0.96,-175.2,204.7,-6.7,216,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3384
$GC,2519,-0.96,-175.2,226.3,-7.6,231,2523,0.00,2.33,0.00,0.000,4,0.000,0.033,2577,3467,3384
$GC,2558,-0.96,-175.2,229.3,-7.7,233,2561,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2234,3384
$GC,2891,-0.96,-175.2,250.6,-5.7,249,2895,0.00,2.35,0.00,0.000,4,0.000,0.046,2577,839,3384
$GC,2945,-0.96,-175.2,254.1,-6.0,251,2952,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2074,3383
$GC,3261,-0.96,-175.2,272.7,-6.5,267,3265,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,3471,3382
$GC,3288,-0.96,-175.2,274.9,-8.1,268,3292,0.00,2.05,0.00,0.000,6,0.000,0.022,2577,2235,3382
$GC,3609,-0.96,-175.2,299.8,-8.0,284,3613,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,842,3381
$GC,3697,-0.96,-175.2,306.4,-7.5,287,3701,0.00,2.03,0.00,0.000,6,0.000,0.035,2577,2069,3381
$GC,4022,-0.96,-175.2,324.9,-5.5,295,4026,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3470,3380
$GC,4048,-0.96,-175.2,326.4,-6.0,295,4052,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2225,3380
$GC,4385,-0.96,-175.2,344.9,-5.3,304,4389,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,838,3378
$GC,4457,-0.96,-175.2,349.0,-5.6,305,4461,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2083,3378
$GC,4793,-0.96,-175.2,366.5,-5.4,314,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2087,3375
$GC,5118,-0.96,-175.2,387.3,-7.0,322,5122,0.00,2.12,0.00,0.000,4,0.000,0.041,2576,843,3375
$GC,5145,-0.96,-175.2,389.6,-8.5,322,5150,0.00,2.08,0.00,0.000,6,0.000,0.037,2577,2078,3373
$GC,5488,-0.96,-175.2,418.7,-8.8,331,5491,0.00,2.12,0.00,0.000,4,0.000,0.041,2577,839,3372
$GC,5509,-0.96,-175.2,420.8,-9.2,331,5513,0.00,2.08,0.00,0.000,6,0.000,0.027,2577,2075,3372
$STATE,5855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5855,begin apogee
$GC,5860,-0.31,0.0,450.9,8.3,340,6004,0.50,0.00,141.88,0.885,6,0.091,0.000,2692,2078,2664
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6007,0.96,175.2,458.8,0.0,343,6156,0.08,0.00,145.30,0.861,6,1.462,0.000,2726,2079,1949
$GC,6455,0.98,190.2,443.0,6.7,354,6472,1.27,0.00,13.10,0.792,6,0.048,0.000,3010,2079,1888
$GC,6779,0.98,190.2,412.8,9.4,362,6782,0.00,2.12,0.00,0.000,4,0.000,0.044,3010,851,1883
$GC,6901,0.98,190.2,401.0,9.4,364,6905,0.00,2.10,0.00,0.000,6,0.000,0.029,3010,2095,1880
$GC,7237,0.98,190.2,373.3,7.9,373,7242,0.00,2.40,0.00,0.000,4,0.000,0.043,3010,3478,1879
$GC,7270,0.98,190.2,370.4,8.3,373,7276,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2251,1879
$GC,7601,0.98,190.2,343.0,8.5,382,7605,0.00,2.45,0.00,0.000,4,0.000,0.077,3010,841,1877
$GC,7656,0.98,190.2,338.3,8.9,383,7660,0.00,2.10,0.00,0.000,6,0.000,0.067,3010,2075,1875
$GC,7969,0.98,194.5,317.2,7.0,391,7973,0.00,2.42,0.00,0.000,4,0.000,0.073,3011,3478,1875
$GC,8120,0.98,194.5,302.1,9.2,394,8124,0.00,2.08,0.00,0.000,6,0.000,0.067,3010,2249,1876
$GC,8452,0.98,194.5,278.9,7.7,409,8456,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,843,1874
$GC,8604,0.98,194.5,264.3,9.9,416,8607,0.00,2.08,0.00,0.000,6,0.000,0.063,3010,2082,1872
$GC,8935,0.98,194.5,237.1,8.5,432,8939,0.00,2.38,0.00,0.000,4,0.000,0.039,3010,3475,1872
$GC,9192,1.11,298.3,220.4,4.3,443,9290,0.12,2.05,91.93,0.726,6,0.051,0.045,3049,2246,1448
$GC,9610,1.11,298.3,179.9,9.7,472,9613,0.00,2.10,0.00,0.000,4,0.000,0.035,3050,3477,1439
$GC,9637,1.11,298.3,177.0,10.6,474,9643,0.00,2.08,0.00,0.000,6,0.000,0.035,3049,2252,1439
$GC,9963,1.11,298.3,144.7,9.7,505,9967,0.00,2.42,0.00,0.000,4,0.000,0.054,3049,841,1437
$GC,10063,1.11,298.3,134.1,11.1,513,10070,0.00,2.08,0.00,0.000,6,0.000,0.022,3049,2091,1435
$GC,10390,1.11,298.3,100.9,9.7,544,10394,0.00,2.33,0.00,0.000,4,0.000,0.038,3049,3467,1435
$GC,10447,1.11,298.3,94.6,10.6,548,10453,0.00,2.00,0.00,0.000,6,0.000,0.021,3049,2238,1435
$GC,10772,1.11,298.3,62.6,10.2,579,10777,0.00,2.38,0.00,0.000,4,0.000,0.071,3049,839,1435
$GC,10958,1.11,298.3,44.1,8.5,595,10962,0.00,2.00,0.00,0.000,6,0.000,0.020,3049,2086,1434
$GC,11290,1.11,298.3,17.9,7.1,639,11296,0.00,2.30,0.00,0.000,4,0.000,0.035,3049,3465,1435
$GC,11331,1.11,298.3,14.7,8.4,646,11337,0.00,1.98,0.00,0.000,6,0.000,0.020,3049,2238,1435
$GC,11451,1.11,298.3,5.3,7.9,667,11457,0.00,2.33,0.00,0.000,4,0.000,0.048,3049,843,1435
$STATE,11478,end climb,SURFACE_DEPTH_REACHED
$STATE,11479,begin surface coast
$FINISH,1.1,1.022990
$STATE,11507,end surface coast,CONTROL_FINISHED_OK
$STATE,11507,begin surface
$SM_CCo,11529,17.17,0.505,0,0,1358,320.12
$SM_GC,1.57,0.00,0.00,17.17,0.000,0.000,0.505,420,2078,1358,-10.93,0.00,320.12
$IRIDIUM_FIX,2059.45,-15756.04,301097,121257
$TT8_MAMPS,0.029146
$HUMID,1924
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.00
$XPDR_PINGS,674
$24V_AH,23.3,56.657
$10V_AH,10.2,32.641
$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,25.250,112.700,392.200,17.175,0.000,30.674,28.521,237.980,168.500,0.000,0.000,13.253,1234.253,8124.809,503.081,1608.880,487.999,33.377,1295.583,0.000,1601.878,0.000,0.471
$DEVICE_MAMPS,1461.902,77.467,885.118,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.841,441.252,742.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,677
$CAP_FILE_SIZE,98664,12
$CFSIZE,260165632,248135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050808,191425,2105.583,-15758.475,33,1.2,50,9.8