version: 66.03
glider: 139
mission: 3
dive: 191
start: 8 6 108 2 8 53
data:
$ID,139
$MISSION,3
$DIVE,191
$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,-1274625.9
$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,58
$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
$GPS1,020126,2105.740,-15758.140,52,1.1,52,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-67.8
$GPS2,020803,2105.698,-15758.236,11,0.9,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,0.168
$KALMAN_X,-129800.4,374.9,446.4,119608.7,-4164.8
$KALMAN_Y,-75909.1,274.3,76.4,55229.7,-1552.7
$MHEAD_RNG_PITCHd_Wd,38.8,20504,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.10,0.000,2,0.000,0.000,419,2230,2720
$GC,75,-0.96,-175.2,3.5,-3.8,9,105,12.15,0.55,-12.57,0.000,4,0.155,0.168,2576,2610,3382
$GC,206,-0.96,-175.2,24.6,-11.2,32,213,0.00,0.57,0.00,0.000,6,0.000,0.025,2576,2227,3384
$GC,327,-0.96,-175.2,39.4,-12.5,47,331,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,842,3384
$GC,372,-0.96,-175.2,45.0,-12.9,51,375,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2077,3384
$GC,702,-0.96,-175.2,83.9,-10.8,82,705,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,843,3385
$GC,785,-0.96,-175.2,92.2,-9.5,89,791,0.00,2.03,0.00,0.000,6,0.000,0.035,2576,2085,3385
$GC,1112,-0.96,-175.2,124.1,-10.4,120,1116,0.00,2.10,0.00,0.000,4,0.000,0.056,2575,841,3386
$GC,1168,-0.96,-175.2,130.0,-9.9,125,1172,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2087,3387
$GC,1499,-0.96,-175.2,161.6,-9.6,156,1503,0.00,2.10,0.00,0.000,4,0.000,0.074,2575,842,3386
$GC,1515,-0.96,-175.2,163.5,-10.1,157,1521,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2071,3386
$GC,1843,-0.96,-175.2,190.9,-6.4,188,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3387
$GC,2163,-0.96,-175.2,213.0,-7.7,210,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2076,3387
$GC,2473,-0.96,-175.2,237.7,-7.0,225,2476,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,839,3387
$GC,2505,-0.96,-175.2,240.2,-7.8,226,2509,0.00,2.03,0.00,0.000,6,0.000,0.021,2576,2074,3387
$GC,2826,-0.96,-175.2,261.5,-5.4,242,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3387
$GC,3136,-0.96,-175.2,279.1,-5.7,257,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3385
$GC,3445,-0.96,-175.2,298.0,-6.3,272,3449,0.00,2.10,0.00,0.000,4,0.000,0.038,2575,843,3384
$GC,3472,-0.96,-175.2,299.8,-6.3,273,3476,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2083,3385
$GC,3815,-0.96,-175.2,320.2,-6.3,282,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2087,3383
$GC,4140,-0.96,-175.2,340.3,-5.8,290,4143,0.00,2.12,0.00,0.000,4,0.000,0.040,2575,838,3381
$GC,4185,-0.96,-175.2,342.6,-5.4,291,4188,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2083,3381
$GC,4514,-0.96,-175.2,362.4,-6.5,299,4518,0.00,2.35,0.00,0.000,4,0.000,0.040,2576,3470,3379
$GC,4541,-0.96,-175.2,364.5,-6.9,299,4545,0.00,2.05,0.00,0.000,6,0.000,0.065,2575,2248,3379
$GC,4884,-0.96,-175.2,390.2,-7.4,308,4888,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,840,3377
$GC,4950,-0.96,-175.2,394.7,-7.0,309,4954,0.00,2.08,0.00,0.000,6,0.000,0.027,2575,2074,3376
$GC,5292,-0.96,-175.2,417.5,-6.5,318,5296,0.00,2.40,0.00,0.000,4,0.000,0.043,2575,3476,3375
$GC,5338,-0.96,-175.2,420.7,-6.4,319,5341,0.00,2.05,0.00,0.000,6,0.000,0.026,2576,2241,3375
$GC,5667,-0.96,-175.2,440.9,-6.0,327,5671,0.00,2.38,0.00,0.000,4,0.000,0.042,2576,849,3373
$GC,5790,-0.96,-175.2,449.7,-7.6,329,5794,0.00,2.08,0.00,0.000,6,0.000,0.028,2576,2073,3371
$STATE,5799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5799,begin apogee
$GC,5804,-0.31,0.0,450.5,7.4,330,5950,0.50,0.00,142.75,0.895,6,0.158,0.000,2699,2074,2664
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5953,0.96,175.2,458.6,0.0,333,6110,1.33,2.22,145.45,0.871,4,0.039,0.043,3005,849,1947
$GC,6260,0.96,175.2,447.3,8.2,340,6265,0.00,2.10,0.00,0.000,6,0.000,0.067,3005,2076,1938
$GC,6579,0.96,175.2,423.8,7.4,348,6583,0.00,2.45,0.00,0.000,4,0.000,0.045,3005,3478,1936
$GC,6622,0.96,175.2,420.5,7.4,349,6626,0.00,2.10,0.00,0.000,6,0.000,0.066,3004,2254,1936
$GC,6947,1.01,217.3,400.0,6.0,357,6987,0.00,0.00,36.05,0.846,6,0.000,0.000,3005,2253,1777
$GC,7311,1.01,217.3,362.9,11.4,366,7315,0.00,2.45,0.00,0.000,4,0.000,0.045,3005,846,1770
$GC,7400,1.01,217.3,350.9,13.6,368,7404,0.00,2.12,0.00,0.000,6,0.000,0.039,3005,2084,1767
$GC,7724,1.01,217.3,315.9,9.8,376,7728,0.00,2.17,0.00,0.000,4,0.000,0.044,3005,840,1766
$GC,7814,1.01,217.3,306.7,10.3,378,7818,0.00,2.08,0.00,0.000,6,0.000,0.029,3004,2080,1764
$GC,8136,1.01,217.3,279.4,8.0,392,8140,0.00,2.15,0.00,0.000,4,0.000,0.044,3005,842,1764
$GC,8168,1.01,217.3,276.6,8.6,393,8172,0.00,2.10,0.00,0.000,6,0.000,0.036,3005,2078,1763
$GC,8490,1.10,284.9,254.3,5.3,409,8555,0.12,2.47,58.33,0.762,4,0.054,0.073,3041,3466,1501
$GC,8605,1.10,284.9,243.4,11.4,414,8609,0.00,2.08,0.00,0.000,6,0.000,0.067,3041,2244,1500
$GC,8926,1.10,284.9,211.8,10.3,430,8930,0.00,2.42,0.00,0.000,4,0.000,0.043,3041,843,1495
$GC,9036,1.10,284.9,198.0,11.8,435,9043,0.00,2.10,0.00,0.000,6,0.000,0.066,3041,2085,1491
$GC,9362,1.10,284.9,161.6,12.4,466,9366,0.00,2.38,0.00,0.000,4,0.000,0.066,3041,3479,1491
$GC,9429,1.10,284.9,152.8,12.3,472,9433,0.00,2.05,0.00,0.000,6,0.000,0.024,3041,2244,1491
$GC,9761,1.10,284.9,118.6,9.5,503,9765,0.00,2.40,0.00,0.000,4,0.000,0.072,3041,841,1491
$GC,9905,1.10,284.9,104.8,8.6,515,9912,0.00,2.05,0.00,0.000,6,0.000,0.021,3041,2081,1489
$GC,10233,1.10,284.9,82.2,7.5,546,10237,0.00,2.35,0.00,0.000,4,0.000,0.039,3041,3473,1489
$GC,10283,1.10,284.9,77.6,8.7,550,10287,0.00,2.03,0.00,0.000,6,0.000,0.065,3040,2242,1489
$GC,10614,1.10,284.9,52.5,8.1,581,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2242,1489
$GC,10935,1.10,284.9,24.4,10.3,615,10941,0.00,2.35,0.00,0.000,4,0.000,0.039,3041,843,1490
$GC,10964,1.10,284.9,21.0,10.9,620,10970,0.00,1.98,0.00,0.000,6,0.000,0.020,3041,2087,1490
$GC,11084,1.12,301.0,10.6,6.7,641,11102,0.00,2.38,13.80,0.496,4,0.000,0.051,3041,3467,1436
$GC,11137,1.12,301.0,6.5,7.7,650,11143,0.00,2.03,0.00,0.000,6,0.000,0.020,3041,2239,1436
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11177,begin surface coast
$FINISH,1.0,1.013876
$STATE,11210,end surface coast,CONTROL_FINISHED_OK
$STATE,11210,begin surface
$SM_CCo,11230,15.80,0.496,0,0,1358,320.12
$SM_GC,1.58,0.00,0.00,15.80,0.000,0.000,0.496,427,2234,1358,-10.89,4.38,320.12
$IRIDIUM_FIX,2059.45,-15753.90,301097,222201
$TT8_MAMPS,0.028379
$HUMID,1934
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,662
$24V_AH,23.3,57.076
$10V_AH,10.2,32.873
$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,25.375,100.900,396.375,15.800,0.000,28.604,30.118,225.448,165.500,0.000,0.000,12.824,1207.288,7923.060,480.231,1567.932,458.743,33.378,1260.150,0.000,1553.853,0.000,0.470
$DEVICE_MAMPS,158.002,167.973,895.089,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.466,426.921,747.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34850,663
$CAP_FILE_SIZE,95570,10
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,051744,2106.513,-15759.033,41,1.0,47,9.8