version: 66.03
glider: 139
mission: 3
dive: 192
start: 8 6 108 5 37 23
data:
$ID,139
$MISSION,3
$DIVE,192
$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,-1274641.4
$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,60
$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
$GPS1,051744,2106.513,-15759.033,41,1.0,47,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.1
$GPS2,053633,2106.555,-15759.522,13,1.8,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,0.202
$KALMAN_X,-133733.8,354.4,-223.3,122018.8,-4247.3
$KALMAN_Y,-76581.9,138.5,355.0,57341.3,-1710.3
$MHEAD_RNG_PITCHd_Wd,27.8,23120,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-49.60,0.000,2,0.000,0.000,426,2233,2758
$GC,74,-0.96,-175.2,3.5,-4.5,9,104,12.07,2.05,-11.62,0.000,4,0.153,0.079,2576,3472,3381
$GC,116,-0.96,-175.2,15.3,-26.6,16,122,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2238,3382
$GC,235,-0.96,-175.2,28.5,-12.3,37,241,0.00,2.33,0.00,0.000,4,0.000,0.033,2575,842,3382
$GC,269,-0.96,-175.2,33.9,-16.7,41,273,0.00,1.70,0.00,0.000,6,0.000,0.051,2576,1943,3382
$GC,600,-0.96,-175.2,77.0,-12.7,72,604,0.00,2.53,0.00,0.000,4,0.000,0.030,2576,3468,3382
$GC,654,-0.96,-175.2,83.3,-9.4,76,661,0.00,2.03,0.00,0.000,6,0.000,0.018,2575,2226,3382
$GC,979,-0.96,-175.2,114.6,-9.7,107,983,0.00,2.30,0.00,0.000,4,0.000,0.033,2575,843,3383
$GC,1108,-0.96,-175.2,127.1,-10.5,118,1112,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2077,3384
$GC,1439,-0.96,-175.2,161.0,-9.7,149,1442,0.00,2.08,0.00,0.000,4,0.000,0.074,2575,843,3384
$GC,1477,-0.96,-175.2,164.5,-8.1,152,1484,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2076,3384
$GC,1803,-0.96,-175.2,190.1,-8.0,183,1807,0.00,2.30,0.00,0.000,4,0.000,0.067,2576,3460,3384
$GC,1835,-0.96,-175.2,192.8,-8.2,185,1841,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2241,3384
$GC,2164,-0.96,-175.2,215.1,-6.4,206,2168,0.00,2.35,0.00,0.000,4,0.000,0.034,2575,835,3384
$GC,2225,-0.96,-175.2,219.0,-5.9,209,2229,0.00,2.00,0.00,0.000,6,0.000,0.031,2575,2080,3384
$GC,2558,-0.96,-175.2,242.8,-7.8,225,2562,0.00,2.30,0.00,0.000,4,0.000,0.032,2575,3464,3384
$GC,2614,-0.96,-175.2,247.0,-7.3,227,2620,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2228,3383
$GC,2929,-0.96,-175.2,265.5,-7.4,243,2933,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,841,3383
$GC,3051,-0.96,-175.2,274.1,-5.0,248,3058,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2077,3383
$GC,3367,-0.96,-175.2,289.9,-5.3,264,3371,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,3465,3382
$GC,3410,-0.96,-175.2,292.8,-6.5,266,3414,0.00,2.03,0.00,0.000,6,0.000,0.062,2575,2229,3382
$GC,3734,-0.96,-175.2,321.7,-10.7,277,3738,0.00,2.33,0.00,0.000,4,0.000,0.037,2575,846,3381
$GC,3783,-0.96,-175.2,327.1,-10.9,278,3787,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2076,3380
$GC,4101,-0.96,-175.2,353.8,-7.7,286,4105,0.00,2.08,0.00,0.000,4,0.000,0.038,2575,846,3379
$GC,4140,-0.96,-175.2,356.6,-6.8,286,4146,0.00,2.03,0.00,0.000,6,0.000,0.064,2576,2083,3379
$GC,4471,-0.96,-175.2,377.2,-6.3,295,4475,0.00,2.10,0.00,0.000,4,0.000,0.039,2575,846,3377
$GC,4498,-0.96,-175.2,378.9,-5.9,295,4502,0.00,2.05,0.00,0.000,6,0.000,0.052,2575,2078,3377
$GC,4841,-0.96,-175.2,393.4,-3.8,304,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3375
$GC,5166,-0.96,-175.2,408.1,-5.0,312,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3373
$GC,5491,-0.96,-175.2,426.3,-5.7,320,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3371
$GC,5815,-0.96,-175.2,443.5,-4.8,328,5819,0.00,2.12,0.00,0.000,4,0.000,0.042,2575,841,3369
$GC,5865,-0.96,-175.2,445.7,-4.9,329,5869,0.00,2.05,0.00,0.000,6,0.000,0.048,2575,2074,3368
$STATE,5984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5984,begin apogee
$GC,5989,-0.31,0.0,450.5,4.0,332,6133,0.28,0.00,141.65,0.877,6,0.300,0.000,2648,2076,2664
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6136,0.96,175.2,453.8,0.0,335,6293,1.60,2.55,145.07,0.851,4,0.100,0.051,3003,3478,1948
$GC,6371,0.96,175.2,446.6,8.1,340,6375,0.00,2.12,0.00,0.000,6,0.000,0.054,3004,2250,1945
$GC,6713,0.96,175.2,420.8,7.7,349,6717,0.00,2.45,0.00,0.000,4,0.000,0.044,3003,844,1938
$GC,6791,0.96,175.2,414.5,7.9,350,6797,0.00,2.10,0.00,0.000,6,0.000,0.028,3003,2075,1935
$GC,7122,0.96,175.2,388.6,7.8,359,7126,0.00,2.42,0.00,0.000,4,0.000,0.042,3003,3478,1934
$GC,7170,0.96,175.2,384.5,8.6,360,7175,0.00,2.10,0.00,0.000,6,0.000,0.028,3003,2251,1934
$GC,7489,0.96,175.2,360.5,7.6,368,7493,0.00,2.42,0.00,0.000,4,0.000,0.044,3003,849,1932
$GC,7679,0.96,175.2,342.5,10.1,372,7683,0.00,2.05,0.00,0.000,6,0.000,0.028,3003,2081,1929
$GC,7991,0.96,175.2,313.0,9.3,380,7995,0.00,2.15,0.00,0.000,4,0.000,0.043,3003,845,1929
$GC,8018,0.96,175.2,310.4,10.2,380,8022,0.00,2.10,0.00,0.000,6,0.000,0.067,3003,2083,1928
$GC,8343,1.09,282.0,290.7,4.2,392,8439,0.12,2.42,90.30,0.783,4,0.054,0.072,3039,3474,1513
$GC,8619,1.09,282.0,263.8,12.8,404,8623,0.00,2.08,0.00,0.000,6,0.000,0.028,3039,2249,1509
$GC,8951,1.09,282.0,227.6,10.4,420,8955,0.00,2.42,0.00,0.000,4,0.000,0.042,3039,845,1504
$GC,9024,1.09,282.0,219.7,11.4,423,9027,0.00,2.05,0.00,0.000,6,0.000,0.026,3039,2083,1501
$GC,9347,1.09,282.0,190.0,8.7,444,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2087,1501
$GC,9665,1.09,282.0,163.4,9.1,474,9669,0.00,2.12,0.00,0.000,4,0.000,0.039,3039,846,1499
$GC,9767,1.09,282.0,152.8,11.1,483,9771,0.00,2.03,0.00,0.000,6,0.000,0.023,3039,2094,1498
$GC,10100,1.09,282.0,121.5,9.0,514,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2099,1498
$GC,10415,1.09,282.0,95.9,8.1,544,10419,0.00,2.15,0.00,0.000,4,0.000,0.037,3039,836,1498
$GC,10472,1.09,282.0,91.7,7.4,549,10475,0.00,2.03,0.00,0.000,6,0.000,0.021,3039,2087,1497
$GC,10803,1.11,293.7,71.2,6.8,580,10817,0.00,2.15,9.12,0.515,4,0.000,0.035,3039,849,1465
$GC,10876,1.11,293.7,65.7,7.9,586,10882,0.00,1.98,0.00,0.000,6,0.000,0.020,3039,2088,1463
$GC,11201,1.11,293.7,39.4,8.9,617,11205,0.00,2.30,0.00,0.000,4,0.000,0.030,3039,3469,1463
$GC,11252,1.19,362.0,36.3,5.3,621,11317,0.00,2.03,59.38,0.538,6,0.000,0.025,3039,2234,1187
$STATE,11611,end climb,SURFACE_DEPTH_REACHED
$STATE,11611,begin surface coast
$FINISH,1.1,1.023140
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11727,0.00,0.000,0,0,1179,364.03
$SM_GC,2.08,11.15,0.00,0.00,0.028,0.000,0.000,418,2231,1179,-10.81,4.30,364.03
$IRIDIUM_FIX,2057.14,-15759.05,311097,050530
$TT8_MAMPS,0.028379
$HUMID,1899
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.50
$XPDR_PINGS,700
$24V_AH,23.4,57.241
$10V_AH,10.2,32.957
$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,25.225,107.650,445.525,0.000,0.000,100.313,128.138,574.853,175.000,0.000,0.000,14.851,1237.667,8452.939,492.633,1653.917,1005.999,33.381,1325.516,0.000,1635.024,0.000,0.472
$DEVICE_MAMPS,299.897,79.001,876.681,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.524,442.822,760.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,684
$CAP_FILE_SIZE,107854,9
$CFSIZE,260165632,247939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,085437,2107.382,-15759.918,72,1.0,72,9.8