version: 66.03
glider: 139
mission: 3
dive: 195
start: 8 6 108 15 53 17
data:
$ID,139
$MISSION,3
$DIVE,195
$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,-1274689.2
$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,56
$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
$GPS1,154601,2107.979,-15800.639,36,1.1,41,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.9
$GPS2,155227,2107.998,-15800.790,10,1.5,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.084
$KALMAN_X,-143454.2,-254.0,34.7,129898.8,-4142.8
$KALMAN_Y,-78549.6,51.1,124.6,62302.2,-570.1
$MHEAD_RNG_PITCHd_Wd,60.8,26150,-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,21,-0.96,-175.2,0.0,0.0,0,99,0.00,0.00,-75.75,0.000,2,0.000,0.000,426,2237,2679
$GC,102,-0.96,-175.2,3.4,-4.0,14,131,12.12,0.00,-13.70,0.000,6,0.153,0.000,2578,2238,3380
$GC,244,-0.96,-175.2,28.2,-16.4,39,250,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,838,3382
$GC,272,-0.96,-175.2,32.1,-13.6,43,279,0.00,2.03,0.00,0.000,6,0.000,0.018,2578,2080,3382
$GC,597,-0.96,-175.2,66.4,-9.7,74,601,0.00,2.30,0.00,0.000,4,0.000,0.029,2578,3466,3382
$GC,636,-0.96,-175.2,70.2,-9.6,77,640,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2229,3383
$GC,967,-0.96,-175.2,96.6,-7.9,108,971,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,836,3383
$GC,1073,-0.96,-175.2,106.6,-9.2,117,1077,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2090,3384
$GC,1406,-0.96,-175.2,142.4,-10.2,148,1410,0.00,2.12,0.00,0.000,4,0.000,0.072,2577,834,3384
$GC,1440,-0.96,-175.2,145.7,-8.5,151,1444,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2080,3384
$GC,1772,-0.96,-175.2,174.3,-7.6,182,1776,0.00,2.30,0.00,0.000,4,0.000,0.053,2578,3463,3384
$GC,1811,-0.96,-175.2,177.3,-7.3,185,1815,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2226,3384
$GC,2152,-0.96,-175.2,202.7,-8.4,216,2156,0.00,2.33,0.00,0.000,4,0.000,0.068,2578,842,3384
$GC,2258,-0.96,-175.2,212.4,-9.0,221,2262,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2077,3384
$GC,2590,-0.96,-175.2,237.6,-7.4,237,2594,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3383
$GC,2618,-0.96,-175.2,239.7,-7.4,238,2622,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2087,3384
$GC,2945,-0.96,-175.2,260.0,-4.7,254,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2091,3383
$GC,3254,-0.96,-175.2,278.7,-7.3,269,3258,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,3463,3382
$GC,3297,-0.96,-175.2,282.0,-7.4,271,3301,0.00,2.03,0.00,0.000,6,0.000,0.022,2578,2241,3382
$GC,3644,-0.96,-175.2,303.6,-6.6,287,3648,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,838,3380
$GC,3722,-0.96,-175.2,308.7,-6.0,288,3728,0.00,2.03,0.00,0.000,6,0.000,0.062,2578,2074,3380
$GC,4053,-0.96,-175.2,325.2,-4.6,297,4057,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3474,3378
$GC,4081,-0.96,-175.2,326.5,-4.8,297,4084,0.00,2.03,0.00,0.000,6,0.000,0.045,2578,2243,3378
$GC,4417,-0.96,-175.2,346.4,-6.1,306,4421,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,843,3376
$GC,4483,-0.96,-175.2,351.4,-8.1,307,4487,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2067,3376
$GC,4825,-0.96,-175.2,370.6,-4.9,316,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2071,3375
$GC,5151,-0.96,-175.2,387.5,-5.3,324,5155,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3470,3372
$GC,5172,-0.96,-175.2,388.8,-5.7,324,5176,0.00,2.03,0.00,0.000,6,0.000,0.025,2577,2246,3372
$GC,5514,-0.96,-175.2,405.9,-5.0,333,5519,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,842,3370
$GC,5592,-0.96,-175.2,409.2,-3.8,334,5598,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2077,3370
$GC,5923,-0.96,-175.2,425.1,-5.6,343,5927,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3474,3367
$GC,5995,-0.96,-175.2,429.6,-6.0,344,5999,0.00,2.08,0.00,0.000,6,0.000,0.062,2578,2243,3367
$STATE,6330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6330,begin apogee
$GC,6335,-0.31,0.0,452.3,7.1,353,6480,0.68,0.00,141.48,0.890,6,0.167,0.000,2728,2243,2664
$STATE,6480,end apogee,CONTROL_FINISHED_OK
$STATE,6480,begin climb
$GC,6482,0.96,175.2,461.4,0.0,356,6639,1.20,2.53,145.73,0.865,4,0.108,0.051,3005,849,1946
$GC,6825,0.96,175.2,449.5,8.7,364,6829,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2082,1936
$GC,7153,0.96,175.2,422.8,8.2,372,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2086,1934
$GC,7479,0.96,175.2,395.4,8.8,380,7482,0.00,2.15,0.00,0.000,4,0.000,0.044,3005,850,1933
$GC,7523,0.96,175.2,391.4,9.0,381,7527,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2088,1931
$GC,7852,0.96,175.2,363.1,8.6,389,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2091,1930
$GC,8177,0.96,175.2,331.6,11.4,397,8181,0.00,2.15,0.00,0.000,4,0.000,0.043,3005,848,1929
$GC,8243,0.96,175.2,324.6,10.4,398,8247,0.00,2.08,0.00,0.000,6,0.000,0.028,3005,2075,1928
$GC,8591,1.02,222.8,300.3,5.8,407,8636,0.00,2.17,38.95,0.792,4,0.000,0.077,3005,856,1754
$GC,8733,1.10,289.7,292.7,5.3,412,8806,0.12,2.05,60.92,0.760,6,0.054,0.031,3041,2084,1482
$GC,9114,1.10,289.7,257.3,11.8,431,9118,0.00,2.40,0.00,0.000,4,0.000,0.038,3041,3473,1473
$GC,9253,1.10,289.7,238.9,12.5,437,9258,0.00,2.08,0.00,0.000,6,0.000,0.064,3041,2258,1472
$GC,9575,1.10,289.7,201.8,10.3,453,9579,0.00,2.42,0.00,0.000,4,0.000,0.041,3041,848,1470
$GC,9682,1.10,289.7,193.1,7.6,461,9686,0.00,2.05,0.00,0.000,6,0.000,0.065,3041,2084,1467
$GC,10014,1.10,289.7,165.3,8.3,492,10019,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3478,1467
$GC,10058,1.10,289.7,161.3,8.9,495,10064,0.00,2.08,0.00,0.000,6,0.000,0.048,3041,2245,1467
$GC,10384,1.10,289.7,132.2,9.0,526,10389,0.00,2.40,0.00,0.000,4,0.000,0.070,3041,837,1467
$GC,10514,1.10,289.7,119.7,10.3,537,10518,0.00,2.03,0.00,0.000,6,0.000,0.021,3041,2088,1466
$GC,10845,1.10,289.7,87.0,9.4,568,10849,0.00,2.33,0.00,0.000,4,0.000,0.068,3042,3467,1466
$GC,10944,1.10,289.7,77.8,9.1,576,10951,0.00,2.03,0.00,0.000,6,0.000,0.021,3041,2242,1465
$GC,11270,1.10,289.7,51.9,8.9,607,11275,0.00,2.38,0.00,0.000,4,0.000,0.051,3041,838,1466
$GC,11366,1.10,289.7,43.5,8.7,615,11370,0.00,2.00,0.00,0.000,6,0.000,0.019,3041,2087,1466
$GC,11701,1.10,289.7,16.8,8.6,659,11707,0.00,2.10,0.00,0.000,4,0.000,0.034,3041,836,1466
$GC,11735,1.10,289.7,13.6,8.7,665,11742,0.00,1.98,0.00,0.000,6,0.000,0.021,3041,2083,1466
$GC,11855,1.10,289.7,3.7,8.9,686,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2088,1468
$STATE,11864,end climb,SURFACE_DEPTH_REACHED
$STATE,11865,begin surface coast
$FINISH,1.0,1.013407
$STATE,11899,end surface coast,CONTROL_FINISHED_OK
$STATE,11899,begin surface
$SM_CCo,11919,24.00,0.505,0,0,1358,320.12
$SM_GC,2.18,0.00,0.00,24.00,0.000,0.000,0.505,488,2086,1358,-10.61,0.20,320.12
$IRIDIUM_FIX,2057.14,-15801.19,311097,121243
$TT8_MAMPS,0.029146
$HUMID,1906
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.30
$XPDR_PINGS,691
$24V_AH,23.3,57.667
$10V_AH,10.2,33.197
$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,25.125,108.625,387.075,24.000,0.000,27.977,29.819,204.150,172.750,0.000,0.000,12.314,1259.615,8443.305,497.938,1670.404,447.210,33.372,1337.316,0.000,1658.718,0.000,0.470
$DEVICE_MAMPS,167.206,77.467,889.720,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.911,445.659,767.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34807,694
$CAP_FILE_SIZE,100075,14
$CFSIZE,260165632,247799808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060808,191338,2108.595,-15800.948,40,1.2,40,9.8