version: 66.03
glider: 139
mission: 3
dive: 196
start: 8 6 108 19 21 13
data:
$ID,139
$MISSION,3
$DIVE,196
$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,-1274702.4
$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,63
$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
$GPS1,191338,2108.595,-15800.948,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.6
$GPS2,192021,2108.604,-15801.062,11,1.7,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.063
$KALMAN_X,-146579.7,-155.6,-433.1,132919.8,-2540.3
$KALMAN_Y,-78857.7,174.1,373.2,63360.6,-1062.1
$MHEAD_RNG_PITCHd_Wd,65.9,27044,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,70,0.00,0.00,-48.97,0.000,2,0.000,0.000,488,2087,2702
$GC,73,-0.96,-175.2,3.1,-3.0,9,108,11.70,2.15,-13.80,0.000,4,0.151,0.058,2577,841,3382
$GC,125,-0.96,-175.2,13.4,-14.9,18,131,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2076,3383
$GC,244,-0.96,-175.2,26.3,-10.8,39,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3383
$GC,363,-0.96,-175.2,40.6,-12.6,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3383
$GC,682,-0.96,-175.2,77.3,-11.3,83,686,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,836,3384
$GC,716,-0.96,-175.2,81.1,-10.9,86,719,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2082,3383
$GC,1047,-0.96,-175.2,118.4,-11.3,117,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3384
$GC,1365,-0.96,-175.2,148.5,-8.4,147,1368,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,843,3385
$GC,1443,-0.96,-175.2,155.4,-8.8,154,1447,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2081,3386
$GC,1776,-0.96,-175.2,184.7,-9.7,185,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3386
$GC,2097,-0.96,-175.2,214.2,-8.6,208,2100,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3386
$GC,2168,-0.96,-175.2,221.5,-10.1,211,2173,0.00,2.00,0.00,0.000,6,0.000,0.041,2577,2074,3386
$GC,2496,-0.96,-175.2,243.5,-4.9,227,2499,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,842,3386
$GC,2518,-0.96,-175.2,244.7,-5.0,228,2522,0.00,2.00,0.00,0.000,6,0.000,0.060,2577,2082,3386
$GC,2850,-0.96,-175.2,265.5,-6.8,244,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3386
$GC,3160,-0.96,-175.2,289.1,-6.5,259,3164,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3464,3385
$GC,3187,-0.96,-175.2,290.6,-5.3,260,3191,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2221,3385
$GC,3528,-0.96,-175.2,303.7,-3.7,275,3532,0.00,2.33,0.00,0.000,4,0.000,0.037,2577,840,3384
$GC,3582,-0.96,-175.2,306.4,-5.0,276,3586,0.00,2.03,0.00,0.000,6,0.000,0.063,2577,2064,3384
$GC,3896,-0.96,-175.2,326.2,-7.1,284,3900,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3466,3382
$GC,3939,-0.96,-175.2,329.9,-8.6,285,3943,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2238,3382
$GC,4263,-0.96,-175.2,354.9,-7.3,293,4267,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,847,3381
$GC,4330,-0.96,-175.2,359.2,-6.3,294,4334,0.00,2.03,0.00,0.000,6,0.000,0.053,2577,2077,3381
$GC,4672,-0.96,-175.2,378.5,-5.3,303,4676,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3471,3378
$GC,4699,-0.96,-175.2,380.2,-5.9,303,4703,0.00,2.05,0.00,0.000,6,0.000,0.040,2577,2230,3378
$GC,5036,-0.96,-175.2,403.5,-7.6,312,5040,0.00,2.15,0.00,0.000,4,0.000,0.043,2577,3474,3377
$GC,5126,-0.96,-175.2,410.1,-7.2,314,5130,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2233,3376
$GC,5455,-0.96,-175.2,432.6,-6.8,322,5460,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,843,3373
$GC,5545,-0.96,-175.2,438.5,-6.7,324,5548,0.00,2.05,0.00,0.000,6,0.000,0.028,2577,2074,3373
$STATE,5744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5744,begin apogee
$GC,5749,-0.31,0.0,452.3,6.9,329,5895,0.68,0.00,142.48,0.886,6,0.164,0.000,2731,2075,2664
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5896,begin climb
$GC,5898,0.96,175.2,461.0,0.0,332,6054,1.20,2.55,145.27,0.859,4,0.047,0.045,3010,3473,1948
$GC,6250,0.96,175.2,446.2,8.2,340,6254,0.00,2.10,0.00,0.000,6,0.000,0.062,3010,2254,1943
$GC,6569,0.96,175.2,421.9,7.3,348,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2254,1938
$GC,6894,0.96,175.2,396.8,7.8,356,6897,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,841,1935
$GC,6971,0.96,175.2,390.5,8.5,357,6975,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2075,1933
$GC,7308,0.96,175.2,364.9,7.3,366,7311,0.00,2.12,0.00,0.000,4,0.000,0.044,3010,849,1932
$GC,7357,0.96,175.8,361.4,7.1,367,7361,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2088,1929
$GC,7681,0.97,186.0,337.7,6.9,375,7695,0.00,2.47,7.45,0.718,4,0.000,0.047,3009,3473,1905
$GC,7780,0.97,186.0,330.4,7.5,377,7784,0.00,2.08,0.00,0.000,6,0.000,0.027,3010,2255,1905
$GC,8099,0.97,186.0,304.5,8.9,385,8103,0.00,2.42,0.00,0.000,4,0.000,0.076,3010,849,1903
$GC,8164,0.97,186.0,299.1,7.7,386,8169,0.00,2.08,0.00,0.000,6,0.000,0.066,3010,2071,1900
$GC,8491,1.03,232.0,277.9,5.9,402,8537,0.00,2.47,41.20,0.777,4,0.000,0.048,3010,3478,1718
$GC,8628,1.04,238.6,268.8,7.0,408,8640,0.00,2.08,7.03,0.639,6,0.000,0.026,3010,2242,1690
$GC,8948,1.04,238.6,243.3,9.4,424,8952,0.00,2.40,0.00,0.000,4,0.000,0.041,3010,848,1686
$GC,9100,1.04,238.6,228.4,11.2,431,9103,0.00,2.05,0.00,0.000,6,0.000,0.026,3010,2082,1682
$GC,9431,1.04,238.6,199.9,7.4,447,9435,0.00,2.38,0.00,0.000,4,0.000,0.037,3010,3474,1682
$GC,9516,1.04,238.6,193.0,7.8,454,9520,0.00,2.03,0.00,0.000,6,0.000,0.025,3010,2246,1682
$GC,9848,1.04,238.6,165.2,8.9,485,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2246,1681
$GC,10164,1.07,268.1,138.4,6.3,515,10197,0.00,2.42,26.02,0.631,4,0.000,0.069,3010,838,1568
$GC,10288,1.15,331.5,131.5,5.4,526,10353,0.15,2.05,55.15,0.630,6,0.042,0.021,3058,2097,1311
$GC,10670,1.15,331.5,101.5,8.5,562,10673,0.00,2.12,0.00,0.000,4,0.000,0.036,3057,836,1305
$GC,10760,1.15,331.5,93.9,8.0,570,10763,0.00,2.03,0.00,0.000,6,0.000,0.020,3058,2085,1303
$GC,11091,1.15,331.5,63.7,10.8,601,11094,0.00,2.12,0.00,0.000,4,0.000,0.077,3057,843,1303
$GC,11118,1.15,331.5,60.5,11.2,603,11125,0.00,2.03,0.00,0.000,6,0.000,0.019,3058,2082,1302
$GC,11446,1.15,331.5,27.8,9.2,636,11452,0.00,2.10,0.00,0.000,4,0.000,0.076,3057,842,1303
$GC,11469,1.15,331.5,25.3,9.7,640,11475,0.00,1.98,0.00,0.000,6,0.000,0.019,3058,2087,1302
$GC,11588,1.15,331.5,14.8,8.7,661,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2092,1302
$GC,11707,1.15,331.5,3.9,9.4,682,11713,0.00,2.28,0.00,0.000,4,0.000,0.028,3058,3464,1303
$STATE,11717,end climb,SURFACE_DEPTH_REACHED
$STATE,11717,begin surface coast
$FINISH,1.1,1.012412
$STATE,11735,end surface coast,CONTROL_FINISHED_OK
$STATE,11735,begin surface
$SM_CCo,11817,0.00,0.000,0,0,1301,334.34
$SM_GC,1.82,11.30,0.00,0.00,0.038,0.000,0.000,422,2239,1301,-10.82,4.52,334.34
$IRIDIUM_FIX,2059.45,-15758.18,311097,151543
$TT8_MAMPS,0.029146
$HUMID,1918
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,702
$24V_AH,21.6,57.801
$10V_AH,10.2,33.274
$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,25.025,107.950,424.600,0.000,0.000,24.470,26.703,222.493,175.500,0.000,0.000,12.541,1250.118,8333.248,480.284,1679.881,464.654,33.375,1327.373,0.000,1665.364,0.000,0.471
$DEVICE_MAMPS,164.138,76.700,885.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.610,445.583,762.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34738,687
$CAP_FILE_SIZE,100941,7
$CFSIZE,260165632,247746560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060808,223937,2108.750,-15800.405,52,1.4,52,9.8