version: 66.03
glider: 139
mission: 3
dive: 197
start: 8 6 108 22 46 35
data:
$ID,139
$MISSION,3
$DIVE,197
$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,-1274716.8
$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,61
$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
$GPS1,223937,2108.750,-15800.405,52,1.4,52,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-70.2
$GPS2,224545,2108.751,-15800.413,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.048
$KALMAN_X,-149587.1,101.5,332.5,136023.8,-2968.2
$KALMAN_Y,-79046.8,278.1,-55.8,64147.4,-699.8
$MHEAD_RNG_PITCHd_Wd,69.3,26161,-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,20,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.17,0.000,2,0.000,0.000,422,2238,2650
$GC,74,-0.96,-175.2,3.0,-2.6,9,103,12.15,0.00,-15.00,0.000,6,0.155,0.000,2576,2240,3380
$GC,216,-0.96,-175.2,24.1,-12.6,34,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2240,3383
$GC,331,-0.96,-175.2,37.9,-11.9,49,335,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,844,3383
$GC,370,-0.96,-175.2,42.7,-12.7,52,374,0.00,1.73,0.00,0.000,6,0.000,0.053,2576,1955,3382
$GC,700,-0.96,-175.2,83.3,-12.2,83,704,0.00,2.50,0.00,0.000,4,0.000,0.029,2576,3460,3383
$GC,766,-0.96,-175.2,90.2,-10.1,88,772,0.00,2.00,0.00,0.000,6,0.000,0.058,2576,2234,3383
$GC,1092,-0.96,-175.2,115.3,-6.3,119,1096,0.00,2.33,0.00,0.000,4,0.000,0.068,2576,841,3384
$GC,1225,-0.96,-175.2,125.1,-7.3,130,1232,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2071,3385
$GC,1553,-0.96,-175.2,158.5,-11.8,161,1557,0.00,2.33,0.00,0.000,4,0.000,0.046,2576,3464,3385
$GC,1607,-0.96,-175.2,165.0,-11.4,165,1614,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2238,3385
$GC,1934,-0.96,-175.2,195.6,-7.6,196,1938,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,838,3386
$GC,2018,-0.96,-175.2,201.6,-6.6,202,2022,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2077,3386
$GC,2350,-0.96,-175.2,226.4,-7.6,218,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3386
$GC,2660,-0.96,-175.2,245.4,-5.6,233,2663,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,844,3385
$GC,2715,-0.96,-175.2,248.8,-6.3,235,2719,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2068,3385
$GC,3037,-0.96,-175.2,267.5,-5.3,251,3041,0.00,2.28,0.00,0.000,4,0.000,0.069,2576,3451,3384
$GC,3086,-0.96,-175.2,270.6,-6.1,253,3090,0.00,2.00,0.00,0.000,6,0.000,0.022,2576,2242,3384
$GC,3408,-0.96,-175.2,289.9,-5.5,269,3412,0.00,2.38,0.00,0.000,4,0.000,0.037,2576,837,3383
$GC,3480,-0.96,-175.2,294.6,-6.8,272,3483,0.00,2.03,0.00,0.000,6,0.000,0.063,2576,2079,3383
$GC,3817,-0.96,-175.2,314.3,-5.8,283,3821,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,3464,3382
$GC,3844,-0.96,-175.2,316.1,-6.9,283,3848,0.00,2.03,0.00,0.000,6,0.000,0.062,2576,2235,3381
$GC,4181,-0.96,-175.2,342.4,-8.2,292,4185,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,847,3380
$GC,4235,-0.96,-175.2,346.8,-8.7,293,4240,0.00,2.05,0.00,0.000,6,0.000,0.064,2576,2071,3379
$GC,4549,-0.96,-175.2,370.0,-7.0,301,4553,0.00,2.40,0.00,0.000,4,0.000,0.039,2576,3480,3378
$GC,4588,-0.96,-175.2,372.3,-5.6,302,4591,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2236,3377
$GC,4917,-0.96,-175.2,384.3,-3.4,310,4921,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,838,3376
$GC,5040,-0.96,-175.2,390.1,-5.1,312,5046,0.00,2.05,0.00,0.000,6,0.000,0.026,2576,2076,3375
$GC,5371,-0.96,-175.2,414.7,-8.1,321,5375,0.00,2.40,0.00,0.000,4,0.000,0.042,2576,3476,3373
$GC,5442,-0.96,-175.2,421.0,-8.5,322,5447,0.00,2.08,0.00,0.000,6,0.000,0.025,2576,2242,3373
$GC,5779,-0.96,-175.2,442.2,-5.2,331,5783,0.00,2.38,0.00,0.000,4,0.000,0.041,2576,848,3370
$GC,5885,-0.96,-175.2,445.7,-3.0,333,5889,0.00,2.05,0.00,0.000,6,0.000,0.033,2576,2072,3369
$STATE,6068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6068,begin apogee
$GC,6073,-0.31,0.0,451.6,3.3,338,6218,0.65,0.00,142.18,0.892,6,0.169,0.000,2728,2073,2664
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6221,0.96,175.2,459.3,0.0,341,6378,1.20,2.55,145.75,0.867,4,0.101,0.051,3009,3473,1949
$GC,6474,0.98,191.7,456.8,6.7,347,6494,0.00,2.08,14.85,0.795,6,0.000,0.029,3009,2252,1882
$GC,6836,0.98,191.7,432.1,7.6,356,6841,0.00,2.45,0.00,0.000,4,0.000,0.045,3009,846,1875
$GC,6914,0.98,191.7,425.8,8.1,357,6920,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2080,1871
$GC,7245,0.98,191.7,398.8,8.1,366,7248,0.00,1.77,0.00,0.000,4,0.000,0.084,3009,3130,1870
$GC,7334,0.98,191.7,391.4,8.5,368,7338,0.00,1.50,0.00,0.000,6,0.000,0.067,3009,2257,1870
$GC,7664,0.98,191.7,363.6,9.1,376,7668,0.00,2.45,0.00,0.000,4,0.000,0.057,3009,846,1868
$GC,7774,0.98,191.7,351.5,10.6,378,7779,0.00,2.10,0.00,0.000,6,0.000,0.058,3009,2077,1866
$GC,8122,0.98,191.7,317.2,9.5,387,8127,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,3477,1866
$GC,8207,0.98,191.7,309.6,9.3,389,8210,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2244,1865
$GC,8539,1.03,235.4,286.5,6.0,402,8589,0.00,2.22,38.80,0.761,4,0.000,0.061,3009,3474,1704
$GC,8634,1.03,235.4,279.5,9.0,406,8639,0.00,2.10,0.00,0.000,6,0.000,0.027,3009,2251,1703
$GC,8955,1.03,235.4,249.0,9.7,422,8959,0.00,2.42,0.00,0.000,4,0.000,0.074,3009,849,1698
$GC,9043,1.03,235.4,239.6,10.5,426,9047,0.00,2.10,0.00,0.000,6,0.000,0.064,3009,2086,1694
$GC,9370,1.03,235.4,212.0,8.4,442,9373,0.00,2.15,0.00,0.000,4,0.000,0.041,3008,845,1694
$GC,9516,1.03,235.4,199.0,8.7,449,9520,0.00,2.05,0.00,0.000,6,0.000,0.026,3009,2082,1692
$GC,9847,1.03,235.4,169.5,8.0,480,9851,0.00,2.40,0.00,0.000,4,0.000,0.052,3009,3480,1692
$GC,9886,1.04,243.4,166.8,6.9,483,9898,0.00,2.05,6.82,0.574,6,0.000,0.025,3009,2246,1671
$GC,10216,1.04,243.4,145.6,7.9,514,10220,0.00,2.40,0.00,0.000,4,0.000,0.038,3009,839,1670
$GC,10412,1.04,243.4,128.3,8.9,531,10416,0.00,2.05,0.00,0.000,6,0.000,0.022,3009,2095,1667
$GC,10743,1.08,275.9,105.6,6.3,562,10786,0.00,2.20,31.48,0.584,4,0.000,0.077,3009,850,1538
$GC,10809,1.09,277.0,101.5,7.1,568,10817,0.05,2.05,0.00,0.000,6,0.046,0.021,3038,2083,1535
$GC,11136,1.15,327.3,80.7,5.8,599,11185,0.00,0.00,45.50,0.585,6,0.000,0.000,3038,2088,1329
$GC,11503,1.15,327.3,53.2,8.5,634,11507,0.00,2.12,0.00,0.000,4,0.000,0.036,3038,838,1324
$GC,11619,1.15,327.3,42.4,8.9,644,11626,0.00,2.05,0.00,0.000,6,0.000,0.058,3038,2083,1321
$GC,11955,1.15,327.3,12.7,9.5,692,11961,0.00,2.10,0.00,0.000,4,0.000,0.036,3038,837,1321
$GC,12013,1.15,327.3,7.4,8.7,702,12019,0.00,2.00,0.00,0.000,6,0.000,0.018,3038,2095,1320
$STATE,12064,end climb,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$FINISH,1.3,1.023265
$STATE,12103,end surface coast,CONTROL_FINISHED_OK
$STATE,12104,begin surface
$SM_CCo,12183,0.00,0.000,0,0,1317,330.42
$SM_GC,1.95,11.27,0.00,0.00,0.035,0.000,0.000,424,2099,1317,-10.82,0.57,330.42
$IRIDIUM_FIX,2059.45,-15759.05,311097,191918
$TT8_MAMPS,0.028379
$HUMID,1928
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.60
$XPDR_PINGS,733
$24V_AH,23.3,57.933
$10V_AH,10.2,33.355
$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,25.325,116.775,425.375,0.000,0.000,31.066,29.226,186.050,183.250,0.000,0.000,13.811,1314.772,8482.071,505.673,1800.449,435.400,33.372,1395.328,0.000,1786.967,0.000,0.470
$DEVICE_MAMPS,168.740,84.370,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.947,466.030,812.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38000,718
$CAP_FILE_SIZE,105750,15
$CFSIZE,260165632,247689216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070808,021038,2108.914,-15800.035,25,1.2,25,9.8