version: 66.03
glider: 139
mission: 3
dive: 205
start: 8 8 108 1 58 22
data:
$ID,139
$MISSION,3
$DIVE,205
$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,-1274869.6
$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
$GPS1,014937,2108.198,-15759.459,11,1.6,21,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.7
$GPS2,015732,2108.163,-15759.608,14,1.6,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.098
$KALMAN_X,-173202.2,-172.0,366.7,161284.6,-4332.9
$KALMAN_Y,-82095.9,-190.9,-138.9,66664.8,-554.1
$MHEAD_RNG_PITCHd_Wd,57.5,24428,-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,20,-0.96,-175.2,0.0,0.0,0,87,0.00,0.00,-64.80,0.000,2,0.000,0.000,428,2084,2632
$GC,90,-0.96,-175.2,3.1,-2.2,12,125,12.05,2.33,-15.50,0.000,4,0.152,0.049,2578,3463,3381
$GC,171,-0.96,-175.2,16.2,-11.4,26,177,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2239,3382
$GC,290,-0.96,-175.2,30.1,-12.2,47,294,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,841,3382
$GC,318,-0.96,-175.2,33.7,-12.5,49,322,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2077,3382
$GC,648,-0.96,-175.2,71.8,-10.7,80,652,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,844,3383
$GC,704,-0.96,-175.2,78.7,-12.6,85,708,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2081,3383
$GC,1034,-0.96,-175.2,118.4,-10.4,116,1038,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3464,3384
$GC,1102,-0.96,-175.2,124.8,-9.2,122,1105,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2233,3384
$GC,1433,-0.96,-175.2,151.9,-8.8,153,1437,0.00,2.33,0.00,0.000,4,0.000,0.067,2577,844,3385
$GC,1532,-0.96,-175.2,160.5,-8.8,161,1539,0.00,2.00,0.00,0.000,6,0.000,0.061,2578,2079,3385
$GC,1858,-0.96,-175.2,186.0,-7.8,192,1862,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3386
$GC,1880,-0.96,-175.2,187.8,-7.6,194,1884,0.00,1.70,0.00,0.000,6,0.000,0.065,2578,1926,3386
$GC,2216,-0.96,-175.2,209.8,-5.3,218,2220,0.00,2.58,0.00,0.000,4,0.000,0.033,2578,3462,3386
$GC,2270,-0.96,-175.2,213.0,-6.3,220,2277,0.00,2.00,0.00,0.000,6,0.000,0.057,2578,2240,3385
$GC,2586,-0.96,-175.2,235.2,-7.7,236,2590,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,841,3385
$GC,2674,-0.96,-175.2,241.7,-6.3,240,2678,0.00,2.00,0.00,0.000,6,0.000,0.028,2578,2074,3385
$GC,3001,-0.96,-175.2,262.5,-6.5,256,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3385
$GC,3310,-0.96,-175.2,283.5,-7.3,271,3314,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,845,3384
$GC,3360,-0.96,-175.2,287.5,-7.6,273,3364,0.00,2.03,0.00,0.000,6,0.000,0.063,2578,2071,3383
$GC,3705,-0.96,-175.2,312.4,-7.0,286,3709,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3474,3382
$GC,3726,-0.96,-175.2,313.9,-6.6,286,3730,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2241,3382
$GC,4068,-0.96,-175.2,337.3,-7.4,295,4072,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,842,3380
$GC,4111,-0.96,-175.2,340.9,-8.4,296,4115,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2069,3380
$GC,4435,-0.96,-175.2,365.5,-7.8,304,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2073,3378
$GC,4760,-0.96,-175.2,394.2,-8.4,312,4764,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,846,3377
$GC,4793,-0.96,-175.2,396.2,-5.8,312,4797,0.00,2.08,0.00,0.000,6,0.000,0.027,2578,2080,3376
$GC,5130,-0.96,-175.2,416.6,-6.7,321,5134,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3478,3375
$GC,5151,-0.96,-175.2,418.0,-5.9,321,5155,0.00,2.08,0.00,0.000,6,0.000,0.025,2578,2227,3374
$GC,5494,-0.96,-175.2,436.1,-5.4,330,5498,0.00,2.38,0.00,0.000,4,0.000,0.041,2578,841,3373
$GC,5537,-0.96,-175.2,438.6,-5.8,331,5541,0.00,2.08,0.00,0.000,6,0.000,0.032,2578,2085,3372
$STATE,5737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5737,begin apogee
$GC,5742,-0.31,0.0,451.4,6.5,336,5887,0.65,0.00,142.40,0.887,6,0.166,0.000,2729,2087,2664
$STATE,5888,end apogee,CONTROL_FINISHED_OK
$STATE,5888,begin climb
$GC,5891,0.96,175.2,458.8,0.0,339,6047,1.20,2.53,145.12,0.863,4,0.038,0.077,3007,3473,1947
$GC,6254,0.96,175.2,440.9,9.8,347,6258,0.00,2.10,0.00,0.000,6,0.000,0.070,3007,2256,1941
$GC,6602,0.96,175.2,411.8,7.9,356,6606,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,850,1936
$GC,6645,0.96,175.2,407.9,9.2,357,6649,0.00,2.10,0.00,0.000,6,0.000,0.033,3007,2074,1933
$GC,6969,0.96,175.2,382.0,7.4,365,6974,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,3480,1933
$GC,7069,0.96,175.2,374.7,7.7,367,7073,0.00,2.10,0.00,0.000,6,0.000,0.038,3007,2258,1933
$GC,7382,0.98,188.5,354.0,6.8,375,7397,0.00,2.50,9.82,0.753,4,0.000,0.077,3007,842,1894
$GC,7481,0.98,188.5,347.0,7.2,377,7485,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2089,1891
$GC,7793,0.98,188.5,323.6,8.2,385,7797,0.00,2.17,0.00,0.000,4,0.000,0.055,3007,841,1890
$GC,7893,0.98,188.5,314.1,10.0,387,7897,0.00,2.10,0.00,0.000,6,0.000,0.035,3007,2076,1887
$GC,8214,1.00,204.4,289.4,6.7,398,8241,0.00,2.45,16.58,0.693,4,0.000,0.041,3007,3475,1829
$GC,8382,1.00,204.4,274.5,10.2,405,8387,0.00,2.05,0.00,0.000,6,0.000,0.027,3007,2252,1828
$GC,8697,1.00,204.4,244.3,8.8,421,8701,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,843,1825
$GC,8942,1.00,204.4,223.7,7.6,432,8946,0.00,2.10,0.00,0.000,6,0.000,0.066,3007,2082,1822
$GC,9269,1.01,219.2,202.3,6.7,448,9295,0.00,2.42,15.40,0.617,4,0.000,0.038,3007,3480,1769
$GC,9396,1.01,219.2,192.4,8.2,458,9399,0.00,2.08,0.00,0.000,6,0.000,0.064,3007,2242,1769
$GC,9727,1.03,233.1,166.5,6.8,489,9743,0.00,0.00,13.68,0.650,6,0.000,0.000,3007,2241,1713
$GC,10063,1.10,285.8,144.7,5.7,520,10117,0.12,2.42,46.58,0.655,4,0.050,0.072,3046,843,1495
$GC,10212,1.10,285.8,131.3,10.7,533,10219,0.00,2.08,0.00,0.000,6,0.000,0.062,3047,2085,1490
$GC,10538,1.10,285.8,99.7,8.4,564,10542,0.00,1.75,0.00,0.000,4,0.000,0.075,3047,3153,1490
$GC,10583,1.10,285.8,95.5,8.9,568,10587,0.00,1.52,0.00,0.000,6,0.000,0.081,3047,2244,1489
$GC,10916,1.10,285.8,64.4,10.0,599,10920,0.00,2.40,0.00,0.000,4,0.000,0.064,3047,836,1489
$GC,10989,1.10,285.8,56.9,11.1,605,10993,0.00,2.00,0.00,0.000,6,0.000,0.028,3047,2088,1488
$GC,11315,1.10,285.8,25.7,7.3,640,11321,0.00,2.12,0.00,0.000,4,0.000,0.036,3047,836,1487
$GC,11486,1.10,285.8,11.3,10.3,670,11492,0.00,1.98,0.00,0.000,6,0.000,0.020,3047,2081,1486
$STATE,11581,end climb,SURFACE_DEPTH_REACHED
$STATE,11581,begin surface coast
$FINISH,1.1,1.000340
$STATE,11617,end surface coast,CONTROL_FINISHED_OK
$STATE,11617,begin surface
$SM_CCo,11637,28.00,0.523,0,0,1359,320.12
$SM_GC,1.98,0.00,0.00,28.00,0.000,0.000,0.523,423,2085,1359,-10.91,0.17,320.12
$IRIDIUM_FIX,2101.76,-15758.18,011197,232345
$TT8_MAMPS,0.029146
$HUMID,1958
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.40
$XPDR_PINGS,708
$24V_AH,23.3,59.110
$10V_AH,10.2,33.987
$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,25.225,112.400,389.575,28.000,0.000,24.734,27.330,298.426,177.000,0.000,0.000,15.752,1264.511,8111.968,500.012,1717.760,537.749,33.368,1355.052,0.000,1699.722,0.000,0.470
$DEVICE_MAMPS,166.439,80.535,887.419,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.585,453.239,767.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34884,693
$CAP_FILE_SIZE,102645,9
$CFSIZE,260165632,247283712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,080808,051402,2108.481,-15800.079,37,1.4,37,9.8