version: 66.03
glider: 139
mission: 3
dive: 206
start: 8 8 108 5 23 19
data:
$ID,139
$MISSION,3
$DIVE,206
$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,-1274886.4
$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,59
$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
$GPS1,051402,2108.481,-15800.079,37,1.4,37,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.6
$GPS2,052229,2108.413,-15800.268,14,1.6,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.099
$KALMAN_X,-176869.2,-312.9,66.5,164240.1,-4280.0
$KALMAN_Y,-83022.7,-171.0,-8.6,67904.6,-596.8
$MHEAD_RNG_PITCHd_Wd,57.3,25655,-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,-175.2,0.0,0.0,0,71,0.00,0.00,-48.90,0.000,2,0.000,0.000,423,2084,2702
$GC,74,-0.96,-175.2,3.3,-3.3,9,109,12.18,2.35,-13.52,0.000,4,0.155,0.077,2578,3460,3381
$GC,126,-0.96,-175.2,14.5,-17.9,18,133,0.00,1.98,0.00,0.000,6,0.000,0.023,2578,2244,3382
$GC,245,-0.96,-175.2,28.6,-11.4,39,252,0.00,2.35,0.00,0.000,4,0.000,0.034,2578,835,3383
$GC,280,-0.96,-175.2,33.2,-13.5,43,284,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2076,3382
$GC,610,-0.96,-175.2,72.9,-10.8,74,613,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,844,3383
$GC,677,-0.96,-175.2,79.7,-9.5,80,681,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2080,3384
$GC,1009,-0.96,-175.2,107.8,-6.6,111,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3384
$GC,1326,-0.96,-175.2,132.8,-8.9,141,1329,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,835,3385
$GC,1348,-0.96,-175.2,134.8,-8.7,143,1352,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2085,3386
$GC,1679,-0.96,-175.2,161.3,-8.2,174,1683,0.00,2.10,0.00,0.000,4,0.000,0.051,2578,839,3386
$GC,1724,-0.96,-175.2,165.2,-8.6,178,1728,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2087,3386
$GC,2055,-0.96,-175.2,191.2,-8.0,209,2059,0.00,2.10,0.00,0.000,4,0.000,0.054,2578,842,3385
$GC,2092,-0.96,-175.2,194.3,-7.4,212,2100,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2072,3385
$GC,2421,-0.96,-175.2,217.8,-6.8,232,2425,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,3463,3386
$GC,2453,-0.96,-175.2,220.2,-7.8,233,2459,0.00,2.03,0.00,0.000,6,0.000,0.021,2578,2233,3386
$GC,2769,-0.96,-175.2,243.1,-8.0,249,2773,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,843,3385
$GC,2830,-0.96,-175.2,248.4,-8.6,252,2834,0.00,2.00,0.00,0.000,6,0.000,0.026,2578,2080,3385
$GC,3162,-0.96,-175.2,273.0,-7.7,268,3166,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,3464,3385
$GC,3182,-0.96,-175.2,274.7,-8.3,269,3186,0.00,2.03,0.00,0.000,6,0.000,0.061,2578,2238,3385
$GC,3510,-0.96,-175.2,296.1,-6.0,285,3514,0.00,2.33,0.00,0.000,4,0.000,0.037,2578,845,3383
$GC,3593,-0.96,-175.2,301.9,-7.3,289,3597,0.00,2.00,0.00,0.000,6,0.000,0.062,2578,2073,3384
$GC,3922,-0.96,-175.2,326.4,-7.9,297,3927,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3473,3383
$GC,3966,-0.96,-175.2,329.7,-7.9,298,3970,0.00,2.05,0.00,0.000,6,0.000,0.024,2578,2243,3382
$GC,4291,-0.96,-175.2,349.4,-5.8,306,4295,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,843,3381
$GC,4363,-0.96,-175.2,354.0,-6.3,307,4367,0.00,2.03,0.00,0.000,6,0.000,0.062,2578,2076,3381
$GC,4699,-0.96,-175.2,378.7,-7.9,316,4703,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,3473,3379
$GC,4753,-0.96,-175.2,383.7,-8.7,317,4758,0.00,2.08,0.00,0.000,6,0.000,0.025,2578,2235,3378
$GC,5067,-0.96,-175.2,410.2,-7.7,325,5071,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,837,3376
$GC,5206,-0.96,-175.2,418.9,-4.9,328,5210,0.00,2.05,0.00,0.000,6,0.000,0.064,2578,2076,3376
$GC,5525,-0.96,-175.2,436.3,-5.4,336,5529,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3474,3374
$GC,5564,-0.96,-175.2,438.2,-4.8,337,5568,0.00,2.05,0.00,0.000,6,0.000,0.068,2578,2240,3373
$STATE,5769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5769,begin apogee
$GC,5774,-0.31,0.0,450.7,5.8,342,5919,0.68,0.00,142.27,0.877,6,0.173,0.000,2728,2239,2664
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5922,0.96,175.2,450.5,0.0,345,6076,1.20,2.20,145.10,0.851,4,0.036,0.054,3011,3475,1948
$GC,6172,0.96,175.2,435.9,9.1,351,6176,0.00,2.10,0.00,0.000,6,0.000,0.034,3010,2244,1944
$GC,6496,0.96,175.2,407.5,8.9,359,6500,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,850,1937
$GC,6573,0.96,175.2,400.0,10.0,360,6579,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2069,1934
$GC,6904,0.97,179.8,373.7,7.0,369,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2074,1933
$GC,7229,0.97,179.8,338.5,12.8,377,7233,0.00,2.42,0.00,0.000,4,0.000,0.042,3010,3475,1932
$GC,7261,0.97,179.8,334.8,11.2,377,7267,0.00,2.10,0.00,0.000,6,0.000,0.070,3011,2248,1932
$GC,7592,1.00,203.7,312.2,6.5,386,7621,0.00,2.50,22.62,0.782,4,0.000,0.077,3010,856,1832
$GC,7694,1.00,203.7,302.6,9.9,388,7699,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2077,1828
$GC,8012,1.00,203.7,279.4,7.2,403,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2081,1826
$GC,8321,1.00,203.7,254.9,7.6,418,8325,0.00,2.15,0.00,0.000,4,0.000,0.042,3010,839,1825
$GC,8376,1.00,203.7,250.7,7.3,420,8380,0.00,2.10,0.00,0.000,6,0.000,0.026,3010,2080,1823
$GC,8697,1.05,251.1,228.5,5.9,436,8752,0.00,2.47,43.12,0.703,4,0.000,0.071,3010,3471,1639
$GC,8888,1.05,251.1,212.8,8.5,444,8894,0.00,2.03,0.00,0.000,6,0.000,0.025,3011,2247,1636
$GC,9208,1.05,251.1,187.2,8.4,467,9212,0.00,2.40,0.00,0.000,4,0.000,0.039,3010,845,1634
$GC,9307,1.05,251.1,178.9,8.8,475,9314,0.00,2.05,0.00,0.000,6,0.000,0.024,3010,2079,1630
$GC,9634,1.12,303.5,157.7,5.7,506,9687,0.12,2.40,45.55,0.653,4,0.048,0.067,3052,3477,1425
$GC,9759,1.12,303.5,148.5,8.1,517,9766,0.00,2.08,0.00,0.000,6,0.000,0.061,3052,2249,1423
$GC,10086,1.12,303.5,118.5,9.6,548,10090,0.00,2.40,0.00,0.000,4,0.000,0.056,3051,839,1421
$GC,10152,1.12,303.5,111.2,11.0,553,10159,0.00,2.05,0.00,0.000,6,0.000,0.062,3052,2080,1418
$GC,10478,1.12,303.5,84.1,8.4,584,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2084,1418
$GC,10795,1.12,303.5,57.4,8.4,614,10799,0.00,2.10,0.00,0.000,4,0.000,0.036,3052,843,1418
$GC,11019,1.12,303.5,37.1,10.1,634,11023,0.00,2.00,0.00,0.000,6,0.000,0.020,3052,2080,1417
$STATE,11334,end climb,SURFACE_DEPTH_REACHED
$STATE,11334,begin surface coast
$FINISH,1.2,1.023171
$STATE,11364,end surface coast,CONTROL_FINISHED_OK
$STATE,11364,begin surface
$SM_CCo,11384,13.38,0.492,0,0,1359,320.12
$SM_GC,2.15,0.00,0.00,13.38,0.000,0.000,0.492,432,2084,1359,-10.87,0.14,320.12
$IRIDIUM_FIX,2059.45,-15801.19,021197,020213
$TT8_MAMPS,0.029146
$HUMID,1940
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,22.80
$XPDR_PINGS,704
$24V_AH,23.3,59.247
$10V_AH,10.2,34.065
$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,25.525,108.625,398.675,13.375,0.000,27.725,27.242,328.607,176.000,0.000,0.000,16.075,1244.403,7933.264,485.898,1671.242,559.838,33.373,1312.983,0.000,1654.650,0.000,0.472
$DEVICE_MAMPS,172.575,77.467,877.448,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.332,455.897,775.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34794,690
$CAP_FILE_SIZE,99898,5
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080808,083457,2108.807,-15800.435,63,0.9,63,9.8