version: 66.03
glider: 139
mission: 3
dive: 208
start: 8 8 108 12 30 40
data:
$ID,139
$MISSION,3
$DIVE,208
$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,-1274921.1
$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
$GPS1,122138,2108.872,-15800.065,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.8
$GPS2,122950,2108.826,-15800.208,10,1.0,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.045
$KALMAN_X,-183462.6,100.5,280.7,170304.1,-2862.9
$KALMAN_Y,-84569.7,143.5,-8.4,69899.4,-723.2
$MHEAD_RNG_PITCHd_Wd,70.0,25910,-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,-175.2,0.0,0.0,0,72,0.00,0.00,-49.60,0.000,2,0.000,0.000,423,2228,2726
$GC,75,-0.96,-175.2,3.4,-3.5,9,105,12.15,2.40,-12.62,0.000,4,0.154,0.048,2573,845,3381
$GC,123,-0.96,-175.2,14.7,-21.4,17,129,0.00,1.98,0.00,0.000,6,0.000,0.019,2574,2083,3383
$GC,242,-0.96,-175.2,27.9,-10.4,38,248,0.00,2.30,0.00,0.000,4,0.000,0.030,2574,3472,3383
$GC,276,-0.96,-175.2,32.0,-12.0,43,280,0.00,2.00,0.00,0.000,6,0.000,0.019,2573,2234,3382
$GC,607,-0.96,-175.2,65.1,-7.8,74,611,0.00,2.33,0.00,0.000,4,0.000,0.034,2574,844,3384
$GC,680,-0.96,-175.2,71.5,-8.3,80,683,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2085,3384
$GC,1010,-0.96,-175.2,100.6,-10.4,111,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2089,3384
$GC,1328,-0.96,-175.2,132.9,-9.9,141,1332,0.00,2.10,0.00,0.000,4,0.000,0.035,2573,837,3386
$GC,1389,-0.96,-175.2,139.2,-10.8,146,1396,0.00,2.03,0.00,0.000,6,0.000,0.058,2573,2080,3386
$GC,1717,-0.96,-175.2,174.5,-10.1,177,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2084,3386
$GC,2031,-0.96,-175.2,201.8,-6.9,206,2035,0.00,2.10,0.00,0.000,4,0.000,0.035,2573,834,3386
$GC,2064,-0.96,-175.2,203.9,-6.1,207,2068,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2083,3386
$GC,2385,-0.96,-175.2,216.5,-4.1,223,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2087,3386
$GC,2694,-0.96,-175.2,234.0,-7.0,238,2698,0.00,2.30,0.00,0.000,4,0.000,0.034,2574,3463,3386
$GC,2726,-0.96,-175.2,236.6,-7.3,239,2734,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,2243,3386
$GC,3043,-0.96,-175.2,262.6,-7.2,255,3047,0.00,2.35,0.00,0.000,4,0.000,0.035,2573,842,3385
$GC,3104,-0.96,-175.2,266.4,-6.1,258,3108,0.00,2.00,0.00,0.000,6,0.000,0.064,2573,2076,3385
$GC,3436,-0.96,-175.2,283.9,-5.1,274,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2080,3384
$GC,3746,-0.96,-175.2,300.7,-5.6,289,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2080,3382
$GC,4071,-0.96,-175.2,320.9,-5.9,297,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2080,3381
$GC,4395,-0.96,-175.2,336.7,-4.5,305,4399,0.00,2.10,0.00,0.000,4,0.000,0.040,2573,842,3379
$GC,4417,-0.96,-175.2,337.8,-5.2,305,4421,0.00,2.03,0.00,0.000,6,0.000,0.025,2573,2074,3379
$GC,4765,-0.96,-175.2,354.6,-6.3,314,4769,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,3468,3377
$GC,4786,-0.96,-175.2,356.3,-7.7,314,4789,0.00,2.03,0.00,0.000,6,0.000,0.067,2574,2246,3376
$GC,5128,-0.96,-175.2,378.0,-6.1,323,5132,0.00,2.38,0.00,0.000,4,0.000,0.040,2573,848,3374
$GC,5206,-0.96,-175.2,383.3,-6.7,324,5212,0.00,2.05,0.00,0.000,6,0.000,0.027,2573,2083,3374
$GC,5537,-0.96,-175.2,403.2,-5.3,333,5541,0.00,2.40,0.00,0.000,4,0.000,0.042,2574,3480,3372
$GC,5570,-0.96,-175.2,404.5,-3.6,333,5576,0.00,2.05,0.00,0.000,6,0.000,0.025,2574,2242,3372
$GC,5902,-0.96,-175.2,422.5,-6.2,342,5906,0.00,2.40,0.00,0.000,4,0.000,0.054,2574,827,3370
$GC,5973,-0.96,-175.2,429.3,-10.2,343,5977,0.00,2.08,0.00,0.000,6,0.000,0.066,2574,2068,3369
$STATE,6308,end dive,NO_VERTICAL_VELOCITY
$STATE,6308,begin apogee
$GC,6314,-0.31,0.0,433.0,0.0,352,6458,0.68,0.00,141.43,0.887,6,0.151,0.000,2732,2073,2664
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6459,begin climb
$GC,6461,0.96,175.2,432.9,0.0,355,6614,0.12,2.15,145.30,0.853,4,0.291,0.081,2774,849,1948
$GC,6748,1.10,289.0,423.9,4.0,361,6860,1.17,2.08,99.60,0.831,6,0.048,0.028,3036,2084,1484
$GC,7196,1.10,289.0,375.6,10.7,373,7200,0.00,2.17,0.00,0.000,4,0.000,0.046,3036,844,1475
$GC,7296,1.10,289.0,363.8,12.7,375,7301,0.00,2.08,0.00,0.000,6,0.000,0.028,3036,2080,1471
$GC,7609,1.10,289.0,328.2,11.7,383,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2084,1471
$GC,7915,1.10,289.0,293.9,10.2,392,7918,0.00,2.15,0.00,0.000,4,0.000,0.044,3036,850,1470
$GC,7982,1.10,289.0,287.0,9.7,395,7987,0.00,2.08,0.00,0.000,6,0.000,0.028,3036,2091,1468
$GC,8314,1.10,289.0,249.3,11.4,411,8318,0.00,2.17,0.00,0.000,4,0.000,0.043,3036,842,1468
$GC,8363,1.10,289.0,243.3,11.7,413,8368,0.00,2.10,0.00,0.000,6,0.000,0.032,3036,2080,1466
$GC,8685,1.10,289.0,204.2,13.4,429,8689,0.00,2.40,0.00,0.000,4,0.000,0.038,3036,3481,1466
$GC,8725,1.10,289.0,198.8,14.0,431,8728,0.00,2.05,0.00,0.000,6,0.000,0.026,3036,2251,1466
$GC,9055,1.10,289.0,163.5,8.5,462,9059,0.00,2.42,0.00,0.000,4,0.000,0.075,3036,845,1466
$GC,9178,1.10,289.0,153.0,7.9,472,9185,0.00,2.08,0.00,0.000,6,0.000,0.025,3036,2115,1464
$GC,9505,1.10,289.0,123.7,10.8,503,9509,0.00,2.20,0.00,0.000,4,0.000,0.044,3036,838,1464
$GC,9579,1.10,289.0,114.4,13.3,509,9582,0.00,2.03,0.00,0.000,6,0.000,0.022,3036,2084,1463
$GC,9910,1.10,289.0,79.1,10.8,540,9914,0.00,2.12,0.00,0.000,4,0.000,0.054,3036,844,1464
$GC,10061,1.10,289.0,63.7,9.5,553,10067,0.00,2.03,0.00,0.000,6,0.000,0.021,3036,2079,1464
$GC,10388,1.10,289.0,38.6,7.3,584,10392,0.00,2.08,0.00,0.000,4,0.000,0.055,3036,843,1465
$GC,10445,1.10,289.0,33.2,10.1,589,10449,0.00,2.00,0.00,0.000,6,0.000,0.031,3036,2086,1465
$GC,10786,1.10,289.0,4.4,8.2,646,10792,0.00,2.30,0.00,0.000,4,0.000,0.030,3036,3470,1466
$STATE,10808,end climb,SURFACE_DEPTH_REACHED
$STATE,10808,begin surface coast
$FINISH,1.3,1.023247
$STATE,10831,end surface coast,CONTROL_FINISHED_OK
$STATE,10831,begin surface
$SM_CCo,10854,23.98,0.522,0,0,1359,320.12
$SM_GC,2.09,0.00,0.00,23.98,0.000,0.000,0.522,431,2237,1359,-10.87,4.47,320.12
$IRIDIUM_FIX,2101.76,-15803.33,021197,080826
$TT8_MAMPS,0.029146
$HUMID,1966
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.80
$XPDR_PINGS,635
$24V_AH,21.2,59.542
$10V_AH,10.2,34.227
$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,25.325,94.450,386.325,23.975,0.000,23.797,36.667,301.845,158.750,0.000,0.000,16.836,1170.628,7677.385,472.287,1494.677,545.950,33.372,1215.901,0.000,1486.384,0.000,0.470
$DEVICE_MAMPS,291.460,80.535,886.652,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.093,434.183,745.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34905,654
$CAP_FILE_SIZE,92186,6
$CFSIZE,260165632,247140352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,080808,153305,2108.667,-15759.569,9,2.3,28,9.8