version: 66.03
glider: 139
mission: 3
dive: 210
start: 8 8 108 19 14 5
data:
$ID,139
$MISSION,3
$DIVE,210
$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,-1274967.9
$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
$GPS1,185238,2109.211,-15759.899,37,1.2,37,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.3
$GPS2,191315,2109.213,-15800.398,12,1.2,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,0.104
$KALMAN_X,-189717.9,617.7,-267.7,176266.3,-3725.9
$KALMAN_Y,-86052.2,158.7,61.6,72012.5,-866.4
$MHEAD_RNG_PITCHd_Wd,56.2,26540,-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,19,-0.96,-175.2,0.0,0.0,0,71,0.00,0.00,-49.62,0.000,2,0.000,0.000,429,2089,2670
$GC,74,-0.96,-175.2,3.1,-2.6,9,103,12.00,0.00,-14.32,0.000,6,0.150,0.000,2578,2090,3380
$GC,216,-0.96,-175.2,25.0,-11.9,34,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2090,3382
$GC,330,-0.96,-175.2,38.9,-11.6,48,334,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,844,3382
$GC,348,-0.96,-175.2,40.9,-11.9,49,354,0.00,1.95,0.00,0.000,6,0.000,0.019,2578,2077,3383
$GC,672,-0.96,-175.2,74.7,-9.8,80,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3382
$GC,990,-0.96,-175.2,104.1,-10.1,110,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3383
$GC,1309,-0.96,-175.2,134.7,-9.0,140,1313,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,842,3383
$GC,1358,-0.96,-175.2,139.6,-9.7,144,1365,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2078,3383
$GC,1685,-0.96,-175.2,169.7,-8.2,175,1689,0.00,1.77,0.00,0.000,4,0.000,0.068,2577,996,3383
$GC,1741,-0.96,-175.2,174.4,-7.9,180,1744,0.00,1.73,0.00,0.000,6,0.000,0.019,2577,2080,3383
$GC,2071,-0.96,-175.2,204.7,-9.7,209,2075,0.00,2.30,0.00,0.000,4,0.000,0.066,2578,3462,3384
$GC,2097,-0.96,-175.2,207.4,-9.6,210,2101,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2237,3384
$GC,2419,-0.96,-175.2,234.2,-6.9,226,2423,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,844,3383
$GC,2502,-0.96,-175.2,240.3,-7.0,229,2508,0.00,1.98,0.00,0.000,6,0.000,0.061,2578,2078,3382
$GC,2818,-0.96,-175.2,261.0,-6.3,245,2822,0.00,2.33,0.00,0.000,4,0.000,0.068,2578,3462,3383
$GC,2845,-0.96,-175.2,263.0,-6.4,246,2850,0.00,2.00,0.00,0.000,6,0.000,0.061,2578,2241,3383
$GC,3166,-0.96,-175.2,285.2,-7.2,262,3170,0.00,2.35,0.00,0.000,4,0.000,0.035,2577,844,3382
$GC,3233,-0.96,-175.2,289.8,-7.7,265,3237,0.00,2.03,0.00,0.000,6,0.000,0.022,2578,2090,3382
$GC,3557,-0.96,-175.2,311.1,-6.6,277,3561,0.00,2.33,0.00,0.000,4,0.000,0.036,2578,3466,3380
$GC,3583,-0.96,-175.2,312.8,-6.0,277,3587,0.00,2.00,0.00,0.000,6,0.000,0.023,2578,2241,3380
$GC,3920,-0.96,-175.2,331.9,-5.9,286,3925,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,837,3379
$GC,4005,-0.96,-175.2,337.4,-6.5,288,4009,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2076,3378
$GC,4334,-0.96,-175.2,355.3,-5.4,296,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2079,3376
$GC,4659,-0.96,-175.2,370.2,-4.2,304,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2079,3374
$GC,4984,-0.96,-175.2,382.6,-3.5,312,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2079,3372
$GC,5309,-0.96,-175.2,397.1,-4.8,320,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2079,3370
$GC,5634,-0.96,-175.2,414.7,-5.5,328,5637,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,848,3368
$GC,5689,-0.96,-175.2,418.3,-6.2,329,5693,0.00,2.03,0.00,0.000,6,0.000,0.028,2578,2073,3367
$GC,6008,-0.96,-175.2,438.7,-6.4,337,6012,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3471,3366
$GC,6040,-0.96,-175.2,440.6,-5.9,337,6046,0.00,2.05,0.00,0.000,6,0.000,0.065,2577,2235,3365
$STATE,6206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6206,begin apogee
$GC,6211,-0.31,0.0,450.1,5.8,342,6356,0.68,0.00,141.05,0.890,6,0.169,0.000,2730,2233,2664
$STATE,6356,end apogee,CONTROL_FINISHED_OK
$STATE,6356,begin climb
$GC,6358,0.96,175.2,456.8,0.0,345,6513,1.20,2.25,145.25,0.863,4,0.107,0.079,3008,3473,1949
$GC,6686,0.96,175.2,439.3,10.2,352,6690,0.00,2.08,0.00,0.000,6,0.000,0.038,3007,2251,1942
$GC,7023,0.96,175.2,406.8,9.6,361,7027,0.00,2.45,0.00,0.000,4,0.000,0.045,3007,846,1937
$GC,7218,0.96,175.2,386.9,10.2,365,7222,0.00,2.10,0.00,0.000,6,0.000,0.047,3007,2093,1933
$GC,7566,0.96,175.2,354.9,9.2,374,7570,0.00,2.40,0.00,0.000,4,0.000,0.044,3007,3475,1932
$GC,7670,0.96,175.2,345.1,9.3,376,7675,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2249,1932
$GC,8019,0.96,175.2,315.7,8.1,385,8023,0.00,2.42,0.00,0.000,4,0.000,0.078,3008,849,1930
$GC,8174,0.96,175.2,302.6,8.6,388,8178,0.00,2.08,0.00,0.000,6,0.000,0.028,3008,2074,1928
$GC,8501,1.00,206.7,279.0,6.3,403,8528,0.00,0.00,25.15,0.773,6,0.000,0.000,3007,2078,1821
$GC,8830,1.03,233.4,255.6,6.4,419,8859,0.00,2.47,24.40,0.749,4,0.000,0.052,3007,3475,1712
$GC,8882,1.07,266.4,252.2,6.2,421,8917,0.00,2.08,30.38,0.739,6,0.000,0.027,3007,2247,1578
$GC,9246,1.07,266.4,226.5,7.7,439,9249,0.00,2.12,0.00,0.000,4,0.000,0.039,3008,3475,1570
$GC,9291,1.07,266.4,222.4,9.3,441,9295,0.00,2.05,0.00,0.000,6,0.000,0.026,3007,2250,1569
$GC,9616,1.07,266.4,194.2,8.1,459,9620,0.00,2.42,0.00,0.000,4,0.000,0.045,3007,844,1567
$GC,9745,1.07,266.4,182.7,9.5,470,9749,0.00,2.05,0.00,0.000,6,0.000,0.025,3007,2087,1564
$GC,10076,1.07,266.4,158.0,8.0,501,10080,0.00,2.15,0.00,0.000,4,0.000,0.073,3007,842,1564
$GC,10170,1.07,266.4,149.4,8.9,509,10177,0.00,2.05,0.00,0.000,6,0.000,0.023,3007,2080,1564
$GC,10498,1.07,266.4,122.8,8.1,540,10502,0.00,2.35,0.00,0.000,4,0.000,0.038,3007,3468,1564
$GC,10530,1.07,266.4,119.7,8.6,542,10536,0.00,2.03,0.00,0.000,6,0.000,0.021,3007,2249,1564
$GC,10856,1.11,296.3,95.0,6.3,573,10889,0.12,2.40,25.42,0.587,4,0.047,0.069,3051,845,1453
$GC,11018,1.11,296.3,80.2,8.8,587,11025,0.00,2.05,0.00,0.000,6,0.000,0.060,3052,2086,1449
$GC,11346,1.11,296.3,52.7,9.4,618,11349,0.00,2.12,0.00,0.000,4,0.000,0.073,3051,838,1449
$GC,11451,1.11,296.3,42.8,9.4,627,11458,0.00,2.03,0.00,0.000,6,0.000,0.019,3051,2080,1448
$GC,11785,1.11,296.3,15.0,7.7,674,11792,0.00,2.30,0.00,0.000,4,0.000,0.055,3051,3465,1449
$GC,11882,1.11,296.3,7.8,7.9,691,11888,0.00,1.98,0.00,0.000,6,0.000,0.020,3051,2235,1449
$STATE,11943,end climb,SURFACE_DEPTH_REACHED
$STATE,11943,begin surface coast
$FINISH,1.5,1.023057
$STATE,11990,end surface coast,CONTROL_FINISHED_OK
$STATE,11990,begin surface
$SM_CCo,12010,20.33,0.506,0,0,1359,320.12
$SM_GC,1.85,0.00,0.00,20.33,0.000,0.000,0.506,430,2231,1359,-10.88,4.30,320.12
$IRIDIUM_FIX,2059.45,-15758.18,021197,191910
$TT8_MAMPS,0.029146
$HUMID,1942
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,718
$24V_AH,23.4,59.847
$10V_AH,10.2,34.396
$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,25.275,98.750,391.650,20.325,0.000,115.729,117.249,680.557,179.500,0.000,0.000,13.666,1281.294,8683.115,485.399,1687.482,1117.899,33.367,1309.887,0.000,1674.607,0.000,0.471
$DEVICE_MAMPS,168.740,79.001,890.487,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.936,457.895,797.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37950,710
$CAP_FILE_SIZE,110881,10
$CFSIZE,260165632,247021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080808,223625,2109.392,-15759.801,72,1.4,72,9.8