version: 66.03
glider: 139
mission: 3
dive: 212
start: 8 9 108 2 12 23
data:
$ID,139
$MISSION,3
$DIVE,212
$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,-1275026
$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,56
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,020031,2109.329,-15759.159,64,1.8,64,9.8
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.8
$GPS2,021134,2109.354,-15759.246,16,2.2,35,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.093
$KALMAN_X,-194067.9,62.2,677.7,182208.3,-3659.0
$KALMAN_Y,-87629.0,-165.6,-98.6,74338.2,-753.6
$MHEAD_RNG_PITCHd_Wd,58.9,24950,-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,-49.25,0.000,2,0.000,0.000,418,2233,2719
$GC,74,-0.96,-175.2,3.5,-3.6,9,104,12.18,2.12,-12.55,0.000,4,0.154,0.081,2578,3467,3382
$GC,161,-0.96,-175.2,20.0,-11.7,24,167,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2240,3383
$GC,283,-0.96,-175.2,35.6,-13.0,42,287,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,842,3384
$GC,326,-0.96,-175.2,41.2,-12.4,45,333,0.00,2.00,0.00,0.000,6,0.000,0.018,2579,2076,3384
$GC,651,-0.96,-175.2,76.6,-9.3,76,655,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,842,3384
$GC,685,-0.96,-175.2,80.0,-9.9,79,689,0.00,1.98,0.00,0.000,6,0.000,0.018,2579,2083,3384
$GC,1015,-0.96,-175.2,109.9,-8.3,110,1019,0.00,2.30,0.00,0.000,4,0.000,0.030,2579,3465,3385
$GC,1036,-0.96,-175.2,111.6,-7.5,111,1042,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2243,3385
$GC,1362,-0.96,-175.2,140.5,-9.2,142,1366,0.00,2.35,0.00,0.000,4,0.000,0.067,2578,838,3385
$GC,1484,-0.96,-175.2,152.3,-8.4,152,1491,0.00,2.00,0.00,0.000,6,0.000,0.026,2578,2071,3386
$GC,1812,-0.96,-175.2,181.3,-9.2,183,1815,0.00,2.08,0.00,0.000,4,0.000,0.070,2578,841,3385
$GC,1861,-0.96,-175.2,186.6,-10.0,187,1867,0.00,1.98,0.00,0.000,6,0.000,0.020,2579,2077,3385
$GC,2181,-0.96,-175.2,212.9,-7.7,210,2184,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,843,3385
$GC,2230,-0.96,-175.2,217.4,-8.1,212,2234,0.00,2.00,0.00,0.000,6,0.000,0.020,2579,2076,3385
$GC,2557,-0.96,-175.2,239.1,-6.0,228,2561,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,3469,3385
$GC,2579,-0.96,-175.2,240.5,-6.5,229,2583,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2235,3385
$GC,2912,-0.96,-175.2,261.6,-7.0,245,2916,0.00,2.35,0.00,0.000,4,0.000,0.054,2578,839,3384
$GC,2989,-0.96,-175.2,268.3,-8.6,248,2993,0.00,2.03,0.00,0.000,6,0.000,0.060,2579,2068,3384
$GC,3310,-0.96,-175.2,291.2,-6.7,264,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2072,3383
$GC,3618,-0.96,-175.2,311.3,-6.5,275,3622,0.00,2.38,0.00,0.000,4,0.000,0.037,2578,3473,3381
$GC,3639,-0.96,-175.2,313.0,-7.3,275,3643,0.00,2.05,0.00,0.000,6,0.000,0.023,2578,2238,3382
$GC,3988,-0.96,-175.2,336.8,-7.1,284,3992,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,840,3380
$GC,4042,-0.96,-175.2,341.3,-8.0,285,4047,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2070,3380
$GC,4356,-0.96,-175.2,367.6,-8.4,293,4360,0.00,2.40,0.00,0.000,4,0.000,0.040,2579,3477,3378
$GC,4394,-0.96,-175.2,370.8,-9.3,294,4398,0.00,2.05,0.00,0.000,6,0.000,0.066,2579,2239,3378
$GC,4724,-0.96,-175.2,394.0,-6.7,302,4728,0.00,2.38,0.00,0.000,4,0.000,0.040,2578,845,3375
$GC,4819,-0.96,-175.2,400.4,-6.9,304,4823,0.00,2.05,0.00,0.000,6,0.000,0.027,2579,2083,3375
$GC,5144,-0.96,-175.2,420.3,-6.1,312,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2086,3373
$GC,5468,-0.96,-175.2,434.8,-3.9,320,5472,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3477,3371
$GC,5489,-0.96,-175.2,435.4,-2.6,320,5493,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,2247,3370
$GC,5831,-0.96,-175.2,448.7,-4.5,329,5835,0.00,2.38,0.00,0.000,4,0.000,0.042,2578,849,3369
$STATE,5857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5857,begin apogee
$GC,5865,-0.31,0.0,450.2,5.7,329,6010,0.65,0.00,142.00,0.886,6,0.056,0.000,2725,2082,2664
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6012,0.96,175.2,455.9,0.0,333,6166,1.25,2.20,146.20,0.863,4,0.102,0.079,3011,845,1948
$GC,6249,0.96,175.2,447.7,10.0,339,6253,0.00,2.12,0.00,0.000,6,0.000,0.066,3011,2079,1940
$GC,6568,0.96,175.2,419.8,9.6,347,6572,0.00,2.45,0.00,0.000,4,0.000,0.043,3011,3482,1937
$GC,6786,0.96,175.2,399.1,9.3,352,6790,0.00,2.08,0.00,0.000,6,0.000,0.064,3011,2252,1936
$GC,7116,0.96,175.2,374.0,7.5,360,7120,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,841,1932
$GC,7204,0.96,175.2,365.3,10.5,362,7208,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2077,1931
$GC,7528,0.96,175.2,336.3,8.7,370,7532,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3476,1931
$GC,7578,0.96,175.2,331.2,9.5,371,7582,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2250,1931
$GC,7896,0.96,175.2,303.3,8.7,379,7900,0.00,2.15,0.00,0.000,4,0.000,0.043,3011,3482,1929
$GC,7956,0.96,175.2,297.3,10.0,380,7964,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2251,1929
$GC,8272,0.99,201.8,273.1,6.4,396,8298,0.00,2.47,20.85,0.762,4,0.000,0.053,3011,846,1840
$GC,8410,0.99,201.8,261.3,9.3,402,8414,0.00,2.10,0.00,0.000,6,0.000,0.038,3011,2082,1834
$GC,8731,0.99,201.8,236.0,8.1,418,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2085,1834
$GC,9041,1.03,230.2,216.3,6.4,433,9071,0.00,2.17,25.48,0.717,4,0.000,0.080,3011,849,1723
$GC,9221,1.03,230.2,201.7,7.5,441,9226,0.00,2.08,0.00,0.000,6,0.000,0.025,3011,2082,1718
$GC,9553,1.03,235.8,176.4,7.0,471,9565,0.00,2.40,5.55,0.544,4,0.000,0.036,3011,3478,1701
$GC,9588,1.06,256.0,173.9,6.6,474,9613,0.00,2.05,19.58,0.664,6,0.000,0.024,3011,2247,1619
$GC,9939,1.09,281.4,152.5,6.5,507,9970,0.00,2.47,23.05,0.644,4,0.000,0.061,3010,847,1515
$GC,10072,1.09,281.4,143.3,7.2,519,10076,0.00,2.05,0.00,0.000,6,0.000,0.022,3011,2095,1511
$GC,10405,1.09,281.4,119.8,7.6,550,10409,0.00,2.15,0.00,0.000,4,0.000,0.038,3010,841,1510
$GC,10456,1.09,281.4,115.5,7.4,554,10461,0.10,2.03,0.00,0.000,6,0.054,0.021,3045,2089,1509
$GC,10785,1.09,281.4,85.9,9.3,585,10789,0.00,2.12,0.00,0.000,4,0.000,0.037,3045,842,1508
$GC,10812,1.09,281.4,83.2,10.0,587,10819,0.00,2.05,0.00,0.000,6,0.000,0.021,3045,2084,1509
$GC,11140,1.09,281.4,54.0,8.2,618,11144,0.00,2.33,0.00,0.000,4,0.000,0.032,3045,3466,1508
$GC,11191,1.09,281.4,49.1,9.0,622,11195,0.00,1.98,0.00,0.000,6,0.000,0.021,3045,2241,1509
$GC,11519,1.10,285.5,25.1,7.0,658,11531,0.00,2.40,4.15,0.374,4,0.000,0.034,3045,842,1500
$GC,11577,1.12,302.2,20.9,6.7,668,11601,0.00,2.00,16.30,0.515,6,0.000,0.025,3045,2093,1432
$GC,11714,1.12,302.2,9.2,9.6,692,11720,0.00,2.28,0.00,0.000,4,0.000,0.031,3045,3457,1431
$GC,11743,1.12,302.2,6.5,9.6,697,11750,0.00,1.98,0.00,0.000,6,0.000,0.020,3045,2230,1430
$STATE,11793,end climb,SURFACE_DEPTH_REACHED
$STATE,11793,begin surface coast
$FINISH,1.3,1.023037
$STATE,11845,end surface coast,CONTROL_FINISHED_OK
$STATE,11845,begin surface
$SM_CCo,11865,15.82,0.499,0,0,1359,320.12
$SM_GC,2.15,0.00,0.00,15.82,0.000,0.000,0.499,427,2226,1359,-10.89,4.13,320.12
$IRIDIUM_FIX,2101.76,-15800.33,031197,020211
$TT8_MAMPS,0.029146
$HUMID,1957
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.60
$XPDR_PINGS,728
$24V_AH,23.3,60.118
$10V_AH,10.2,34.559
$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,25.375,125.900,403.150,15.825,0.000,55.209,54.673,335.589,186.000,0.000,0.000,37.791,1305.944,8308.667,519.286,1748.569,649.034,33.370,1364.403,0.000,1697.403,0.000,29.240
$DEVICE_MAMPS,154.167,81.302,885.885,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.732,468.676,807.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,715
$CAP_FILE_SIZE,109892,7
$CFSIZE,260165632,246927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090808,053202,2109.542,-15759.325,60,1.4,60,9.8