version: 66.03
glider: 139
mission: 3
dive: 213
start: 8 9 108 5 52 54
data:
$ID,139
$MISSION,3
$DIVE,213
$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,-1275073.1
$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,63
$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
$GPS1,053202,2109.542,-15759.325,60,1.4,60,9.8
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-70.2
$GPS2,055203,2109.485,-15759.613,43,1.3,43,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.031
$KALMAN_X,-196645.0,-227.7,-68.5,185195.3,-3088.8
$KALMAN_Y,-88521.1,-202.1,-94.2,75504.8,-452.9
$MHEAD_RNG_PITCHd_Wd,73.1,25618,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,70,0.00,0.00,-49.03,0.000,2,0.000,0.000,428,2224,2725
$GC,73,-0.96,-175.2,3.4,-3.4,9,103,11.90,2.12,-12.93,0.000,4,0.148,0.081,2575,3460,3382
$GC,132,-0.96,-175.2,16.0,-15.8,19,138,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2232,3383
$GC,251,-0.96,-175.2,30.1,-11.9,40,255,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,845,3383
$GC,294,-0.96,-175.2,35.4,-11.6,43,301,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2076,3384
$GC,619,-0.96,-175.2,67.3,-8.4,74,623,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,842,3384
$GC,657,-0.96,-175.2,71.0,-9.7,77,664,0.00,2.00,0.00,0.000,6,0.000,0.041,2575,2076,3385
$GC,982,-0.96,-175.2,98.4,-7.6,108,986,0.00,2.30,0.00,0.000,4,0.000,0.030,2575,3464,3385
$GC,1015,-0.96,-175.2,100.9,-7.2,110,1022,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2243,3385
$GC,1341,-0.96,-175.2,125.8,-8.5,141,1346,0.00,2.33,0.00,0.000,4,0.000,0.056,2575,842,3385
$GC,1443,-0.96,-175.2,135.0,-8.9,150,1446,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2081,3385
$GC,1774,-0.96,-175.2,166.7,-9.8,181,1778,0.00,2.30,0.00,0.000,4,0.000,0.066,2575,3462,3385
$GC,1806,-0.96,-175.2,169.8,-9.0,183,1812,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2241,3385
$GC,2132,-0.96,-175.2,192.8,-7.2,214,2136,0.00,2.35,0.00,0.000,4,0.000,0.068,2575,841,3385
$GC,2254,-0.96,-175.2,202.2,-7.5,223,2260,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2074,3385
$GC,2570,-0.96,-175.2,225.1,-7.3,239,2574,0.00,2.33,0.00,0.000,4,0.000,0.032,2575,3463,3384
$GC,2591,-0.96,-175.2,226.5,-6.4,240,2595,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2231,3384
$GC,2918,-0.96,-175.2,246.1,-6.3,256,2922,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,844,3384
$GC,2972,-0.96,-175.2,250.0,-7.0,258,2979,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2074,3383
$GC,3288,-0.96,-175.2,270.9,-6.4,274,3291,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,844,3383
$GC,3315,-0.96,-175.2,272.8,-6.5,275,3319,0.00,2.00,0.00,0.000,6,0.000,0.029,2575,2083,3383
$GC,3642,-0.96,-175.2,297.7,-7.3,291,3646,0.00,2.33,0.00,0.000,4,0.000,0.036,2575,3463,3382
$GC,3663,-0.96,-175.2,299.4,-7.8,292,3667,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2240,3382
$GC,4006,-0.96,-175.2,319.7,-5.6,301,4011,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,842,3381
$GC,4100,-0.96,-175.2,325.4,-5.8,303,4104,0.00,2.00,0.00,0.000,6,0.000,0.023,2575,2074,3380
$GC,4425,-0.96,-175.2,342.5,-5.2,311,4428,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,838,3379
$GC,4446,-0.96,-175.2,343.6,-5.2,311,4450,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2072,3379
$GC,4795,-0.96,-175.2,360.8,-4.9,320,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3377
$GC,5119,-0.96,-175.2,378.5,-6.0,328,5123,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,3469,3375
$GC,5159,-0.96,-175.2,381.7,-8.6,329,5162,0.00,2.03,0.00,0.000,6,0.000,0.025,2575,2241,3374
$GC,5489,-0.96,-175.2,400.3,-5.6,337,5493,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,845,3372
$GC,5589,-0.96,-175.2,405.6,-5.4,339,5593,0.00,2.05,0.00,0.000,6,0.000,0.068,2575,2081,3372
$GC,5902,-0.96,-175.2,427.6,-7.6,347,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2085,3370
$GC,6227,-0.96,-175.2,445.4,-4.8,355,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2085,3368
$STATE,6347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6347,begin apogee
$GC,6352,-0.31,0.0,450.9,4.4,358,6497,0.70,0.00,141.62,0.884,6,0.057,0.000,2730,2084,2664
$STATE,6497,end apogee,CONTROL_FINISHED_OK
$STATE,6497,begin climb
$GC,6500,0.96,175.2,456.5,0.0,361,6650,1.23,0.00,145.93,0.859,6,0.110,0.000,3013,2085,1949
$GC,6954,0.96,175.2,432.3,7.3,373,6958,0.00,2.15,0.00,0.000,4,0.000,0.044,3012,849,1938
$GC,7009,0.96,175.2,427.9,8.2,374,7013,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2077,1936
$GC,7328,0.96,175.2,403.7,7.3,382,7332,0.00,2.42,0.00,0.000,4,0.000,0.042,3012,3476,1935
$GC,7404,0.96,175.2,397.7,8.0,383,7411,0.00,2.08,0.00,0.000,6,0.000,0.047,3012,2257,1935
$GC,7736,0.97,181.8,375.3,7.0,392,7745,0.00,2.47,4.30,0.570,4,0.000,0.078,3013,842,1922
$GC,7802,0.97,181.8,369.7,8.1,393,7806,0.00,2.10,0.00,0.000,6,0.000,0.028,3013,2079,1919
$GC,8150,0.97,181.8,340.1,9.0,402,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2083,1919
$GC,8475,0.98,188.1,313.8,7.0,410,8486,0.00,2.22,6.57,0.667,4,0.000,0.051,3012,842,1896
$GC,8507,0.98,188.1,311.0,8.0,410,8514,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2077,1894
$GC,8821,0.98,188.1,286.8,8.0,422,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2080,1894
$GC,9130,0.98,188.1,264.2,7.2,437,9134,0.00,2.40,0.00,0.000,4,0.000,0.039,3012,3478,1893
$GC,9180,0.98,188.1,260.3,7.4,439,9184,0.00,2.08,0.00,0.000,6,0.000,0.040,3013,2255,1893
$GC,9501,0.98,188.1,237.5,7.6,455,9506,0.00,2.40,0.00,0.000,4,0.000,0.040,3013,841,1892
$GC,9541,0.98,188.1,234.2,8.7,457,9545,0.00,2.08,0.00,0.000,6,0.000,0.027,3013,2087,1891
$GC,9873,0.98,188.1,204.7,9.4,473,9877,0.00,2.35,0.00,0.000,4,0.000,0.037,3012,3479,1890
$GC,10101,1.06,256.6,189.0,5.3,490,10170,0.00,2.08,60.20,0.695,6,0.000,0.024,3012,2243,1616
$GC,10488,1.06,256.6,162.4,8.4,527,10492,0.00,2.40,0.00,0.000,4,0.000,0.038,3012,839,1609
$GC,10612,1.06,256.6,151.8,7.9,537,10618,0.00,2.05,0.00,0.000,6,0.000,0.022,3012,2095,1606
$GC,10940,1.14,317.6,129.9,5.5,568,10998,0.12,2.17,52.25,0.629,4,0.048,0.053,3054,840,1368
$GC,11103,1.14,317.6,113.3,10.4,582,11110,0.00,2.05,0.00,0.000,6,0.000,0.061,3054,2077,1362
$GC,11432,1.14,317.6,79.6,8.9,613,11435,0.00,2.12,0.00,0.000,4,0.000,0.065,3054,836,1361
$GC,11548,1.14,317.6,66.2,11.8,623,11556,0.00,2.05,0.00,0.000,6,0.000,0.020,3054,2085,1359
$GC,11877,1.14,317.6,35.6,7.5,654,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2089,1359
$GC,12205,1.14,317.6,7.2,10.5,706,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2089,1359
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12249,begin surface coast
$FINISH,1.6,1.023070
$STATE,12283,end surface coast,CONTROL_FINISHED_OK
$STATE,12284,begin surface
$SM_CCo,12363,0.00,0.000,0,0,1356,320.85
$SM_GC,1.90,11.27,0.00,0.00,0.032,0.000,0.000,428,2089,1356,-10.82,0.31,320.85
$IRIDIUM_FIX,2101.76,-15801.19,031197,050508
$TT8_MAMPS,0.029146
$HUMID,1916
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.20
$XPDR_PINGS,697
$24V_AH,22.4,60.272
$10V_AH,10.2,34.646
$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,25.225,108.000,410.875,0.000,0.000,148.372,263.448,379.368,178.250,0.000,0.000,46.558,1290.838,9067.001,509.926,1685.257,997.742,33.380,1316.651,0.000,1632.045,0.000,29.253
$DEVICE_MAMPS,148.031,81.302,883.584,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.587,464.499,790.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,720
$CAP_FILE_SIZE,109085,7
$CFSIZE,260165632,246870016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090808,092025,2109.512,-15759.521,53,1.0,53,9.8