version: 66.03
glider: 139
mission: 3
dive: 216
start: 8 9 108 16 16 53
data:
$ID,139
$MISSION,3
$DIVE,216
$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,-1275179.8
$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,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
$GPS1,160837,2108.627,-15759.433,27,1.0,27,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.4
$GPS2,161602,2108.586,-15759.570,15,1.0,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.084
$KALMAN_X,-206336.7,-342.5,311.7,194700.2,-3624.8
$KALMAN_Y,-90544.4,225.9,-189.8,75532.9,-740.9
$MHEAD_RNG_PITCHd_Wd,60.9,24729,-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,-48.90,0.000,2,0.000,0.000,430,2233,2708
$GC,74,-0.96,-175.2,3.5,-3.4,9,104,11.93,2.10,-13.05,0.000,4,0.149,0.041,2576,3464,3381
$GC,167,-0.96,-175.2,20.2,-11.7,25,173,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2238,3382
$GC,289,-0.96,-175.2,35.4,-12.2,43,293,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,839,3383
$GC,322,-0.96,-175.2,39.4,-11.3,45,329,0.00,2.03,0.00,0.000,6,0.000,0.018,2575,2082,3382
$GC,647,-0.96,-175.2,68.1,-7.4,76,650,0.00,2.10,0.00,0.000,4,0.000,0.034,2575,835,3384
$GC,685,-0.96,-175.2,71.3,-8.2,79,692,0.00,2.03,0.00,0.000,6,0.000,0.058,2575,2081,3384
$GC,1010,-0.96,-175.2,99.6,-9.8,110,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2085,3385
$GC,1329,-0.96,-175.2,132.1,-10.2,140,1333,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,844,3385
$GC,1412,-0.96,-175.2,141.0,-10.9,147,1419,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2081,3385
$GC,1738,-0.96,-175.2,174.7,-10.3,178,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2084,3386
$GC,2054,-0.96,-175.2,203.2,-7.9,206,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3386
$GC,2364,-0.96,-175.2,224.0,-6.6,221,2367,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,835,3386
$GC,2436,-0.96,-175.2,228.5,-6.0,224,2440,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2079,3386
$GC,2763,-0.96,-175.2,247.7,-6.7,240,2766,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,845,3385
$GC,2812,-0.96,-175.2,251.3,-7.4,242,2817,0.00,2.03,0.00,0.000,6,0.000,0.060,2575,2077,3386
$GC,3139,-0.96,-175.2,274.4,-6.9,258,3143,0.00,2.33,0.00,0.000,4,0.000,0.035,2575,3465,3384
$GC,3171,-0.96,-175.2,276.8,-7.2,259,3178,0.00,2.03,0.00,0.000,6,0.000,0.061,2575,2244,3385
$GC,3487,-0.96,-175.2,299.7,-7.4,275,3491,0.00,2.38,0.00,0.000,4,0.000,0.038,2575,838,3383
$GC,3571,-0.96,-175.2,306.2,-8.4,278,3575,0.00,2.03,0.00,0.000,6,0.000,0.066,2575,2075,3383
$GC,3901,-0.96,-175.2,328.5,-6.6,286,3904,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,3469,3381
$GC,3929,-0.96,-175.2,330.2,-6.0,286,3932,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2235,3381
$GC,4271,-0.96,-175.2,350.0,-6.0,295,4281,0.00,2.35,0.00,0.000,4,0.000,0.039,2575,847,3379
$GC,4341,-0.96,-175.2,355.5,-8.1,296,4346,0.00,2.05,0.00,0.000,6,0.000,0.066,2575,2070,3380
$GC,4689,-0.96,-175.2,383.0,-8.3,305,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2074,3377
$STATE,4931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4931,begin apogee
$GC,4937,-0.31,0.0,401.8,7.4,311,5082,0.70,0.00,142.32,0.835,6,0.172,0.000,2730,2074,2664
$STATE,5083,end apogee,CONTROL_FINISHED_OK
$STATE,5083,begin climb
$GC,5085,0.96,175.2,408.8,0.0,314,5238,1.17,2.17,144.10,0.816,4,0.035,0.076,3011,840,1947
$GC,5254,0.96,175.2,407.8,7.5,318,5258,0.00,2.12,0.00,0.000,6,0.000,0.048,3011,2078,1943
$GC,5573,0.97,187.0,384.5,6.8,326,5587,0.00,2.45,9.88,0.712,4,0.000,0.043,3011,3475,1900
$GC,5661,0.99,202.9,378.8,6.7,328,5681,0.00,2.08,15.23,0.755,6,0.000,0.067,3011,2247,1837
$GC,6023,0.99,202.9,351.6,8.5,337,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2247,1831
$GC,6348,0.99,202.9,327.2,7.3,345,6352,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,841,1828
$GC,6432,1.00,208.8,321.0,7.0,347,6442,0.00,2.08,5.07,0.589,6,0.000,0.064,3011,2091,1812
$GC,6754,1.00,208.8,297.0,7.7,355,6758,0.00,2.38,0.00,0.000,4,0.000,0.040,3011,3471,1811
$GC,6832,1.00,208.8,289.7,9.4,358,6839,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2253,1811
$GC,7147,1.00,208.8,257.3,9.7,374,7151,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,843,1810
$GC,7187,1.00,208.8,253.8,8.9,376,7190,0.00,2.08,0.00,0.000,6,0.000,0.032,3011,2085,1808
$GC,7518,1.00,208.8,227.4,7.8,392,7522,0.00,2.38,0.00,0.000,4,0.000,0.038,3011,3474,1808
$GC,7579,1.00,208.8,222.3,8.4,395,7583,0.00,2.05,0.00,0.000,6,0.000,0.025,3011,2246,1808
$GC,7902,1.01,214.4,197.5,7.0,412,7915,0.00,2.35,6.00,0.568,4,0.000,0.044,3011,846,1788
$GC,7953,1.01,214.4,193.8,7.4,416,7960,0.00,2.08,0.00,0.000,6,0.000,0.031,3011,2082,1786
$GC,8281,1.01,214.4,165.0,9.9,447,8285,0.00,2.38,0.00,0.000,4,0.000,0.044,3011,3478,1786
$GC,8324,1.01,214.4,160.9,8.7,450,8331,0.00,2.08,0.00,0.000,6,0.000,0.023,3011,2244,1786
$GC,8650,1.01,214.4,134.1,8.6,481,8654,0.00,2.38,0.00,0.000,4,0.000,0.073,3011,846,1786
$GC,8722,1.01,214.4,128.0,8.0,487,8729,0.00,2.05,0.00,0.000,6,0.000,0.023,3011,2082,1785
$GC,9050,1.21,375.8,116.2,2.7,518,9198,0.12,2.20,136.95,0.617,4,0.146,0.077,3058,851,1129
$GC,9268,1.21,375.8,97.1,12.0,538,9271,0.00,2.03,0.00,0.000,6,0.000,0.021,3058,2091,1125
$GC,9599,1.21,375.8,64.9,9.1,569,9602,0.00,2.15,0.00,0.000,4,0.000,0.074,3057,842,1123
$GC,9689,1.21,375.8,56.3,9.0,577,9693,0.00,2.00,0.00,0.000,6,0.000,0.061,3058,2080,1121
$GC,10018,1.21,375.8,27.5,9.1,609,10024,0.00,2.10,0.00,0.000,4,0.000,0.037,3058,836,1121
$GC,10092,1.21,375.8,20.1,10.0,622,10099,0.00,1.98,0.00,0.000,6,0.000,0.019,3058,2085,1120
$GC,10212,1.21,375.8,9.5,9.2,643,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2090,1120
$STATE,10289,end climb,SURFACE_DEPTH_REACHED
$STATE,10289,begin surface coast
$FINISH,1.3,1.023086
$STATE,10324,end surface coast,CONTROL_FINISHED_OK
$STATE,10324,begin surface
$SM_CCo,10404,0.00,0.000,0,0,1116,379.48
$SM_GC,1.98,11.32,0.00,0.00,0.035,0.000,0.000,433,2090,1116,-10.81,0.31,379.48
$IRIDIUM_FIX,2101.76,-15801.19,031197,131337
$TT8_MAMPS,0.029146
$HUMID,1927
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.00
$XPDR_PINGS,640
$ALTIM_BOTTOM_PING,350.4,60.6
$24V_AH,21.8,60.719
$10V_AH,10.2,34.887
$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,25.250,94.825,459.550,0.000,0.000,25.030,31.440,264.154,161.750,0.000,0.000,18.099,1162.232,7151.609,505.050,1520.768,498.205,33.370,1277.875,0.000,1501.544,0.000,14.392
$DEVICE_MAMPS,171.808,76.700,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.998,448.397,787.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34937,663
$CAP_FILE_SIZE,91280,5
$CFSIZE,260165632,246734848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090808,191125,2108.889,-15759.427,13,2.5,32,9.8