version: 66.03
glider: 139
mission: 3
dive: 218
start: 8 9 108 22 21 12
data:
$ID,139
$MISSION,3
$DIVE,218
$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,-1275230.2
$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,60
$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
$GPS1,221037,2108.867,-15759.508,30,1.5,30,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.8
$GPS2,222021,2108.866,-15759.642,11,1.4,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,0.149
$KALMAN_X,-212698.9,290.3,-180.0,200790.6,-3510.7
$KALMAN_Y,-92127.3,-23.1,171.0,77521.3,-1369.1
$MHEAD_RNG_PITCHd_Wd,44.5,25085,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-53.97,0.000,2,0.000,0.000,422,2094,2630
$GC,78,-0.96,-175.2,3.2,-3.0,10,114,12.07,2.28,-15.82,0.000,4,0.152,0.063,2576,3460,3380
$GC,142,-0.96,-175.2,14.4,-12.9,21,148,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,2233,3382
$GC,261,-0.96,-175.2,29.3,-12.8,42,268,0.00,2.33,0.00,0.000,4,0.000,0.068,2576,841,3382
$GC,289,-0.96,-175.2,33.2,-13.1,45,296,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2078,3382
$GC,614,-0.96,-175.2,73.5,-11.8,76,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3382
$GC,933,-0.96,-175.2,105.9,-10.4,106,936,0.00,2.08,0.00,0.000,4,0.000,0.034,2576,844,3383
$GC,978,-0.96,-175.2,110.0,-8.9,110,982,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2078,3383
$GC,1310,-0.96,-175.2,137.8,-6.6,141,1314,0.00,2.30,0.00,0.000,4,0.000,0.058,2576,3463,3384
$GC,1349,-0.96,-175.2,140.4,-6.4,144,1353,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2229,3384
$GC,1681,-0.96,-175.2,165.5,-9.4,175,1684,0.00,1.98,0.00,0.000,4,0.000,0.071,2576,1030,3384
$GC,1799,-0.96,-175.2,176.8,-9.8,185,1804,0.00,1.67,0.00,0.000,6,0.000,0.025,2576,2086,3384
$GC,2123,-0.96,-175.2,202.6,-6.1,214,2127,0.00,2.10,0.00,0.000,4,0.000,0.051,2576,835,3384
$GC,2195,-0.96,-175.2,207.7,-6.8,217,2199,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2078,3384
$GC,2523,-0.96,-175.2,227.9,-6.0,233,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3384
$GC,2831,-0.96,-175.2,250.4,-7.7,248,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2082,3384
$GC,3141,-0.96,-175.2,279.0,-9.5,263,3144,0.00,2.10,0.00,0.000,4,0.000,0.037,2576,837,3383
$GC,3179,-0.96,-175.2,282.8,-9.8,264,3186,0.00,2.03,0.00,0.000,6,0.000,0.058,2576,2067,3382
$GC,3513,-0.96,-175.2,309.4,-6.7,278,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2071,3381
$GC,3838,-0.96,-175.2,328.8,-5.5,286,3842,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3473,3380
$GC,3872,-0.96,-175.2,330.6,-5.7,286,3877,0.00,2.03,0.00,0.000,6,0.000,0.023,2576,2232,3380
$GC,4202,-0.96,-175.2,348.1,-5.1,295,4206,0.00,2.35,0.00,0.000,4,0.000,0.038,2576,843,3378
$GC,4269,-0.96,-175.2,351.3,-5.0,296,4273,0.00,2.03,0.00,0.000,6,0.000,0.063,2576,2074,3378
$GC,4617,-0.96,-175.2,365.3,-4.0,305,4621,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,3470,3377
$GC,4656,-0.96,-175.2,367.3,-5.2,306,4659,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2244,3376
$GC,4985,-0.96,-175.2,383.8,-4.9,314,4989,0.00,2.35,0.00,0.000,4,0.000,0.040,2576,848,3374
$GC,5034,-0.96,-175.2,386.5,-5.3,315,5038,0.00,2.03,0.00,0.000,6,0.000,0.026,2576,2075,3374
$STATE,5269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5270,begin apogee
$GC,5275,-0.31,0.0,407.8,10.2,321,5419,0.68,0.00,141.43,0.849,6,0.167,0.000,2728,2076,2663
$STATE,5420,end apogee,CONTROL_FINISHED_OK
$STATE,5420,begin climb
$GC,5422,0.96,175.2,422.4,0.0,324,5575,1.23,2.17,144.15,0.835,4,0.104,0.048,3010,849,1948
$GC,5642,0.96,175.2,437.2,12.8,329,5646,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2079,1940
$GC,5955,0.96,175.2,396.1,8.1,337,5958,0.00,2.15,0.00,0.000,4,0.000,0.043,3010,845,1936
$GC,6049,0.96,175.2,386.9,9.8,339,6053,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2079,1933
$GC,6373,1.00,209.5,363.7,6.2,347,6408,0.00,2.50,28.45,0.803,4,0.000,0.074,3010,3475,1809
$GC,6504,1.00,209.5,352.7,9.8,350,6508,0.00,2.08,0.00,0.000,6,0.000,0.030,3011,2250,1808
$GC,6834,1.00,209.5,323.3,9.1,358,6838,0.00,2.42,0.00,0.000,4,0.000,0.043,3010,846,1803
$GC,6955,1.00,209.5,312.3,9.0,360,6962,0.00,2.10,0.00,0.000,6,0.000,0.068,3010,2082,1799
$GC,7268,1.00,209.5,288.1,8.2,372,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2085,1799
$GC,7578,1.00,209.5,261.8,9.0,387,7582,0.00,2.40,0.00,0.000,4,0.000,0.039,3011,3477,1797
$GC,7633,1.00,209.5,257.0,9.4,389,7639,0.00,2.08,0.00,0.000,6,0.000,0.026,3011,2250,1797
$GC,7949,1.00,209.5,232.0,8.0,405,7953,0.00,2.40,0.00,0.000,4,0.000,0.040,3010,848,1797
$GC,8055,1.00,209.5,223.2,8.5,410,8059,0.00,2.05,0.00,0.000,6,0.000,0.026,3010,2086,1795
$GC,8379,1.00,209.5,197.2,8.3,427,8383,0.00,1.60,0.00,0.000,4,0.000,0.081,3011,3056,1795
$GC,8503,1.00,209.5,186.9,7.7,438,8506,0.00,1.35,0.00,0.000,6,0.000,0.083,3010,2246,1795
$GC,8834,1.05,246.0,162.6,6.1,469,8870,0.00,2.42,30.55,0.667,4,0.000,0.042,3010,846,1659
$GC,8972,1.05,246.0,153.2,8.0,481,8975,0.00,2.05,0.00,0.000,6,0.000,0.023,3010,2094,1653
$GC,9303,1.10,285.4,129.9,6.1,512,9346,0.10,2.40,34.62,0.628,4,0.054,0.068,3045,3468,1499
$GC,9392,1.10,285.4,122.4,9.4,520,9396,0.00,2.03,0.00,0.000,6,0.000,0.022,3045,2244,1499
$GC,9725,1.10,285.4,90.5,10.1,551,9729,0.00,2.38,0.00,0.000,4,0.000,0.041,3045,842,1496
$GC,9764,1.10,285.4,86.2,9.9,554,9768,0.00,2.03,0.00,0.000,6,0.000,0.021,3045,2091,1494
$GC,10097,1.10,285.4,60.1,7.4,585,10101,0.00,2.12,0.00,0.000,4,0.000,0.071,3045,841,1493
$GC,10255,1.10,285.4,45.7,10.0,599,10259,0.00,2.00,0.00,0.000,6,0.000,0.020,3045,2085,1491
$GC,10587,1.10,290.9,19.4,7.0,642,10599,0.00,2.30,5.20,0.415,4,0.000,0.031,3045,3462,1478
$GC,10678,1.10,290.9,12.4,7.7,658,10685,0.00,1.98,0.00,0.000,6,0.000,0.019,3045,2231,1478
$STATE,10790,end climb,SURFACE_DEPTH_REACHED
$STATE,10790,begin surface coast
$FINISH,1.2,0.998820
$STATE,10828,end surface coast,CONTROL_FINISHED_OK
$STATE,10828,begin surface
$SM_CCo,10847,25.85,0.513,0,0,1358,320.12
$SM_GC,2.03,0.00,0.00,25.85,0.000,0.000,0.513,420,2224,1358,-10.93,4.10,320.12
$IRIDIUM_FIX,2059.45,-15756.04,031197,222208
$TT8_MAMPS,0.029146
$HUMID,1930
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,677
$ALTIM_BOTTOM_PING,312.2,104.7
$24V_AH,23.4,60.995
$10V_AH,10.2,35.039
$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,25.275,97.500,384.400,25.850,0.000,46.821,69.878,286.430,170.000,0.000,0.000,13.262,1226.675,7545.760,476.596,1621.992,579.638,33.379,1269.631,0.000,1604.939,0.000,7.418
$DEVICE_MAMPS,167.206,82.836,849.069,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.668,449.720,799.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34846,684
$CAP_FILE_SIZE,97770,10
$CFSIZE,260165632,246636544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100808,012355,2109.175,-15759.347,51,1.1,51,9.8