version: 66.03
glider: 139
mission: 3
dive: 219
start: 8 10 108 1 32 18
data:
$ID,139
$MISSION,3
$DIVE,219
$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,-1275245.2
$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,58
$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
$GPS1,012355,2109.175,-15759.347,51,1.1,51,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.1
$GPS2,013127,2109.152,-15759.452,12,1.8,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.102
$KALMAN_X,-215814.2,605.7,370.0,203361.7,-4140.4
$KALMAN_Y,-93139.2,-203.2,19.7,79392.7,-1373.6
$MHEAD_RNG_PITCHd_Wd,103.9,25063,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-48.85,0.000,2,0.000,0.000,420,2225,2712
$GC,73,-0.96,-175.2,3.6,-3.6,9,102,12.20,0.00,-12.90,0.000,6,0.155,0.000,2574,2226,3382
$GC,215,-0.96,-175.2,25.5,-11.1,34,222,0.00,2.10,0.00,0.000,4,0.000,0.031,2574,3464,3384
$GC,239,-0.96,-175.2,28.1,-10.7,38,245,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2236,3384
$GC,358,-0.96,-175.2,40.2,-10.0,51,362,0.00,2.35,0.00,0.000,4,0.000,0.035,2574,837,3384
$GC,397,-0.96,-175.2,44.1,-10.0,54,401,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2081,3384
$GC,727,-0.96,-175.2,76.3,-10.0,85,731,0.00,2.08,0.00,0.000,4,0.000,0.034,2574,843,3385
$GC,810,-0.96,-175.2,84.4,-9.3,92,817,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2078,3386
$GC,1137,-0.96,-175.2,113.9,-9.6,123,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3386
$GC,1454,-0.96,-175.2,141.0,-8.8,153,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3386
$GC,1773,-0.96,-175.2,168.0,-8.4,183,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3387
$GC,2091,-0.96,-175.2,193.7,-7.1,213,2095,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,844,3387
$GC,2118,-0.96,-175.2,195.8,-7.5,215,2124,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2073,3386
$GC,2436,-0.96,-175.2,215.7,-7.4,234,2439,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,843,3386
$GC,2491,-0.96,-175.2,219.8,-6.7,236,2495,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2088,3386
$GC,2812,-0.96,-175.2,242.2,-6.9,252,2815,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,838,3386
$GC,2857,-0.96,-175.2,245.2,-6.7,254,2861,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2078,3386
$GC,3189,-0.96,-175.2,266.8,-6.6,270,3193,0.00,2.08,0.00,0.000,4,0.000,0.036,2574,844,3385
$GC,3217,-0.96,-175.2,268.8,-7.2,271,3221,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,2085,3385
$GC,3544,-0.96,-175.2,288.6,-5.1,287,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2088,3384
$GC,3872,-0.96,-175.2,304.8,-5.6,301,3876,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,842,3382
$GC,3899,-0.96,-175.2,306.4,-5.6,301,3903,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2094,3382
$GC,4242,-0.96,-175.2,326.1,-6.1,310,4246,0.00,2.12,0.00,0.000,4,0.000,0.038,2574,842,3380
$GC,4264,-0.96,-175.2,327.5,-6.1,310,4268,0.00,2.03,0.00,0.000,6,0.000,0.030,2574,2077,3380
$GC,4612,-0.96,-175.2,347.8,-4.7,319,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3378
$GC,4937,-0.96,-175.2,367.4,-6.8,327,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3376
$GC,5262,-0.96,-175.2,386.4,-5.3,335,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3375
$GC,5587,-0.96,-175.2,402.9,-4.9,343,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3373
$GC,5914,-0.96,-175.2,420.1,-5.6,351,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3371
$GC,6236,-0.96,-175.2,429.8,0.1,359,6240,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,3467,3369
$GC,6258,-0.96,-175.2,429.8,-0.2,359,6262,0.00,2.03,0.00,0.000,6,0.000,0.028,2575,2251,3369
$STATE,6314,end dive,NO_VERTICAL_VELOCITY
$STATE,6314,begin apogee
$GC,6319,-0.31,0.0,429.9,0.0,361,6463,0.68,0.00,141.40,0.874,6,0.157,0.000,2731,2250,2664
$STATE,6464,end apogee,CONTROL_FINISHED_OK
$STATE,6464,begin climb
$GC,6466,0.96,175.2,429.7,0.0,364,6620,1.20,2.47,144.85,0.844,4,0.116,0.048,3003,846,1947
$GC,6761,0.96,175.2,415.3,8.7,371,6765,0.00,2.08,0.00,0.000,6,0.000,0.031,3003,2078,1937
$GC,7090,0.96,175.2,389.7,7.4,379,7094,0.00,2.42,0.00,0.000,4,0.000,0.043,3003,3474,1935
$GC,7269,0.96,175.2,374.4,8.4,383,7273,0.00,2.05,0.00,0.000,6,0.000,0.028,3003,2251,1935
$GC,7593,0.96,175.2,344.5,9.6,391,7597,0.00,2.42,0.00,0.000,4,0.000,0.043,3003,849,1932
$GC,7799,0.96,175.2,325.2,7.8,395,7803,0.00,2.10,0.00,0.000,6,0.000,0.054,3003,2080,1929
$GC,8136,1.06,256.1,305.6,4.9,404,8211,0.10,2.50,68.22,0.795,4,0.063,0.074,3030,3473,1619
$GC,8319,1.06,256.1,291.4,9.6,409,8322,0.00,2.08,0.00,0.000,6,0.000,0.028,3030,2245,1615
$GC,8640,1.06,256.1,256.6,11.9,425,8644,0.00,2.42,0.00,0.000,4,0.000,0.043,3030,845,1610
$GC,8756,1.06,256.1,239.9,13.7,430,8760,0.00,2.10,0.00,0.000,6,0.000,0.027,3030,2081,1606
$GC,9077,1.06,256.1,204.1,9.4,446,9080,0.00,2.15,0.00,0.000,4,0.000,0.042,3030,845,1606
$GC,9160,1.06,256.1,194.0,12.8,451,9166,0.00,2.08,0.00,0.000,6,0.000,0.031,3030,2076,1604
$GC,9486,1.06,256.1,160.7,8.5,482,9489,0.00,2.12,0.00,0.000,4,0.000,0.041,3030,846,1604
$GC,9558,1.06,256.1,155.0,7.3,488,9564,0.00,2.05,0.00,0.000,6,0.000,0.025,3030,2075,1602
$GC,9885,1.06,256.1,127.3,10.9,519,9889,0.00,2.38,0.00,0.000,4,0.000,0.042,3030,3471,1602
$GC,9936,1.06,256.1,120.5,13.0,523,9940,0.00,2.03,0.00,0.000,6,0.000,0.023,3030,2244,1602
$GC,10267,1.06,256.1,81.6,8.6,554,10271,0.00,2.10,0.00,0.000,4,0.000,0.071,3030,3474,1602
$GC,10301,1.06,256.1,79.0,7.8,557,10305,0.00,2.03,0.00,0.000,6,0.000,0.030,3030,2243,1602
$GC,10633,1.10,289.4,63.6,6.2,588,10676,0.00,2.45,29.27,0.550,4,0.000,0.042,3030,842,1482
$GC,10783,1.10,289.4,51.1,9.8,601,10790,0.00,2.00,0.00,0.000,6,0.000,0.021,3030,2089,1478
$GC,11112,1.10,289.4,25.0,7.4,638,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2093,1478
$GC,11230,1.10,289.4,16.8,7.5,659,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2094,1478
$GC,11351,1.10,289.4,7.5,8.7,680,11357,0.00,2.28,0.00,0.000,4,0.000,0.031,3030,3465,1478
$GC,11363,1.10,289.4,6.0,9.1,682,11369,0.00,2.00,0.00,0.000,6,0.000,0.020,3030,2229,1478
$STATE,11397,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,1.2,1.007788
$STATE,11431,end surface coast,CONTROL_FINISHED_OK
$STATE,11431,begin surface
$SM_CCo,11450,25.88,0.520,0,0,1359,320.12
$SM_GC,1.97,0.00,0.00,25.88,0.000,0.000,0.520,427,2224,1359,-10.89,4.10,320.12
$IRIDIUM_FIX,2101.76,-15803.33,031197,222245
$TT8_MAMPS,0.029146
$HUMID,1970
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.90
$XPDR_PINGS,694
$24V_AH,23.4,61.128
$10V_AH,10.2,35.118
$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,25.400,89.800,383.750,25.875,0.000,24.189,30.213,267.732,176.750,0.000,0.000,14.421,1251.579,8049.675,475.854,1628.544,512.934,33.375,1273.274,0.000,1602.913,0.000,23.936
$DEVICE_MAMPS,157.235,73.632,873.613,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.372,454.776,795.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34792,694
$CAP_FILE_SIZE,98320,8
$CFSIZE,260165632,246583296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100808,044507,2108.159,-15759.296,54,1.3,54,9.8