version: 66.03
glider: 139
mission: 3
dive: 220
start: 8 10 108 4 57 30
data:
$ID,139
$MISSION,3
$DIVE,220
$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,-1275261.2
$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,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
$GPS1,044507,2108.159,-15759.296,54,1.3,54,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.4
$GPS2,045639,2108.132,-15759.486,13,1.6,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.119
$KALMAN_X,-218930.4,654.9,472.8,206268.5,-4842.6
$KALMAN_Y,-93646.9,-186.2,-75.7,78083.3,-499.7
$MHEAD_RNG_PITCHd_Wd,52.3,24214,-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,-49.38,0.000,2,0.000,0.000,427,2223,2722
$GC,74,-0.96,-175.2,3.4,-3.0,9,104,12.18,2.12,-12.45,0.000,4,0.156,0.042,2578,3467,3382
$GC,138,-0.96,-175.2,17.6,-14.3,20,145,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2240,3383
$GC,257,-0.96,-175.2,31.8,-12.8,40,261,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,839,3384
$GC,311,-0.96,-175.2,38.5,-12.2,44,318,0.00,2.03,0.00,0.000,6,0.000,0.018,2578,2081,3384
$GC,637,-0.96,-175.2,71.7,-8.4,75,641,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,834,3384
$GC,675,-0.96,-175.2,75.1,-8.3,78,682,0.00,2.03,0.00,0.000,6,0.000,0.058,2578,2079,3385
$GC,1000,-0.96,-175.2,103.6,-9.4,109,1004,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3385
$GC,1034,-0.96,-175.2,106.7,-9.9,112,1037,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2078,3386
$GC,1365,-0.96,-175.2,138.2,-8.9,143,1369,0.00,2.10,0.00,0.000,4,0.000,0.054,2577,833,3386
$GC,1392,-0.96,-175.2,140.9,-9.2,145,1399,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2082,3386
$GC,1719,-0.96,-175.2,162.2,-6.1,176,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3386
$GC,2036,-0.96,-175.2,185.5,-6.9,206,2039,0.00,2.10,0.00,0.000,4,0.000,0.036,2577,838,3386
$GC,2087,-0.96,-175.2,189.0,-6.6,210,2093,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2080,3386
$GC,2417,-0.96,-175.2,208.6,-4.3,234,2421,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3385
$GC,2455,-0.96,-175.2,210.0,-3.4,235,2461,0.00,2.00,0.00,0.000,6,0.000,0.061,2578,2088,3386
$GC,2771,-0.96,-175.2,222.9,-5.4,251,2775,0.00,1.65,0.00,0.000,4,0.000,0.067,2578,3106,3385
$GC,2799,-0.96,-175.2,224.6,-6.2,252,2802,0.00,1.42,0.00,0.000,6,0.000,0.021,2578,2233,3385
$GC,3125,-0.96,-175.2,248.6,-8.0,268,3129,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,845,3384
$GC,3202,-0.96,-175.2,254.2,-7.4,271,3207,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2066,3384
$GC,3524,-0.96,-175.2,273.0,-5.5,287,3528,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,3470,3383
$GC,3556,-0.96,-175.2,275.1,-5.8,288,3560,0.00,2.03,0.00,0.000,6,0.000,0.061,2577,2232,3383
$GC,3878,-0.96,-175.2,295.0,-4.6,304,3882,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,836,3382
$GC,3968,-0.96,-175.2,299.5,-5.8,308,3971,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2078,3382
$GC,4315,-0.96,-175.2,319.6,-5.7,317,4319,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,3467,3381
$GC,4354,-0.96,-175.2,321.9,-5.8,318,4358,0.00,2.03,0.00,0.000,6,0.000,0.064,2578,2236,3381
$GC,4685,-0.96,-175.2,340.6,-5.7,326,4689,0.00,2.35,0.00,0.000,4,0.000,0.039,2577,848,3379
$GC,4762,-0.96,-175.2,344.9,-5.7,327,4768,0.00,2.03,0.00,0.000,6,0.000,0.065,2577,2076,3379
$GC,5095,-0.96,-175.2,361.1,-4.9,336,5099,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,3470,3377
$GC,5134,-0.96,-175.2,362.9,-4.4,337,5137,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2244,3377
$GC,5463,-0.96,-175.2,379.4,-5.8,345,5467,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,847,3375
$GC,5547,-0.96,-175.2,384.8,-7.2,347,5550,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,2080,3375
$GC,5876,-0.96,-175.2,409.4,-8.1,355,5880,0.00,2.40,0.00,0.000,4,0.000,0.041,2577,3479,3373
$GC,5936,-0.96,-175.2,413.4,-6.4,356,5940,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2235,3372
$GC,6283,-0.96,-175.2,437.4,-8.1,365,6287,0.00,2.15,0.00,0.000,4,0.000,0.044,2578,3474,3370
$GC,6316,-0.96,-175.2,440.2,-8.2,365,6320,0.00,2.08,0.00,0.000,6,0.000,0.025,2578,2242,3370
$STATE,6447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6447,begin apogee
$GC,6452,-0.31,0.0,450.8,8.0,369,6597,0.52,0.00,142.00,0.890,6,0.173,0.000,2709,2242,2663
$STATE,6598,end apogee,CONTROL_FINISHED_OK
$STATE,6598,begin climb
$GC,6600,0.96,175.2,460.3,0.0,372,6757,1.30,2.53,145.40,0.867,4,0.102,0.076,3011,849,1946
$GC,7009,0.96,175.2,438.3,7.5,381,7013,0.00,2.10,0.00,0.000,6,0.000,0.065,3011,2075,1936
$GC,7357,0.96,175.2,404.3,9.7,390,7361,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3475,1935
$GC,7411,0.96,175.2,397.3,12.5,391,7415,0.00,2.10,0.00,0.000,6,0.000,0.035,3011,2253,1935
$GC,7725,0.96,175.2,370.5,7.8,399,7729,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,849,1933
$GC,7796,0.96,175.2,364.1,9.3,400,7801,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2083,1931
$GC,8133,0.96,175.2,339.9,7.3,409,8137,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3480,1931
$GC,8193,0.96,175.2,334.8,8.6,410,8197,0.00,2.10,0.00,0.000,6,0.000,0.066,3011,2251,1931
$GC,8541,0.96,175.2,302.7,9.3,419,8545,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,845,1929
$GC,8589,0.96,175.2,298.2,9.0,420,8594,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2072,1928
$GC,8911,0.96,175.2,271.6,9.4,436,8915,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,3477,1928
$GC,9032,0.96,175.2,260.7,8.0,441,9039,0.00,2.08,0.00,0.000,6,0.000,0.026,3011,2253,1927
$GC,9349,1.01,216.7,239.4,6.0,457,9391,0.00,2.50,33.45,0.746,4,0.000,0.076,3011,853,1778
$GC,9520,1.01,216.7,225.0,8.9,464,9527,0.00,2.03,0.00,0.000,6,0.000,0.025,3011,2081,1773
$GC,9836,1.01,216.7,197.6,8.5,481,9840,0.00,2.40,0.00,0.000,4,0.000,0.038,3011,3481,1772
$GC,9952,1.01,216.7,187.9,8.9,491,9959,0.00,2.08,0.00,0.000,6,0.000,0.024,3011,2229,1773
$GC,10280,1.01,216.7,165.3,7.7,522,10284,0.00,2.38,0.00,0.000,4,0.000,0.059,3011,844,1772
$GC,10381,1.01,216.7,155.9,9.3,530,10387,0.00,2.03,0.00,0.000,6,0.000,0.024,3011,2089,1769
$GC,10708,1.02,224.8,129.1,6.9,561,10721,0.00,2.20,7.07,0.542,4,0.000,0.036,3011,842,1747
$GC,10793,1.05,249.9,123.3,6.5,568,10821,0.00,2.05,23.20,0.618,6,0.000,0.022,3011,2084,1645
$GC,11139,1.12,308.3,103.3,5.6,601,11196,0.12,2.38,51.33,0.606,4,0.048,0.066,3053,3469,1406
$GC,11235,1.12,308.3,96.4,8.0,609,11241,0.00,2.05,0.00,0.000,6,0.000,0.060,3053,2250,1405
$GC,11561,1.12,308.3,70.2,8.8,640,11565,0.00,2.38,0.00,0.000,4,0.000,0.067,3053,844,1402
$GC,11693,1.12,308.3,58.0,9.4,651,11700,0.00,2.03,0.00,0.000,6,0.000,0.020,3053,2082,1399
$GC,12021,1.12,308.3,27.1,10.2,684,12027,0.00,2.30,0.00,0.000,4,0.000,0.064,3053,3463,1398
$GC,12062,1.12,308.3,23.8,8.1,691,12068,0.00,2.03,0.00,0.000,6,0.000,0.021,3053,2235,1398
$GC,12182,1.12,308.3,12.9,8.1,712,12189,0.00,2.33,0.00,0.000,4,0.000,0.035,3053,843,1398
$GC,12240,1.12,308.3,7.9,8.6,722,12246,0.00,1.98,0.00,0.000,6,0.000,0.019,3053,2086,1398
$STATE,12295,end climb,SURFACE_DEPTH_REACHED
$STATE,12295,begin surface coast
$FINISH,1.2,1.022836
$STATE,12330,end surface coast,CONTROL_FINISHED_OK
$STATE,12330,begin surface
$SM_CCo,12351,9.40,0.466,0,0,1358,320.12
$SM_GC,2.66,0.00,0.00,9.40,0.000,0.000,0.466,427,2091,1358,-10.89,0.31,320.12
$IRIDIUM_FIX,2059.45,-15753.90,041197,040404
$TT8_MAMPS,0.029146
$HUMID,1938
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,22.90
$XPDR_PINGS,748
$ALTIM_BOTTOM_PING,410.1,132.1
$24V_AH,23.3,61.272
$10V_AH,10.2,35.204
$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,25.450,133.650,402.450,9.400,0.000,54.920,65.310,384.248,190.250,0.000,0.000,15.412,1354.043,8636.688,503.078,1832.196,716.905,33.371,1416.183,0.000,1802.343,0.000,25.189
$DEVICE_MAMPS,173.342,75.933,890.487,466.336,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.745,486.604,829.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37948,738
$CAP_FILE_SIZE,116829,12
$CFSIZE,260165632,246513664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100808,082455,2108.355,-15800.131,47,1.8,47,9.8