version: 66.03
glider: 139
mission: 3
dive: 221
start: 8 10 108 8 37 6
data:
$ID,139
$MISSION,3
$DIVE,221
$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,-1275296.4
$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
$GPS1,082455,2108.355,-15800.131,47,1.8,47,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.9
$GPS2,083617,2108.394,-15800.320,13,2.1,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.107
$KALMAN_X,-222217.6,377.1,-219.1,209090.0,-3927.8
$KALMAN_Y,-94922.2,-57.9,55.2,79594.5,-854.8
$MHEAD_RNG_PITCHd_Wd,55.2,25722,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.96,-175.2,0.0,0.0,0,73,0.00,0.00,-49.30,0.000,2,0.000,0.000,427,2091,2727
$GC,76,-0.96,-175.2,3.4,-3.2,9,106,11.95,1.33,-12.65,0.000,4,0.150,0.098,2574,2911,3381
$GC,129,-0.96,-175.2,15.8,-18.2,18,136,0.00,1.08,0.00,0.000,6,0.000,0.023,2573,2242,3382
$GC,254,-0.96,-175.2,33.0,-12.3,38,258,0.00,2.35,0.00,0.000,4,0.000,0.040,2573,845,3383
$GC,283,-0.96,-175.2,36.9,-13.0,40,286,0.00,1.98,0.00,0.000,6,0.000,0.018,2573,2079,3383
$GC,613,-0.96,-175.2,75.0,-10.0,71,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2083,3383
$GC,932,-0.96,-175.2,107.5,-9.5,101,936,0.00,2.30,0.00,0.000,4,0.000,0.030,2574,3464,3384
$GC,963,-0.96,-175.2,110.4,-8.2,103,970,0.00,2.00,0.00,0.000,6,0.000,0.019,2573,2241,3384
$GC,1289,-0.96,-175.2,137.4,-8.8,134,1293,0.00,2.35,0.00,0.000,4,0.000,0.034,2573,835,3385
$GC,1355,-0.96,-175.2,143.9,-9.7,139,1362,0.00,2.00,0.00,0.000,6,0.000,0.018,2573,2073,3385
$GC,1681,-0.96,-175.2,174.6,-8.4,170,1684,0.00,2.08,0.00,0.000,4,0.000,0.060,2573,839,3385
$GC,1753,-0.96,-175.2,180.5,-7.7,176,1759,0.00,2.00,0.00,0.000,6,0.000,0.019,2574,2073,3385
$GC,2078,-0.96,-175.2,201.9,-6.3,206,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2077,3385
$GC,2386,-0.96,-175.2,225.1,-8.3,221,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2076,3385
$GC,2695,-0.96,-175.2,253.6,-9.7,236,2699,0.00,2.08,0.00,0.000,4,0.000,0.036,2573,837,3385
$GC,2740,-0.96,-175.2,258.6,-11.6,238,2744,0.00,1.62,0.00,0.000,6,0.000,0.058,2574,1884,3385
$GC,3072,-0.96,-175.2,288.7,-8.6,254,3076,0.00,2.65,0.00,0.000,4,0.000,0.035,2574,3457,3384
$GC,3133,-0.96,-175.2,293.7,-8.4,257,3137,0.00,2.00,0.00,0.000,6,0.000,0.035,2574,2235,3383
$GC,3482,-0.96,-175.2,315.1,-5.5,268,3486,0.00,2.35,0.00,0.000,4,0.000,0.037,2573,840,3382
$GC,3555,-0.96,-175.2,319.3,-6.0,269,3558,0.00,2.00,0.00,0.000,6,0.000,0.047,2573,2067,3382
$GC,3891,-0.96,-175.2,339.4,-6.0,278,3895,0.00,2.38,0.00,0.000,4,0.000,0.038,2573,3466,3380
$GC,3918,-0.96,-175.2,340.7,-5.2,278,3922,0.00,2.03,0.00,0.000,6,0.000,0.024,2573,2235,3380
$GC,4255,-0.96,-175.2,358.4,-5.8,287,4259,0.00,2.35,0.00,0.000,4,0.000,0.038,2573,847,3379
$GC,4322,-0.96,-175.2,362.7,-6.4,288,4326,0.00,2.03,0.00,0.000,6,0.000,0.025,2573,2080,3378
$GC,4664,-0.96,-175.2,383.2,-5.8,297,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2083,3376
$GC,4989,-0.96,-175.2,397.8,-3.9,305,4992,0.00,2.12,0.00,0.000,4,0.000,0.040,2573,840,3375
$GC,5016,-0.96,-175.2,399.1,-4.6,305,5020,0.00,2.05,0.00,0.000,6,0.000,0.038,2573,2080,3374
$GC,5359,-0.96,-175.2,411.4,-3.3,314,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2083,3372
$GC,5683,-0.96,-175.2,426.0,-5.2,322,5687,0.00,2.12,0.00,0.000,4,0.000,0.041,2572,842,3370
$GC,5706,-0.96,-175.2,427.4,-6.2,322,5709,0.00,2.05,0.00,0.000,6,0.000,0.028,2573,2082,3370
$GC,6053,-0.96,-175.2,447.9,-5.5,331,6057,0.00,2.40,0.00,0.000,4,0.000,0.044,2573,3472,3368
$GC,6080,-0.96,-175.2,449.5,-6.4,331,6083,0.00,2.05,0.00,0.000,6,0.000,0.027,2573,2239,3368
$STATE,6090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6090,begin apogee
$GC,6095,-0.31,0.0,450.3,7.1,332,6240,0.70,0.00,141.62,0.886,6,0.059,0.000,2728,2238,2664
$STATE,6240,end apogee,CONTROL_FINISHED_OK
$STATE,6240,begin climb
$GC,6243,0.96,175.2,457.1,0.0,335,6398,1.20,2.53,145.57,0.860,4,0.037,0.044,3010,841,1947
$GC,6432,0.96,175.2,450.8,10.7,339,6437,0.00,2.12,0.00,0.000,6,0.000,0.035,3009,2074,1942
$GC,6775,0.96,175.2,418.5,8.8,348,6779,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,3479,1937
$GC,6897,0.96,175.2,408.6,7.6,350,6903,0.00,2.10,0.00,0.000,6,0.000,0.069,3010,2252,1936
$GC,7228,0.96,175.2,383.0,8.0,359,7232,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,842,1934
$GC,7367,0.96,175.2,369.1,10.5,362,7371,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2082,1931
$GC,7685,0.96,175.2,339.7,9.2,370,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2084,1931
$GC,8010,0.96,175.2,312.8,8.1,378,8014,0.00,2.40,0.00,0.000,4,0.000,0.041,3010,3474,1930
$GC,8036,0.96,175.2,310.7,8.0,378,8040,0.00,2.08,0.00,0.000,6,0.000,0.035,3010,2239,1929
$GC,8355,1.03,228.5,288.7,5.7,390,8405,0.00,2.47,44.28,0.788,4,0.000,0.075,3010,856,1731
$GC,8472,1.03,228.5,280.8,7.5,395,8476,0.00,2.08,0.00,0.000,6,0.000,0.026,3010,2080,1724
$GC,8794,1.03,228.5,258.4,7.6,411,8798,0.00,2.40,0.00,0.000,4,0.000,0.040,3010,3474,1723
$GC,8916,1.03,228.5,247.4,9.7,416,8922,0.00,2.08,0.00,0.000,6,0.000,0.026,3010,2252,1723
$GC,9232,1.03,228.5,219.6,8.8,432,9236,0.00,2.42,0.00,0.000,4,0.000,0.041,3010,843,1721
$GC,9349,1.03,228.5,210.4,7.7,437,9353,0.00,2.05,0.00,0.000,6,0.000,0.025,3010,2082,1719
$GC,9674,1.03,228.5,189.2,7.2,460,9678,0.00,2.38,0.00,0.000,4,0.000,0.037,3010,3474,1719
$GC,9724,1.03,228.5,185.2,8.1,464,9728,0.00,2.05,0.00,0.000,6,0.000,0.067,3010,2242,1719
$GC,10055,1.03,228.5,159.7,7.3,495,10059,0.00,2.40,0.00,0.000,4,0.000,0.071,3010,838,1719
$GC,10196,1.03,228.5,147.6,8.9,507,10200,0.00,2.05,0.00,0.000,6,0.000,0.022,3010,2092,1718
$GC,10529,1.24,399.3,127.3,2.5,538,10681,0.20,2.38,143.25,0.630,4,0.038,0.032,3074,3474,1034
$GC,10744,1.24,399.3,112.3,10.3,558,10747,0.00,2.05,0.00,0.000,6,0.000,0.061,3074,2241,1032
$GC,11076,1.24,399.3,72.8,13.3,589,11080,0.00,2.38,0.00,0.000,4,0.000,0.072,3074,844,1029
$GC,11221,1.24,399.3,51.6,14.1,601,11228,0.00,2.05,0.00,0.000,6,0.000,0.058,3074,2094,1026
$GC,11554,1.24,399.3,12.9,10.4,646,11561,0.00,2.12,0.00,0.000,4,0.000,0.036,3074,840,1026
$GC,11619,1.24,399.3,4.6,13.4,657,11625,0.00,1.98,0.00,0.000,6,0.000,0.019,3074,2078,1026
$STATE,11629,end climb,SURFACE_DEPTH_REACHED
$STATE,11629,begin surface coast
$FINISH,1.2,1.022674
$STATE,11654,end surface coast,CONTROL_FINISHED_OK
$STATE,11655,begin surface
$SM_CCo,11734,0.00,0.000,0,0,1024,402.29
$SM_GC,2.26,11.38,0.00,0.00,0.032,0.000,0.000,424,2082,1024,-10.81,0.11,402.29
$IRIDIUM_FIX,2059.45,-15801.19,041197,080853
$TT8_MAMPS,0.029146
$HUMID,1948
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.90
$XPDR_PINGS,652
$24V_AH,23.4,61.424
$10V_AH,10.2,35.282
$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,25.425,107.250,474.725,0.000,0.000,59.249,73.117,333.385,167.000,0.000,0.000,34.544,1206.008,8407.303,509.989,1617.084,660.094,33.369,1325.056,0.000,1564.923,0.000,29.238
$DEVICE_MAMPS,149.565,98.176,885.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.299,418.190,709.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34841,663
$CAP_FILE_SIZE,102540,8
$CFSIZE,260165632,246468608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100808,115355,2108.534,-15800.103,21,0.8,39,9.8