version: 66.03
glider: 139
mission: 3
dive: 223
start: 8 10 108 15 37 18
data:
$ID,139
$MISSION,3
$DIVE,223
$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,-1275328.8
$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,51
$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
$GPS1,152501,2108.532,-15759.912,40,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,46
$_XMS_TOUTs,1
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.7
$GPS2,153627,2108.545,-15800.033,10,2.0,10,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,0.095
$KALMAN_X,-227695.8,-298.7,486.2,215037.2,-3524.4
$KALMAN_Y,-97074.4,165.0,-49.7,81903.6,-917.7
$MHEAD_RNG_PITCHd_Wd,58.2,25403,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,102,0.00,0.00,-80.75,0.000,2,0.000,0.000,422,2076,2698
$GC,105,-0.96,-175.2,3.2,-2.8,15,141,12.23,2.38,-13.57,0.000,4,0.156,0.057,2577,3466,3382
$GC,203,-0.96,-175.2,19.5,-10.9,32,210,0.00,1.98,0.00,0.000,6,0.000,0.021,2577,2238,3383
$GC,321,-0.96,-175.2,34.8,-13.7,50,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2237,3383
$GC,639,-0.96,-175.2,73.8,-10.4,80,643,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,835,3383
$GC,768,-0.96,-175.2,85.3,-8.4,91,772,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2086,3383
$GC,1099,-0.96,-175.2,115.8,-9.6,122,1103,0.00,2.10,0.00,0.000,4,0.000,0.073,2577,841,3383
$GC,1137,-0.96,-175.2,119.1,-7.9,125,1144,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2079,3383
$GC,1464,-0.96,-175.2,145.7,-8.4,156,1468,0.00,2.30,0.00,0.000,4,0.000,0.031,2577,3461,3383
$GC,1491,-0.96,-175.2,148.1,-8.2,158,1495,0.00,2.00,0.00,0.000,6,0.000,0.059,2577,2228,3383
$GC,1823,-0.96,-175.2,174.7,-7.9,189,1827,0.00,1.98,0.00,0.000,4,0.000,0.072,2577,1019,3383
$GC,1969,-0.96,-175.2,187.0,-8.6,202,1973,0.00,1.70,0.00,0.000,6,0.000,0.020,2577,2089,3383
$GC,2294,-0.96,-175.2,212.7,-7.9,225,2298,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,844,3383
$GC,2339,-0.96,-175.2,216.3,-8.5,227,2343,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2075,3383
$GC,2672,-0.96,-175.2,241.2,-6.9,243,2676,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,842,3383
$GC,2718,-0.96,-175.2,244.4,-7.0,245,2721,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2084,3383
$GC,3050,-0.96,-175.2,266.3,-6.2,261,3054,0.00,2.10,0.00,0.000,4,0.000,0.042,2577,844,3382
$GC,3088,-0.96,-175.2,268.6,-6.0,262,3095,0.00,2.03,0.00,0.000,6,0.000,0.022,2577,2076,3382
$GC,3404,-0.96,-175.2,283.3,-4.1,278,3408,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3464,3381
$GC,3443,-0.96,-175.2,285.0,-4.9,280,3447,0.00,2.00,0.00,0.000,6,0.000,0.065,2577,2238,3380
$GC,3776,-0.96,-175.2,300.7,-5.9,296,3780,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,846,3378
$GC,3847,-0.96,-175.2,305.9,-7.4,297,3851,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2066,3378
$GC,4187,-0.96,-175.2,332.2,-7.7,306,4191,0.00,2.40,0.00,0.000,4,0.000,0.039,2577,3477,3376
$GC,4236,-0.96,-175.2,335.9,-6.7,307,4240,0.00,2.05,0.00,0.000,6,0.000,0.024,2577,2231,3375
$GC,4555,-0.96,-175.2,360.9,-8.2,315,4559,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,843,3374
$GC,4661,-0.96,-175.2,369.6,-7.7,317,4665,0.00,2.05,0.00,0.000,6,0.000,0.064,2577,2064,3373
$GC,5009,-0.96,-175.2,392.3,-5.8,326,5013,0.00,2.42,0.00,0.000,4,0.000,0.041,2577,3477,3371
$GC,5104,-0.96,-175.2,397.1,-5.8,328,5108,0.00,2.05,0.00,0.000,6,0.000,0.064,2577,2232,3370
$GC,5423,-0.96,-175.2,420.0,-8.5,336,5427,0.00,2.35,0.00,0.000,4,0.000,0.039,2577,846,3369
$GC,5545,-0.96,-175.2,432.6,-9.9,338,5551,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2084,3368
$STATE,5753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5753,begin apogee
$GC,5758,-0.31,0.0,453.2,9.9,344,5903,0.68,0.00,141.52,0.887,6,0.047,0.000,2732,2084,2664
$STATE,5904,end apogee,CONTROL_FINISHED_OK
$STATE,5904,begin climb
$GC,5906,0.96,175.2,463.9,0.0,347,6060,0.12,2.47,145.50,0.865,4,0.640,0.066,2776,3475,1948
$GC,6312,0.98,189.5,452.0,6.8,356,6334,1.05,2.08,12.52,0.784,6,0.046,0.032,3014,2248,1890
$GC,6658,0.98,189.5,420.1,9.5,365,6662,0.00,2.15,0.00,0.000,4,0.000,0.045,3014,3473,1885
$GC,6780,0.98,189.5,409.6,8.0,367,6786,0.00,2.10,0.00,0.000,6,0.000,0.067,3014,2249,1884
$GC,7111,1.02,227.2,388.5,6.1,376,7153,0.00,2.53,33.17,0.841,4,0.000,0.064,3014,851,1735
$GC,7298,1.02,227.2,372.6,8.6,380,7302,0.00,2.10,0.00,0.000,6,0.000,0.028,3014,2077,1727
$GC,7616,1.02,227.2,343.2,9.6,388,7621,0.00,2.42,0.00,0.000,4,0.000,0.043,3014,3475,1726
$GC,7672,1.02,227.2,337.0,11.3,389,7675,0.00,2.08,0.00,0.000,6,0.000,0.028,3014,2245,1726
$GC,7984,1.02,227.2,305.2,9.9,397,7988,0.00,2.42,0.00,0.000,4,0.000,0.044,3014,846,1725
$GC,8107,1.02,227.2,294.5,8.3,400,8114,0.00,2.10,0.00,0.000,6,0.000,0.028,3014,2083,1722
$GC,8422,1.06,257.4,270.9,6.3,416,8464,0.00,2.47,27.48,0.725,4,0.000,0.041,3013,3474,1614
$GC,8536,1.06,257.4,262.2,8.7,421,8540,0.00,2.10,0.00,0.000,6,0.000,0.066,3014,2251,1613
$GC,8863,1.06,257.4,231.3,10.2,437,8867,0.00,2.42,0.00,0.000,4,0.000,0.042,3014,846,1610
$GC,9021,1.06,257.4,213.9,11.7,444,9024,0.00,1.67,0.00,0.000,6,0.000,0.054,3014,1885,1606
$GC,9348,1.16,339.5,187.2,4.9,468,9426,0.15,2.78,71.68,0.700,4,0.047,0.040,3059,3475,1278
$GC,9520,1.16,339.5,169.8,12.5,483,9526,0.00,2.10,0.00,0.000,6,0.000,0.043,3060,2248,1275
$GC,9847,1.16,339.5,130.7,12.8,514,9851,0.00,2.40,0.00,0.000,4,0.000,0.074,3059,847,1272
$GC,10033,1.16,339.5,107.4,12.2,530,10037,0.00,2.05,0.00,0.000,6,0.000,0.062,3059,2095,1268
$GC,10367,1.16,339.5,78.2,8.7,561,10370,0.00,2.15,0.00,0.000,4,0.000,0.048,3059,842,1268
$GC,10446,1.16,339.5,70.7,9.4,568,10449,0.00,2.03,0.00,0.000,6,0.000,0.021,3059,2088,1268
$GC,10777,1.16,339.5,41.5,8.8,599,10781,0.00,2.12,0.00,0.000,4,0.000,0.042,3059,844,1268
$GC,10800,1.16,339.5,39.0,10.4,601,10804,0.00,2.00,0.00,0.000,6,0.000,0.051,3060,2088,1268
$GC,11138,1.16,339.5,5.9,9.4,653,11144,0.00,2.30,0.00,0.000,4,0.000,0.064,3059,3471,1268
$STATE,11166,end climb,SURFACE_DEPTH_REACHED
$STATE,11166,begin surface coast
$FINISH,1.3,1.013244
$STATE,11185,end surface coast,CONTROL_FINISHED_OK
$STATE,11185,begin surface
$SM_CCo,11267,0.00,0.000,0,0,1265,343.17
$SM_GC,2.08,11.35,0.00,0.00,0.034,0.000,0.000,429,2242,1265,-10.82,4.64,343.17
$IRIDIUM_FIX,2101.76,-15758.18,041197,121243
$TT8_MAMPS,0.029146
$HUMID,1962
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.80
$XPDR_PINGS,696
$24V_AH,21.6,61.746
$10V_AH,10.2,35.446
$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,25.575,112.600,431.875,0.000,0.000,22.990,24.446,514.072,178.000,0.000,0.000,11.710,1226.231,7694.984,516.175,1755.749,747.248,33.367,1387.947,0.000,1723.876,0.000,29.243
$DEVICE_MAMPS,640.445,74.399,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.209,430.881,737.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34874,661
$CAP_FILE_SIZE,108978,11
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,100808,184637,2108.971,-15800.015,56,1.8,56,9.8