version: 66.03
glider: 139
mission: 3
dive: 226
start: 8 11 108 2 3 18
data:
$ID,139
$MISSION,3
$DIVE,226
$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,-1275388.9
$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
$GPS1,014903,2109.477,-15759.171,48,1.9,48,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.8
$GPS2,020227,2109.454,-15759.338,14,2.0,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.019
$KALMAN_X,-235878.0,323.3,161.1,224127.5,-2827.5
$KALMAN_Y,-98109.8,165.1,-36.1,84604.0,-471.4
$MHEAD_RNG_PITCHd_Wd,75.9,25182,-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,-175.2,0.0,0.0,0,66,0.00,0.00,-44.38,0.000,2,0.000,0.000,434,2234,2576
$GC,69,-0.96,-175.2,3.1,-2.7,8,104,11.98,2.05,-16.88,0.000,4,0.150,0.083,2578,3465,3381
$GC,149,-0.96,-175.2,15.9,-10.8,22,155,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2238,3381
$GC,268,-0.96,-175.2,32.1,-13.8,42,272,0.00,2.35,0.00,0.000,4,0.000,0.034,2578,838,3382
$GC,307,-0.96,-175.2,37.3,-13.6,45,310,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2085,3382
$GC,637,-0.96,-175.2,76.3,-10.6,76,640,0.00,2.10,0.00,0.000,4,0.000,0.034,2577,836,3383
$GC,705,-0.96,-175.2,83.4,-10.3,82,709,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2091,3383
$GC,1036,-0.96,-175.2,117.6,-10.7,113,1040,0.00,2.10,0.00,0.000,4,0.000,0.070,2578,843,3384
$GC,1059,-0.96,-175.2,120.0,-10.5,115,1062,0.00,1.98,0.00,0.000,6,0.000,0.060,2578,2078,3384
$GC,1390,-0.96,-175.2,151.2,-10.0,146,1393,0.00,2.08,0.00,0.000,4,0.000,0.041,2577,844,3384
$GC,1416,-0.96,-175.2,153.9,-9.8,148,1423,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2079,3384
$GC,1743,-0.96,-175.2,179.3,-7.3,179,1747,0.00,2.33,0.00,0.000,4,0.000,0.066,2578,3469,3384
$GC,1763,-0.96,-175.2,181.1,-7.6,180,1770,0.00,2.03,0.00,0.000,6,0.000,0.019,2578,2232,3384
$GC,2096,-0.96,-175.2,208.7,-8.2,207,2100,0.00,2.30,0.00,0.000,4,0.000,0.034,2578,844,3384
$GC,2181,-0.96,-175.2,215.2,-7.8,211,2184,0.00,1.62,0.00,0.000,6,0.000,0.068,2578,1896,3384
$GC,2513,-0.96,-175.2,239.2,-7.4,227,2517,0.00,2.62,0.00,0.000,4,0.000,0.032,2578,3461,3384
$GC,2584,-0.96,-175.2,244.8,-7.8,230,2588,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2224,3383
$GC,2905,-0.96,-175.2,265.4,-6.2,246,2909,0.00,2.33,0.00,0.000,4,0.000,0.036,2578,841,3383
$GC,2972,-0.96,-175.2,269.8,-6.2,249,2976,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2075,3382
$GC,3299,-0.96,-175.2,287.5,-5.7,265,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3382
$GC,3628,-0.96,-175.2,301.6,-3.4,280,3631,0.00,2.10,0.00,0.000,4,0.000,0.038,2578,839,3380
$GC,3666,-0.96,-175.2,303.0,-3.2,280,3672,0.00,2.03,0.00,0.000,6,0.000,0.063,2578,2078,3380
$GC,3998,-0.96,-175.2,317.1,-4.6,289,4002,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,3467,3378
$GC,4026,-0.96,-175.2,318.8,-6.0,289,4030,0.00,2.00,0.00,0.000,6,0.000,0.024,2578,2242,3378
$GC,4363,-0.96,-175.2,337.3,-5.6,298,4367,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,841,3376
$GC,4447,-0.96,-175.2,342.7,-6.7,300,4450,0.00,1.70,0.00,0.000,6,0.000,0.071,2578,1895,3376
$GC,4777,-0.96,-175.2,364.5,-6.4,308,4780,0.00,1.83,0.00,0.000,4,0.000,0.040,2578,842,3374
$GC,4888,-0.96,-175.2,371.9,-6.8,310,4892,0.00,2.05,0.00,0.000,6,0.000,0.036,2578,2080,3373
$GC,5237,-0.96,-175.2,393.2,-6.0,319,5241,0.00,2.40,0.00,0.000,4,0.000,0.048,2578,3474,3371
$GC,5326,-0.96,-175.2,397.6,-3.6,321,5329,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2245,3370
$GC,5650,-0.96,-175.2,408.0,-3.0,329,5654,0.00,2.40,0.00,0.000,4,0.000,0.039,2578,838,3369
$GC,5755,-0.96,-175.2,413.4,-5.5,331,5759,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2078,3368
$GC,6104,-0.96,-175.2,436.6,-6.5,340,6108,0.00,2.40,0.00,0.000,4,0.000,0.044,2578,3472,3367
$GC,6164,-0.96,-175.2,439.6,-4.3,341,6168,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2239,3365
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6475,-0.31,0.0,452.2,4.9,349,6619,0.68,0.00,140.82,0.900,6,0.050,0.000,2731,2238,2664
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6622,0.96,175.2,462.6,0.0,352,6775,0.17,2.20,145.38,0.876,4,0.170,0.083,2786,3471,1948
$GC,6842,1.19,361.1,466.7,2.1,357,7011,1.20,2.08,158.68,0.867,6,0.038,0.027,3058,2245,1192
$GC,7317,1.19,361.1,411.9,12.6,369,7321,0.00,2.15,0.00,0.000,4,0.000,0.041,3059,3479,1184
$GC,7372,1.19,361.1,404.1,14.0,370,7376,0.00,2.12,0.00,0.000,6,0.000,0.031,3059,2254,1184
$GC,7686,1.19,361.1,360.0,14.6,378,7690,0.00,2.47,0.00,0.000,4,0.000,0.048,3058,843,1181
$GC,7824,1.19,361.1,337.9,16.6,381,7828,0.00,2.10,0.00,0.000,6,0.000,0.028,3058,2076,1179
$GC,8143,1.19,361.1,291.3,14.5,390,8147,0.00,2.15,0.00,0.000,4,0.000,0.046,3058,850,1179
$GC,8227,1.19,361.1,278.9,15.6,393,8233,0.00,2.08,0.00,0.000,6,0.000,0.050,3059,2087,1178
$GC,8542,1.19,361.1,235.4,13.0,409,8546,0.00,2.17,0.00,0.000,4,0.000,0.044,3058,843,1177
$GC,8608,1.19,361.1,226.1,14.2,412,8613,0.00,2.08,0.00,0.000,6,0.000,0.027,3058,2075,1175
$GC,8928,1.19,361.1,186.3,12.9,432,8931,0.00,2.15,0.00,0.000,4,0.000,0.043,3058,840,1175
$GC,8962,1.19,361.1,181.7,13.6,435,8965,0.00,2.05,0.00,0.000,6,0.000,0.025,3058,2084,1175
$GC,9293,1.19,361.1,141.0,11.6,466,9297,0.00,2.15,0.00,0.000,4,0.000,0.046,3058,847,1175
$GC,9327,1.19,361.1,136.7,12.6,469,9331,0.00,1.70,0.00,0.000,6,0.000,0.069,3059,1912,1174
$GC,9658,1.19,361.1,98.4,11.2,500,9663,0.00,2.65,0.00,0.000,4,0.000,0.062,3059,3473,1174
$GC,9691,1.19,361.1,94.4,11.0,502,9697,0.00,2.03,0.00,0.000,6,0.000,0.064,3059,2254,1174
$GC,10019,1.19,361.1,60.3,10.1,533,10023,0.00,2.40,0.00,0.000,4,0.000,0.072,3058,846,1175
$GC,10159,1.19,361.1,46.3,9.2,545,10163,0.00,2.00,0.00,0.000,6,0.000,0.021,3059,2088,1175
$GC,10491,1.19,361.1,15.0,8.9,589,10498,0.00,2.10,0.00,0.000,4,0.000,0.035,3059,845,1176
$GC,10510,1.19,361.1,13.1,9.7,592,10516,0.00,2.00,0.00,0.000,6,0.000,0.031,3059,2095,1176
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10604,begin surface coast
$FINISH,1.3,1.009975
$STATE,10634,end surface coast,CONTROL_FINISHED_OK
$STATE,10636,begin surface
$SM_CCo,10715,0.00,0.000,0,0,1173,365.74
$SM_GC,2.22,11.32,0.00,0.00,0.031,0.000,0.000,424,2098,1173,-10.82,0.57,365.74
$IRIDIUM_FIX,2059.45,-15758.18,051197,020237
$TT8_MAMPS,0.029146
$HUMID,2002
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.50
$XPDR_PINGS,641
$24V_AH,21.2,62.197
$10V_AH,10.2,35.689
$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,25.350,110.425,444.875,0.000,0.000,73.335,96.072,362.905,164.250,0.000,0.000,15.995,1146.257,7565.578,486.088,1564.327,743.307,33.373,1277.808,0.000,1532.502,0.000,29.237
$DEVICE_MAMPS,169.507,82.836,900.458,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.087,395.997,676.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31677,614
$CAP_FILE_SIZE,101271,7
$CFSIZE,260165632,246231040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110808,050308,2109.319,-15758.889,40,1.4,40,9.8