version: 66.03
glider: 139
mission: 3
dive: 227
start: 8 11 108 5 11 18
data:
$ID,139
$MISSION,3
$DIVE,227
$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,-1275404
$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,64
$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
$GPS1,050308,2109.319,-15758.889,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-69.4
$GPS2,051027,2109.293,-15758.993,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,0.069
$KALMAN_X,-238574.8,361.0,210.6,227327.1,-3713.8
$KALMAN_Y,-98584.6,124.5,-54.2,84845.8,-479.8
$MHEAD_RNG_PITCHd_Wd,64.5,24517,-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,-48.83,0.000,2,0.000,0.000,424,2097,2524
$GC,73,-0.96,-175.2,3.1,-3.2,9,108,12.07,2.17,-17.85,0.000,4,0.152,0.048,2578,844,3381
$GC,120,-0.96,-175.2,12.0,-16.7,17,126,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2082,3382
$GC,240,-0.96,-175.2,26.8,-13.3,38,246,0.00,2.30,0.00,0.000,4,0.000,0.031,2578,3469,3383
$GC,258,-0.96,-175.2,29.0,-12.5,41,264,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2232,3383
$GC,376,-0.96,-175.2,42.3,-11.0,53,380,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,842,3383
$GC,410,-0.96,-175.2,45.8,-11.1,56,414,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2081,3383
$GC,739,-0.96,-175.2,77.4,-8.2,87,743,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,842,3384
$GC,811,-0.96,-175.2,82.9,-7.6,93,818,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2077,3384
$GC,1137,-0.96,-175.2,110.8,-9.5,124,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3385
$GC,1455,-0.96,-175.2,141.4,-9.7,154,1458,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,840,3386
$GC,1494,-0.96,-175.2,145.1,-9.4,157,1501,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2084,3386
$GC,1820,-0.96,-175.2,174.9,-9.5,188,1823,0.00,1.95,0.00,0.000,4,0.000,0.067,2578,904,3386
$GC,1846,-0.96,-175.2,177.5,-8.9,190,1853,0.00,1.90,0.00,0.000,6,0.000,0.063,2578,2071,3386
$GC,2181,-0.96,-175.2,203.8,-7.7,220,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2076,3386
$GC,2491,-0.96,-175.2,224.5,-6.0,235,2495,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,843,3386
$GC,2524,-0.96,-175.2,226.6,-5.9,236,2528,0.00,2.03,0.00,0.000,6,0.000,0.029,2578,2077,3386
$GC,2845,-0.96,-175.2,244.0,-6.0,252,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3385
$GC,3155,-0.96,-175.2,265.8,-7.3,267,3158,0.00,2.08,0.00,0.000,4,0.000,0.036,2577,845,3385
$GC,3192,-0.96,-175.2,269.1,-8.3,268,3199,0.00,2.03,0.00,0.000,6,0.000,0.061,2578,2077,3385
$GC,3509,-0.96,-175.2,290.8,-5.9,284,3513,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,3469,3384
$GC,3536,-0.96,-175.2,292.4,-5.5,285,3539,0.00,2.03,0.00,0.000,6,0.000,0.064,2578,2232,3384
$GC,3855,-0.96,-175.2,310.7,-6.1,297,3859,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,843,3383
$GC,3939,-0.96,-175.2,316.5,-6.8,299,3943,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2079,3383
$GC,4269,-0.96,-175.2,338.1,-6.8,307,4273,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,3473,3381
$GC,4301,-0.96,-175.2,340.6,-7.9,307,4307,0.00,2.05,0.00,0.000,6,0.000,0.024,2578,2246,3381
$GC,4632,-0.96,-175.2,367.6,-8.5,316,4637,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,846,3379
$GC,4710,-0.96,-175.2,373.8,-7.6,317,4716,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2074,3379
$GC,5041,-0.96,-175.2,399.0,-7.3,326,5045,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3479,3378
$GC,5084,-0.96,-175.2,402.1,-7.2,327,5088,0.00,2.05,0.00,0.000,6,0.000,0.038,2578,2237,3377
$GC,5408,-0.96,-175.2,425.3,-7.5,335,5413,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,841,3375
$GC,5520,-0.96,-175.2,434.5,-8.3,337,5524,0.00,2.05,0.00,0.000,6,0.000,0.043,2578,2078,3375
$STATE,5739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5739,begin apogee
$GC,5744,-0.31,0.0,452.7,8.4,343,5890,0.68,0.00,142.68,0.881,6,0.044,0.000,2734,2079,2664
$STATE,5890,end apogee,CONTROL_FINISHED_OK
$STATE,5890,begin climb
$GC,5893,0.96,175.2,461.5,0.0,346,6047,1.17,2.17,144.95,0.858,4,0.035,0.048,3011,849,1948
$GC,6068,0.96,175.2,458.9,8.2,350,6072,0.00,2.10,0.00,0.000,6,0.000,0.027,3010,2076,1942
$GC,6381,0.96,175.2,430.1,9.3,358,6385,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,3471,1937
$GC,6471,0.96,175.2,420.9,10.3,360,6475,0.00,2.05,0.00,0.000,6,0.000,0.027,3011,2251,1937
$GC,6795,0.96,175.2,392.1,8.6,368,6799,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,849,1934
$GC,6834,0.96,175.2,388.8,8.9,369,6837,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2086,1933
$GC,7163,0.96,175.2,363.7,7.3,377,7166,0.00,2.15,0.00,0.000,4,0.000,0.042,3011,848,1932
$GC,7274,0.98,188.8,355.8,6.8,379,7289,0.00,2.08,9.98,0.746,6,0.000,0.028,3011,2089,1894
$GC,7620,0.98,188.8,329.4,7.9,388,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2092,1891
$GC,7945,0.98,188.8,302.2,8.9,396,7949,0.00,2.38,0.00,0.000,4,0.000,0.041,3011,3473,1890
$GC,8039,0.98,188.8,293.3,9.4,399,8043,0.00,2.05,0.00,0.000,6,0.000,0.026,3011,2250,1890
$GC,8360,1.00,209.5,269.3,6.6,415,8384,0.00,2.20,19.15,0.748,4,0.000,0.078,3011,3473,1809
$GC,8448,1.00,209.5,262.9,8.0,419,8452,0.00,2.08,0.00,0.000,6,0.000,0.048,3010,2242,1808
$GC,8781,1.03,232.5,241.2,6.5,435,8803,0.00,0.00,21.02,0.724,6,0.000,0.000,3010,2243,1716
$GC,9110,1.03,232.5,216.3,7.9,451,9114,0.00,2.40,0.00,0.000,4,0.000,0.039,3011,844,1711
$GC,9176,1.03,232.5,210.1,9.5,454,9180,0.00,2.05,0.00,0.000,6,0.000,0.025,3011,2083,1709
$GC,9498,1.03,232.5,180.7,9.9,479,9502,0.00,2.38,0.00,0.000,4,0.000,0.036,3011,3478,1708
$GC,9576,1.03,232.5,172.7,10.0,485,9582,0.00,2.08,0.00,0.000,6,0.000,0.024,3011,2246,1709
$GC,9903,1.03,234.6,147.7,7.1,516,9907,0.00,2.38,0.00,0.000,4,0.000,0.072,3010,845,1709
$GC,9971,1.04,243.8,142.8,6.9,522,9985,0.00,2.05,10.18,0.591,6,0.000,0.063,3011,2096,1669
$GC,10312,1.07,267.4,120.5,6.5,554,10343,0.00,2.42,22.00,0.611,4,0.000,0.067,3011,3472,1573
$GC,10378,1.07,267.4,115.6,8.0,560,10381,0.00,2.05,0.00,0.000,6,0.000,0.022,3011,2234,1573
$GC,10709,1.07,267.4,91.0,7.8,591,10713,0.00,2.35,0.00,0.000,4,0.000,0.040,3011,844,1571
$GC,10794,1.07,267.4,84.0,8.6,598,10797,0.00,2.00,0.00,0.000,6,0.000,0.021,3011,2083,1568
$GC,11126,1.13,315.5,62.7,5.8,629,11173,0.12,2.15,42.35,0.570,4,0.045,0.042,3056,840,1376
$GC,11302,1.13,315.5,48.0,9.4,644,11309,0.00,2.05,0.00,0.000,6,0.000,0.061,3057,2082,1370
$GC,11633,1.13,315.5,19.8,8.3,686,11640,0.00,2.33,0.00,0.000,4,0.000,0.030,3057,3458,1370
$GC,11685,1.13,315.5,15.4,7.9,695,11691,0.00,1.98,0.00,0.000,6,0.000,0.020,3057,2234,1370
$GC,11804,1.14,317.7,6.7,7.1,716,11811,0.00,2.33,0.00,0.000,4,0.000,0.070,3056,845,1370
$STATE,11854,end climb,SURFACE_DEPTH_REACHED
$STATE,11854,begin surface coast
$FINISH,1.4,1.023018
$STATE,11889,end surface coast,CONTROL_FINISHED_OK
$STATE,11889,begin surface
$SM_CCo,11911,2.83,0.254,0,0,1359,320.12
$SM_GC,2.97,0.00,0.00,2.83,0.000,0.000,0.254,426,2065,1359,-10.90,-0.40,320.12
$IRIDIUM_FIX,2101.76,-15800.33,051197,020217
$TT8_MAMPS,0.029146
$HUMID,1936
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,714
$24V_AH,23.3,62.330
$10V_AH,10.2,35.771
$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,25.450,120.600,412.300,2.825,0.000,25.209,29.313,262.203,182.500,0.000,0.000,14.441,1312.036,8302.172,497.318,1708.329,524.993,33.373,1345.851,0.000,1689.490,0.000,29.246
$DEVICE_MAMPS,151.866,78.234,881.283,253.877,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.367,491.682,846.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,731
$CAP_FILE_SIZE,106360,7
$CFSIZE,260165632,246169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110808,083108,2109.576,-15758.951,38,1.0,38,9.8