version: 66.03
glider: 139
mission: 3
dive: 229
start: 8 11 108 12 22 52
data:
$ID,139
$MISSION,3
$DIVE,229
$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,-1275455.1
$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,57
$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
$GPS1,121507,2109.681,-15759.312,61,1.2,72,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.6
$GPS2,122202,2109.716,-15759.427,14,1.2,32,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.021
$KALMAN_X,-244615.8,-234.4,-139.2,233567.0,-2701.1
$KALMAN_Y,-99203.1,-57.6,74.7,86299.9,-582.8
$MHEAD_RNG_PITCHd_Wd,75.4,25570,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.20,0.000,2,0.000,0.000,426,2243,2722
$GC,75,-0.96,-175.2,3.5,-3.4,9,104,11.98,0.00,-12.70,0.000,6,0.150,0.000,2578,2243,3383
$GC,217,-0.96,-175.2,26.6,-12.1,34,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2244,3384
$GC,331,-0.96,-175.2,40.5,-12.5,47,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2244,3384
$GC,649,-0.96,-175.2,77.7,-11.6,77,653,0.00,2.35,0.00,0.000,4,0.000,0.035,2578,842,3385
$GC,706,-0.96,-175.2,83.8,-10.1,82,709,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2079,3385
$GC,1036,-0.96,-175.2,119.6,-10.2,113,1040,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,834,3386
$GC,1093,-0.96,-175.2,124.5,-7.9,118,1096,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2088,3387
$GC,1424,-0.96,-175.2,152.9,-9.4,149,1428,0.00,2.30,0.00,0.000,4,0.000,0.036,2578,3460,3387
$GC,1441,-0.96,-175.2,154.8,-9.8,150,1444,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2235,3387
$GC,1772,-0.96,-175.2,185.6,-8.3,181,1776,0.00,2.35,0.00,0.000,4,0.000,0.043,2578,839,3387
$GC,1905,-0.96,-175.2,196.8,-7.9,192,1912,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2072,3387
$GC,2222,-0.96,-175.2,222.6,-8.5,210,2225,0.00,2.05,0.00,0.000,4,0.000,0.035,2578,844,3387
$GC,2248,-0.96,-175.2,224.9,-8.4,211,2253,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2074,3387
$GC,2576,-0.96,-175.2,247.8,-6.1,227,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2077,3387
$GC,2884,-0.96,-175.2,269.4,-7.3,242,2888,0.00,2.08,0.00,0.000,4,0.000,0.036,2578,841,3387
$GC,2939,-0.96,-175.2,273.6,-7.5,244,2944,0.00,2.03,0.00,0.000,6,0.000,0.064,2577,2071,3386
$GC,3261,-0.96,-175.2,298.1,-7.7,260,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2074,3385
$GC,3586,-0.96,-175.2,325.0,-8.4,269,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2074,3384
$GC,3911,-0.96,-175.2,346.0,-6.5,277,3915,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,847,3383
$GC,3944,-0.96,-175.2,348.4,-6.9,277,3948,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2082,3383
$GC,4282,-0.96,-175.2,372.5,-7.1,286,4286,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,3474,3381
$GC,4321,-0.96,-175.2,375.2,-6.6,287,4324,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2242,3381
$GC,4651,-0.96,-175.2,395.7,-6.0,295,4655,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,844,3379
$GC,4785,-0.96,-175.2,404.2,-6.6,298,4788,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2087,3378
$GC,5109,-0.96,-175.2,426.1,-7.1,306,5113,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,3470,3376
$GC,5175,-0.96,-175.2,431.5,-8.2,307,5180,0.00,2.05,0.00,0.000,6,0.000,0.063,2578,2249,3375
$STATE,5476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5476,begin apogee
$GC,5481,-0.31,0.0,452.0,6.5,315,5627,0.68,0.00,142.80,0.887,6,0.047,0.000,2732,2248,2664
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5630,0.96,175.2,460.5,0.0,318,5783,0.10,2.47,145.15,0.861,4,0.756,0.074,2773,846,1948
$GC,6036,0.96,176.3,439.9,7.1,327,6041,1.02,2.08,0.00,0.000,6,0.040,0.032,3012,2088,1936
$GC,6377,0.96,176.3,407.9,8.4,336,6381,0.00,2.17,0.00,0.000,4,0.000,0.044,3013,842,1935
$GC,6455,0.97,183.2,402.4,7.0,337,6465,0.00,2.08,5.65,0.653,6,0.000,0.028,3013,2080,1917
$GC,6784,0.97,183.2,375.2,8.7,346,6787,0.00,2.40,0.00,0.000,4,0.000,0.042,3013,3476,1915
$GC,6822,0.97,183.2,371.5,9.4,346,6828,0.00,2.10,0.00,0.000,6,0.000,0.067,3013,2252,1915
$GC,7153,0.97,183.2,339.2,10.1,355,7157,0.00,2.42,0.00,0.000,4,0.000,0.043,3013,846,1913
$GC,7328,0.97,183.2,321.8,10.2,359,7332,0.00,2.08,0.00,0.000,6,0.000,0.042,3013,2082,1910
$GC,7658,0.97,183.2,293.6,8.1,368,7662,0.00,2.40,0.00,0.000,4,0.000,0.041,3013,3474,1910
$GC,7737,0.97,183.2,287.1,8.3,371,7742,0.00,2.05,0.00,0.000,6,0.000,0.027,3013,2250,1910
$GC,8052,0.97,183.2,262.5,7.5,387,8056,0.00,2.42,0.00,0.000,4,0.000,0.040,3013,841,1909
$GC,8123,0.97,186.5,257.1,7.1,390,8127,0.00,2.10,0.00,0.000,6,0.000,0.027,3013,2085,1907
$GC,8444,1.00,210.3,237.8,6.5,406,8474,0.00,2.45,23.83,0.735,4,0.000,0.043,3013,3467,1806
$GC,8519,1.00,210.3,232.0,7.6,409,8524,0.00,2.08,0.00,0.000,6,0.000,0.025,3013,2249,1805
$GC,8841,1.00,210.3,207.1,7.8,425,8845,0.00,2.40,0.00,0.000,4,0.000,0.039,3013,846,1802
$GC,8891,1.00,210.3,202.7,8.8,427,8895,0.00,2.05,0.00,0.000,6,0.000,0.041,3013,2085,1799
$GC,9221,1.01,212.2,175.4,7.1,456,9225,0.00,2.35,0.00,0.000,4,0.000,0.071,3013,3472,1799
$GC,9288,1.03,228.6,170.4,6.7,462,9310,0.00,2.03,16.75,0.652,6,0.000,0.062,3013,2244,1731
$GC,9629,1.03,228.6,146.9,8.5,494,9633,0.00,2.38,0.00,0.000,4,0.000,0.071,3013,845,1727
$GC,9792,1.03,228.6,131.7,8.7,508,9796,0.00,2.03,0.00,0.000,6,0.000,0.025,3013,2087,1725
$GC,10124,1.08,268.4,108.0,6.1,539,10166,0.00,2.40,35.17,0.613,4,0.000,0.035,3013,3489,1568
$GC,10257,1.08,268.4,99.1,7.4,551,10261,0.00,2.05,0.00,0.000,6,0.000,0.021,3013,2242,1568
$GC,10589,1.08,268.4,75.6,7.8,582,10593,0.00,2.38,0.00,0.000,4,0.000,0.068,3013,838,1566
$GC,10707,1.08,268.4,66.3,7.5,592,10711,0.00,2.03,0.00,0.000,6,0.000,0.028,3013,2091,1563
$GC,11038,1.08,271.6,42.1,7.1,623,11042,0.00,2.30,0.00,0.000,4,0.000,0.035,3013,3464,1563
$GC,11077,1.09,278.9,39.3,6.9,626,11092,0.00,1.98,9.75,0.496,6,0.000,0.020,3013,2236,1527
$GC,11423,1.14,324.2,17.1,5.9,676,11470,0.12,2.45,40.05,0.528,4,0.045,0.054,3059,841,1341
$GC,11499,1.14,324.2,10.7,8.9,689,11505,0.00,2.00,0.00,0.000,6,0.000,0.019,3059,2089,1338
$STATE,11599,end climb,SURFACE_DEPTH_REACHED
$STATE,11599,begin surface coast
$FINISH,1.3,1.008922
$STATE,11635,end surface coast,CONTROL_FINISHED_OK
$STATE,11635,begin surface
$SM_CCo,11715,0.00,0.000,0,0,1332,326.49
$SM_GC,2.06,11.30,0.00,0.00,0.036,0.000,0.000,432,2094,1332,-10.81,0.40,326.49
$IRIDIUM_FIX,2101.76,-15820.07,051197,080845
$TT8_MAMPS,0.029146
$HUMID,1921
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.10
$XPDR_PINGS,723
$24V_AH,23.4,62.620
$10V_AH,10.2,35.942
$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,25.200,104.650,419.150,0.000,0.000,22.285,34.175,211.234,184.750,0.000,0.000,34.210,1288.291,8133.276,462.945,1771.119,460.161,33.374,1318.590,0.000,1721.502,0.000,29.246
$DEVICE_MAMPS,756.262,73.632,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.602,469.086,820.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37983,713
$CAP_FILE_SIZE,101942,10
$CFSIZE,260165632,246063104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110808,153907,2109.650,-15759.239,25,1.4,25,9.8