version: 66.03
glider: 139
mission: 3
dive: 225
start: 8 10 108 22 39 5
data:
$ID,139
$MISSION,3
$DIVE,225
$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,-1275372.2
$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,82
$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
$GPS1,222031,2109.461,-15759.683,72,1.2,72,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.8
$GPS2,223815,2109.513,-15759.869,24,1.4,24,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT3
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.015
$KALMAN_X,-232895.5,79.6,-307.4,220931.6,-1761.6
$KALMAN_Y,-98010.2,135.7,199.2,84406.6,-1050.6
$MHEAD_RNG_PITCHd_Wd,76.8,26023,-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,16,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,65,0.00,0.00,-43.78,0.000,2,0.000,0.000,426,2116,2571
$GC,68,-0.96,-175.2,3.1,-2.8,8,103,12.00,2.12,-16.92,0.000,4,0.151,0.083,2575,845,3379
$GC,120,-0.96,-175.2,12.8,-15.1,17,127,0.00,1.95,0.00,0.000,6,0.000,0.019,2575,2074,3380
$GC,240,-0.96,-175.2,27.9,-12.5,38,246,0.00,2.30,0.00,0.000,4,0.000,0.029,2575,3467,3381
$GC,278,-0.96,-175.2,32.8,-11.9,43,285,0.00,2.03,0.00,0.000,6,0.000,0.019,2575,2235,3380
$GC,604,-0.96,-175.2,71.8,-10.8,74,608,0.00,2.33,0.00,0.000,4,0.000,0.033,2575,842,3381
$GC,676,-0.96,-175.2,79.4,-10.4,80,680,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2085,3381
$GC,1006,-0.96,-175.2,112.5,-9.3,111,1010,0.00,2.10,0.00,0.000,4,0.000,0.034,2574,835,3382
$GC,1045,-0.96,-175.2,116.2,-9.4,114,1051,0.00,2.03,0.00,0.000,6,0.000,0.018,2576,2082,3382
$GC,1371,-0.96,-175.2,145.5,-8.4,145,1375,0.00,2.08,0.00,0.000,4,0.000,0.044,2575,842,3382
$GC,1398,-0.96,-175.2,147.9,-8.1,147,1404,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2075,3382
$GC,1724,-0.96,-175.2,173.3,-8.4,178,1727,0.00,2.08,0.00,0.000,4,0.000,0.034,2575,840,3382
$GC,1769,-0.96,-175.2,176.9,-7.4,182,1772,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2091,3382
$GC,2100,-0.96,-175.2,199.9,-7.9,213,2104,0.00,2.10,0.00,0.000,4,0.000,0.071,2575,843,3383
$GC,2139,-0.96,-175.2,203.0,-7.6,215,2145,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2075,3382
$GC,2455,-0.96,-175.2,224.1,-5.9,231,2458,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,835,3382
$GC,2505,-0.96,-175.2,227.3,-6.3,233,2508,0.00,2.00,0.00,0.000,6,0.000,0.061,2575,2078,3382
$GC,2831,-0.96,-175.2,251.2,-8.2,249,2835,0.00,2.30,0.00,0.000,4,0.000,0.034,2575,3461,3381
$GC,2877,-0.96,-175.2,254.9,-7.8,251,2881,0.00,2.00,0.00,0.000,6,0.000,0.058,2574,2236,3381
$GC,3210,-0.96,-175.2,274.5,-4.3,267,3214,0.00,2.35,0.00,0.000,4,0.000,0.069,2575,839,3380
$GC,3287,-0.96,-175.2,279.3,-6.3,270,3293,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2074,3380
$GC,3602,-0.96,-175.2,299.5,-7.0,286,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3379
$GC,3910,-0.96,-175.2,321.9,-7.1,294,3913,0.00,2.08,0.00,0.000,4,0.000,0.038,2574,846,3378
$GC,3948,-0.96,-175.2,324.8,-7.1,294,3955,0.00,2.03,0.00,0.000,6,0.000,0.026,2575,2080,3377
$GC,4280,-0.96,-175.2,346.5,-6.5,303,4284,0.00,2.35,0.00,0.000,4,0.000,0.038,2575,3467,3375
$GC,4324,-0.96,-175.2,349.5,-6.6,304,4327,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2233,3375
$GC,4648,-0.96,-175.2,367.3,-5.5,312,4652,0.00,2.35,0.00,0.000,4,0.000,0.039,2575,848,3374
$GC,4709,-0.96,-175.2,371.2,-6.0,313,4712,0.00,2.03,0.00,0.000,6,0.000,0.031,2575,2076,3373
$GC,5058,-0.96,-175.2,392.0,-5.9,322,5062,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,3469,3371
$GC,5085,-0.96,-175.2,393.8,-6.5,322,5089,0.00,2.03,0.00,0.000,6,0.000,0.065,2575,2247,3370
$GC,5422,-0.96,-175.2,413.1,-5.3,331,5426,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,845,3368
$GC,5488,-0.96,-175.2,416.9,-6.0,332,5492,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2076,3368
$GC,5832,-0.96,-175.2,442.4,-8.3,341,5836,0.00,2.42,0.00,0.000,4,0.000,0.043,2575,3481,3366
$GC,5847,-0.96,-175.2,444.0,-8.7,341,5851,0.00,2.08,0.00,0.000,6,0.000,0.025,2575,2246,3366
$STATE,5950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5950,begin apogee
$GC,5956,-0.31,0.0,452.9,8.6,344,6099,0.68,0.00,140.80,0.890,6,0.050,0.000,2728,2246,2664
$STATE,6100,end apogee,CONTROL_FINISHED_OK
$STATE,6100,begin climb
$GC,6102,0.96,175.2,462.8,0.0,347,6255,0.10,2.20,144.95,0.867,4,0.498,0.071,2768,3477,1949
$GC,6508,1.06,259.6,452.3,4.8,356,6588,1.15,2.08,72.90,0.859,6,0.042,0.061,3031,2250,1604
$GC,6895,1.06,259.6,414.9,11.0,366,6899,0.00,2.15,0.00,0.000,4,0.000,0.044,3031,3474,1595
$GC,7062,1.06,259.6,394.4,12.3,369,7068,0.00,2.10,0.00,0.000,6,0.000,0.036,3031,2255,1594
$GC,7393,1.06,259.6,359.6,9.9,378,7397,0.00,2.45,0.00,0.000,4,0.000,0.045,3031,846,1591
$GC,7498,1.06,259.6,348.3,10.9,380,7502,0.00,2.08,0.00,0.000,6,0.000,0.028,3031,2086,1588
$GC,7846,1.06,259.6,312.8,10.5,389,7850,0.00,2.40,0.00,0.000,4,0.000,0.041,3031,3474,1588
$GC,7889,1.06,259.6,308.0,11.1,390,7893,0.00,2.10,0.00,0.000,6,0.000,0.067,3031,2254,1588
$GC,8218,1.06,259.6,279.8,8.2,404,8222,0.00,2.45,0.00,0.000,4,0.000,0.044,3031,841,1587
$GC,8410,1.06,259.6,258.0,10.9,412,8416,0.00,2.05,0.00,0.000,6,0.000,0.027,3031,2081,1584
$GC,8725,1.06,259.6,222.5,11.5,428,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,1584
$GC,9039,1.06,259.6,189.3,8.8,448,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2085,1584
$GC,9356,1.06,259.6,162.7,7.9,478,9360,0.00,2.38,0.00,0.000,4,0.000,0.036,3031,3474,1583
$GC,9428,1.06,259.6,156.7,8.1,484,9432,0.00,2.05,0.00,0.000,6,0.000,0.025,3031,2241,1583
$GC,9759,1.06,259.6,128.3,8.2,515,9764,0.00,2.38,0.00,0.000,4,0.000,0.041,3031,844,1584
$GC,9900,1.06,259.6,115.2,9.7,527,9904,0.00,2.03,0.00,0.000,6,0.000,0.022,3031,2090,1582
$GC,10233,1.06,259.6,82.1,9.8,558,10237,0.00,1.65,0.00,0.000,4,0.000,0.077,3031,3103,1582
$GC,10324,1.06,259.6,72.4,11.0,566,10327,0.00,1.42,0.00,0.000,6,0.000,0.022,3031,2237,1583
$GC,10657,1.09,277.3,48.6,6.7,597,10679,0.00,2.45,12.80,0.531,4,0.000,0.042,3031,826,1531
$GC,10840,1.09,277.3,33.4,8.1,613,10847,0.00,2.08,0.00,0.000,6,0.000,0.060,3031,2086,1529
$GC,11182,1.12,305.6,9.9,6.4,670,11216,0.00,2.38,25.65,0.518,4,0.000,0.063,3031,3463,1418
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,2.1,1.022890
$STATE,11278,end surface coast,CONTROL_FINISHED_OK
$STATE,11278,begin surface
$SM_CCo,11300,11.85,0.490,0,0,1359,320.12
$SM_GC,1.76,0.00,0.00,11.85,0.000,0.000,0.490,434,2233,1359,-10.86,4.35,320.12
$IRIDIUM_FIX,2059.45,-15758.18,041197,222210
$TT8_MAMPS,0.029146
$HUMID,1939
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.00
$XPDR_PINGS,701
$24V_AH,23.4,62.038
$10V_AH,10.2,35.614
$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,25.150,110.925,397.100,11.850,0.000,112.059,132.515,480.802,179.250,0.000,0.000,25.828,1258.505,7969.116,480.703,1716.949,937.510,33.373,1315.721,0.000,1677.636,0.000,29.242
$DEVICE_MAMPS,497.783,82.836,889.720,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.017,450.022,778.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34865,687
$CAP_FILE_SIZE,110736,11
$CFSIZE,260165632,246267904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110808,014903,2109.477,-15759.171,48,1.9,48,9.8