version: 66.03
glider: 139
mission: 3
dive: 237
start: 8 12 108 15 37 53
data:
$ID,139
$MISSION,3
$DIVE,237
$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,-1275593.4
$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,59
$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
$GPS1,152631,2106.514,-15800.348,63,1.6,63,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.8
$GPS2,153703,2106.482,-15800.441,17,1.6,17,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.017
$KALMAN_X,-14179.4,-85.9,-85.7,9311.8,-4131.2
$KALMAN_Y,332.1,-48.4,-135.4,-5409.1,89.3
$MHEAD_RNG_PITCHd_Wd,76.3,24577,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-49.00,0.000,2,0.000,0.000,425,2233,2584
$GC,73,-0.96,-175.2,3.2,-2.8,9,108,11.90,0.00,-16.35,0.000,6,0.146,0.000,2577,2233,3380
$GC,221,-0.96,-175.2,24.0,-11.7,35,227,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,842,3382
$GC,245,-0.96,-175.2,26.8,-11.5,39,251,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2085,3382
$GC,365,-0.96,-175.2,39.1,-10.6,53,369,0.00,2.30,0.00,0.000,4,0.000,0.029,2577,3471,3381
$GC,397,-0.96,-175.2,42.4,-9.8,55,404,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2242,3382
$GC,722,-0.96,-175.2,73.2,-10.1,86,726,0.00,2.35,0.00,0.000,4,0.000,0.033,2577,834,3382
$GC,816,-0.96,-175.2,83.1,-10.5,94,822,0.00,2.03,0.00,0.000,6,0.000,0.018,2577,2084,3383
$GC,1141,-0.96,-175.2,115.5,-9.1,125,1145,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,843,3384
$GC,1179,-0.96,-175.2,119.2,-9.8,128,1186,0.00,2.00,0.00,0.000,6,0.000,0.058,2577,2078,3384
$GC,1506,-0.96,-175.2,152.2,-8.6,159,1509,0.00,2.08,0.00,0.000,4,0.000,0.053,2577,844,3384
$GC,1578,-0.96,-175.2,157.6,-6.8,165,1584,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2079,3384
$GC,1904,-0.96,-175.2,179.1,-7.3,196,1907,0.00,1.75,0.00,0.000,4,0.000,0.061,2577,3161,3384
$GC,1944,-0.96,-175.2,181.8,-6.7,199,1949,0.00,1.50,0.00,0.000,6,0.000,0.021,2577,2236,3384
$GC,2266,-0.96,-175.2,205.1,-7.6,227,2270,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,844,3384
$GC,2351,-0.96,-175.2,210.3,-5.8,231,2355,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2075,3384
$GC,2684,-0.96,-175.2,232.2,-6.4,247,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3384
$GC,2993,-0.96,-175.2,249.2,-5.0,262,2996,0.00,2.08,0.00,0.000,4,0.000,0.036,2576,841,3383
$GC,3026,-0.96,-175.2,251.2,-5.8,263,3030,0.00,2.03,0.00,0.000,6,0.000,0.058,2577,2095,3383
$GC,3347,-0.96,-175.2,269.6,-5.9,279,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2098,3382
$GC,3656,-0.96,-175.2,284.4,-3.8,294,3660,0.00,2.10,0.00,0.000,4,0.000,0.036,2576,845,3381
$GC,3689,-0.96,-175.2,285.6,-4.0,295,3693,0.00,2.00,0.00,0.000,6,0.000,0.052,2577,2076,3381
$GC,4011,-0.96,-175.2,297.2,-3.9,311,4014,0.00,2.08,0.00,0.000,4,0.000,0.038,2577,846,3380
$GC,4044,-0.96,-175.2,298.8,-5.1,312,4047,0.00,2.00,0.00,0.000,6,0.000,0.024,2577,2078,3379
$GC,4361,-0.96,-175.2,315.2,-5.7,321,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2082,3378
$GC,4685,-0.96,-175.2,339.0,-7.8,329,4689,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,847,3376
$GC,4719,-0.96,-175.2,341.9,-9.0,329,4723,0.00,2.03,0.00,0.000,6,0.000,0.066,2577,2081,3376
$GC,5056,-0.96,-175.2,366.0,-6.4,338,5060,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3476,3375
$GC,5083,-0.96,-175.2,367.8,-6.6,338,5087,0.00,2.03,0.00,0.000,6,0.000,0.064,2577,2243,3374
$GC,5420,-0.96,-175.2,386.2,-5.0,347,5424,0.00,2.38,0.00,0.000,4,0.000,0.039,2577,842,3373
$GC,5514,-0.96,-175.2,391.1,-5.5,349,5518,0.00,1.60,0.00,0.000,6,0.000,0.068,2578,1847,3372
$GC,5833,-0.96,-175.2,407.5,-5.3,357,5837,0.00,2.65,0.00,0.000,4,0.000,0.069,2577,3435,3369
$GC,5938,-0.96,-175.2,415.0,-7.8,359,5941,0.00,1.98,0.00,0.000,6,0.000,0.025,2577,2240,3369
$GC,6285,-0.96,-175.2,443.2,-8.0,368,6290,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,848,3367
$STATE,6379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6379,begin apogee
$GC,6386,-0.31,0.0,450.1,6.9,370,6531,0.65,0.00,141.90,0.885,6,0.051,0.000,2727,2081,2664
$STATE,6532,end apogee,CONTROL_FINISHED_OK
$STATE,6532,begin climb
$GC,6534,0.96,175.2,457.5,0.0,373,6688,0.10,2.20,145.55,0.862,4,0.498,0.077,2766,842,1948
$GC,6806,0.97,185.0,449.7,6.9,380,6820,1.02,2.12,8.68,0.726,6,0.040,0.036,3014,2087,1909
$GC,7157,0.97,185.0,418.1,8.9,389,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2088,1904
$GC,7482,0.97,185.0,385.8,10.2,397,7486,0.00,2.40,0.00,0.000,4,0.000,0.042,3014,3468,1903
$GC,7521,0.97,185.0,381.7,10.7,398,7524,0.00,2.05,0.00,0.000,6,0.000,0.028,3014,2252,1902
$GC,7850,0.97,185.0,346.8,11.0,406,7854,0.00,2.45,0.00,0.000,4,0.000,0.044,3014,841,1901
$GC,7904,0.97,185.0,340.3,12.1,407,7908,0.00,2.08,0.00,0.000,6,0.000,0.069,3015,2074,1898
$GC,8217,0.97,185.0,306.1,10.6,415,8221,0.00,2.42,0.00,0.000,4,0.000,0.041,3014,3476,1898
$GC,8272,0.97,185.0,300.6,9.8,416,8276,0.00,2.08,0.00,0.000,6,0.000,0.027,3014,2254,1898
$GC,8590,1.04,239.2,279.8,5.7,431,8644,0.00,2.55,46.80,0.783,4,0.000,0.069,3014,840,1687
$GC,8753,1.04,241.9,269.4,7.1,438,8757,0.00,2.08,0.00,0.000,6,0.000,0.027,3014,2080,1681
$GC,9068,1.04,241.9,242.8,9.3,453,9072,0.00,2.40,0.00,0.000,4,0.000,0.039,3014,3474,1680
$GC,9117,1.04,241.9,237.3,11.5,455,9121,0.00,2.08,0.00,0.000,6,0.000,0.034,3014,2254,1679
$GC,9440,1.05,249.7,209.7,6.9,471,9453,0.00,2.45,8.77,0.644,4,0.000,0.073,3014,855,1645
$GC,9611,1.08,269.2,197.9,6.6,479,9639,0.00,2.08,18.98,0.688,6,0.000,0.025,3014,2106,1565
$GC,9956,1.08,269.2,170.0,9.9,512,9960,0.00,2.17,0.00,0.000,4,0.000,0.040,3014,843,1561
$GC,10041,1.08,269.2,160.7,11.8,519,10045,0.00,2.05,0.00,0.000,6,0.000,0.028,3014,2082,1559
$GC,10373,1.08,269.2,131.1,7.4,550,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2086,1559
$GC,10690,1.08,269.2,105.2,8.7,580,10693,0.00,2.12,0.00,0.000,4,0.000,0.038,3014,838,1559
$GC,10773,1.08,269.2,97.6,8.8,587,10780,0.00,2.05,0.00,0.000,6,0.000,0.060,3014,2079,1558
$GC,11101,1.12,306.4,74.9,6.1,618,11144,0.10,2.20,32.92,0.581,4,0.054,0.042,3050,843,1412
$GC,11194,1.12,306.4,67.6,7.5,626,11201,0.00,2.05,0.00,0.000,6,0.000,0.021,3050,2082,1410
$GC,11522,1.12,306.4,42.6,8.2,657,11525,0.00,2.12,0.00,0.000,4,0.000,0.073,3050,838,1409
$GC,11583,1.12,306.4,36.8,9.6,662,11589,0.00,2.05,0.00,0.000,6,0.000,0.020,3050,2088,1408
$GC,11921,1.12,306.4,7.7,9.0,715,11927,0.00,2.10,0.00,0.000,4,0.000,0.034,3050,835,1408
$STATE,11970,end climb,SURFACE_DEPTH_REACHED
$STATE,11970,begin surface coast
$FINISH,1.3,1.022838
$STATE,11988,end surface coast,CONTROL_FINISHED_OK
$STATE,11988,begin surface
$SM_CCo,12011,11.40,0.487,0,0,1358,320.12
$SM_GC,3.11,0.00,0.00,11.40,0.000,0.000,0.487,423,2080,1358,-10.91,0.03,320.12
$IRIDIUM_FIX,2101.76,-15801.19,061197,151522
$TT8_MAMPS,0.029146
$HUMID,1965
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.90
$XPDR_PINGS,727
$24V_AH,23.3,63.749
$10V_AH,10.2,36.580
$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,24.975,114.950,403.600,11.400,0.000,55.630,56.460,316.475,185.750,0.000,0.000,19.452,1317.273,8456.465,483.277,1741.388,645.297,33.339,1347.101,0.000,1709.260,0.000,29.236
$DEVICE_MAMPS,497.783,77.467,885.118,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.309,487.743,820.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,727
$CAP_FILE_SIZE,109307,16
$CFSIZE,260165632,245657600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120808,185956,2106.638,-15800.354,62,1.2,62,9.8