version: 66.03
glider: 139
mission: 3
dive: 238
start: 8 12 108 19 11 53
data:
$ID,139
$MISSION,3
$DIVE,238
$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,-1275614.8
$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,52
$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
$GPS1,185956,2106.638,-15800.354,62,1.2,62,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.3
$GPS2,191103,2106.661,-15800.471,19,1.7,19,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.016
$KALMAN_X,-18558.5,636.1,284.7,12516.9,-4711.4
$KALMAN_Y,425.1,-92.1,-76.9,-5188.7,325.0
$MHEAD_RNG_PITCHd_Wd,76.7,24731,-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,20,-0.96,-175.2,0.0,0.0,0,72,0.00,0.00,-49.62,0.000,2,0.000,0.000,423,2080,2739
$GC,75,-0.96,-175.2,3.6,-3.9,9,104,12.23,0.00,-11.95,0.000,6,0.156,0.000,2577,2080,3382
$GC,217,-0.96,-175.2,29.3,-13.8,34,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3383
$GC,329,-0.96,-175.2,44.0,-11.7,45,333,0.00,2.33,0.00,0.000,4,0.000,0.030,2578,3471,3383
$GC,361,-0.96,-175.2,47.8,-11.7,47,368,0.00,2.03,0.00,0.000,6,0.000,0.019,2578,2238,3383
$GC,686,-0.96,-175.2,83.0,-9.1,78,690,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,844,3384
$GC,811,-0.96,-175.2,89.4,-3.4,89,814,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2092,3384
$GC,1142,-0.96,-175.2,99.5,-4.0,120,1146,0.00,2.10,0.00,0.000,4,0.000,0.058,2577,842,3385
$GC,1171,-0.96,-175.2,100.9,-4.8,122,1177,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2090,3385
$GC,1497,-0.96,-175.2,124.6,-9.3,153,1501,0.00,2.10,0.00,0.000,4,0.000,0.073,2577,844,3385
$GC,1535,-0.96,-175.2,128.6,-10.1,156,1542,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2074,3385
$GC,1861,-0.96,-175.2,164.6,-13.1,187,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2077,3385
$GC,2179,-0.96,-175.2,197.1,-7.9,217,2183,0.00,2.33,0.00,0.000,4,0.000,0.031,2578,3464,3386
$GC,2218,-0.96,-175.2,200.2,-7.2,220,2222,0.00,1.95,0.00,0.000,6,0.000,0.039,2577,2234,3386
$GC,2550,-0.96,-175.2,217.1,-5.1,236,2554,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,844,3385
$GC,2650,-0.96,-175.2,224.8,-8.1,240,2657,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2071,3386
$GC,2966,-0.96,-175.2,255.3,-9.2,256,2970,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3462,3385
$GC,3004,-0.96,-175.2,258.7,-8.9,258,3008,0.00,2.00,0.00,0.000,6,0.000,0.064,2578,2232,3385
$GC,3337,-0.96,-175.2,281.9,-4.3,274,3341,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,838,3384
$GC,3453,-0.96,-175.2,284.9,-2.7,279,3457,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2073,3384
$GC,3775,-0.96,-175.2,299.9,-6.8,295,3783,0.00,2.08,0.00,0.000,4,0.000,0.077,2577,845,3383
$GC,3804,-0.96,-175.2,302.3,-7.6,296,3808,0.00,2.03,0.00,0.000,6,0.000,0.023,2578,2071,3383
$GC,4147,-0.96,-175.2,326.4,-6.5,305,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2074,3381
$GC,4473,-0.96,-175.2,346.8,-6.2,313,4477,0.00,2.33,0.00,0.000,4,0.000,0.071,2578,3464,3380
$GC,4494,-0.96,-175.2,348.3,-6.7,313,4497,0.00,2.03,0.00,0.000,6,0.000,0.064,2578,2236,3380
$GC,4836,-0.96,-175.2,369.5,-5.9,322,4841,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,841,3378
$GC,4898,-0.96,-175.2,373.0,-6.4,323,4901,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2077,3377
$GC,5246,-0.96,-175.2,390.9,-5.2,332,5250,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,848,3375
$GC,5268,-0.96,-175.2,392.2,-5.7,332,5272,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2084,3375
$GC,5616,-0.96,-175.2,407.4,-4.2,341,5620,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3479,3373
$GC,5637,-0.96,-175.2,408.3,-4.3,341,5641,0.00,2.05,0.00,0.000,6,0.000,0.035,2577,2244,3373
$GC,5979,-0.96,-175.2,423.0,-4.3,350,5984,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,848,3371
$GC,6040,-0.96,-175.2,426.5,-6.1,351,6044,0.00,2.05,0.00,0.000,6,0.000,0.067,2578,2074,3370
$STATE,6387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6387,begin apogee
$GC,6393,-0.31,0.0,451.9,7.7,360,6538,0.68,0.00,142.02,0.896,6,0.048,0.000,2731,2075,2664
$STATE,6538,end apogee,CONTROL_FINISHED_OK
$STATE,6539,begin climb
$GC,6541,0.96,175.2,462.4,0.0,363,6693,0.08,2.50,146.07,0.871,4,1.339,0.076,2765,3474,1948
$GC,6838,0.96,175.2,457.9,7.2,370,6843,1.02,2.10,0.00,0.000,6,0.046,0.028,3006,2251,1943
$GC,7156,0.96,175.2,428.2,9.6,378,7160,0.00,2.45,0.00,0.000,4,0.000,0.045,3008,846,1938
$GC,7285,0.96,175.2,415.5,10.3,381,7288,0.00,2.08,0.00,0.000,6,0.000,0.028,3007,2079,1935
$GC,7614,0.96,175.2,386.0,8.9,389,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2082,1934
$GC,7939,0.98,191.4,361.8,6.7,397,7958,0.00,2.22,12.80,0.786,4,0.000,0.080,3007,850,1882
$GC,8037,0.98,191.4,355.4,7.6,399,8041,0.00,2.08,0.00,0.000,6,0.000,0.028,3007,2086,1879
$GC,8355,0.98,191.4,327.6,10.0,407,8359,0.00,2.42,0.00,0.000,4,0.000,0.044,3007,3480,1878
$GC,8505,0.98,191.4,311.3,10.3,410,8509,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2255,1878
$GC,8836,0.98,191.4,281.5,7.7,423,8840,0.00,2.45,0.00,0.000,4,0.000,0.057,3007,842,1876
$GC,8992,1.02,227.3,271.0,6.2,430,9029,0.00,2.08,31.92,0.780,6,0.000,0.028,3007,2082,1736
$GC,9338,1.02,227.3,244.3,8.7,447,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2085,1730
$GC,9647,1.02,227.3,215.3,8.8,462,9651,0.00,2.40,0.00,0.000,4,0.000,0.040,3007,3474,1729
$GC,9703,1.02,227.3,210.5,8.9,464,9709,0.00,2.03,0.00,0.000,6,0.000,0.026,3007,2248,1729
$GC,10023,1.02,227.3,186.9,7.2,488,10027,0.00,2.40,0.00,0.000,4,0.000,0.040,3007,848,1728
$GC,10207,1.04,243.6,174.9,6.7,504,10229,0.00,2.05,14.23,0.654,6,0.000,0.025,3007,2090,1670
$GC,10547,1.12,301.9,151.3,5.6,536,10612,0.12,2.45,53.83,0.637,4,0.049,0.069,3047,3473,1432
$GC,10628,1.12,301.9,145.2,8.7,543,10635,0.00,2.08,0.00,0.000,6,0.000,0.031,3047,2250,1432
$GC,10956,1.12,308.7,120.3,7.0,574,10969,0.00,2.47,6.97,0.532,4,0.000,0.038,3047,844,1404
$GC,11018,1.12,308.7,115.2,8.2,579,11025,0.00,2.08,0.00,0.000,6,0.000,0.032,3047,2088,1401
$GC,11347,1.12,308.7,89.6,8.6,610,11350,0.00,2.12,0.00,0.000,4,0.000,0.044,3047,845,1401
$GC,11396,1.12,308.7,84.5,10.1,614,11403,0.00,2.03,0.00,0.000,6,0.000,0.021,3047,2078,1399
$GC,11723,1.12,308.7,53.9,10.6,645,11727,0.00,2.10,0.00,0.000,4,0.000,0.058,3047,843,1399
$GC,11768,1.12,308.7,48.3,12.8,649,11772,0.00,2.00,0.00,0.000,6,0.000,0.033,3047,2080,1399
$GC,12101,1.12,308.7,15.9,8.7,693,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2084,1400
$GC,12220,1.12,308.7,4.8,8.3,714,12226,0.00,2.08,0.00,0.000,4,0.000,0.035,3047,842,1400
$STATE,12241,end climb,SURFACE_DEPTH_REACHED
$STATE,12241,begin surface coast
$FINISH,2.0,1.022798
$STATE,12248,end surface coast,CONTROL_FINISHED_OK
$STATE,12248,begin surface
$SM_CCo,12271,9.65,0.473,0,0,1359,320.12
$SM_GC,3.32,0.00,0.00,9.65,0.000,0.000,0.473,431,2085,1359,-10.87,0.17,320.12
$IRIDIUM_FIX,2059.45,-15759.05,061197,191954
$TT8_MAMPS,0.029146
$HUMID,1967
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.00
$XPDR_PINGS,727
$24V_AH,23.3,63.892
$10V_AH,10.2,36.664
$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,25.475,112.850,407.850,9.650,0.000,56.110,121.339,280.151,185.750,0.000,0.000,20.782,1307.354,8702.666,506.121,1744.012,672.203,33.345,1360.197,0.000,1709.466,0.000,29.249
$DEVICE_MAMPS,1339.182,79.768,895.856,473.239,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.980,469.751,804.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,719
$CAP_FILE_SIZE,107851,10
$CFSIZE,260165632,245604352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,120808,223802,2106.963,-15800.557,50,1.4,50,9.8