version: 66.03
glider: 139
mission: 3
dive: 239
start: 8 12 108 22 58 57
data:
$ID,139
$MISSION,3
$DIVE,239
$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,543.09418
$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,-1275631
$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,51
$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
$GPS1,223802,2106.963,-15800.557,50,1.4,50,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.0
$GPS2,225805,2107.017,-15800.684,14,1.8,14,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.046
$KALMAN_X,-22303.8,922.9,176.5,15713.7,-4770.5
$KALMAN_Y,605.1,-85.0,197.9,-4992.8,11.2
$MHEAD_RNG_PITCHd_Wd,69.7,25299,-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,-175.2,0.0,0.0,0,66,0.00,0.00,-44.22,0.000,2,0.000,0.000,430,2085,2578
$GC,69,-0.96,-175.2,3.0,-2.4,8,104,12.00,2.33,-16.83,0.000,4,0.152,0.081,2575,3468,3380
$GC,121,-0.96,-175.2,13.0,-15.9,17,128,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2239,3381
$GC,241,-0.96,-175.2,27.9,-12.9,38,247,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,844,3381
$GC,287,-0.96,-175.2,34.3,-14.2,44,290,0.00,2.00,0.00,0.000,6,0.000,0.060,2575,2091,3381
$GC,617,-0.96,-175.2,76.6,-13.8,75,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2095,3382
$GC,935,-0.96,-175.2,112.3,-9.1,105,939,0.00,2.10,0.00,0.000,4,0.000,0.034,2575,838,3383
$GC,991,-0.96,-175.2,117.5,-9.6,110,995,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2092,3383
$GC,1323,-0.96,-175.2,148.5,-8.5,141,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2095,3383
$GC,1640,-0.96,-175.2,174.4,-7.8,171,1644,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,844,3383
$GC,1674,-0.96,-175.2,177.2,-8.1,174,1677,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2077,3384
$GC,2006,-0.96,-175.2,199.5,-6.3,205,2010,0.00,2.05,0.00,0.000,4,0.000,0.072,2575,846,3383
$GC,2039,-0.96,-175.2,201.8,-6.6,207,2043,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,2088,3383
$GC,2360,-0.96,-175.2,222.9,-7.0,223,2364,0.00,2.10,0.00,0.000,4,0.000,0.072,2575,842,3383
$GC,2415,-0.96,-175.2,227.3,-8.2,225,2419,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2072,3383
$GC,2737,-0.96,-175.2,254.2,-8.0,241,2741,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,3468,3382
$GC,2780,-0.96,-175.2,257.6,-7.2,243,2784,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2240,3382
$GC,3108,-0.96,-175.2,275.4,-4.5,259,3112,0.00,2.35,0.00,0.000,4,0.000,0.036,2575,839,3381
$GC,3186,-0.96,-175.2,280.1,-7.0,262,3189,0.00,2.00,0.00,0.000,6,0.000,0.022,2575,2071,3381
$GC,3505,-0.96,-175.2,305.8,-9.4,277,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3379
$GC,3830,-0.96,-175.2,334.5,-8.2,285,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2075,3377
$GC,4156,-0.96,-175.2,354.4,-5.4,293,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3375
$GC,4481,-0.96,-175.2,370.0,-5.1,301,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2075,3374
$GC,4805,-0.96,-175.2,393.3,-7.2,309,4809,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,3476,3372
$GC,4838,-0.96,-175.2,395.7,-7.0,309,4844,0.00,2.03,0.00,0.000,6,0.000,0.025,2575,2246,3372
$GC,5169,-0.96,-175.2,419.0,-6.6,318,5173,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,840,3370
$GC,5236,-0.96,-175.2,423.2,-6.4,319,5240,0.00,2.05,0.00,0.000,6,0.000,0.067,2575,2073,3369
$STATE,5577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5577,begin apogee
$GC,5583,-0.31,0.0,451.7,10.1,328,5727,0.68,0.00,141.45,0.883,6,0.050,0.000,2728,2074,2664
$STATE,5728,end apogee,CONTROL_FINISHED_OK
$STATE,5728,begin climb
$GC,5730,0.96,175.2,463.2,0.0,331,5880,1.20,0.00,145.85,0.859,6,0.037,0.000,3007,2074,1948
$GC,6176,0.96,175.2,437.7,9.3,342,6180,0.00,2.15,0.00,0.000,4,0.000,0.044,3007,848,1938
$GC,6248,0.96,175.2,430.2,11.0,343,6253,0.00,2.10,0.00,0.000,6,0.000,0.065,3007,2074,1936
$GC,6591,0.96,175.2,392.0,12.3,352,6594,0.00,2.12,0.00,0.000,4,0.000,0.043,3007,843,1934
$GC,6635,0.96,175.2,386.7,11.7,353,6639,0.00,2.08,0.00,0.000,6,0.000,0.029,3007,2080,1932
$GC,6964,0.96,175.2,355.2,8.0,361,6968,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,3477,1932
$GC,7120,0.96,175.2,343.4,7.2,364,7125,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2249,1932
$GC,7469,0.96,175.2,317.1,8.1,373,7472,0.00,2.15,0.00,0.000,4,0.000,0.043,3007,3481,1929
$GC,7541,0.96,175.2,310.4,9.1,374,7545,0.00,2.08,0.00,0.000,6,0.000,0.067,3007,2252,1929
$GC,7866,0.96,177.9,285.3,7.1,387,7870,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,848,1928
$GC,8036,0.97,181.0,273.5,7.1,394,8043,0.00,2.05,0.00,0.000,6,0.000,0.031,3007,2087,1926
$GC,8351,1.07,267.4,257.2,4.8,410,8435,0.00,2.15,77.10,0.761,4,0.000,0.082,3007,840,1573
$GC,8491,1.07,267.4,246.7,9.5,416,8495,0.00,2.08,0.00,0.000,6,0.000,0.026,3007,2080,1567
$GC,8812,1.07,267.4,213.8,13.0,432,8815,0.00,2.12,0.00,0.000,4,0.000,0.041,3007,848,1563
$GC,8861,1.07,267.4,207.3,13.4,434,8865,0.00,2.08,0.00,0.000,6,0.000,0.063,3007,2079,1562
$GC,9187,1.14,322.8,176.4,5.6,461,9237,0.15,0.00,47.78,0.682,6,0.045,0.000,3052,2083,1347
$GC,9554,1.14,322.8,144.1,11.0,496,9557,0.00,2.12,0.00,0.000,4,0.000,0.039,3052,846,1341
$GC,9577,1.14,322.8,141.2,12.5,498,9581,0.00,2.05,0.00,0.000,6,0.000,0.023,3052,2092,1340
$GC,9908,1.14,322.8,97.1,12.5,529,9912,0.00,2.15,0.00,0.000,4,0.000,0.076,3052,841,1340
$GC,9946,1.14,322.8,92.0,12.7,532,9953,0.00,2.05,0.00,0.000,6,0.000,0.021,3052,2083,1338
$GC,10273,1.14,322.8,55.3,11.2,563,10277,0.00,2.12,0.00,0.000,4,0.000,0.062,3052,842,1339
$GC,10318,1.14,322.8,50.1,11.5,567,10322,0.00,2.03,0.00,0.000,6,0.000,0.026,3052,2089,1338
$GC,10648,1.14,322.8,21.5,7.6,607,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2094,1338
$GC,10767,1.14,325.1,12.5,7.1,628,10774,0.00,2.28,0.00,0.000,4,0.000,0.030,3052,3464,1338
$GC,10791,1.14,325.1,10.6,7.3,632,10797,0.00,1.98,0.00,0.000,6,0.000,0.063,3052,2240,1338
$STATE,10885,end climb,SURFACE_DEPTH_REACHED
$STATE,10886,begin surface coast
$FINISH,1.4,1.009017
$STATE,10933,end surface coast,CONTROL_FINISHED_OK
$STATE,10934,begin surface
$SM_CCo,10954,176.32,0.524,0,0,449,543.09
$SM_GC,1.89,0.00,0.00,176.32,0.000,0.000,0.524,418,2235,449,-10.93,4.38,543.09
$IRIDIUM_FIX,2059.45,-15758.18,061197,232339
$TT8_MAMPS,0.029146
$HUMID,1902
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,22.90
$XPDR_PINGS,647
$24V_AH,23.4,64.076
$10V_AH,10.2,36.746
$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,25.300,89.400,412.175,176.325,0.000,139.571,143.069,517.543,165.750,0.000,0.000,15.625,1167.974,7992.528,644.871,1491.146,1024.438,33.349,1377.869,0.000,1465.659,0.000,29.243
$DEVICE_MAMPS,151.866,82.069,882.817,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.215,425.490,723.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,657
$CAP_FILE_SIZE,97956,6
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130808,020537,2107.225,-15801.004,32,1.8,32,9.8