version: 66.03
glider: 139
mission: 3
dive: 242
start: 8 13 108 9 0 7
data:
$ID,139
$MISSION,3
$DIVE,242
$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,-1275689.8
$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,75
$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
$GPS1,085207,2107.477,-15800.802,25,1.1,25,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.8
$GPS2,085915,2107.472,-15800.881,12,1.4,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.024
$KALMAN_X,-31119.5,-266.9,389.6,25169.1,-4103.5
$KALMAN_Y,458.5,33.3,17.8,-3936.7,56.8
$MHEAD_RNG_PITCHd_Wd,74.7,25918,-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,-49.47,0.000,2,0.000,0.000,427,2103,2570
$GC,75,-0.96,-175.2,3.1,-2.5,9,110,12.05,0.00,-16.80,0.000,6,0.152,0.000,2575,2103,3381
$GC,222,-0.96,-175.2,26.3,-12.3,35,229,0.00,2.15,0.00,0.000,4,0.000,0.035,2575,845,3381
$GC,252,-0.96,-175.2,29.8,-11.7,40,258,0.00,1.95,0.00,0.000,6,0.000,0.019,2575,2072,3382
$GC,364,-0.96,-175.2,43.7,-12.8,51,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3382
$GC,683,-0.96,-175.2,76.1,-9.0,81,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3383
$GC,1001,-0.96,-175.2,100.2,-7.4,111,1005,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,839,3384
$GC,1028,-0.96,-175.2,102.4,-7.5,113,1035,0.00,2.03,0.00,0.000,6,0.000,0.059,2575,2078,3384
$GC,1355,-0.96,-175.2,127.4,-7.9,144,1359,0.00,2.30,0.00,0.000,4,0.000,0.046,2575,3464,3384
$GC,1370,-0.96,-175.2,128.8,-7.7,145,1377,0.00,2.03,0.00,0.000,6,0.000,0.020,2575,2236,3384
$GC,1696,-0.96,-175.2,155.5,-8.3,176,1700,0.00,2.35,0.00,0.000,4,0.000,0.067,2575,835,3385
$GC,1803,-0.96,-175.2,163.7,-7.5,185,1806,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2083,3384
$GC,2134,-0.96,-175.2,190.2,-7.6,216,2137,0.00,2.10,0.00,0.000,4,0.000,0.054,2575,838,3384
$GC,2191,-0.96,-175.2,194.5,-7.0,221,2194,0.00,2.00,0.00,0.000,6,0.000,0.041,2575,2080,3384
$GC,2524,-0.96,-175.2,216.3,-5.7,241,2528,0.00,2.33,0.00,0.000,4,0.000,0.032,2575,3468,3384
$GC,2574,-0.96,-175.2,219.1,-5.4,243,2578,0.00,2.00,0.00,0.000,6,0.000,0.063,2575,2234,3384
$GC,2896,-0.96,-175.2,238.6,-7.2,259,2899,0.00,2.33,0.00,0.000,4,0.000,0.071,2575,845,3384
$GC,2963,-0.96,-175.2,244.1,-8.5,262,2966,0.00,2.00,0.00,0.000,6,0.000,0.061,2575,2081,3384
$GC,3294,-0.96,-175.2,275.0,-9.1,278,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2085,3384
$GC,3605,-0.96,-175.2,297.0,-6.7,293,3608,0.00,2.10,0.00,0.000,4,0.000,0.044,2574,845,3383
$GC,3653,-0.96,-175.2,300.3,-7.6,295,3656,0.00,2.00,0.00,0.000,6,0.000,0.023,2575,2076,3383
$GC,3983,-0.96,-175.2,322.4,-6.7,303,3987,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,841,3381
$GC,4005,-0.96,-175.2,324.1,-7.1,303,4009,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2078,3381
$GC,4353,-0.96,-175.2,349.1,-7.0,312,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3380
$GC,4678,-0.96,-175.2,367.9,-5.1,320,4681,0.00,2.10,0.00,0.000,4,0.000,0.040,2575,848,3377
$GC,4705,-0.96,-175.2,369.5,-5.7,320,4709,0.00,2.03,0.00,0.000,6,0.000,0.065,2575,2077,3377
$GC,5047,-0.96,-175.2,388.4,-6.0,329,5052,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,3478,3376
$GC,5087,-0.96,-175.2,391.3,-7.2,330,5090,0.00,2.05,0.00,0.000,6,0.000,0.064,2575,2243,3375
$GC,5416,-0.96,-175.2,416.4,-7.9,338,5420,0.00,2.38,0.00,0.000,4,0.000,0.041,2575,849,3373
$GC,5487,-0.96,-175.2,422.5,-8.5,339,5492,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2066,3373
$GC,5824,-0.96,-175.2,449.4,-7.4,348,5829,0.00,2.42,0.00,0.000,4,0.000,0.044,2575,3473,3371
$STATE,5833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5834,begin apogee
$GC,5841,-0.31,0.0,450.1,6.8,348,5988,0.65,0.00,142.00,0.881,6,0.056,0.000,2723,2238,2663
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5991,0.96,175.2,458.3,0.0,352,6143,0.12,2.45,145.77,0.856,4,0.338,0.045,2770,849,1947
$GC,6193,0.97,185.0,452.7,6.9,356,6208,1.08,2.08,8.90,0.713,6,0.043,0.066,3015,2082,1909
$GC,6515,0.97,185.0,419.2,10.3,364,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2083,1903
$GC,6840,0.97,185.0,388.2,9.5,372,6843,0.00,2.15,0.00,0.000,4,0.000,0.044,3014,847,1901
$GC,6923,0.97,185.0,379.7,10.4,373,6929,0.00,2.10,0.00,0.000,6,0.000,0.067,3014,2075,1899
$GC,7254,0.97,185.0,351.4,7.5,382,7258,0.00,2.42,0.00,0.000,4,0.000,0.042,3015,3477,1898
$GC,7320,0.99,197.7,346.5,6.8,383,7335,0.00,2.08,10.88,0.753,6,0.000,0.028,3015,2247,1856
$GC,7661,1.00,207.6,322.6,6.9,391,7676,0.00,2.45,9.80,0.727,4,0.000,0.045,3015,850,1817
$GC,7744,1.01,213.8,316.6,7.0,392,7757,0.00,2.08,6.90,0.666,6,0.000,0.065,3015,2089,1791
$GC,8078,1.01,216.4,294.6,7.1,402,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2092,1789
$GC,8388,1.01,216.4,269.1,8.3,417,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2092,1788
$GC,8696,1.01,216.4,244.4,7.2,432,8700,0.00,2.15,0.00,0.000,4,0.000,0.041,3014,848,1787
$GC,8779,1.01,216.4,238.3,7.2,435,8785,0.00,2.08,0.00,0.000,6,0.000,0.065,3015,2075,1785
$GC,9096,1.02,223.4,218.5,7.0,451,9110,0.00,2.45,8.77,0.653,4,0.000,0.038,3015,3471,1753
$GC,9323,1.02,223.4,199.1,9.0,461,9329,0.00,2.08,0.00,0.000,6,0.000,0.062,3015,2249,1753
$GC,9650,1.02,223.4,170.1,8.7,492,9654,0.00,2.40,0.00,0.000,4,0.000,0.073,3015,843,1753
$GC,9716,1.02,223.4,164.1,8.5,497,9722,0.00,2.08,0.00,0.000,6,0.000,0.065,3014,2086,1750
$GC,10044,1.18,353.7,143.8,3.6,528,10171,0.15,2.17,114.20,0.639,4,0.045,0.075,3065,843,1220
$GC,10208,1.18,353.7,132.2,10.0,543,10211,0.00,2.05,0.00,0.000,6,0.000,0.022,3065,2086,1217
$GC,10539,1.18,353.7,95.0,12.9,574,10543,0.00,2.15,0.00,0.000,4,0.000,0.045,3065,842,1213
$GC,10577,1.18,353.7,89.6,13.4,577,10584,0.00,2.05,0.00,0.000,6,0.000,0.021,3065,2081,1212
$GC,10904,1.18,353.7,52.0,9.6,608,10908,0.00,2.12,0.00,0.000,4,0.000,0.076,3065,843,1212
$GC,10972,1.18,353.7,45.1,10.5,614,10976,0.00,2.00,0.00,0.000,6,0.000,0.028,3065,2082,1211
$GC,11305,1.18,353.7,13.8,9.8,660,11311,0.00,2.10,0.00,0.000,4,0.000,0.036,3065,842,1211
$GC,11385,1.18,353.7,5.0,10.8,674,11391,0.00,1.98,0.00,0.000,6,0.000,0.020,3065,2084,1210
$STATE,11401,end climb,SURFACE_DEPTH_REACHED
$STATE,11401,begin surface coast
$FINISH,1.3,1.018385
$STATE,11431,end surface coast,CONTROL_FINISHED_OK
$STATE,11431,begin surface
$SM_CCo,11511,0.00,0.000,0,0,1208,357.16
$SM_GC,2.16,11.30,0.00,0.00,0.034,0.000,0.000,424,2088,1208,-10.80,0.23,357.16
$IRIDIUM_FIX,2059.45,-15759.05,071197,050512
$TT8_MAMPS,0.029146
$HUMID,1962
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.30
$XPDR_PINGS,680
$24V_AH,23.3,64.484
$10V_AH,10.2,36.978
$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,25.350,103.025,447.225,0.000,0.000,27.789,32.467,233.498,174.000,0.000,0.000,14.353,1222.704,8107.958,513.016,1576.883,505.870,33.351,1306.111,0.000,1556.853,0.000,29.243
$DEVICE_MAMPS,338.247,75.933,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.242,452.809,767.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34869,682
$CAP_FILE_SIZE,98430,9
$CFSIZE,260165632,245415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130808,121308,2107.380,-15800.998,34,1.3,34,9.8