version: 66.03
glider: 139
mission: 3
dive: 243
start: 8 13 108 12 27 26
data:
$ID,139
$MISSION,3
$DIVE,243
$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,-1275704
$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,60
$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
$GPS1,121308,2107.380,-15800.998,34,1.3,34,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-68.6
$GPS2,122633,2107.406,-15801.156,12,1.2,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.041
$KALMAN_X,-34171.0,-361.2,-130.2,28362.2,-3193.7
$KALMAN_Y,56.1,-61.5,90.0,-3632.2,-502.2
$MHEAD_RNG_PITCHd_Wd,71.0,26318,-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,-175.2,0.0,0.0,0,76,0.00,0.00,-54.15,0.000,2,0.000,0.000,424,2088,2704
$GC,78,-0.96,-175.2,3.5,-3.2,10,109,12.05,2.38,-12.88,0.000,4,0.150,0.077,2577,3464,3382
$GC,171,-0.96,-175.2,22.4,-13.0,26,178,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2236,3382
$GC,293,-0.96,-175.2,39.0,-13.7,42,297,0.00,2.35,0.00,0.000,4,0.000,0.034,2577,835,3382
$GC,336,-0.96,-175.2,45.2,-13.9,45,343,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2069,3383
$GC,662,-0.96,-175.2,90.5,-15.0,76,665,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,837,3384
$GC,745,-0.96,-175.2,99.7,-9.4,83,752,0.00,2.03,0.00,0.000,6,0.000,0.058,2577,2082,3384
$GC,1070,-0.96,-175.2,125.2,-8.0,114,1074,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,841,3384
$GC,1108,-0.96,-175.2,128.5,-8.4,117,1114,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2074,3384
$GC,1434,-0.96,-175.2,155.3,-9.8,148,1438,0.00,2.33,0.00,0.000,4,0.000,0.051,2577,3466,3385
$GC,1477,-0.96,-175.2,159.6,-9.6,151,1484,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2231,3384
$GC,1804,-0.96,-175.2,192.0,-10.3,182,1808,0.00,2.33,0.00,0.000,4,0.000,0.050,2577,844,3384
$GC,1915,-0.96,-175.2,201.0,-5.8,191,1919,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2082,3384
$GC,2242,-0.96,-175.2,218.6,-5.8,207,2246,0.00,2.30,0.00,0.000,4,0.000,0.067,2578,3461,3384
$GC,2275,-0.96,-175.2,220.8,-6.3,208,2279,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2237,3384
$GC,2596,-0.96,-175.2,245.0,-8.4,224,2600,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,839,3384
$GC,2673,-0.96,-175.2,251.8,-8.4,227,2677,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2085,3384
$GC,2995,-0.96,-175.2,271.8,-4.3,243,2999,0.00,2.10,0.00,0.000,4,0.000,0.036,2577,836,3383
$GC,3022,-0.96,-175.2,273.1,-4.5,244,3026,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2080,3383
$GC,3349,-0.96,-175.2,285.4,-4.4,260,3353,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3462,3382
$GC,3370,-0.96,-175.2,286.5,-4.9,261,3374,0.00,2.00,0.00,0.000,6,0.000,0.022,2577,2238,3382
$GC,3695,-0.96,-175.2,307.0,-7.8,275,3699,0.00,2.35,0.00,0.000,4,0.000,0.037,2577,846,3381
$GC,3761,-0.96,-175.2,313.1,-9.1,276,3765,0.00,2.00,0.00,0.000,6,0.000,0.023,2577,2072,3381
$GC,4104,-0.96,-175.2,342.1,-7.6,285,4108,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3469,3379
$GC,4131,-0.96,-175.2,344.0,-6.6,285,4135,0.00,2.05,0.00,0.000,6,0.000,0.023,2578,2235,3378
$GC,4469,-0.96,-175.2,360.1,-4.3,294,4473,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,845,3377
$GC,4580,-0.96,-175.2,366.5,-5.4,296,4584,0.00,2.03,0.00,0.000,6,0.000,0.067,2577,2073,3376
$GC,4923,-0.96,-175.2,388.2,-6.3,305,4927,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3474,3375
$GC,5012,-0.96,-175.2,393.1,-4.9,307,5015,0.00,2.05,0.00,0.000,6,0.000,0.064,2577,2237,3374
$GC,5338,-0.96,-175.2,410.8,-5.7,315,5343,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,841,3372
$GC,5461,-0.96,-175.2,418.3,-5.6,317,5467,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2077,3371
$GC,5792,-0.96,-175.2,438.0,-6.1,326,5796,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3470,3369
$GC,5870,-0.96,-175.2,442.5,-5.7,327,5876,0.00,2.05,0.00,0.000,6,0.000,0.035,2577,2240,3369
$STATE,6037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6037,begin apogee
$GC,6043,-0.31,0.0,451.4,5.4,332,6188,0.68,0.00,141.80,0.887,6,0.047,0.000,2732,2240,2664
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6191,0.96,175.2,458.4,0.0,335,6345,0.10,2.47,145.55,0.861,4,0.588,0.058,2764,839,1947
$GC,6597,0.96,175.2,438.6,7.4,344,6602,1.08,2.08,0.00,0.000,6,0.041,0.065,3011,2077,1935
$GC,6939,1.01,216.6,414.6,6.0,353,6981,0.00,2.20,35.20,0.841,4,0.000,0.059,3011,843,1779
$GC,7132,1.01,216.6,400.9,8.6,357,7136,0.00,2.12,0.00,0.000,6,0.000,0.034,3011,2080,1772
$GC,7445,1.01,216.6,373.9,9.5,365,7449,0.00,2.15,0.00,0.000,4,0.000,0.044,3011,849,1771
$GC,7495,1.01,216.6,368.3,11.4,366,7499,0.00,2.08,0.00,0.000,6,0.000,0.066,3011,2081,1769
$GC,7819,1.01,216.6,335.0,10.2,374,7823,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3478,1768
$GC,7879,1.01,216.6,328.8,10.5,375,7883,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2252,1768
$GC,8207,1.01,216.6,297.8,9.5,384,8212,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,849,1767
$GC,8336,1.01,216.6,285.3,9.5,390,8340,0.00,2.08,0.00,0.000,6,0.000,0.030,3011,2088,1765
$GC,8668,1.01,216.6,256.7,8.2,406,8672,0.00,2.40,0.00,0.000,4,0.000,0.041,3011,3478,1765
$GC,8730,1.01,216.6,251.8,8.1,409,8733,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2241,1765
$GC,9062,1.01,216.6,228.1,8.3,425,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2240,1765
$GC,9370,1.01,216.6,201.7,8.9,440,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2240,1765
$GC,9689,1.01,216.6,173.6,8.4,469,9693,0.00,2.12,0.00,0.000,4,0.000,0.037,3011,3479,1765
$GC,9716,1.01,216.6,171.2,8.9,471,9722,0.00,2.08,0.00,0.000,6,0.000,0.035,3011,2246,1765
$GC,10044,1.06,259.4,151.5,6.0,502,10087,0.00,2.42,35.85,0.649,4,0.000,0.069,3011,840,1604
$GC,10234,1.20,371.1,141.2,4.1,519,10340,0.20,2.05,95.60,0.638,6,0.039,0.022,3070,2096,1149
$GC,10657,1.20,371.1,101.9,11.9,559,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2096,1143
$GC,10976,1.20,371.1,62.3,12.3,589,10980,0.00,2.12,0.00,0.000,4,0.000,0.037,3070,841,1142
$GC,11089,1.20,371.1,47.1,14.1,599,11093,0.00,2.03,0.00,0.000,6,0.000,0.046,3070,2092,1140
$GC,11424,1.20,371.1,10.1,9.9,647,11430,0.00,2.30,0.00,0.000,4,0.000,0.031,3070,3468,1140
$GC,11448,1.20,371.1,7.9,9.8,651,11454,0.00,2.00,0.00,0.000,6,0.000,0.023,3070,2238,1140
$STATE,11503,end climb,SURFACE_DEPTH_REACHED
$STATE,11503,begin surface coast
$FINISH,1.5,1.022912
$STATE,11538,end surface coast,CONTROL_FINISHED_OK
$STATE,11538,begin surface
$SM_CCo,11619,0.00,0.000,0,0,1137,374.33
$SM_GC,2.25,11.43,0.00,0.00,0.035,0.000,0.000,422,2234,1137,-10.82,4.38,374.33
$IRIDIUM_FIX,2101.76,-15801.19,071197,121250
$TT8_MAMPS,0.029146
$HUMID,1967
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.80
$XPDR_PINGS,698
$24V_AH,23.3,64.638
$10V_AH,10.2,37.058
$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,25.525,112.750,454.000,0.000,0.000,76.750,84.745,385.042,178.500,0.000,0.000,13.588,1230.824,8216.135,506.575,1701.428,757.153,33.354,1363.902,0.000,1673.491,0.000,29.243
$DEVICE_MAMPS,587.522,76.700,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.104,434.388,723.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34879,667
$CAP_FILE_SIZE,107144,10
$CFSIZE,260165632,245358592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130808,154207,2107.382,-15801.490,26,1.0,26,9.8