version: 66.03
glider: 139
mission: 3
dive: 244
start: 8 13 108 15 55 48
data:
$ID,139
$MISSION,3
$DIVE,244
$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,-1275722
$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,58
$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
$GPS1,154207,2107.382,-15801.490,26,1.0,26,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-70.1
$GPS2,155457,2107.397,-15801.590,15,1.6,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.009
$KALMAN_X,-37956.1,-201.4,-406.7,31523.7,-2615.9
$KALMAN_Y,-159.3,-151.0,-139.7,-3119.3,-111.8
$MHEAD_RNG_PITCHd_Wd,82.1,27013,-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,-175.2,0.0,0.0,0,75,0.00,0.00,-53.90,0.000,2,0.000,0.000,422,2233,2619
$GC,79,-0.96,-175.2,3.3,-2.9,10,113,12.05,0.00,-15.43,0.000,6,0.151,0.000,2575,2233,3382
$GC,226,-0.96,-175.2,25.7,-12.9,36,232,0.00,2.35,0.00,0.000,4,0.000,0.035,2575,836,3383
$GC,265,-0.96,-175.2,30.7,-12.9,42,272,0.00,2.03,0.00,0.000,6,0.000,0.018,2575,2083,3383
$GC,590,-0.96,-175.2,70.5,-12.8,73,594,0.00,2.10,0.00,0.000,4,0.000,0.035,2575,839,3384
$GC,647,-0.96,-175.2,77.2,-11.3,78,651,0.00,1.98,0.00,0.000,6,0.000,0.018,2575,2080,3384
$GC,977,-0.96,-175.2,109.2,-9.0,109,981,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,844,3384
$GC,1034,-0.96,-175.2,114.8,-10.0,114,1038,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2082,3384
$GC,1365,-0.96,-175.2,142.6,-8.0,145,1369,0.00,1.77,0.00,0.000,4,0.000,0.054,2575,3179,3385
$GC,1388,-0.96,-175.2,144.6,-8.2,147,1391,0.00,1.52,0.00,0.000,6,0.000,0.021,2575,2240,3385
$GC,1719,-0.96,-175.2,174.7,-9.6,178,1723,0.00,2.35,0.00,0.000,4,0.000,0.040,2575,840,3385
$GC,1852,-0.96,-175.2,185.1,-7.2,189,1858,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2088,3385
$GC,2175,-0.96,-175.2,205.0,-5.9,216,2179,0.00,2.30,0.00,0.000,4,0.000,0.031,2575,3466,3384
$GC,2196,-0.96,-175.2,206.5,-6.5,217,2200,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2232,3385
$GC,2524,-0.96,-175.2,225.8,-6.5,233,2528,0.00,2.33,0.00,0.000,4,0.000,0.050,2575,844,3385
$GC,2640,-0.96,-175.2,235.7,-8.5,238,2645,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2087,3384
$GC,2962,-0.96,-175.2,258.4,-5.9,254,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2091,3384
$GC,3272,-0.96,-175.2,273.0,-5.3,269,3276,0.00,2.10,0.00,0.000,4,0.000,0.075,2575,842,3383
$GC,3299,-0.96,-175.2,274.7,-5.4,270,3303,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2076,3383
$GC,3626,-0.96,-175.2,292.5,-5.6,286,3629,0.00,2.10,0.00,0.000,4,0.000,0.038,2575,836,3382
$GC,3671,-0.96,-175.2,295.4,-6.4,288,3675,0.00,2.03,0.00,0.000,6,0.000,0.023,2575,2078,3382
$GC,4000,-0.96,-175.2,316.4,-6.6,298,4003,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,843,3380
$GC,4021,-0.96,-175.2,317.9,-6.4,298,4025,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2078,3380
$GC,4370,-0.96,-175.2,337.1,-5.3,307,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,3378
$GC,4694,-0.96,-175.2,358.5,-7.4,315,4697,0.00,2.10,0.00,0.000,4,0.000,0.039,2574,846,3376
$GC,4721,-0.96,-175.2,360.7,-8.0,315,4725,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2076,3376
$GC,5063,-0.96,-175.2,386.0,-7.1,324,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2078,3374
$GC,5389,-0.96,-175.2,407.4,-6.2,332,5392,0.00,2.10,0.00,0.000,4,0.000,0.041,2574,848,3372
$GC,5416,-0.96,-175.2,409.1,-6.1,332,5420,0.00,2.05,0.00,0.000,6,0.000,0.067,2575,2081,3372
$GC,5759,-0.96,-175.2,427.6,-5.5,341,5763,0.00,2.40,0.00,0.000,4,0.000,0.077,2575,3473,3370
$GC,5786,-0.96,-175.2,429.3,-6.2,341,5790,0.00,2.08,0.00,0.000,6,0.000,0.032,2575,2248,3370
$GC,6122,-0.96,-175.2,449.2,-6.4,350,6126,0.00,2.40,0.00,0.000,4,0.000,0.042,2575,849,3368
$STATE,6137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6137,begin apogee
$GC,6145,-0.31,0.0,450.3,6.6,350,6290,0.68,0.00,141.73,0.891,6,0.057,0.000,2727,2079,2664
$STATE,6290,end apogee,CONTROL_FINISHED_OK
$STATE,6290,begin climb
$GC,6293,0.96,175.2,460.1,0.0,354,6449,1.17,2.55,145.30,0.866,4,0.101,0.049,3009,3477,1948
$GC,6494,0.99,196.9,458.9,6.6,358,6518,0.00,2.10,19.42,0.808,6,0.000,0.069,3008,2245,1860
$GC,6827,0.99,199.5,434.9,7.1,367,6831,0.00,2.42,0.00,0.000,4,0.000,0.044,3008,851,1852
$GC,6943,0.99,199.5,425.8,7.8,369,6947,0.00,2.10,0.00,0.000,6,0.000,0.028,3008,2080,1848
$GC,7280,0.99,199.5,399.6,8.6,378,7284,0.00,2.15,0.00,0.000,4,0.000,0.044,3008,848,1847
$GC,7312,0.99,199.5,396.6,9.2,378,7318,0.00,2.10,0.00,0.000,6,0.000,0.034,3008,2074,1846
$GC,7643,0.99,199.5,367.4,8.9,387,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2076,1845
$GC,7968,0.99,199.5,339.1,8.1,395,7972,0.00,2.42,0.00,0.000,4,0.000,0.042,3009,3477,1844
$GC,8006,0.99,199.5,335.8,8.1,395,8012,0.00,2.08,0.00,0.000,6,0.000,0.028,3008,2246,1844
$GC,8337,0.99,199.8,310.8,7.1,404,8341,0.00,2.40,0.00,0.000,4,0.000,0.043,3008,849,1843
$GC,8437,1.00,207.5,303.5,6.9,406,8451,0.00,2.05,7.30,0.696,6,0.000,0.028,3009,2083,1818
$GC,8772,1.00,207.5,279.1,7.5,421,8776,0.00,2.15,0.00,0.000,4,0.000,0.043,3008,842,1816
$GC,8829,1.00,207.5,274.7,8.5,423,8834,0.00,2.05,0.00,0.000,6,0.000,0.028,3008,2080,1815
$GC,9144,1.00,207.5,246.8,10.1,439,9148,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,3477,1815
$GC,9340,1.00,207.5,226.3,10.2,448,9343,0.00,2.05,0.00,0.000,6,0.000,0.025,3008,2249,1814
$GC,9671,1.05,248.7,202.3,6.0,464,9714,0.00,2.53,37.12,0.716,4,0.000,0.074,3008,839,1649
$GC,9749,1.08,275.8,198.1,6.4,468,9785,0.00,2.08,26.62,0.656,6,0.000,0.025,3008,2087,1539
$GC,10104,1.08,275.8,170.4,8.3,501,10108,0.00,2.38,0.00,0.000,4,0.000,0.036,3008,3474,1533
$GC,10155,1.08,275.8,165.7,9.7,505,10158,0.00,2.05,0.00,0.000,6,0.000,0.062,3009,2247,1532
$GC,10486,1.08,275.8,135.4,10.0,536,10490,0.00,2.40,0.00,0.000,4,0.000,0.042,3008,843,1532
$GC,10631,1.11,298.3,123.5,6.5,548,10659,0.08,2.05,19.80,0.619,6,0.038,0.023,3044,2083,1446
$GC,10977,1.11,298.3,94.9,9.3,581,10980,0.00,2.10,0.00,0.000,4,0.000,0.038,3044,845,1444
$GC,11011,1.11,298.3,91.5,10.1,584,11014,0.00,2.03,0.00,0.000,6,0.000,0.021,3044,2087,1442
$GC,11342,1.11,298.3,57.8,10.4,615,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2091,1442
$GC,11662,1.14,325.2,28.9,6.4,646,11692,0.00,2.12,24.15,0.537,4,0.000,0.075,3044,844,1337
$GC,11827,1.14,325.2,16.4,7.9,675,11833,0.00,2.03,0.00,0.000,6,0.000,0.055,3045,2079,1333
$GC,11946,1.14,325.2,7.4,7.8,696,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2083,1333
$STATE,12001,end climb,SURFACE_DEPTH_REACHED
$STATE,12001,begin surface coast
$FINISH,1.3,1.007301
$STATE,12047,end surface coast,CONTROL_FINISHED_OK
$STATE,12047,begin surface
$SM_CCo,12128,0.00,0.000,0,0,1329,327.48
$SM_GC,1.99,11.25,0.00,0.00,0.034,0.000,0.000,426,2082,1329,-10.80,0.14,327.48
$IRIDIUM_FIX,2059.45,-15803.33,071197,151514
$TT8_MAMPS,0.028379
$HUMID,1972
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.90
$XPDR_PINGS,690
$24V_AH,23.3,64.781
$10V_AH,10.2,37.139
$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,25.225,111.200,421.450,0.000,0.000,79.507,166.916,258.910,176.500,0.000,0.000,17.347,1273.116,8744.035,480.524,1664.056,721.147,33.353,1318.001,0.000,1635.778,0.000,29.244
$DEVICE_MAMPS,151.099,76.700,891.254,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.341,463.392,792.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37990,714
$CAP_FILE_SIZE,105688,6
$CFSIZE,260165632,245309440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130808,191931,2107.481,-15801.005,59,0.9,59,9.8