version: 66.03
glider: 139
mission: 3
dive: 246
start: 8 13 108 22 42 53
data:
$ID,139
$MISSION,3
$DIVE,246
$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,-1275756.9
$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,63
$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
$GPS1,223507,2107.508,-15801.196,30,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.0
$GPS2,224202,2107.537,-15801.220,11,1.3,16,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,0.055
$KALMAN_X,-44870.6,281.2,266.2,37920.9,-4412.6
$KALMAN_Y,-53.7,64.9,223.9,-3546.7,-184.9
$MHEAD_RNG_PITCHd_Wd,67.8,26507,-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,-49.00,0.000,2,0.000,0.000,424,2092,2578
$GC,75,-0.96,-175.2,3.2,-2.9,9,110,12.12,2.30,-16.77,0.000,4,0.153,0.054,2577,3461,3380
$GC,134,-0.96,-175.2,13.7,-13.3,19,140,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2236,3381
$GC,253,-0.96,-175.2,29.3,-13.8,40,259,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,842,3381
$GC,303,-0.96,-175.2,36.1,-12.8,45,310,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2076,3381
$GC,628,-0.96,-175.2,70.2,-8.1,76,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3382
$GC,947,-0.96,-175.2,98.1,-10.3,106,951,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,841,3383
$GC,1004,-0.96,-175.2,103.6,-9.2,111,1007,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2091,3383
$GC,1335,-0.96,-175.2,133.9,-9.7,142,1339,0.00,2.10,0.00,0.000,4,0.000,0.071,2576,844,3384
$GC,1403,-0.96,-175.2,140.4,-9.3,148,1406,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2081,3384
$GC,1735,-0.96,-175.2,165.0,-6.9,179,1739,0.00,2.30,0.00,0.000,4,0.000,0.042,2577,3460,3384
$GC,1758,-0.96,-175.2,166.6,-6.3,180,1764,0.00,1.98,0.00,0.000,6,0.000,0.020,2577,2228,3384
$GC,2084,-0.96,-175.2,190.8,-9.6,211,2088,0.00,2.33,0.00,0.000,4,0.000,0.064,2577,840,3384
$GC,2174,-0.96,-175.2,200.0,-10.5,218,2180,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2088,3385
$GC,2489,-0.96,-175.2,227.0,-7.3,234,2492,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,838,3385
$GC,2538,-0.96,-175.2,230.5,-6.8,236,2542,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2084,3384
$GC,2865,-0.96,-175.2,248.4,-5.1,252,2869,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,838,3384
$GC,2904,-0.96,-175.2,250.3,-5.2,253,2910,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2080,3384
$GC,3220,-0.96,-175.2,268.3,-6.8,269,3224,0.00,2.33,0.00,0.000,4,0.000,0.035,2577,3464,3384
$GC,3276,-0.96,-175.2,272.4,-7.5,271,3282,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2231,3383
$GC,3592,-0.96,-175.2,294.2,-5.7,287,3596,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,840,3382
$GC,3671,-0.96,-175.2,298.9,-5.7,290,3677,0.00,2.00,0.00,0.000,6,0.000,0.023,2577,2078,3382
$GC,3982,-0.96,-175.2,316.4,-5.9,299,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2080,3381
$GC,4307,-0.96,-175.2,333.8,-5.0,307,4310,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,845,3380
$GC,4345,-0.96,-175.2,335.6,-4.2,307,4351,0.00,2.03,0.00,0.000,6,0.000,0.065,2577,2075,3379
$GC,4677,-0.96,-175.2,352.7,-5.8,316,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2078,3377
$GC,5001,-0.96,-175.2,375.6,-7.0,324,5005,0.00,2.10,0.00,0.000,4,0.000,0.040,2576,845,3375
$GC,5028,-0.96,-175.2,377.8,-7.7,324,5032,0.00,2.05,0.00,0.000,6,0.000,0.065,2577,2083,3375
$GC,5371,-0.96,-175.2,404.6,-7.8,333,5375,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3472,3373
$GC,5397,-0.96,-175.2,406.5,-7.3,333,5401,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2244,3373
$GC,5734,-0.96,-175.2,428.9,-6.2,342,5738,0.00,2.38,0.00,0.000,4,0.000,0.040,2577,848,3371
$GC,5846,-0.96,-175.2,436.7,-7.0,344,5850,0.00,2.03,0.00,0.000,6,0.000,0.029,2577,2072,3370
$STATE,6024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6024,begin apogee
$GC,6029,-0.31,0.0,450.5,7.8,349,6174,0.68,0.00,141.93,0.887,6,0.046,0.000,2731,2073,2664
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6175,begin climb
$GC,6177,0.96,175.2,460.1,0.0,352,6334,1.20,2.55,145.30,0.864,4,0.047,0.056,3012,3475,1947
$GC,6496,0.96,175.2,447.1,10.5,359,6500,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2254,1942
$GC,6844,0.96,175.2,409.6,10.5,368,6848,0.00,2.45,0.00,0.000,4,0.000,0.045,3012,846,1937
$GC,6910,0.96,175.2,403.1,10.7,369,6914,0.00,2.10,0.00,0.000,6,0.000,0.029,3012,2077,1934
$GC,7252,0.96,175.2,372.2,9.1,378,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2080,1932
$GC,7577,0.96,177.9,347.7,7.1,386,7581,0.00,2.15,0.00,0.000,4,0.000,0.044,3012,839,1931
$GC,7620,0.96,177.9,344.4,7.4,387,7624,0.00,2.10,0.00,0.000,6,0.000,0.067,3012,2084,1929
$GC,7945,1.00,209.2,325.3,6.3,395,7979,0.00,2.50,27.35,0.808,4,0.000,0.076,3012,3478,1811
$GC,8018,1.00,209.2,319.8,8.1,396,8022,0.00,2.10,0.00,0.000,6,0.000,0.031,3012,2258,1810
$GC,8336,1.00,209.2,293.1,9.3,406,8340,0.00,2.45,0.00,0.000,4,0.000,0.044,3012,845,1806
$GC,8435,1.00,209.2,282.6,11.1,410,8442,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2080,1803
$GC,8751,1.02,225.8,260.6,6.7,426,8773,0.00,2.47,14.93,0.734,4,0.000,0.064,3012,3482,1742
$GC,8910,1.02,225.8,249.3,7.9,433,8914,0.00,2.08,0.00,0.000,6,0.000,0.065,3012,2250,1742
$GC,9242,1.02,225.8,223.2,9.0,449,9247,0.00,2.40,0.00,0.000,4,0.000,0.041,3012,848,1739
$GC,9382,1.02,225.8,209.9,9.0,455,9386,0.00,2.05,0.00,0.000,6,0.000,0.025,3012,2086,1736
$GC,9709,1.04,240.9,185.4,6.7,480,9729,0.00,0.00,13.98,0.658,6,0.000,0.000,3012,2091,1681
$GC,10049,1.04,240.9,161.2,7.4,512,10053,0.00,2.38,0.00,0.000,4,0.000,0.071,3012,3481,1679
$GC,10160,1.04,240.9,152.0,8.2,521,10166,0.00,2.08,0.00,0.000,6,0.000,0.031,3012,2247,1679
$GC,10486,1.04,240.9,123.8,9.4,552,10491,0.00,2.40,0.00,0.000,4,0.000,0.071,3012,836,1679
$GC,10582,1.04,240.9,115.2,8.8,560,10586,0.00,2.05,0.00,0.000,6,0.000,0.021,3012,2097,1677
$GC,10914,1.04,240.9,89.3,7.7,591,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2101,1677
$GC,11231,1.11,297.4,69.0,5.6,621,11286,0.10,2.22,49.42,0.577,4,0.054,0.043,3049,845,1450
$GC,11343,1.11,297.4,60.7,7.3,631,11347,0.00,2.00,0.00,0.000,6,0.000,0.021,3049,2086,1445
$GC,11675,1.11,297.4,35.1,7.8,662,11679,0.00,2.33,0.00,0.000,4,0.000,0.068,3049,3470,1445
$GC,11696,1.11,297.4,33.1,8.6,663,11703,0.00,2.05,0.00,0.000,6,0.000,0.053,3049,2237,1445
$GC,12037,1.11,297.4,5.4,8.7,720,12043,0.00,2.35,0.00,0.000,4,0.000,0.069,3049,835,1445
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FINISH,1.6,1.022773
$STATE,12077,end surface coast,CONTROL_FINISHED_OK
$STATE,12077,begin surface
$SM_CCo,12099,18.60,0.503,0,0,1359,320.12
$SM_GC,1.79,0.00,0.00,18.60,0.000,0.000,0.503,431,2089,1359,-10.87,0.28,320.12
$IRIDIUM_FIX,2101.76,-15800.33,071197,191910
$TT8_MAMPS,0.029146
$HUMID,1936
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.30
$XPDR_PINGS,732
$24V_AH,23.3,65.053
$10V_AH,10.2,37.298
$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,25.375,112.800,392.900,18.600,0.000,29.900,27.752,225.541,187.000,0.000,0.000,17.728,1311.556,8502.895,493.504,1721.571,492.749,33.356,1335.561,0.000,1689.842,0.000,29.241
$DEVICE_MAMPS,153.400,75.933,886.652,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.899,475.554,819.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37948,727
$CAP_FILE_SIZE,103870,8
$CFSIZE,260165632,245211136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140808,020626,2107.630,-15801.241,57,1.4,57,9.8