version: 66.03
glider: 139
mission: 3
dive: 248
start: 8 14 108 5 41 25
data:
$ID,139
$MISSION,3
$DIVE,248
$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,-1275787.9
$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,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
$GPS1,053037,2107.221,-15800.971,26,1.3,26,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.3
$GPS2,054033,2107.173,-15800.985,12,1.5,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,0.010
$KALMAN_X,-50561.5,267.9,79.9,44206.6,-3170.6
$KALMAN_Y,-1166.8,39.4,-408.6,-2440.2,-135.1
$MHEAD_RNG_PITCHd_Wd,78.0,25888,-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,20,-0.96,-175.2,0.0,0.0,0,66,0.00,0.00,-43.78,0.000,2,0.000,0.000,418,2085,2420
$GC,69,-0.96,-175.2,3.1,-2.3,8,108,12.12,0.00,-21.88,0.000,6,0.152,0.000,2578,2087,3379
$GC,221,-0.96,-175.2,22.8,-12.2,35,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3380
$GC,337,-0.96,-175.2,36.2,-11.2,51,341,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,838,3381
$GC,375,-0.96,-175.2,40.6,-11.2,54,382,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2078,3380
$GC,701,-0.96,-175.2,70.1,-8.2,85,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3381
$GC,1019,-0.96,-175.2,98.1,-8.9,115,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2083,3382
$GC,1338,-0.96,-175.2,128.9,-8.9,145,1341,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,843,3382
$GC,1383,-0.96,-175.2,132.8,-8.5,149,1387,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2078,3382
$GC,1715,-0.96,-175.2,159.7,-6.7,180,1719,0.00,2.08,0.00,0.000,4,0.000,0.044,2577,843,3382
$GC,1766,-0.96,-175.2,162.7,-5.5,184,1772,0.00,1.95,0.00,0.000,6,0.000,0.019,2578,2080,3382
$GC,2093,-0.96,-175.2,181.2,-6.1,215,2096,0.00,2.10,0.00,0.000,4,0.000,0.073,2577,834,3383
$GC,2138,-0.96,-175.2,184.1,-6.0,219,2143,0.00,2.03,0.00,0.000,6,0.000,0.020,2578,2078,3382
$GC,2475,-0.96,-175.2,210.2,-7.9,245,2479,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,844,3382
$GC,2521,-0.96,-175.2,213.9,-8.2,247,2524,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2087,3382
$GC,2853,-0.96,-175.2,236.0,-5.7,263,2857,0.00,2.03,0.00,0.000,4,0.000,0.074,2578,872,3382
$GC,2892,-0.96,-175.2,238.2,-5.8,264,2898,0.00,1.98,0.00,0.000,6,0.000,0.021,2578,2078,3382
$GC,3207,-0.96,-175.2,258.6,-6.2,280,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3381
$GC,3517,-0.96,-175.2,275.2,-5.1,295,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3379
$GC,3826,-0.96,-175.2,291.7,-5.8,310,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3379
$GC,4133,-0.96,-175.2,309.7,-5.9,321,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3377
$GC,4458,-0.96,-175.2,326.3,-4.5,329,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3375
$GC,4783,-0.96,-175.2,335.7,-2.7,337,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2081,3373
$GC,5107,-0.96,-175.2,345.5,-3.0,345,5111,0.00,2.10,0.00,0.000,4,0.000,0.040,2577,846,3372
$GC,5146,-0.96,-175.2,347.1,-4.1,345,5152,0.00,2.00,0.00,0.000,6,0.000,0.025,2578,2071,3372
$GC,5477,-0.96,-175.2,364.4,-6.2,354,5481,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3478,3370
$GC,5498,-0.96,-175.2,365.7,-6.2,354,5502,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2237,3369
$GC,5841,-0.96,-175.2,393.1,-8.5,363,5845,0.00,2.35,0.00,0.000,4,0.000,0.041,2578,848,3368
$GC,5902,-0.96,-175.2,398.9,-9.0,364,5906,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2083,3367
$GC,6215,-0.96,-175.2,424.6,-8.1,372,6219,0.00,2.40,0.00,0.000,4,0.000,0.043,2578,3479,3366
$GC,6236,-0.96,-175.2,425.9,-6.4,372,6240,0.00,2.03,0.00,0.000,6,0.000,0.047,2578,2246,3366
$GC,6579,-0.96,-175.2,446.2,-5.6,381,6583,0.00,2.40,0.00,0.000,4,0.000,0.051,2578,844,3364
$STATE,6649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6649,begin apogee
$GC,6657,-0.31,0.0,450.2,5.1,382,6801,0.65,0.00,140.77,0.890,6,0.049,0.000,2729,2080,2664
$STATE,6801,end apogee,CONTROL_FINISHED_OK
$STATE,6801,begin climb
$GC,6804,0.96,175.2,457.3,0.0,386,6957,0.08,2.22,145.23,0.865,4,1.682,0.080,2762,846,1946
$GC,7057,1.01,213.8,450.8,6.1,392,7098,1.15,2.08,33.72,0.838,6,0.044,0.028,3021,2085,1791
$GC,7405,1.01,213.8,414.0,11.2,401,7409,0.00,2.15,0.00,0.000,4,0.000,0.044,3021,850,1784
$GC,7488,1.01,213.8,405.6,9.9,402,7495,0.00,2.10,0.00,0.000,6,0.000,0.028,3021,2078,1781
$GC,7819,1.01,213.8,377.6,8.0,411,7824,0.00,2.42,0.00,0.000,4,0.000,0.042,3021,3475,1780
$GC,7988,1.01,213.8,362.5,9.6,414,7993,0.00,2.08,0.00,0.000,6,0.000,0.028,3021,2244,1780
$GC,8318,1.01,213.8,332.3,8.9,423,8322,0.00,2.40,0.00,0.000,4,0.000,0.044,3021,850,1778
$GC,8418,1.01,213.8,321.9,11.1,425,8422,0.00,2.08,0.00,0.000,6,0.000,0.028,3021,2089,1775
$GC,8738,1.01,213.8,291.9,8.4,435,8742,0.00,2.40,0.00,0.000,4,0.000,0.041,3021,3476,1775
$GC,8804,1.01,213.8,286.9,7.2,438,8808,0.00,2.08,0.00,0.000,6,0.000,0.027,3021,2253,1775
$GC,9131,1.06,257.8,268.4,5.9,454,9171,0.00,0.00,37.12,0.771,6,0.000,0.000,3021,2252,1612
$GC,9480,1.06,257.8,238.7,9.8,471,9484,0.00,2.42,0.00,0.000,4,0.000,0.075,3021,849,1607
$GC,9586,1.06,257.8,226.0,12.7,476,9590,0.00,2.05,0.00,0.000,6,0.000,0.026,3021,2082,1604
$GC,9911,1.06,257.8,194.4,7.4,494,9914,0.00,2.15,0.00,0.000,4,0.000,0.081,3021,845,1603
$GC,9972,1.08,274.8,189.8,6.7,499,9992,0.00,2.05,15.00,0.677,6,0.000,0.025,3021,2087,1543
$GC,10317,1.08,274.8,163.3,9.1,532,10321,0.00,2.35,0.00,0.000,4,0.000,0.036,3021,3476,1540
$GC,10344,1.08,274.8,160.7,10.3,534,10351,0.00,2.08,0.00,0.000,6,0.000,0.024,3021,2244,1539
$GC,10671,1.08,274.8,129.4,8.9,565,10675,0.00,2.38,0.00,0.000,4,0.000,0.071,3021,839,1539
$GC,10759,1.08,274.8,120.3,10.1,572,10766,0.00,2.05,0.00,0.000,6,0.000,0.022,3021,2076,1537
$GC,11087,1.08,274.8,90.6,9.2,603,11091,0.00,2.35,0.00,0.000,4,0.000,0.036,3021,3467,1537
$GC,11108,1.08,274.8,88.3,9.1,604,11114,0.00,2.05,0.00,0.000,6,0.000,0.060,3021,2242,1538
$GC,11434,1.08,274.8,61.1,8.8,635,11438,0.00,2.38,0.00,0.000,4,0.000,0.044,3021,841,1538
$GC,11484,1.08,274.8,56.4,9.1,639,11488,0.00,2.03,0.00,0.000,6,0.000,0.027,3021,2087,1537
$GC,11816,1.20,369.4,34.4,4.6,670,11908,0.15,2.40,80.75,0.554,4,0.042,0.064,3076,3465,1157
$GC,11970,1.20,369.4,19.6,10.9,692,11976,0.00,2.00,0.00,0.000,6,0.000,0.021,3076,2234,1156
$GC,12089,1.20,369.4,6.8,10.3,713,12096,0.00,2.38,0.00,0.000,4,0.000,0.056,3076,849,1154
$STATE,12123,end climb,SURFACE_DEPTH_REACHED
$STATE,12123,begin surface coast
$FINISH,1.4,1.022912
$STATE,12152,end surface coast,CONTROL_FINISHED_OK
$STATE,12152,begin surface
$SM_CCo,12235,0.00,0.000,0,0,1148,371.63
$SM_GC,2.18,11.38,0.00,0.00,0.029,0.000,0.000,419,2098,1148,-10.82,0.54,371.63
$IRIDIUM_FIX,2059.45,-15801.19,081197,050527
$TT8_MAMPS,0.029146
$HUMID,1968
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,22.80
$XPDR_PINGS,722
$24V_AH,23.3,65.335
$10V_AH,10.2,37.459
$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,25.525,103.400,452.600,0.000,0.000,52.841,62.898,282.942,184.500,0.000,0.000,14.462,1278.071,8750.782,526.624,1634.836,626.460,33.360,1339.632,0.000,1615.711,0.000,29.236
$DEVICE_MAMPS,1682.031,80.535,889.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.392,478.594,802.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37839,724
$CAP_FILE_SIZE,103377,9
$CFSIZE,260165632,245112832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140808,090631,2106.837,-15800.652,35,1.3,35,9.8