version: 66.03
glider: 139
mission: 3
dive: 251
start: 8 14 108 16 0 24
data:
$ID,139
$MISSION,3
$DIVE,251
$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,-1275850.2
$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,56
$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
$GPS1,155201,2106.447,-15801.708,40,1.3,40,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.8
$GPS2,155933,2106.509,-15801.773,8,2.0,8,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.023
$KALMAN_X,-60147.0,-323.9,-407.0,53521.1,-2804.1
$KALMAN_Y,-4085.3,-441.4,-189.2,-498.9,-411.1
$MHEAD_RNG_PITCHd_Wd,75.0,26786,-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,-43.90,0.000,2,0.000,0.000,430,2233,2547
$GC,69,-0.96,-175.2,3.0,-2.3,8,104,12.02,2.42,-18.08,0.000,4,0.150,0.050,2578,845,3381
$GC,146,-0.96,-175.2,15.3,-12.7,21,152,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2095,3383
$GC,265,-0.96,-175.2,30.2,-12.5,42,269,0.00,2.25,0.00,0.000,4,0.000,0.030,2578,3453,3383
$GC,298,-0.96,-175.2,34.5,-11.6,44,305,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2239,3384
$GC,623,-0.96,-175.2,68.1,-10.0,75,627,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,842,3384
$GC,673,-0.96,-175.2,73.4,-9.7,79,680,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2076,3384
$GC,998,-0.96,-175.2,101.7,-9.5,110,1002,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,836,3384
$GC,1036,-0.96,-175.2,105.5,-10.3,113,1042,0.00,2.00,0.00,0.000,6,0.000,0.018,2579,2073,3385
$GC,1362,-0.96,-175.2,141.8,-11.2,144,1366,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,836,3385
$GC,1407,-0.96,-175.2,146.6,-9.6,148,1411,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2089,3385
$GC,1739,-0.96,-175.2,178.3,-9.9,179,1742,0.00,2.30,0.00,0.000,4,0.000,0.051,2578,3463,3386
$GC,1777,-0.96,-175.2,182.4,-9.9,182,1783,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2240,3386
$GC,2110,-0.96,-175.2,207.5,-7.1,209,2114,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,841,3386
$GC,2199,-0.96,-175.2,213.9,-5.9,213,2203,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2076,3386
$GC,2526,-0.96,-175.2,227.9,-5.1,229,2530,0.00,2.33,0.00,0.000,4,0.000,0.033,2578,3466,3386
$GC,2559,-0.96,-175.2,230.1,-6.0,230,2563,0.00,2.00,0.00,0.000,6,0.000,0.047,2578,2234,3386
$GC,2880,-0.96,-175.2,253.3,-7.8,246,2884,0.00,2.33,0.00,0.000,4,0.000,0.035,2578,844,3385
$GC,2935,-0.96,-175.2,258.8,-10.9,248,2939,0.00,2.00,0.00,0.000,6,0.000,0.021,2578,2067,3386
$GC,3256,-0.96,-175.2,284.6,-7.3,264,3260,0.00,2.05,0.00,0.000,4,0.000,0.036,2578,845,3385
$GC,3289,-0.96,-175.2,287.1,-7.9,265,3293,0.00,2.03,0.00,0.000,6,0.000,0.022,2578,2077,3385
$GC,3608,-0.96,-175.2,309.0,-6.8,278,3612,0.00,2.10,0.00,0.000,4,0.000,0.038,2578,837,3384
$GC,3658,-0.96,-175.2,312.4,-6.5,279,3662,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2083,3384
$GC,3982,-0.96,-175.2,328.6,-4.5,287,3986,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,3467,3382
$GC,4004,-0.96,-175.2,329.4,-3.5,287,4008,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2246,3382
$GC,4347,-0.96,-175.2,343.0,-4.3,296,4351,0.00,2.38,0.00,0.000,4,0.000,0.072,2578,848,3380
$GC,4407,-0.96,-175.2,346.2,-5.0,297,4411,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2077,3380
$GC,4756,-0.96,-175.2,368.7,-7.1,306,4760,0.00,2.38,0.00,0.000,4,0.000,0.071,2578,3467,3377
$GC,4795,-0.96,-175.2,371.8,-7.9,307,4799,0.00,2.03,0.00,0.000,6,0.000,0.064,2578,2232,3377
$GC,5125,-0.96,-175.2,393.8,-6.4,315,5129,0.00,2.35,0.00,0.000,4,0.000,0.038,2578,846,3375
$GC,5258,-0.96,-175.2,403.5,-7.3,318,5262,0.00,2.05,0.00,0.000,6,0.000,0.065,2578,2069,3375
$GC,5583,-0.96,-175.2,428.1,-7.6,326,5586,0.00,2.40,0.00,0.000,4,0.000,0.041,2578,3472,3373
$GC,5643,-0.96,-175.2,432.5,-7.3,327,5647,0.00,2.08,0.00,0.000,6,0.000,0.036,2579,2240,3372
$STATE,5955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5955,begin apogee
$GC,5961,-0.31,0.0,452.2,6.1,335,6106,0.68,0.00,142.27,0.885,6,0.048,0.000,2733,2239,2664
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6109,0.96,175.2,458.9,0.0,338,6266,1.17,2.25,145.68,0.859,4,0.102,0.058,3009,3470,1948
$GC,6378,0.96,175.2,445.1,10.8,344,6381,0.00,2.08,0.00,0.000,6,0.000,0.064,3009,2252,1944
$GC,6690,0.96,175.2,416.5,9.1,352,6694,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,846,1938
$GC,6830,0.96,175.2,402.8,10.0,355,6834,0.00,2.08,0.00,0.000,6,0.000,0.055,3009,2083,1934
$GC,7148,0.96,175.2,376.2,7.6,363,7152,0.00,2.40,0.00,0.000,4,0.000,0.042,3008,3474,1933
$GC,7214,1.01,219.5,371.8,5.9,364,7258,0.00,2.08,37.38,0.834,6,0.000,0.067,3009,2248,1769
$GC,7596,1.04,238.5,347.8,6.6,374,7620,0.00,2.53,17.35,0.789,4,0.000,0.077,3009,850,1689
$GC,7728,1.04,238.5,335.6,9.4,377,7732,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2083,1684
$GC,8057,1.04,238.5,306.2,9.2,385,8061,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,3474,1683
$GC,8118,1.04,238.5,299.6,10.5,386,8122,0.00,2.08,0.00,0.000,6,0.000,0.067,3009,2243,1683
$GC,8436,1.04,238.5,266.2,10.7,401,8440,0.00,2.42,0.00,0.000,4,0.000,0.053,3009,841,1682
$GC,8581,1.04,238.5,246.3,15.3,407,8587,0.00,2.08,0.00,0.000,6,0.000,0.056,3008,2082,1679
$GC,8896,1.04,238.5,209.7,9.2,423,8900,0.00,2.40,0.00,0.000,4,0.000,0.039,3009,3478,1679
$GC,8940,1.04,238.5,205.9,8.4,425,8944,0.00,2.08,0.00,0.000,6,0.000,0.025,3009,2251,1678
$GC,9264,1.08,273.0,185.7,6.2,451,9298,0.00,2.47,29.83,0.695,4,0.000,0.076,3008,842,1550
$GC,9362,1.08,273.0,177.9,8.8,460,9365,0.00,2.08,0.00,0.000,6,0.000,0.064,3009,2093,1545
$GC,9695,1.08,273.0,146.9,9.3,491,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2098,1544
$GC,10020,1.10,285.7,120.1,6.8,522,10034,0.10,0.00,11.62,0.588,6,0.054,0.000,3043,2098,1499
$GC,10348,1.10,285.7,89.7,10.9,553,10352,0.00,2.12,0.00,0.000,4,0.000,0.037,3043,845,1497
$GC,10419,1.10,285.7,80.7,14.2,559,10426,0.00,2.05,0.00,0.000,6,0.000,0.021,3043,2088,1495
$GC,10748,1.10,285.7,49.0,7.5,590,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2092,1495
$GC,11077,1.10,285.7,25.1,7.5,626,11083,0.00,2.30,0.00,0.000,4,0.000,0.056,3043,3469,1495
$GC,11156,1.10,285.7,19.0,7.7,640,11163,0.00,2.05,0.00,0.000,6,0.000,0.060,3044,2234,1496
$GC,11276,1.10,285.7,10.6,7.3,661,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2233,1495
$STATE,11376,end climb,SURFACE_DEPTH_REACHED
$STATE,11376,begin surface coast
$FINISH,1.5,1.022923
$STATE,11411,end surface coast,CONTROL_FINISHED_OK
$STATE,11411,begin surface
$SM_CCo,11431,29.80,0.517,0,0,1358,320.12
$SM_GC,2.29,0.00,0.00,29.80,0.000,0.000,0.517,430,2228,1358,-10.88,4.21,320.12
$IRIDIUM_FIX,2101.76,-15803.33,081197,121214
$TT8_MAMPS,0.029146
$HUMID,1946
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,703
$24V_AH,23.3,65.747
$10V_AH,10.2,37.695
$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,25.350,113.100,384.125,29.800,0.000,29.982,36.498,255.330,179.750,0.000,0.000,10.344,1258.309,7937.096,490.558,1689.761,526.196,33.358,1327.637,0.000,1662.383,0.000,29.240
$DEVICE_MAMPS,150.332,76.700,885.118,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.757,448.866,773.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34775,685
$CAP_FILE_SIZE,103021,12
$CFSIZE,260165632,244973568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140808,191238,2106.215,-15801.602,34,0.9,34,9.8