version: 66.03
glider: 139
mission: 3
dive: 252
start: 8 14 108 19 21 48
data:
$ID,139
$MISSION,3
$DIVE,252
$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,-1275865.4
$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,53
$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
$GPS1,191238,2106.215,-15801.602,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.3
$GPS2,192057,2106.231,-15801.622,12,1.1,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.027
$KALMAN_X,-63681.6,-319.7,186.1,56714.7,-3297.8
$KALMAN_Y,-5251.8,-116.2,-152.3,-205.6,-312.9
$MHEAD_RNG_PITCHd_Wd,74.0,26390,-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,-175.2,0.0,0.0,0,66,0.00,0.00,-44.20,0.000,2,0.000,0.000,430,2229,2573
$GC,69,-0.96,-175.2,3.3,-2.5,8,104,12.02,2.08,-16.77,0.000,4,0.150,0.082,2576,3472,3381
$GC,161,-0.96,-175.2,17.4,-10.9,24,167,0.00,2.00,0.00,0.000,6,0.000,0.021,2576,2238,3382
$GC,285,-0.96,-175.2,31.4,-11.3,45,289,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,841,3382
$GC,318,-0.96,-175.2,35.0,-10.2,47,325,0.00,2.03,0.00,0.000,6,0.000,0.018,2576,2083,3382
$GC,643,-0.96,-175.2,67.8,-8.7,78,647,0.00,2.30,0.00,0.000,4,0.000,0.030,2576,3470,3383
$GC,670,-0.96,-175.2,70.2,-8.9,80,677,0.00,2.03,0.00,0.000,6,0.000,0.062,2575,2246,3383
$GC,995,-0.96,-175.2,104.0,-12.0,111,999,0.00,2.35,0.00,0.000,4,0.000,0.033,2576,840,3384
$GC,1129,-0.96,-175.2,118.4,-9.7,122,1136,0.00,2.00,0.00,0.000,6,0.000,0.018,2576,2078,3384
$GC,1456,-0.96,-175.2,143.1,-6.6,153,1459,0.00,2.08,0.00,0.000,4,0.000,0.073,2575,843,3385
$GC,1490,-0.96,-175.2,145.4,-7.1,156,1494,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2078,3385
$GC,1822,-0.96,-175.2,167.5,-6.5,187,1826,0.00,2.08,0.00,0.000,4,0.000,0.044,2576,843,3385
$GC,1845,-0.96,-175.2,169.1,-6.7,189,1849,0.00,1.98,0.00,0.000,6,0.000,0.019,2576,2077,3385
$GC,2176,-0.96,-175.2,193.5,-7.7,220,2180,0.00,2.08,0.00,0.000,4,0.000,0.071,2576,843,3385
$GC,2237,-0.96,-175.2,198.8,-8.7,225,2243,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2078,3385
$GC,2564,-0.96,-175.2,229.3,-9.3,242,2568,0.00,2.33,0.00,0.000,4,0.000,0.065,2576,3465,3385
$GC,2603,-0.96,-175.2,232.6,-8.1,244,2606,0.00,1.98,0.00,0.000,6,0.000,0.041,2576,2233,3385
$GC,2935,-0.96,-175.2,252.5,-6.3,260,2939,0.00,2.33,0.00,0.000,4,0.000,0.035,2576,845,3385
$GC,2990,-0.96,-175.2,256.1,-6.8,262,2997,0.00,1.98,0.00,0.000,6,0.000,0.030,2576,2078,3385
$GC,3305,-0.96,-175.2,276.4,-6.3,278,3309,0.00,2.08,0.00,0.000,4,0.000,0.036,2575,844,3384
$GC,3333,-0.96,-175.2,278.3,-7.1,279,3337,0.00,1.98,0.00,0.000,6,0.000,0.050,2576,2076,3384
$GC,3660,-0.96,-175.2,299.0,-6.5,295,3664,0.00,2.10,0.00,0.000,4,0.000,0.077,2575,840,3383
$GC,3693,-0.96,-175.2,301.6,-7.6,296,3697,0.00,2.05,0.00,0.000,6,0.000,0.023,2576,2078,3383
$GC,4030,-0.96,-175.2,324.2,-7.1,305,4034,0.00,2.35,0.00,0.000,4,0.000,0.037,2576,3466,3381
$GC,4069,-0.96,-175.2,327.1,-7.3,306,4072,0.00,2.03,0.00,0.000,6,0.000,0.062,2576,2234,3381
$GC,4398,-0.96,-175.2,348.0,-5.8,314,4402,0.00,2.35,0.00,0.000,4,0.000,0.039,2576,847,3379
$GC,4470,-0.96,-175.2,353.2,-7.5,315,4475,0.00,2.05,0.00,0.000,6,0.000,0.064,2576,2072,3378
$GC,4808,-0.96,-175.2,373.8,-5.7,324,4812,0.00,2.30,0.00,0.000,4,0.000,0.072,2576,3450,3377
$GC,4847,-0.96,-175.2,375.7,-5.0,325,4851,0.00,2.00,0.00,0.000,6,0.000,0.025,2576,2240,3376
$GC,5178,-0.96,-175.2,391.1,-4.7,333,5182,0.00,2.38,0.00,0.000,4,0.000,0.040,2575,845,3375
$GC,5245,-0.96,-175.2,395.1,-5.9,334,5248,0.00,2.03,0.00,0.000,6,0.000,0.027,2576,2076,3374
$GC,5593,-0.96,-175.2,421.3,-8.3,343,5597,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,3472,3372
$GC,5619,-0.96,-175.2,423.9,-9.7,343,5623,0.00,2.05,0.00,0.000,6,0.000,0.025,2576,2248,3371
$GC,5957,-0.96,-175.2,448.9,-6.6,352,5961,0.00,2.40,0.00,0.000,4,0.000,0.075,2575,846,3369
$STATE,5977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5984,-0.31,0.0,450.2,5.7,352,6130,0.65,0.00,142.23,0.891,6,0.054,0.000,2724,2082,2664
$STATE,6130,end apogee,CONTROL_FINISHED_OK
$STATE,6130,begin climb
$GC,6133,0.96,175.2,457.4,0.0,356,6290,1.23,2.53,145.48,0.863,4,0.074,0.043,3007,3471,1948
$GC,6430,0.96,175.2,438.0,11.2,363,6434,0.00,2.08,0.00,0.000,6,0.000,0.028,3007,2249,1944
$GC,6760,0.96,175.2,406.8,8.3,371,6764,0.00,2.45,0.00,0.000,4,0.000,0.045,3007,845,1938
$GC,6803,0.96,175.2,403.4,7.8,372,6807,0.00,2.10,0.00,0.000,6,0.000,0.028,3007,2075,1935
$GC,7128,1.03,234.6,384.2,5.5,380,7184,0.00,2.20,51.10,0.843,4,0.000,0.051,3007,849,1705
$GC,7217,1.04,238.9,378.5,7.0,382,7226,0.00,2.10,4.38,0.563,6,0.000,0.028,3006,2089,1689
$GC,7535,1.04,238.9,352.8,8.9,390,7539,0.00,2.17,0.00,0.000,4,0.000,0.044,3007,848,1684
$GC,7574,1.04,238.9,348.6,10.7,391,7577,0.00,2.08,0.00,0.000,6,0.000,0.028,3006,2080,1683
$GC,7903,1.04,238.9,312.7,10.8,399,7908,0.00,2.42,0.00,0.000,4,0.000,0.041,3007,3478,1682
$GC,7992,1.04,238.9,303.7,10.2,401,7996,0.00,2.10,0.00,0.000,6,0.000,0.027,3006,2247,1682
$GC,8320,1.04,238.9,276.2,8.4,415,8325,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,844,1680
$GC,8521,1.04,238.9,253.8,12.2,424,8526,0.00,2.10,0.00,0.000,6,0.000,0.027,3007,2083,1677
$GC,8848,1.04,238.9,224.8,8.1,440,8852,0.00,2.38,0.00,0.000,4,0.000,0.038,3006,3474,1677
$GC,8948,1.04,238.9,215.8,9.4,444,8952,0.00,2.05,0.00,0.000,6,0.000,0.025,3007,2245,1677
$GC,9273,1.11,293.5,192.2,5.7,466,9326,0.12,2.45,47.33,0.706,4,0.051,0.052,3044,842,1466
$GC,9395,1.11,293.5,181.8,9.8,477,9399,0.00,2.08,0.00,0.000,6,0.000,0.025,3045,2089,1460
$GC,9727,1.11,293.5,149.7,10.2,508,9731,0.00,2.35,0.00,0.000,4,0.000,0.048,3044,3471,1459
$GC,9748,1.11,293.5,147.0,10.7,509,9755,0.00,2.05,0.00,0.000,6,0.000,0.064,3045,2248,1459
$GC,10075,1.11,293.5,115.7,7.9,540,10080,0.00,2.40,0.00,0.000,4,0.000,0.072,3045,841,1459
$GC,10130,1.11,293.5,111.0,8.6,544,10137,0.00,2.05,0.00,0.000,6,0.000,0.061,3044,2077,1457
$GC,10459,1.11,293.5,83.8,9.3,575,10463,0.00,2.12,0.00,0.000,4,0.000,0.059,3045,838,1457
$GC,10497,1.11,293.5,79.6,9.5,578,10504,0.00,2.05,0.00,0.000,6,0.000,0.021,3045,2082,1456
$GC,10825,1.11,293.5,50.4,9.0,609,10829,0.00,2.12,0.00,0.000,4,0.000,0.073,3045,836,1456
$GC,10860,1.11,293.5,47.1,9.2,612,10863,0.00,2.03,0.00,0.000,6,0.000,0.031,3045,2088,1456
$GC,11191,1.11,293.5,21.2,7.6,653,11197,0.00,1.88,0.00,0.000,4,0.000,0.071,3045,3198,1457
$GC,11232,1.11,293.5,17.9,8.2,660,11238,0.00,1.58,0.00,0.000,6,0.000,0.021,3045,2235,1457
$GC,11351,1.11,293.5,9.0,7.6,681,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2234,1457
$STATE,11428,end climb,SURFACE_DEPTH_REACHED
$STATE,11428,begin surface coast
$FINISH,1.3,1.004822
$STATE,11469,end surface coast,CONTROL_FINISHED_OK
$STATE,11469,begin surface
$SM_CCo,11490,21.92,0.512,0,0,1359,320.12
$SM_GC,2.34,0.00,0.00,21.92,0.000,0.000,0.512,433,2230,1359,-10.87,4.27,320.12
$IRIDIUM_FIX,2101.76,-15758.18,081197,161601
$TT8_MAMPS,0.029146
$HUMID,1960
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.20
$XPDR_PINGS,708
$24V_AH,23.3,65.887
$10V_AH,10.2,37.776
$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,25.300,128.850,390.500,21.925,0.000,30.739,29.906,309.060,181.000,0.000,0.000,14.458,1295.188,7915.745,491.045,1708.076,590.165,33.359,1346.642,0.000,1683.824,0.000,29.236
$DEVICE_MAMPS,150.332,82.069,891.254,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.400,466.012,797.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,702
$CAP_FILE_SIZE,107981,15
$CFSIZE,260165632,244920320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140808,223526,2106.159,-15801.665,68,1.3,68,9.8