version: 66.03
glider: 139
mission: 3
dive: 256
start: 8 15 108 8 56 47
data:
$ID,139
$MISSION,3
$DIVE,256
$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,-1275932.5
$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,48
$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
$GPS1,084407,2106.947,-15801.794,44,1.6,44,9.8
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.4
$GPS2,085556,2106.947,-15801.878,10,1.7,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,0.122
$KALMAN_X,-77094.9,464.4,549.2,68532.2,-4295.9
$KALMAN_Y,-8751.8,5.6,-8.3,4349.5,-1044.5
$MHEAD_RNG_PITCHd_Wd,51.5,27205,-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,-175.2,0.0,0.0,0,65,0.00,0.00,-43.17,0.000,2,0.000,0.000,422,2077,2544
$GC,68,-0.96,-175.2,3.1,-2.6,8,104,12.12,2.40,-17.88,0.000,4,0.153,0.057,2574,3470,3382
$GC,160,-0.96,-175.2,17.5,-12.5,24,166,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2231,3383
$GC,281,-0.96,-175.2,32.0,-12.6,44,285,0.00,2.33,0.00,0.000,4,0.000,0.047,2574,845,3384
$GC,354,-0.96,-175.2,41.1,-11.6,50,358,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2091,3384
$GC,684,-0.96,-175.2,74.5,-8.0,81,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2095,3385
$GC,1003,-0.96,-175.2,103.3,-9.6,111,1007,0.00,2.28,0.00,0.000,4,0.000,0.030,2574,3463,3385
$GC,1031,-0.96,-175.2,106.1,-9.9,113,1035,0.00,1.98,0.00,0.000,6,0.000,0.034,2574,2235,3385
$GC,1364,-0.96,-175.2,139.1,-9.2,144,1368,0.00,2.33,0.00,0.000,4,0.000,0.051,2574,843,3386
$GC,1449,-0.96,-175.2,146.4,-7.9,151,1452,0.00,1.70,0.00,0.000,6,0.000,0.064,2574,1936,3386
$GC,1780,-0.96,-175.2,172.6,-7.8,182,1784,0.00,2.55,0.00,0.000,4,0.000,0.035,2574,3463,3386
$GC,1834,-0.96,-175.2,176.8,-7.6,186,1841,0.00,2.00,0.00,0.000,6,0.000,0.019,2574,2241,3386
$GC,2158,-0.96,-175.2,202.5,-8.7,216,2162,0.00,2.35,0.00,0.000,4,0.000,0.034,2574,837,3386
$GC,2292,-0.96,-175.2,213.9,-7.7,222,2296,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2086,3386
$GC,2619,-0.96,-175.2,233.0,-5.5,238,2622,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,838,3386
$GC,2691,-0.96,-175.2,237.0,-4.9,241,2695,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,2081,3386
$GC,3019,-0.96,-175.2,249.4,-4.1,257,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2084,3385
$GC,3327,-0.96,-175.2,269.1,-7.2,272,3331,0.00,2.33,0.00,0.000,4,0.000,0.035,2574,3459,3384
$GC,3348,-0.96,-175.2,270.8,-7.7,273,3352,0.00,2.03,0.00,0.000,6,0.000,0.022,2574,2236,3384
$GC,3676,-0.96,-175.2,293.7,-6.8,289,3679,0.00,2.03,0.00,0.000,4,0.000,0.059,2574,999,3383
$GC,3754,-0.96,-175.2,298.5,-5.8,292,3757,0.00,1.77,0.00,0.000,6,0.000,0.038,2574,2071,3382
$GC,4070,-0.96,-175.2,314.5,-4.6,301,4074,0.00,2.08,0.00,0.000,4,0.000,0.038,2574,846,3382
$GC,4120,-0.96,-175.2,316.8,-4.6,302,4124,0.00,2.03,0.00,0.000,6,0.000,0.064,2574,2085,3381
$GC,4445,-0.96,-175.2,341.0,-8.5,310,4448,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,847,3379
$GC,4483,-0.96,-175.2,344.8,-9.8,310,4489,0.00,2.05,0.00,0.000,6,0.000,0.064,2574,2073,3378
$GC,4816,-0.96,-175.2,371.3,-7.5,319,4820,0.00,2.38,0.00,0.000,4,0.000,0.038,2574,3469,3377
$GC,4855,-0.96,-175.2,374.4,-7.6,320,4858,0.00,2.03,0.00,0.000,6,0.000,0.025,2574,2243,3377
$GC,5184,-0.96,-175.2,398.1,-7.3,328,5188,0.00,2.38,0.00,0.000,4,0.000,0.040,2574,848,3375
$GC,5263,-0.96,-175.2,404.6,-7.0,329,5269,0.00,2.03,0.00,0.000,6,0.000,0.026,2574,2075,3375
$GC,5593,-0.96,-175.2,419.9,-4.1,338,5601,0.00,2.40,0.00,0.000,4,0.000,0.041,2574,3476,3373
$GC,5623,-0.96,-175.2,421.1,-4.6,338,5627,0.00,2.05,0.00,0.000,6,0.000,0.025,2574,2241,3373
$GC,5966,-0.96,-175.2,432.6,-3.9,347,5970,0.00,2.40,0.00,0.000,4,0.000,0.049,2574,841,3371
$GC,6016,-0.96,-175.2,435.2,-5.3,348,6020,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,2069,3370
$STATE,6298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6298,begin apogee
$GC,6303,-0.31,0.0,451.8,6.5,355,6448,0.70,0.00,142.45,0.894,6,0.058,0.000,2729,2072,2664
$STATE,6449,end apogee,CONTROL_FINISHED_OK
$STATE,6449,begin climb
$GC,6452,0.96,175.2,460.0,0.0,358,6607,1.23,2.17,146.15,0.869,4,0.103,0.052,3011,850,1947
$GC,6685,0.96,175.2,457.9,8.3,364,6689,0.00,2.10,0.00,0.000,6,0.000,0.028,3012,2078,1939
$GC,7033,0.96,175.2,431.2,7.7,373,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2081,1936
$GC,7358,0.96,175.2,403.8,8.8,381,7362,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,3482,1934
$GC,7452,0.96,175.2,395.0,9.2,383,7456,0.00,2.10,0.00,0.000,6,0.000,0.050,3011,2257,1934
$GC,7776,0.96,175.2,365.6,8.8,391,7781,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,845,1932
$GC,7816,0.96,175.2,362.0,9.3,392,7819,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2081,1930
$GC,8145,0.96,175.2,335.8,7.8,400,8149,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3480,1930
$GC,8217,0.96,175.2,329.6,9.3,401,8220,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2243,1930
$GC,8553,0.96,175.2,301.9,8.1,410,8557,0.00,2.40,0.00,0.000,4,0.000,0.042,3011,849,1928
$GC,8738,0.96,175.2,284.3,10.4,417,8742,0.00,2.05,0.00,0.000,6,0.000,0.028,3011,2082,1926
$GC,9065,0.97,184.2,256.8,6.9,433,9075,0.00,2.42,5.18,0.586,4,0.000,0.074,3011,3478,1912
$GC,9194,1.02,222.2,248.5,6.1,439,9236,0.00,2.08,35.08,0.755,6,0.000,0.031,3011,2242,1757
$GC,9544,1.02,222.2,222.1,7.4,456,9548,0.00,2.40,0.00,0.000,4,0.000,0.041,3011,849,1750
$GC,9696,1.02,222.2,209.5,8.0,463,9699,0.00,2.05,0.00,0.000,6,0.000,0.026,3012,2082,1748
$GC,10023,1.02,222.2,182.8,8.7,488,10027,0.00,2.15,0.00,0.000,4,0.000,0.040,3011,841,1748
$GC,10050,1.02,222.2,180.3,9.6,490,10057,0.00,2.10,0.00,0.000,6,0.000,0.063,3011,2084,1746
$GC,10377,1.13,313.8,158.1,4.6,521,10462,0.12,2.47,78.68,0.673,4,0.050,0.035,3050,3479,1384
$GC,10513,1.13,313.8,147.9,8.7,533,10520,0.00,2.05,0.00,0.000,6,0.000,0.024,3050,2244,1382
$GC,10839,1.13,313.8,118.0,9.8,564,10843,0.00,2.40,0.00,0.000,4,0.000,0.052,3050,839,1378
$GC,10879,1.13,313.8,114.0,9.5,567,10883,0.00,2.05,0.00,0.000,6,0.000,0.021,3050,2094,1376
$GC,11211,1.13,313.8,81.1,10.0,598,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2098,1376
$GC,11528,1.13,313.8,47.7,9.8,628,11532,0.00,2.12,0.00,0.000,4,0.000,0.035,3050,844,1376
$GC,11630,1.13,313.8,37.7,9.5,637,11633,0.00,2.00,0.00,0.000,6,0.000,0.020,3050,2080,1374
$GC,11968,1.13,313.8,7.6,9.1,690,11974,0.00,2.10,0.00,0.000,4,0.000,0.041,3050,838,1374
$STATE,12012,end climb,SURFACE_DEPTH_REACHED
$STATE,12012,begin surface coast
$FINISH,1.6,1.023041
$STATE,12047,end surface coast,CONTROL_FINISHED_OK
$STATE,12047,begin surface
$SM_CCo,12070,3.90,0.348,0,0,1359,320.12
$SM_GC,2.76,0.00,0.00,3.90,0.000,0.000,0.348,432,2087,1359,-10.87,0.20,320.12
$IRIDIUM_FIX,2057.14,-15804.20,091197,080801
$TT8_MAMPS,0.029146
$HUMID,1976
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.90
$XPDR_PINGS,721
$24V_AH,23.3,66.474
$10V_AH,10.2,38.097
$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,25.525,116.900,407.525,3.900,0.000,60.461,57.906,387.686,184.250,0.000,0.000,17.251,1288.547,8556.281,468.882,1738.848,718.590,33.363,1325.529,0.000,1703.724,0.000,29.251
$DEVICE_MAMPS,153.400,74.399,894.322,348.218,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.175,456.886,767.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,704
$CAP_FILE_SIZE,107480,10
$CFSIZE,260165632,244723712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,122007,2107.411,-15802.049,88,0.9,88,9.8