version: 66.03
glider: 139
mission: 3
dive: 262
start: 8 16 108 5 10 32
data:
$ID,139
$MISSION,3
$DIVE,262
$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,2
$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,-1276134.1
$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,57
$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
$GPS1,050138,2106.935,-15800.152,71,1.0,71,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-69.1
$GPS2,051014,2106.896,-15800.202,16,1.2,16,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.035
$KALMAN_X,-82146.0,143.0,-224.2,74115.8,-2765.0
$KALMAN_Y,-9715.9,-251.3,80.1,7467.0,-611.7
$MHEAD_RNG_PITCHd_Wd,100.6,24441,-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,-175.2,0.0,0.0,0,65,0.00,0.00,-42.45,0.000,2,0.000,0.000,426,2085,2516
$GC,68,-0.96,-175.2,3.1,-2.1,8,109,12.05,2.15,-18.90,0.000,4,0.151,0.065,2578,842,3382
$GC,121,-0.96,-175.2,12.0,-14.1,17,127,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2082,3383
$GC,240,-0.96,-175.2,26.2,-12.3,38,247,0.00,2.15,0.00,0.000,4,0.000,0.065,2578,3355,3383
$GC,291,-0.96,-175.2,32.0,-10.9,45,297,0.00,1.83,0.00,0.000,6,0.000,0.020,2578,2246,3383
$GC,616,-0.96,-175.2,63.6,-7.8,76,620,0.00,2.35,0.00,0.000,4,0.000,0.034,2578,839,3384
$GC,717,-0.96,-175.2,70.5,-7.0,85,721,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2089,3384
$GC,1049,-0.96,-175.2,100.3,-10.1,116,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2093,3385
$GC,1366,-0.96,-175.2,128.3,-8.0,146,1369,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,840,3385
$GC,1415,-0.96,-175.2,132.4,-8.1,150,1422,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2075,3386
$GC,1742,-0.96,-175.2,161.3,-9.5,181,1746,0.00,2.08,0.00,0.000,4,0.000,0.040,2577,844,3386
$GC,1765,-0.96,-175.2,163.4,-9.0,183,1769,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2077,3387
$GC,2097,-0.96,-175.2,190.9,-6.8,214,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2080,3386
$GC,2409,-0.96,-175.2,210.0,-6.5,236,2412,0.00,2.08,0.00,0.000,4,0.000,0.035,2578,844,3387
$GC,2481,-0.96,-175.2,215.7,-7.8,239,2485,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2074,3386
$GC,2808,-0.96,-175.2,240.9,-8.7,255,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3386
$GC,3117,-0.96,-175.2,268.1,-8.7,270,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3386
$GC,3427,-0.96,-175.2,292.6,-8.7,285,3430,0.00,2.08,0.00,0.000,4,0.000,0.048,2577,845,3385
$GC,3488,-0.96,-175.2,298.5,-9.3,287,3494,0.00,2.00,0.00,0.000,6,0.000,0.023,2578,2079,3385
$GC,3798,-0.96,-175.2,324.9,-8.2,296,3802,0.00,2.35,0.00,0.000,4,0.000,0.037,2578,3469,3384
$GC,3831,-0.96,-175.2,327.6,-8.0,296,3837,0.00,2.03,0.00,0.000,6,0.000,0.063,2578,2235,3384
$GC,4163,-0.96,-175.2,349.7,-5.9,305,4168,0.00,2.35,0.00,0.000,4,0.000,0.071,2578,844,3382
$GC,4223,-0.96,-175.2,353.6,-6.3,306,4227,0.00,2.03,0.00,0.000,6,0.000,0.031,2578,2074,3382
$GC,4537,-0.96,-175.2,374.1,-7.0,314,4541,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,3470,3380
$GC,4564,-0.96,-175.2,376.2,-7.5,314,4568,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2244,3380
$GC,4900,-0.96,-175.2,409.2,-11.0,323,4905,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,845,3378
$GC,5006,-0.96,-175.2,419.6,-8.7,325,5011,0.00,2.05,0.00,0.000,6,0.000,0.033,2578,2069,3377
$GC,5354,-0.96,-175.2,444.8,-6.1,334,5358,0.00,2.42,0.00,0.000,4,0.000,0.075,2578,3477,3375
$GC,5443,-0.96,-175.2,449.5,-4.8,336,5447,0.00,2.05,0.00,0.000,6,0.000,0.025,2578,2238,3375
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5460,begin apogee
$GC,5465,-0.31,0.0,450.3,5.1,336,5612,0.65,0.00,143.20,0.880,6,0.051,0.000,2728,2237,2664
$STATE,5612,end apogee,CONTROL_FINISHED_OK
$STATE,5612,begin climb
$GC,5615,0.96,175.2,456.9,0.0,340,5771,1.17,2.25,145.55,0.855,4,0.102,0.042,3009,3470,1948
$GC,5872,0.96,175.2,443.2,10.1,346,5876,0.00,2.08,0.00,0.000,6,0.000,0.027,3009,2248,1944
$GC,6196,0.96,175.2,412.8,9.4,354,6200,0.00,2.42,0.00,0.000,4,0.000,0.044,3009,850,1938
$GC,6318,0.96,175.2,401.9,8.2,356,6324,0.00,2.08,0.00,0.000,6,0.000,0.065,3009,2069,1934
$GC,6649,0.96,175.2,377.1,7.6,365,6653,0.00,2.45,0.00,0.000,4,0.000,0.042,3010,3480,1933
$GC,6698,0.96,175.2,373.1,8.2,366,6702,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2251,1933
$GC,7022,0.96,175.2,348.4,8.4,374,7026,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,849,1931
$GC,7139,0.96,175.2,336.0,11.5,376,7142,0.00,2.05,0.00,0.000,6,0.000,0.028,3009,2080,1929
$GC,7475,0.96,175.2,300.9,10.0,385,7479,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,3482,1929
$GC,7604,0.96,175.2,286.9,11.2,390,7607,0.00,2.05,0.00,0.000,6,0.000,0.067,3009,2250,1929
$GC,7936,1.00,210.1,260.6,6.2,406,7971,0.00,2.50,28.10,0.761,4,0.000,0.073,3009,840,1806
$GC,8046,1.00,210.1,253.0,7.7,411,8050,0.00,2.10,0.00,0.000,6,0.000,0.030,3009,2091,1801
$GC,8373,1.08,269.4,230.3,5.5,427,8434,0.00,2.25,52.47,0.736,4,0.000,0.051,3009,849,1563
$GC,8519,1.08,269.4,219.0,9.2,433,8525,0.00,2.05,0.00,0.000,6,0.000,0.028,3009,2081,1557
$GC,8837,1.08,269.4,188.7,9.5,454,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2085,1556
$GC,9156,1.08,269.4,161.5,7.9,484,9159,0.00,2.12,0.00,0.000,4,0.000,0.039,3009,839,1554
$GC,9212,1.08,269.4,156.5,9.3,489,9216,0.00,2.05,0.00,0.000,6,0.000,0.024,3009,2085,1553
$GC,9545,1.08,269.4,125.0,8.4,520,9549,0.00,2.12,0.00,0.000,4,0.000,0.077,3009,846,1552
$GC,9579,1.08,269.4,122.0,7.7,523,9583,0.00,2.03,0.00,0.000,6,0.000,0.063,3009,2081,1551
$GC,9913,1.15,331.0,102.6,5.5,554,9972,0.15,2.38,52.58,0.612,4,0.044,0.067,3062,3471,1312
$GC,10017,1.15,331.0,94.5,8.3,563,10021,0.00,2.05,0.00,0.000,6,0.000,0.022,3062,2236,1312
$GC,10351,1.15,331.0,63.4,9.3,594,10355,0.00,2.38,0.00,0.000,4,0.000,0.053,3062,839,1310
$GC,10450,1.15,331.0,52.5,10.8,602,10457,0.00,2.05,0.00,0.000,6,0.000,0.020,3062,2087,1307
$GC,10781,1.15,331.0,18.8,9.8,643,10787,0.00,2.10,0.00,0.000,4,0.000,0.042,3062,843,1307
$GC,10861,1.15,331.0,10.7,10.6,657,10868,0.00,2.03,0.00,0.000,6,0.000,0.058,3062,2086,1306
$STATE,10933,end climb,SURFACE_DEPTH_REACHED
$STATE,10934,begin surface coast
$FINISH,1.4,0.999041
$STATE,10963,end surface coast,CONTROL_FINISHED_OK
$STATE,10963,begin surface
$SM_CCo,11044,0.00,0.000,0,0,1303,333.85
$SM_GC,2.23,11.35,0.00,0.00,0.035,0.000,0.000,432,2089,1303,-10.81,0.34,333.85
$IRIDIUM_FIX,2059.45,-15806.34,101197,020200
$TT8_MAMPS,0.029146
$HUMID,1959
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,22.90
$XPDR_PINGS,688
$24V_AH,23.3,67.313
$10V_AH,10.2,38.559
$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,25.375,103.325,421.900,0.000,0.000,23.410,28.919,331.314,176.000,0.000,0.000,17.872,1218.383,7623.896,474.243,1645.727,586.521,0.000,1293.490,0.000,1617.140,0.000,29.265
$DEVICE_MAMPS,151.099,76.700,879.749,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.742,445.228,778.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34867,675
$CAP_FILE_SIZE,99267,11
$CFSIZE,260165632,244441088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160808,081538,2106.166,-15759.885,26,1.1,26,9.8