version: 66.03
glider: 139
mission: 3
dive: 263
start: 8 16 108 8 30 38
data:
$ID,139
$MISSION,3
$DIVE,263
$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,-1276169.9
$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,61
$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
$GPS1,081538,2106.166,-15759.885,26,1.1,26,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.7
$GPS2,083020,2106.141,-15800.039,15,1.1,33,9.8
$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,97.6,23722,-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,-43.62,0.000,2,0.000,0.000,432,2090,2511
$GC,69,-0.96,-175.2,3.2,-2.6,8,103,11.95,0.00,-19.10,0.000,6,0.150,0.000,2575,2091,3380
$GC,216,-0.96,-175.2,25.1,-13.8,34,223,0.00,2.30,0.00,0.000,4,0.000,0.031,2576,3472,3381
$GC,235,-0.96,-175.2,27.5,-13.2,37,241,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2231,3381
$GC,354,-0.96,-175.2,42.5,-13.0,50,358,0.00,2.33,0.00,0.000,4,0.000,0.034,2575,844,3382
$GC,404,-0.96,-175.2,48.9,-12.7,54,408,0.00,1.95,0.00,0.000,6,0.000,0.058,2576,2077,3382
$GC,736,-0.96,-175.2,82.7,-8.8,85,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2081,3383
$GC,1053,-0.96,-175.2,107.3,-7.8,115,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3383
$GC,1372,-0.96,-175.2,137.3,-10.5,145,1376,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,844,3383
$GC,1399,-0.96,-175.2,140.3,-10.4,147,1406,0.00,2.00,0.00,0.000,6,0.000,0.060,2576,2073,3383
$GC,1725,-0.96,-175.2,172.4,-9.0,178,1729,0.00,2.08,0.00,0.000,4,0.000,0.053,2575,841,3383
$GC,1748,-0.96,-175.2,174.5,-8.8,180,1751,0.00,2.00,0.00,0.000,6,0.000,0.024,2575,2085,3383
$GC,2088,-0.96,-175.2,203.8,-8.0,210,2092,0.00,2.10,0.00,0.000,4,0.000,0.074,2575,841,3383
$GC,2133,-0.96,-175.2,207.5,-7.7,212,2136,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2086,3384
$GC,2465,-0.96,-175.2,228.9,-6.3,228,2469,0.00,2.10,0.00,0.000,4,0.000,0.035,2575,842,3383
$GC,2499,-0.96,-175.2,230.9,-5.7,229,2502,0.00,1.67,0.00,0.000,6,0.000,0.053,2576,1921,3383
$GC,2820,-0.96,-175.2,244.6,-3.3,245,2824,0.00,2.60,0.00,0.000,4,0.000,0.064,2575,3464,3382
$GC,2869,-0.96,-175.2,246.3,-3.8,247,2873,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2233,3382
$GC,3191,-0.96,-175.2,263.0,-6.5,263,3195,0.00,2.35,0.00,0.000,4,0.000,0.067,2575,840,3381
$GC,3274,-0.96,-175.2,269.4,-7.3,266,3281,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2066,3381
$GC,3590,-0.96,-175.2,293.3,-7.7,282,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2069,3380
$GC,3896,-0.96,-175.2,313.4,-5.7,292,3900,0.00,2.38,0.00,0.000,4,0.000,0.038,2576,3463,3378
$GC,3922,-0.96,-175.2,314.7,-4.7,292,3926,0.00,2.03,0.00,0.000,6,0.000,0.024,2575,2234,3378
$GC,4260,-0.96,-175.2,327.9,-3.9,301,4264,0.00,2.35,0.00,0.000,4,0.000,0.048,2575,843,3376
$GC,4315,-0.96,-175.2,330.5,-4.5,302,4319,0.00,2.03,0.00,0.000,6,0.000,0.029,2575,2073,3376
$GC,4628,-0.96,-175.2,345.9,-5.6,310,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3374
$GC,4953,-0.96,-175.2,360.0,-4.7,318,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2077,3372
$GC,5278,-0.96,-175.2,378.9,-5.7,326,5281,0.00,2.10,0.00,0.000,4,0.000,0.041,2575,848,3370
$GC,5323,-0.96,-175.2,381.4,-5.6,327,5327,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2083,3370
$GC,5653,-0.96,-175.2,397.2,-4.7,335,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2086,3368
$GC,5978,-0.96,-175.2,412.5,-4.6,343,5981,0.00,2.12,0.00,0.000,4,0.000,0.041,2575,845,3367
$GC,6016,-0.96,-175.2,414.4,-5.1,343,6023,0.00,2.05,0.00,0.000,6,0.000,0.070,2576,2080,3366
$GC,6348,-0.96,-175.2,426.6,-3.5,352,6352,0.00,2.40,0.00,0.000,4,0.000,0.054,2575,3473,3364
$GC,6370,-0.96,-175.2,427.5,-4.0,352,6374,0.00,2.05,0.00,0.000,6,0.000,0.027,2575,2246,3365
$GC,6715,-0.96,-175.2,441.3,-4.3,361,6719,0.00,2.40,0.00,0.000,4,0.000,0.041,2575,845,3363
$GC,6770,-0.96,-175.2,444.8,-6.4,362,6774,0.00,2.05,0.00,0.000,6,0.000,0.035,2575,2077,3362
$STATE,6878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6883,-0.31,0.0,451.6,6.3,365,7028,0.70,0.00,141.65,0.897,6,0.058,0.000,2730,2078,2664
$STATE,7029,end apogee,CONTROL_FINISHED_OK
$STATE,7029,begin climb
$GC,7031,0.96,175.2,458.0,0.0,368,7189,1.20,2.25,146.18,0.873,4,0.110,0.068,3009,846,1947
$GC,7295,0.96,175.2,453.2,8.9,374,7299,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2077,1939
$GC,7613,0.96,175.2,427.8,8.4,382,7617,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,3477,1937
$GC,7680,0.96,175.2,422.0,9.2,383,7684,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2253,1937
$GC,8022,0.96,175.2,392.8,8.6,392,8026,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,841,1935
$GC,8105,0.96,175.2,385.2,9.2,393,8111,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2074,1932
$GC,8436,0.96,175.2,356.7,8.7,402,8440,0.00,2.45,0.00,0.000,4,0.000,0.059,3009,3481,1932
$GC,8463,0.96,175.2,354.0,9.9,402,8467,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2249,1932
$GC,8800,0.96,175.2,325.9,7.7,411,8804,0.00,2.42,0.00,0.000,4,0.000,0.070,3009,843,1931
$GC,8866,0.96,175.2,320.8,8.2,412,8869,0.00,2.10,0.00,0.000,6,0.000,0.067,3009,2078,1930
$GC,9194,0.96,175.2,295.1,8.2,421,9198,0.00,2.15,0.00,0.000,4,0.000,0.057,3009,841,1929
$GC,9221,0.96,175.2,292.5,9.8,422,9225,0.00,2.10,0.00,0.000,6,0.000,0.028,3009,2080,1928
$GC,9548,0.96,175.2,265.4,7.9,438,9551,0.00,2.15,0.00,0.000,4,0.000,0.042,3009,841,1929
$GC,9706,1.09,281.0,256.6,4.3,445,9802,0.10,2.08,90.00,0.770,6,0.061,0.028,3039,2086,1517
$GC,10119,1.09,281.3,227.4,7.1,465,10122,0.00,2.15,0.00,0.000,4,0.000,0.042,3039,849,1508
$GC,10146,1.09,281.3,225.2,8.0,466,10150,0.00,2.05,0.00,0.000,6,0.000,0.067,3039,2087,1507
$GC,10463,1.09,281.3,194.7,11.2,483,10467,0.00,2.38,0.00,0.000,4,0.000,0.038,3039,3471,1505
$GC,10592,1.09,281.3,179.3,12.4,494,10596,0.00,2.05,0.00,0.000,6,0.000,0.064,3039,2247,1505
$GC,10926,1.09,281.3,147.5,7.6,525,10930,0.00,2.40,0.00,0.000,4,0.000,0.072,3039,847,1504
$GC,11003,1.09,281.3,141.0,8.4,531,11010,0.00,2.08,0.00,0.000,6,0.000,0.062,3039,2085,1502
$GC,11330,1.13,311.0,117.0,6.3,562,11362,0.00,2.40,24.92,0.621,4,0.000,0.034,3039,3482,1395
$GC,11401,1.13,311.0,111.7,7.2,568,11408,0.00,2.08,0.00,0.000,6,0.000,0.022,3039,2251,1395
$GC,11728,1.18,354.9,89.1,5.9,599,11774,0.00,2.47,39.12,0.597,4,0.000,0.068,3039,845,1216
$GC,11953,1.18,354.9,60.4,13.9,619,11960,0.00,2.05,0.00,0.000,6,0.000,0.059,3039,2088,1210
$GC,12278,1.18,354.9,28.2,8.9,651,12285,0.00,2.10,0.00,0.000,4,0.000,0.074,3039,845,1210
$GC,12359,1.18,354.9,20.1,10.1,665,12365,0.00,2.03,0.00,0.000,6,0.000,0.059,3039,2081,1209
$GC,12479,1.18,354.9,9.2,8.8,686,12485,0.00,2.30,0.00,0.000,4,0.000,0.038,3039,3462,1209
$GC,12508,1.18,354.9,6.6,8.0,691,12514,0.00,1.98,0.00,0.000,6,0.000,0.020,3039,2240,1209
$STATE,12552,end climb,SURFACE_DEPTH_REACHED
$STATE,12552,begin surface coast
$FINISH,1.4,1.023001
$STATE,12593,end surface coast,CONTROL_FINISHED_OK
$STATE,12593,begin surface
$SM_CCo,12674,0.00,0.000,0,0,1207,357.40
$SM_GC,2.22,11.25,0.00,0.00,0.033,0.000,0.000,430,2235,1207,-10.81,4.44,357.40
$IRIDIUM_FIX,2059.45,-15801.19,101197,080841
$TT8_MAMPS,0.029146
$HUMID,1974
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.70
$XPDR_PINGS,695
$24V_AH,23.3,67.468
$10V_AH,10.2,38.642
$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,25.200,121.050,441.875,0.000,0.000,80.044,106.266,406.072,177.750,0.000,0.000,35.094,1284.780,9221.090,503.403,1704.669,827.219,0.000,1363.170,0.000,1652.248,0.000,29.234
$DEVICE_MAMPS,149.565,74.399,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.239,449.239,767.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34949,706
$CAP_FILE_SIZE,111637,15
$CFSIZE,260165632,244375552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160808,120307,2105.204,-15759.845,39,0.9,39,9.8