version: 66.03
glider: 139
mission: 3
dive: 265
start: 8 16 108 15 40 50
data:
$ID,139
$MISSION,3
$DIVE,265
$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,-1276200.6
$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,58
$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
$GPS1,153137,2104.798,-15800.740,25,1.7,25,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-60.5
$GPS2,154033,2104.817,-15800.851,11,1.7,11,9.8
$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,91.2,24481,-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,18,begin dive
$GC,20,-0.96,-175.2,0.0,0.0,0,98,0.00,0.00,-75.03,0.000,2,0.000,0.000,428,2091,2528
$GC,101,-0.96,-175.2,3.1,-2.3,14,142,12.00,2.15,-18.98,0.000,4,0.150,0.048,2577,847,3381
$GC,159,-0.96,-175.2,13.1,-15.1,24,165,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2090,3382
$GC,278,-0.96,-175.2,27.9,-12.2,45,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2093,3382
$GC,392,-0.96,-175.2,41.7,-11.9,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2093,3382
$GC,710,-0.96,-175.2,80.1,-12.0,87,713,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,841,3383
$GC,783,-0.96,-175.2,88.2,-10.4,93,790,0.00,1.98,0.00,0.000,6,0.000,0.058,2577,2101,3383
$GC,1110,-0.96,-175.2,121.3,-10.5,124,1114,0.00,2.28,0.00,0.000,4,0.000,0.065,2577,3467,3383
$GC,1165,-0.96,-175.2,127.9,-11.3,128,1171,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2233,3383
$GC,1492,-0.96,-175.2,160.0,-8.7,159,1495,0.00,2.33,0.00,0.000,4,0.000,0.034,2576,838,3383
$GC,1593,-0.96,-175.2,169.5,-9.9,168,1596,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2091,3383
$GC,1926,-0.96,-175.2,200.0,-8.4,199,1930,0.00,2.10,0.00,0.000,4,0.000,0.072,2576,838,3384
$GC,1949,-0.96,-175.2,202.3,-8.8,201,1953,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2088,3383
$GC,2281,-0.96,-175.2,225.6,-5.8,217,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2092,3384
$GC,2590,-0.96,-175.2,238.9,-4.3,232,2594,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,841,3383
$GC,2635,-0.96,-175.2,241.4,-5.8,234,2639,0.00,2.00,0.00,0.000,6,0.000,0.030,2577,2081,3383
$GC,2967,-0.96,-175.2,264.0,-7.2,250,2971,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,844,3382
$GC,3017,-0.96,-175.2,268.0,-8.3,252,3021,0.00,2.03,0.00,0.000,6,0.000,0.021,2577,2081,3382
$GC,3343,-0.96,-175.2,295.4,-8.3,268,3347,0.00,2.35,0.00,0.000,4,0.000,0.036,2577,3470,3382
$GC,3372,-0.96,-175.2,297.5,-7.7,269,3375,0.00,2.00,0.00,0.000,6,0.000,0.021,2577,2238,3381
$GC,3709,-0.96,-175.2,319.1,-6.2,279,3713,0.00,2.35,0.00,0.000,4,0.000,0.072,2576,846,3380
$GC,3794,-0.96,-175.2,323.5,-5.2,281,3798,0.00,2.03,0.00,0.000,6,0.000,0.024,2577,2080,3380
$GC,4126,-0.96,-175.2,340.9,-5.2,289,4130,0.00,2.38,0.00,0.000,4,0.000,0.038,2577,3477,3378
$GC,4171,-0.96,-175.2,343.3,-4.4,290,4175,0.00,2.03,0.00,0.000,6,0.000,0.023,2577,2238,3377
$GC,4496,-0.96,-175.2,360.9,-6.0,298,4500,0.00,2.12,0.00,0.000,4,0.000,0.040,2577,3478,3375
$GC,4574,-0.96,-175.2,367.5,-8.6,299,4578,0.00,2.08,0.00,0.000,6,0.000,0.024,2577,2237,3375
$GC,4911,-0.96,-175.2,399.3,-9.4,308,4914,0.00,2.12,0.00,0.000,4,0.000,0.041,2577,3471,3372
$GC,4988,-0.96,-175.2,405.7,-8.4,309,4992,0.00,2.08,0.00,0.000,6,0.000,0.025,2577,2233,3372
$GC,5327,-0.96,-175.2,430.1,-6.9,318,5331,0.00,2.15,0.00,0.000,4,0.000,0.044,2577,3476,3370
$GC,5416,-0.96,-175.2,436.5,-6.9,320,5420,0.00,2.05,0.00,0.000,6,0.000,0.025,2577,2235,3369
$STATE,5657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5657,begin apogee
$GC,5663,-0.31,0.0,451.6,6.0,326,5807,0.68,0.00,141.68,0.883,6,0.048,0.000,2731,2234,2664
$STATE,5808,end apogee,CONTROL_FINISHED_OK
$STATE,5808,begin climb
$GC,5811,0.96,175.2,457.2,0.0,329,5964,1.17,2.20,144.52,0.859,4,0.035,0.046,3009,3467,1948
$GC,6087,0.96,175.2,433.8,13.0,335,6091,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2255,1943
$GC,6430,0.96,175.2,397.6,9.5,344,6434,0.00,2.45,0.00,0.000,4,0.000,0.043,3009,842,1936
$GC,6462,0.96,175.2,394.5,10.0,344,6466,0.00,2.10,0.00,0.000,6,0.000,0.035,3009,2071,1934
$GC,6799,0.96,175.2,368.3,7.6,353,6803,0.00,2.12,0.00,0.000,4,0.000,0.043,3009,849,1933
$GC,6849,0.97,185.2,364.7,6.9,354,6860,0.00,2.08,7.10,0.696,6,0.000,0.028,3009,2087,1908
$GC,7168,0.98,193.4,343.5,6.9,362,7178,0.00,0.00,8.55,0.718,6,0.000,0.000,3009,2090,1875
$GC,7493,1.04,240.0,323.5,5.9,370,7541,0.00,2.25,41.88,0.805,4,0.000,0.082,3009,850,1683
$GC,7577,1.05,246.9,318.2,7.0,372,7591,0.00,2.08,6.85,0.659,6,0.000,0.028,3009,2080,1656
$GC,7906,1.05,246.9,293.0,7.4,382,7910,0.00,2.40,0.00,0.000,4,0.000,0.040,3009,3474,1652
$GC,7983,1.05,246.9,287.5,7.2,385,7989,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2255,1652
$GC,8299,1.05,246.9,263.8,8.7,401,8303,0.00,2.42,0.00,0.000,4,0.000,0.074,3009,848,1650
$GC,8444,1.05,246.9,247.3,11.8,407,8451,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2078,1646
$GC,8760,1.07,266.2,218.2,6.6,423,8790,0.00,2.20,18.85,0.652,4,0.000,0.049,3009,852,1577
$GC,8813,1.17,348.0,215.5,4.9,425,8891,0.17,2.05,71.82,0.723,6,0.044,0.025,3058,2088,1244
$GC,9207,1.17,348.0,179.1,11.2,454,9211,0.00,2.38,0.00,0.000,4,0.000,0.035,3058,3471,1237
$GC,9251,1.17,348.0,173.4,13.2,457,9257,0.00,2.05,0.00,0.000,6,0.000,0.025,3058,2248,1237
$GC,9578,1.17,348.0,133.5,10.8,488,9582,0.00,2.40,0.00,0.000,4,0.000,0.071,3058,847,1235
$GC,9763,1.17,348.0,114.5,9.4,504,9767,0.00,2.03,0.00,0.000,6,0.000,0.028,3058,2085,1232
$GC,10095,1.17,348.0,84.6,8.8,535,10098,0.00,2.12,0.00,0.000,4,0.000,0.056,3058,844,1232
$GC,10129,1.17,348.0,80.9,11.4,538,10133,0.00,2.03,0.00,0.000,6,0.000,0.031,3058,2088,1232
$GC,10459,1.17,348.0,50.0,8.8,569,10463,0.00,2.12,0.00,0.000,4,0.000,0.036,3058,842,1232
$GC,10497,1.17,348.0,46.7,8.5,572,10504,0.00,2.03,0.00,0.000,6,0.000,0.048,3058,2077,1232
$GC,10829,1.17,348.0,19.0,8.8,614,10835,0.00,2.30,0.00,0.000,4,0.000,0.028,3058,3468,1232
$GC,10916,1.17,348.0,10.1,10.9,629,10922,0.00,1.98,0.00,0.000,6,0.000,0.020,3058,2239,1232
$STATE,10999,end climb,SURFACE_DEPTH_REACHED
$STATE,10999,begin surface coast
$FINISH,1.5,1.022978
$STATE,11034,end surface coast,CONTROL_FINISHED_OK
$STATE,11034,begin surface
$SM_CCo,11115,0.00,0.000,0,0,1230,351.76
$SM_GC,2.30,11.32,0.00,0.00,0.034,0.000,0.000,431,2237,1230,-10.81,4.47,351.76
$IRIDIUM_FIX,2057.14,-15759.05,101197,121224
$TT8_MAMPS,0.029146
$HUMID,1971
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.10
$XPDR_PINGS,656
$24V_AH,23.3,67.778
$10V_AH,10.2,38.799
$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,25.350,106.850,441.250,0.000,0.000,31.189,25.061,350.121,168.000,0.000,0.000,13.139,1189.825,7719.756,516.318,1597.270,614.079,0.000,1330.404,0.000,1567.469,0.000,29.244
$DEVICE_MAMPS,149.565,82.069,882.817,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.655,421.756,728.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34847,650
$CAP_FILE_SIZE,101301,8
$CFSIZE,260165632,244281344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160808,184737,2104.362,-15800.811,56,1.2,56,9.8