version: 66.03
glider: 139
mission: 3
dive: 267
start: 8 16 108 22 46 0
data:
$ID,139
$MISSION,3
$DIVE,267
$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,-1276250.8
$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,60
$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
$GPS1,223356,2104.044,-15800.263,68,1.6,68,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.8
$GPS2,224544,2104.079,-15800.334,18,1.6,30,9.8
$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,88.3,23375,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.96,-175.2,0.0,0.0,0,68,0.00,0.00,-43.80,0.000,2,0.000,0.000,427,2230,2550
$GC,71,-0.96,-175.2,3.0,-2.5,8,106,12.07,2.42,-17.33,0.000,4,0.152,0.053,2577,839,3381
$GC,141,-0.96,-175.2,15.3,-13.1,20,147,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2072,3382
$GC,262,-0.96,-175.2,30.0,-13.1,41,266,0.00,2.33,0.00,0.000,4,0.000,0.029,2577,3469,3383
$GC,312,-0.96,-175.2,36.6,-12.3,45,316,0.00,2.00,0.00,0.000,6,0.000,0.020,2577,2230,3383
$GC,643,-0.96,-175.2,75.5,-10.7,76,647,0.00,2.33,0.00,0.000,4,0.000,0.034,2577,841,3384
$GC,761,-0.96,-175.2,90.1,-11.8,86,765,0.00,1.98,0.00,0.000,6,0.000,0.058,2577,2082,3384
$GC,1094,-0.96,-175.2,120.8,-9.7,117,1098,0.00,2.30,0.00,0.000,4,0.000,0.035,2577,3462,3384
$GC,1127,-0.96,-175.2,124.5,-9.9,119,1133,0.00,2.00,0.00,0.000,6,0.000,0.019,2577,2239,3384
$GC,1453,-0.96,-175.2,157.6,-9.9,150,1457,0.00,2.35,0.00,0.000,4,0.000,0.067,2577,835,3385
$GC,1541,-0.96,-175.2,164.8,-6.5,157,1548,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2077,3385
$GC,1870,-0.96,-175.2,184.0,-5.4,188,1873,0.00,2.08,0.00,0.000,4,0.000,0.073,2576,843,3385
$GC,1892,-0.96,-175.2,185.6,-6.1,190,1896,0.00,2.00,0.00,0.000,6,0.000,0.020,2578,2074,3385
$GC,2219,-0.96,-175.2,212.8,-10.2,215,2223,0.00,2.08,0.00,0.000,4,0.000,0.035,2576,834,3385
$GC,2251,-0.96,-175.2,216.4,-10.5,216,2255,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2077,3385
$GC,2572,-0.96,-175.2,249.6,-9.7,232,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3385
$GC,2883,-0.96,-175.2,266.9,-3.6,247,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2081,3385
$GC,3191,-0.96,-175.2,270.9,-0.5,262,3194,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,837,3383
$GC,3214,-0.96,-175.2,271.1,-0.7,263,3218,0.00,2.03,0.00,0.000,6,0.000,0.023,2577,2083,3383
$GC,3547,-0.96,-175.2,278.1,-2.9,279,3551,0.00,2.00,0.00,0.000,4,0.000,0.075,2577,886,3382
$GC,3574,-0.96,-175.2,279.1,-3.3,280,3578,0.00,1.95,0.00,0.000,6,0.000,0.023,2577,2082,3382
$GC,3901,-0.96,-175.2,293.0,-4.5,296,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2085,3380
$GC,4229,-0.96,-175.2,309.3,-5.1,308,4232,0.00,2.10,0.00,0.000,4,0.000,0.037,2576,845,3378
$GC,4250,-0.96,-175.2,310.8,-6.7,308,4254,0.00,2.03,0.00,0.000,6,0.000,0.025,2576,2073,3378
$GC,4598,-0.96,-175.2,325.4,-4.0,317,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2077,3377
$GC,4925,-0.96,-175.2,340.4,-5.2,325,4928,0.00,2.10,0.00,0.000,4,0.000,0.040,2576,847,3375
$GC,4974,-0.96,-175.2,343.7,-6.5,326,4978,0.00,2.05,0.00,0.000,6,0.000,0.032,2577,2085,3374
$GC,5298,-0.96,-175.2,366.1,-7.3,334,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2089,3372
$GC,5624,-0.96,-175.2,386.9,-6.2,342,5627,0.00,2.12,0.00,0.000,4,0.000,0.041,2576,847,3370
$GC,5663,-0.96,-175.2,389.3,-6.6,342,5669,0.00,2.03,0.00,0.000,6,0.000,0.067,2577,2081,3370
$GC,5994,-0.96,-175.2,407.5,-5.5,351,5998,0.00,2.40,0.00,0.000,4,0.000,0.042,2577,3474,3368
$GC,6022,-0.96,-175.2,409.2,-6.4,351,6026,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2240,3367
$GC,6359,-0.96,-175.2,428.8,-5.4,360,6363,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,848,3366
$GC,6482,-0.96,-175.2,435.9,-5.7,362,6488,0.00,2.03,0.00,0.000,6,0.000,0.028,2577,2072,3366
$STATE,6771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6771,begin apogee
$GC,6777,-0.31,0.0,451.3,5.0,370,6921,0.68,0.00,141.25,0.897,6,0.049,0.000,2730,2073,2664
$STATE,6922,end apogee,CONTROL_FINISHED_OK
$STATE,6922,begin climb
$GC,6924,0.96,175.2,456.9,0.0,373,7078,1.20,2.22,145.23,0.874,4,0.036,0.082,3011,842,1948
$GC,7162,0.96,175.2,446.5,9.1,378,7166,0.00,2.10,0.00,0.000,6,0.000,0.038,3011,2084,1939
$GC,7499,1.05,246.6,425.5,5.2,387,7565,0.00,2.47,61.15,0.859,4,0.000,0.076,3011,3473,1657
$GC,7587,1.09,280.1,420.7,6.2,389,7622,0.00,2.08,30.05,0.832,6,0.000,0.029,3011,2255,1522
$GC,7947,1.09,280.1,395.7,7.2,398,7951,0.00,2.45,0.00,0.000,4,0.000,0.046,3010,852,1513
$GC,8138,1.09,280.1,371.4,13.9,402,8142,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2086,1509
$GC,8456,1.09,280.1,333.7,10.5,410,8460,0.00,2.17,0.00,0.000,4,0.000,0.044,3011,845,1508
$GC,8523,1.09,280.1,327.2,8.9,411,8527,0.00,2.10,0.00,0.000,6,0.000,0.036,3011,2075,1506
$GC,8845,1.09,280.1,294.9,10.5,420,8849,0.00,2.42,0.00,0.000,4,0.000,0.041,3011,3477,1507
$GC,8889,1.09,280.1,289.6,12.5,422,8893,0.00,2.10,0.00,0.000,6,0.000,0.065,3011,2252,1506
$GC,9215,1.09,280.1,249.2,12.1,438,9219,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,849,1506
$GC,9287,1.09,280.1,242.2,9.2,441,9291,0.00,2.05,0.00,0.000,6,0.000,0.027,3011,2082,1504
$GC,9608,1.13,315.0,221.2,6.2,457,9643,0.12,2.20,29.33,0.736,4,0.051,0.081,3049,845,1379
$GC,9676,1.13,315.0,214.4,11.0,460,9680,0.00,2.10,0.00,0.000,6,0.000,0.026,3050,2082,1375
$GC,9999,1.13,315.0,173.2,12.7,485,10003,0.00,2.15,0.00,0.000,4,0.000,0.041,3049,839,1373
$GC,10015,1.13,315.0,171.2,12.2,486,10021,0.00,2.08,0.00,0.000,6,0.000,0.031,3050,2083,1372
$GC,10341,1.13,315.0,139.8,9.4,517,10345,0.00,2.12,0.00,0.000,4,0.000,0.075,3049,847,1372
$GC,10420,1.13,315.0,131.5,10.4,524,10424,0.00,2.05,0.00,0.000,6,0.000,0.061,3049,2094,1371
$GC,10752,1.13,315.0,104.4,8.6,555,10756,0.00,2.33,0.00,0.000,4,0.000,0.069,3049,3466,1371
$GC,10791,1.13,315.0,100.7,9.9,558,10795,0.00,2.03,0.00,0.000,6,0.000,0.022,3049,2238,1371
$GC,11122,1.13,315.0,67.0,9.7,589,11127,0.00,2.38,0.00,0.000,4,0.000,0.042,3049,837,1370
$GC,11185,1.13,315.0,60.8,9.9,594,11188,0.00,2.03,0.00,0.000,6,0.000,0.020,3050,2096,1371
$GC,11511,1.13,315.0,28.1,12.0,625,11518,0.00,2.12,0.00,0.000,4,0.000,0.075,3049,842,1372
$GC,11563,1.13,315.0,22.1,11.0,634,11570,0.00,1.98,0.00,0.000,6,0.000,0.020,3050,2082,1372
$GC,11683,1.13,315.0,11.5,8.7,655,11689,0.00,2.30,0.00,0.000,4,0.000,0.037,3050,3466,1372
$GC,11770,1.13,315.0,4.4,7.7,670,11776,0.00,1.98,0.00,0.000,6,0.000,0.018,3050,2228,1373
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11781,begin surface coast
$FINISH,1.2,1.022989
$STATE,11823,end surface coast,CONTROL_FINISHED_OK
$STATE,11823,begin surface
$SM_CCo,11843,4.07,0.380,0,0,1358,320.12
$SM_GC,2.52,0.00,0.00,4.07,0.000,0.000,0.380,429,2224,1358,-10.88,4.10,320.12
$IRIDIUM_FIX,2054.83,-15802.06,101197,222206
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.90
$XPDR_PINGS,681
$24V_AH,23.3,68.075
$10V_AH,10.2,38.963
$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,25.400,115.700,407.000,4.075,0.000,58.226,66.125,355.138,174.250,0.000,0.000,32.104,1250.899,8486.418,470.663,1616.887,716.646,0.000,1275.974,0.000,1573.811,0.000,29.237
$DEVICE_MAMPS,151.866,82.069,897.390,379.665,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.085,440.960,737.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,679
$CAP_FILE_SIZE,106546,7
$CFSIZE,260165632,244162560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170808,020521,2103.381,-15800.554,54,3.5,73,9.8