version: 66.03
glider: 139
mission: 3
dive: 268
start: 8 17 108 2 25 2
data:
$ID,139
$MISSION,3
$DIVE,268
$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,-1276266.6
$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,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
$GPS1,020521,2103.381,-15800.554,54,3.5,73,9.8
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-66.6
$GPS2,022445,2103.414,-15800.767,13,1.2,13,9.8
$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,85.1,23978,-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,-175.2,0.0,0.0,0,67,0.00,0.00,-43.72,0.000,2,0.000,0.000,429,2222,2580
$GC,70,-0.96,-175.2,3.3,-3.2,8,105,11.93,2.33,-16.48,0.000,4,0.147,0.045,2577,840,3380
$GC,123,-0.96,-175.2,13.3,-15.4,17,129,0.00,1.98,0.00,0.000,6,0.000,0.018,2577,2082,3381
$GC,242,-0.96,-175.2,29.0,-14.8,38,248,0.00,2.30,0.00,0.000,4,0.000,0.041,2577,3470,3381
$GC,281,-0.96,-175.2,34.2,-11.7,42,288,0.00,2.03,0.00,0.000,6,0.000,0.019,2577,2238,3382
$GC,607,-0.96,-175.2,72.4,-10.2,73,611,0.00,2.33,0.00,0.000,4,0.000,0.033,2577,844,3382
$GC,736,-0.96,-175.2,83.5,-8.2,84,741,0.03,1.98,0.00,0.000,6,0.173,0.018,2585,2087,3382
$GC,1066,-0.96,-175.2,113.8,-9.9,115,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2091,3383
$GC,1385,-0.96,-175.2,146.2,-9.2,145,1388,0.00,2.10,0.00,0.000,4,0.000,0.034,2585,840,3383
$GC,1464,-0.96,-175.2,153.7,-9.5,152,1468,0.00,1.98,0.00,0.000,6,0.000,0.019,2585,2081,3383
$GC,1797,-0.96,-175.2,188.0,-10.2,183,1801,0.00,1.77,0.00,0.000,4,0.000,0.072,2585,3180,3382
$GC,1865,-0.96,-175.2,195.7,-10.8,189,1869,0.00,1.55,0.00,0.000,6,0.000,0.020,2585,2232,3383
$GC,2198,-0.96,-175.2,223.9,-6.5,207,2202,0.00,2.30,0.00,0.000,4,0.000,0.069,2585,844,3383
$GC,2270,-0.96,-175.2,228.5,-6.1,210,2273,0.00,1.98,0.00,0.000,6,0.000,0.044,2585,2079,3383
$GC,2591,-0.96,-175.2,248.9,-7.0,226,2594,0.00,2.08,0.00,0.000,4,0.000,0.035,2585,841,3383
$GC,2624,-0.96,-175.2,251.5,-7.7,227,2628,0.00,1.98,0.00,0.000,6,0.000,0.021,2585,2077,3383
$GC,2945,-0.96,-175.2,277.4,-8.3,243,2948,0.00,2.08,0.00,0.000,4,0.000,0.035,2585,838,3382
$GC,3012,-0.96,-175.2,282.9,-8.0,246,3016,0.00,2.00,0.00,0.000,6,0.000,0.021,2585,2076,3382
$GC,3344,-0.96,-175.2,302.3,-4.0,261,3348,0.00,2.35,0.00,0.000,4,0.000,0.036,2585,3468,3381
$GC,3416,-0.96,-175.2,304.7,-3.3,262,3420,0.00,2.05,0.00,0.000,6,0.000,0.063,2585,2232,3380
$GC,3753,-0.96,-175.2,324.5,-7.8,271,3757,0.00,2.35,0.00,0.000,4,0.000,0.037,2585,839,3378
$GC,3847,-0.96,-175.2,334.0,-10.2,273,3851,0.00,2.03,0.00,0.000,6,0.000,0.023,2585,2077,3378
$GC,4166,-0.96,-175.2,359.5,-6.5,281,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2082,3376
$GC,4491,-0.96,-175.2,379.6,-6.8,289,4495,0.00,2.38,0.00,0.000,4,0.000,0.038,2585,3473,3374
$GC,4518,-0.96,-175.2,381.7,-7.7,289,4522,0.00,2.03,0.00,0.000,6,0.000,0.061,2585,2237,3374
$GC,4855,-0.96,-175.2,405.1,-7.0,298,4859,0.00,2.35,0.00,0.000,4,0.000,0.073,2585,848,3371
$GC,4960,-0.96,-175.2,412.3,-7.2,300,4964,0.00,2.03,0.00,0.000,6,0.000,0.034,2585,2077,3371
$GC,5274,-0.96,-175.2,436.4,-7.9,308,5278,0.00,2.40,0.00,0.000,4,0.000,0.042,2585,3472,3369
$GC,5323,-0.96,-175.2,440.5,-7.5,309,5327,0.00,2.05,0.00,0.000,6,0.000,0.025,2586,2245,3369
$STATE,5439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5439,begin apogee
$GC,5445,-0.31,0.0,450.2,8.8,312,5589,0.62,0.00,141.55,0.885,6,0.047,0.000,2729,2244,2664
$STATE,5590,end apogee,CONTROL_FINISHED_OK
$STATE,5590,begin climb
$GC,5592,0.96,175.2,460.1,0.0,315,5749,1.20,2.25,145.52,0.861,4,0.035,0.081,3011,3472,1948
$GC,5800,0.96,175.2,454.8,10.7,320,5803,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2249,1946
$GC,6129,0.96,175.2,418.6,11.0,328,6133,0.00,2.42,0.00,0.000,4,0.000,0.044,3011,850,1938
$GC,6309,0.96,175.2,396.9,12.2,332,6313,0.00,2.03,0.00,0.000,6,0.000,0.027,3010,2071,1934
$GC,6638,0.96,175.2,362.9,9.2,340,6642,0.00,2.12,0.00,0.000,4,0.000,0.043,3010,849,1933
$GC,6683,0.96,175.2,359.4,8.1,341,6686,0.00,2.05,0.00,0.000,6,0.000,0.028,3011,2079,1932
$GC,7012,0.96,175.2,335.2,7.6,349,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2083,1931
$GC,7337,0.96,175.2,310.0,8.0,357,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2083,1930
$GC,7646,0.96,176.8,285.6,7.1,369,7649,0.00,2.15,0.00,0.000,4,0.000,0.082,3011,845,1928
$GC,7746,1.01,216.6,278.8,6.1,373,7786,0.00,2.10,33.47,0.775,6,0.000,0.028,3011,2082,1780
$GC,8109,1.07,265.2,256.7,5.8,391,8158,0.00,2.47,43.30,0.755,4,0.000,0.041,3011,3469,1582
$GC,8194,1.07,265.2,250.7,7.8,395,8198,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2243,1581
$GC,8527,1.07,265.2,214.8,13.2,411,8531,0.00,2.40,0.00,0.000,4,0.000,0.077,3011,849,1575
$GC,8724,1.14,321.8,198.4,5.6,421,8779,0.15,2.05,48.85,0.706,6,0.334,0.025,3052,2090,1351
$GC,9105,1.14,321.8,159.4,12.9,457,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2090,1344
$GC,9423,1.14,321.8,124.6,10.1,487,9427,0.00,2.12,0.00,0.000,4,0.000,0.040,3052,846,1343
$GC,9491,1.14,321.8,117.6,10.9,493,9494,0.00,2.03,0.00,0.000,6,0.000,0.023,3052,2083,1341
$GC,9824,1.14,321.8,85.7,9.2,524,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2088,1341
$GC,10149,1.14,321.8,56.6,7.8,555,10153,0.00,2.12,0.00,0.000,4,0.000,0.037,3052,841,1341
$GC,10232,1.14,321.8,50.1,7.8,562,10239,0.00,2.03,0.00,0.000,6,0.000,0.020,3052,2079,1340
$GC,10560,1.14,321.8,24.6,9.9,598,10566,0.00,2.33,0.00,0.000,4,0.000,0.066,3052,3470,1341
$GC,10646,1.14,321.8,17.1,8.9,613,10653,0.00,1.98,0.00,0.000,6,0.000,0.020,3052,2238,1341
$GC,10766,1.14,321.8,5.3,10.3,634,10772,0.00,2.35,0.00,0.000,4,0.000,0.035,3052,837,1341
$STATE,10788,end climb,SURFACE_DEPTH_REACHED
$STATE,10788,begin surface coast
$FINISH,1.4,1.022668
$STATE,10817,end surface coast,CONTROL_FINISHED_OK
$STATE,10817,begin surface
$SM_CCo,10900,0.00,0.000,0,0,1338,325.02
$SM_GC,2.17,11.30,0.00,0.00,0.034,0.000,0.000,423,2094,1338,-10.81,0.42,325.02
$IRIDIUM_FIX,2057.14,-15759.05,111197,020237
$TT8_MAMPS,0.029146
$HUMID,1957
$INTERNAL_PRESSURE,8.68792
$TCM_TEMP,23.20
$XPDR_PINGS,658
$24V_AH,23.3,68.237
$10V_AH,10.2,39.045
$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,25.225,97.900,412.700,0.000,0.000,108.047,112.324,596.423,168.500,0.000,0.000,15.197,1179.696,7773.635,458.010,1592.665,1042.778,0.000,1247.938,0.000,1562.720,0.000,29.250
$DEVICE_MAMPS,334.412,82.069,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.442,421.026,730.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31713,643
$CAP_FILE_SIZE,103616,3
$CFSIZE,260165632,244121600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170808,052816,2102.946,-15801.412,38,2.3,57,9.8