version: 66.03
glider: 139
mission: 3
dive: 269
start: 8 17 108 5 37 12
data:
$ID,139
$MISSION,3
$DIVE,269
$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,-1276312.4
$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,65
$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
$GPS1,052816,2102.946,-15801.412,38,2.3,57,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.7
$GPS2,053656,2102.927,-15801.423,31,1.2,43,9.8
$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,82.8,25051,-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,-175.2,0.0,0.0,0,60,0.00,0.00,-38.10,0.000,2,0.000,0.000,423,2093,2382
$GC,63,-0.96,-175.2,3.0,-2.6,7,104,12.00,2.15,-23.38,0.000,4,0.150,0.045,2576,841,3381
$GC,122,-0.96,-175.2,10.1,-9.3,17,128,0.00,1.95,0.00,0.000,6,0.000,0.019,2576,2069,3382
$GC,241,-0.96,-175.2,25.2,-12.1,38,248,0.00,2.33,0.00,0.000,4,0.000,0.030,2576,3471,3383
$GC,259,-0.96,-175.2,27.5,-12.4,41,265,0.00,2.00,0.00,0.000,6,0.000,0.020,2576,2235,3383
$GC,378,-0.96,-175.2,42.3,-12.5,54,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2235,3383
$GC,697,-0.96,-175.2,82.9,-10.8,84,701,0.00,2.33,0.00,0.000,4,0.000,0.033,2576,842,3383
$GC,833,-0.96,-175.2,93.9,-6.5,96,837,0.00,1.98,0.00,0.000,6,0.000,0.018,2576,2085,3383
$GC,1164,-0.96,-175.2,119.8,-9.4,127,1168,0.00,1.67,0.00,0.000,4,0.000,0.056,2576,3124,3384
$GC,1191,-0.96,-175.2,122.8,-9.9,129,1198,0.00,1.45,0.00,0.000,6,0.000,0.019,2576,2231,3385
$GC,1518,-0.96,-175.2,158.1,-9.4,160,1522,0.00,2.33,0.00,0.000,4,0.000,0.068,2576,843,3385
$GC,1663,-0.96,-175.2,169.1,-7.0,172,1669,0.00,2.00,0.00,0.000,6,0.000,0.019,2576,2078,3385
$GC,1989,-0.96,-175.2,191.8,-8.5,203,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2081,3386
$GC,2310,-0.96,-175.2,218.0,-6.8,223,2314,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,841,3386
$GC,2339,-0.96,-175.2,220.0,-7.0,224,2343,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,2080,3386
$GC,2666,-0.96,-175.2,242.4,-6.3,240,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2083,3386
$GC,2975,-0.96,-175.2,262.8,-6.5,255,2979,0.00,2.10,0.00,0.000,4,0.000,0.036,2576,839,3385
$GC,3014,-0.96,-175.2,265.1,-6.2,256,3021,0.00,2.03,0.00,0.000,6,0.000,0.021,2576,2073,3385
$GC,3330,-0.96,-175.2,282.3,-5.7,272,3334,0.00,2.35,0.00,0.000,4,0.000,0.035,2576,3464,3383
$GC,3351,-0.96,-175.2,283.6,-5.9,273,3355,0.00,2.00,0.00,0.000,6,0.000,0.022,2576,2238,3384
$GC,3698,-0.96,-175.2,302.8,-5.8,289,3702,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,845,3382
$GC,3776,-0.96,-175.2,307.5,-6.2,290,3782,0.00,2.00,0.00,0.000,6,0.000,0.064,2576,2073,3382
$GC,4107,-0.96,-175.2,329.8,-7.0,299,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2076,3380
$GC,4433,-0.96,-175.2,351.9,-6.7,307,4436,0.00,2.10,0.00,0.000,4,0.000,0.039,2575,841,3379
$GC,4478,-0.96,-175.2,354.6,-5.9,308,4482,0.00,2.03,0.00,0.000,6,0.000,0.025,2575,2077,3378
$GC,4808,-0.96,-175.2,368.9,-3.7,316,4812,0.00,2.38,0.00,0.000,4,0.000,0.039,2576,3470,3377
$GC,4830,-0.96,-175.2,370.1,-5.0,316,4834,0.00,2.03,0.00,0.000,6,0.000,0.024,2576,2239,3376
$GC,5172,-0.96,-175.2,387.6,-5.6,325,5176,0.00,2.38,0.00,0.000,4,0.000,0.072,2576,846,3374
$GC,5263,-0.96,-175.2,392.5,-5.8,327,5266,0.00,2.05,0.00,0.000,6,0.000,0.041,2576,2082,3374
$GC,5592,-0.96,-175.2,414.4,-7.0,335,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2084,3372
$GC,5917,-0.96,-175.2,435.4,-6.0,343,5921,0.00,2.40,0.00,0.000,4,0.000,0.059,2576,3490,3370
$GC,5978,-0.96,-175.2,438.5,-4.5,344,5982,0.00,2.08,0.00,0.000,6,0.000,0.039,2576,2239,3369
$STATE,6244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6244,begin apogee
$GC,6249,-0.31,0.0,451.6,4.9,351,6394,0.68,0.00,141.60,0.889,6,0.050,0.000,2729,2238,2664
$STATE,6394,end apogee,CONTROL_FINISHED_OK
$STATE,6394,begin climb
$GC,6397,0.96,175.2,458.2,0.0,354,6551,1.20,2.28,145.32,0.865,4,0.037,0.078,3009,3478,1948
$GC,6602,0.96,175.2,453.2,9.3,359,6606,0.00,2.08,0.00,0.000,6,0.000,0.065,3009,2253,1946
$GC,6932,0.96,175.2,423.3,9.3,367,6936,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,848,1938
$GC,7118,0.96,175.2,406.7,8.6,371,7121,0.00,2.05,0.00,0.000,6,0.000,0.028,3009,2077,1933
$GC,7442,0.96,175.2,380.3,8.2,379,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2081,1933
$GC,7766,0.96,175.2,353.6,8.2,387,7770,0.00,2.15,0.00,0.000,4,0.000,0.044,3009,844,1931
$GC,7872,0.96,175.2,343.1,10.3,389,7876,0.00,2.10,0.00,0.000,6,0.000,0.065,3009,2078,1930
$GC,8185,0.96,175.2,317.5,8.1,397,8189,0.00,2.15,0.00,0.000,4,0.000,0.056,3009,845,1929
$GC,8268,0.96,175.2,310.2,8.4,398,8274,0.00,2.10,0.00,0.000,6,0.000,0.065,3009,2078,1928
$GC,8581,1.06,255.6,290.7,5.0,410,8655,0.00,2.22,67.78,0.792,4,0.000,0.081,3009,850,1620
$GC,8678,1.06,257.9,284.8,7.1,414,8684,0.00,2.05,0.00,0.000,6,0.000,0.027,3009,2079,1617
$GC,8993,1.06,259.7,261.8,7.1,430,8997,0.00,2.40,0.00,0.000,4,0.000,0.039,3009,3474,1612
$GC,9105,1.06,259.8,254.5,7.1,435,9108,0.00,2.05,0.00,0.000,6,0.000,0.026,3009,2251,1612
$GC,9432,1.06,259.8,226.1,10.4,451,9436,0.00,2.35,0.00,0.000,4,0.000,0.074,3009,853,1611
$GC,9593,1.06,259.8,208.7,9.9,458,9597,0.00,2.08,0.00,0.000,6,0.000,0.057,3009,2085,1607
$GC,9921,1.09,281.7,183.0,6.5,484,9948,0.10,2.40,21.92,0.681,4,0.056,0.047,3043,3468,1514
$GC,9998,1.09,281.7,175.7,10.0,490,10005,0.00,2.08,0.00,0.000,6,0.000,0.035,3043,2249,1514
$GC,10327,1.09,281.7,140.8,11.8,521,10331,0.00,2.40,0.00,0.000,4,0.000,0.054,3043,846,1512
$GC,10415,1.09,281.7,130.5,9.9,528,10421,0.00,2.05,0.00,0.000,6,0.000,0.023,3043,2082,1509
$GC,10743,1.09,281.7,105.5,8.2,559,10747,0.00,2.12,0.00,0.000,4,0.000,0.069,3043,841,1509
$GC,10833,1.09,281.7,97.5,8.9,567,10837,0.00,1.62,0.00,0.000,6,0.000,0.062,3043,1876,1508
$GC,11167,1.09,281.7,66.1,10.3,598,11171,0.00,2.67,0.00,0.000,4,0.000,0.052,3043,3466,1508
$GC,11240,1.09,281.7,57.9,10.6,604,11244,0.00,1.98,0.00,0.000,6,0.000,0.021,3043,2241,1508
$GC,11567,1.09,281.7,23.7,9.2,640,11574,0.00,2.35,0.00,0.000,4,0.000,0.035,3043,835,1509
$GC,11734,1.09,281.7,8.9,9.1,669,11740,0.00,2.00,0.00,0.000,6,0.000,0.019,3043,2091,1508
$STATE,11806,end climb,SURFACE_DEPTH_REACHED
$STATE,11806,begin surface coast
$FINISH,1.4,1.020691
$STATE,11847,end surface coast,CONTROL_FINISHED_OK
$STATE,11847,begin surface
$SM_CCo,11868,32.62,0.531,0,0,1358,320.12
$SM_GC,2.48,0.00,0.00,32.62,0.000,0.000,0.531,425,2094,1358,-10.90,0.40,320.12
$IRIDIUM_FIX,2054.83,-15759.05,111197,020207
$TT8_MAMPS,0.029146
$HUMID,1998
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,22.30
$XPDR_PINGS,701
$24V_AH,23.3,68.373
$10V_AH,10.2,39.124
$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,25.250,106.650,376.625,32.625,0.000,25.309,31.102,290.641,179.250,0.000,0.000,45.125,1267.995,8386.936,494.388,1691.587,566.044,0.000,1305.026,0.000,1633.350,0.000,29.243
$DEVICE_MAMPS,149.565,81.302,888.953,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.951,444.858,755.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34864,689
$CAP_FILE_SIZE,103676,16
$CFSIZE,260165632,244068352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170808,085726,2102.748,-15801.415,75,1.1,75,9.8