version: 66.03
glider: 139
mission: 3
dive: 270
start: 8 17 108 9 6 2
data:
$ID,139
$MISSION,3
$DIVE,270
$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,-1276328
$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,63
$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
$GPS1,085726,2102.748,-15801.415,75,1.1,75,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.9
$GPS2,090544,2102.698,-15801.514,13,1.6,13,9.8
$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,81.9,25192,-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,-44.05,0.000,2,0.000,0.000,425,2094,2564
$GC,70,-0.96,-175.2,3.2,-2.6,8,105,12.05,2.10,-17.02,0.000,4,0.150,0.048,2577,845,3381
$GC,151,-0.96,-175.2,17.2,-13.0,22,157,0.00,2.00,0.00,0.000,6,0.000,0.031,2578,2070,3382
$GC,271,-0.96,-175.2,33.0,-13.1,41,275,0.00,2.33,0.00,0.000,4,0.000,0.064,2578,3461,3382
$GC,288,-0.96,-175.2,35.2,-12.1,42,291,0.00,1.98,0.00,0.000,6,0.000,0.019,2577,2236,3382
$GC,618,-0.96,-175.2,68.1,-10.5,73,622,0.00,2.35,0.00,0.000,4,0.000,0.033,2577,834,3383
$GC,758,-0.96,-175.2,82.3,-9.9,85,762,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2081,3384
$GC,1089,-0.96,-175.2,117.8,-11.1,116,1092,0.00,2.08,0.00,0.000,4,0.000,0.034,2577,843,3384
$GC,1123,-0.96,-175.2,121.8,-11.9,119,1127,0.00,1.98,0.00,0.000,6,0.000,0.019,2578,2078,3384
$GC,1456,-0.96,-175.2,154.9,-8.5,150,1459,0.00,2.08,0.00,0.000,4,0.000,0.035,2577,842,3384
$GC,1505,-0.96,-175.2,159.4,-8.6,154,1512,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2078,3384
$GC,1832,-0.96,-175.2,184.5,-7.1,185,1836,0.00,2.08,0.00,0.000,4,0.000,0.034,2578,840,3385
$GC,1871,-0.96,-175.2,187.5,-7.3,188,1877,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2074,3385
$GC,2191,-0.96,-175.2,212.9,-8.5,212,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3385
$GC,2501,-0.96,-175.2,235.8,-6.3,227,2505,0.00,2.08,0.00,0.000,4,0.000,0.072,2577,844,3385
$GC,2557,-0.96,-175.2,239.1,-5.7,229,2561,0.00,1.98,0.00,0.000,6,0.000,0.030,2578,2074,3385
$GC,2878,-0.96,-175.2,254.7,-4.6,245,2882,0.00,2.08,0.00,0.000,4,0.000,0.074,2577,844,3385
$GC,2911,-0.96,-175.2,256.3,-5.3,246,2915,0.00,2.00,0.00,0.000,6,0.000,0.055,2578,2078,3385
$GC,3233,-0.96,-175.2,271.9,-5.0,262,3237,0.00,2.35,0.00,0.000,4,0.000,0.072,2578,3470,3384
$GC,3272,-0.96,-175.2,273.9,-4.8,264,3275,0.00,2.03,0.00,0.000,6,0.000,0.022,2578,2232,3384
$GC,3604,-0.96,-175.2,293.9,-6.9,280,3608,0.00,2.35,0.00,0.000,4,0.000,0.038,2577,842,3382
$GC,3683,-0.96,-175.2,299.5,-6.8,283,3689,0.00,2.03,0.00,0.000,6,0.000,0.024,2578,2083,3382
$GC,3994,-0.96,-175.2,319.5,-6.4,292,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2086,3381
$GC,4319,-0.96,-175.2,336.0,-4.9,300,4322,0.00,2.12,0.00,0.000,4,0.000,0.039,2577,838,3379
$GC,4346,-0.96,-175.2,337.6,-5.9,300,4350,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,2083,3379
$GC,4689,-0.96,-175.2,357.8,-6.0,309,4692,0.00,2.12,0.00,0.000,4,0.000,0.039,2577,840,3377
$GC,4722,-0.96,-175.2,360.2,-7.2,309,4726,0.00,2.05,0.00,0.000,6,0.000,0.026,2577,2085,3377
$GC,5060,-0.96,-175.2,380.8,-6.0,318,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2088,3375
$GC,5383,-0.96,-175.2,404.4,-7.5,326,5387,0.00,2.12,0.00,0.000,4,0.000,0.041,2577,848,3373
$GC,5410,-0.96,-175.2,406.8,-9.0,326,5414,0.00,2.08,0.00,0.000,6,0.000,0.066,2578,2076,3372
$GC,5754,-0.96,-175.2,434.9,-7.6,335,5758,0.00,2.42,0.00,0.000,4,0.000,0.054,2578,3474,3371
$GC,5795,-0.96,-175.2,437.4,-6.1,336,5799,0.00,2.05,0.00,0.000,6,0.000,0.026,2578,2241,3371
$STATE,6083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6083,begin apogee
$GC,6088,-0.31,0.0,450.1,3.9,343,6233,0.68,0.00,141.85,0.893,6,0.051,0.000,2730,2240,2664
$STATE,6233,end apogee,CONTROL_FINISHED_OK
$STATE,6234,begin climb
$GC,6236,0.96,175.2,455.6,0.0,346,6393,1.20,2.28,145.62,0.866,4,0.037,0.046,3010,3475,1949
$GC,6550,0.96,175.2,442.5,7.7,353,6554,0.00,2.10,0.00,0.000,6,0.000,0.035,3010,2257,1943
$GC,6863,1.01,213.1,422.9,6.1,361,6905,0.00,2.55,32.35,0.844,4,0.000,0.076,3010,842,1793
$GC,7031,1.01,213.1,408.4,10.1,364,7035,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2075,1787
$GC,7361,1.01,213.1,373.1,11.5,372,7365,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,3478,1786
$GC,7418,1.01,213.1,366.3,12.4,373,7422,0.00,2.08,0.00,0.000,6,0.000,0.028,3010,2250,1786
$GC,7736,1.01,213.1,329.7,11.4,381,7740,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,842,1784
$GC,7875,1.01,213.1,315.7,9.2,384,7879,0.00,2.10,0.00,0.000,6,0.000,0.058,3011,2091,1781
$GC,8196,1.01,213.1,288.8,9.0,395,8200,0.00,2.17,0.00,0.000,4,0.000,0.043,3010,842,1781
$GC,8262,1.01,213.1,282.4,10.0,398,8266,0.00,2.10,0.00,0.000,6,0.000,0.028,3010,2079,1779
$GC,8589,1.01,213.1,255.5,7.4,414,8593,0.00,2.42,0.00,0.000,4,0.000,0.047,3010,3476,1779
$GC,8654,1.01,213.1,250.6,7.5,417,8658,0.00,2.08,0.00,0.000,6,0.000,0.042,3010,2254,1779
$GC,8982,1.01,213.1,224.6,9.3,433,8986,0.00,2.42,0.00,0.000,4,0.000,0.041,3010,848,1779
$GC,9022,1.01,213.1,220.8,9.6,435,9025,0.00,2.08,0.00,0.000,6,0.000,0.038,3010,2092,1776
$GC,9346,1.01,218.5,193.4,7.0,455,9350,0.00,2.35,0.00,0.000,4,0.000,0.039,3010,3473,1777
$GC,9403,1.04,239.6,189.6,6.6,460,9429,0.00,2.05,21.55,0.700,6,0.000,0.025,3010,2242,1687
$GC,9748,1.04,239.6,165.8,7.9,492,9752,0.00,2.40,0.00,0.000,4,0.000,0.038,3010,838,1682
$GC,9900,1.04,239.6,153.8,7.6,505,9904,0.00,2.00,0.00,0.000,6,0.000,0.045,3010,2079,1680
$GC,10231,1.09,284.4,133.8,5.9,536,10274,0.10,0.00,39.70,0.643,6,0.054,0.000,3044,2084,1504
$GC,10588,1.09,284.4,97.6,10.3,570,10592,0.00,2.10,0.00,0.000,4,0.000,0.038,3044,842,1499
$GC,10615,1.09,284.4,94.6,11.2,572,10622,0.00,2.05,0.00,0.000,6,0.000,0.033,3044,2080,1498
$GC,10941,1.09,284.4,63.4,8.9,603,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2084,1498
$GC,11259,1.12,306.9,37.3,6.5,633,11284,0.00,2.35,20.23,0.540,4,0.000,0.068,3045,3468,1411
$GC,11422,1.12,306.9,25.7,7.4,652,11428,0.00,2.03,0.00,0.000,6,0.000,0.021,3044,2244,1411
$GC,11543,1.12,306.9,17.2,7.3,673,11549,0.00,2.35,0.00,0.000,4,0.000,0.034,3044,837,1409
$GC,11606,1.12,306.9,12.4,9.0,684,11612,0.00,2.00,0.00,0.000,6,0.000,0.038,3044,2091,1408
$GC,11726,1.12,306.9,3.1,7.6,705,11733,0.00,2.33,0.00,0.000,4,0.000,0.033,3044,3460,1408
$STATE,11737,end climb,SURFACE_DEPTH_REACHED
$STATE,11738,begin surface coast
$FINISH,1.4,1.023232
$STATE,11750,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11773,11.55,0.487,0,0,1358,320.12
$SM_GC,2.62,0.00,0.00,11.55,0.000,0.000,0.487,432,2231,1358,-10.87,4.30,320.12
$IRIDIUM_FIX,2054.83,-15804.20,111197,050507
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,8.66839
$TCM_TEMP,23.00
$XPDR_PINGS,708
$24V_AH,23.3,68.511
$10V_AH,10.2,39.204
$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,25.325,116.250,401.300,11.550,0.000,32.598,26.232,306.220,181.000,0.000,0.000,14.948,1296.941,8233.344,478.467,1681.709,579.323,0.000,1311.197,0.000,1654.468,0.000,29.239
$DEVICE_MAMPS,150.332,75.933,892.788,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.766,468.283,795.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,709
$CAP_FILE_SIZE,105525,14
$CFSIZE,260165632,244015104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170808,122408,2102.580,-15801.568,63,1.3,63,9.8