version: 66.03
glider: 139
mission: 3
dive: 247
start: 8 14 108 2 13 59
data:
$ID,139
$MISSION,3
$DIVE,247
$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,1
$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,-1275772.8
$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
$GPS1,020626,2107.630,-15801.241,57,1.4,57,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.9
$GPS2,021308,2107.653,-15801.292,13,1.2,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT5
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.032
$KALMAN_X,-47761.7,348.4,-161.5,41034.8,-3430.8
$KALMAN_Y,-317.3,172.9,-94.5,-2854.2,-302.1
$MHEAD_RNG_PITCHd_Wd,73.0,26702,-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,21,-0.96,-175.2,0.0,0.0,0,67,0.00,0.00,-43.72,0.000,2,0.000,0.000,431,2088,2549
$GC,70,-0.96,-175.2,3.1,-2.5,8,104,12.02,0.00,-17.73,0.000,6,0.150,0.000,2578,2090,3381
$GC,217,-0.96,-175.2,24.7,-12.4,34,224,0.00,2.28,0.00,0.000,4,0.000,0.030,2578,3460,3383
$GC,247,-0.96,-175.2,28.3,-12.5,39,253,0.00,1.98,0.00,0.000,6,0.000,0.020,2578,2234,3383
$GC,360,-0.96,-175.2,42.2,-12.4,51,364,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,844,3383
$GC,400,-0.96,-175.2,47.4,-12.9,54,404,0.00,1.98,0.00,0.000,6,0.000,0.018,2578,2082,3383
$GC,730,-0.96,-175.2,86.1,-11.4,85,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2086,3384
$GC,1049,-0.96,-175.2,121.6,-10.8,115,1052,0.00,2.10,0.00,0.000,4,0.000,0.034,2578,834,3385
$GC,1094,-0.96,-175.2,126.3,-9.9,119,1097,0.00,2.00,0.00,0.000,6,0.000,0.018,2578,2083,3385
$GC,1425,-0.96,-175.2,156.9,-8.4,150,1429,0.00,2.10,0.00,0.000,4,0.000,0.034,2577,834,3385
$GC,1449,-0.96,-175.2,158.9,-8.5,152,1453,0.00,1.70,0.00,0.000,6,0.000,0.064,2578,1930,3386
$GC,1782,-0.96,-175.2,184.5,-6.5,183,1786,0.00,2.58,0.00,0.000,4,0.000,0.048,2578,3469,3386
$GC,1855,-0.96,-175.2,190.0,-7.1,189,1858,0.00,2.00,0.00,0.000,6,0.000,0.019,2578,2230,3386
$GC,2179,-0.96,-175.2,215.3,-7.7,211,2183,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,838,3385
$GC,2286,-0.96,-175.2,222.3,-6.3,215,2291,0.00,2.00,0.00,0.000,6,0.000,0.063,2578,2085,3386
$GC,2601,-0.96,-175.2,240.8,-6.0,231,2605,0.00,2.10,0.00,0.000,4,0.000,0.035,2577,836,3385
$GC,2668,-0.96,-175.2,245.9,-7.7,234,2672,0.00,2.00,0.00,0.000,6,0.000,0.063,2578,2076,3385
$GC,3001,-0.96,-175.2,268.2,-6.5,250,3005,0.00,2.33,0.00,0.000,4,0.000,0.034,2578,3463,3385
$GC,3044,-0.96,-175.2,271.3,-7.5,252,3048,0.00,2.03,0.00,0.000,6,0.000,0.062,2578,2238,3385
$GC,3371,-0.96,-175.2,293.2,-7.3,268,3375,0.00,2.35,0.00,0.000,4,0.000,0.054,2578,842,3383
$GC,3451,-0.96,-175.2,300.1,-9.2,271,3454,0.00,2.00,0.00,0.000,6,0.000,0.022,2578,2076,3383
$GC,3787,-0.96,-175.2,327.8,-7.5,280,3791,0.00,2.38,0.00,0.000,4,0.000,0.037,2578,3476,3382
$GC,3813,-0.96,-175.2,329.8,-8.1,280,3818,0.00,2.05,0.00,0.000,6,0.000,0.023,2578,2244,3382
$GC,4151,-0.96,-175.2,352.3,-6.6,289,4155,0.00,2.38,0.00,0.000,4,0.000,0.038,2578,842,3380
$GC,4228,-0.96,-175.2,358.0,-7.3,290,4234,0.00,2.05,0.00,0.000,6,0.000,0.033,2578,2071,3380
$GC,4559,-0.96,-175.2,379.3,-6.3,299,4563,0.00,2.40,0.00,0.000,4,0.000,0.040,2578,3474,3378
$GC,4587,-0.96,-175.2,381.1,-6.1,299,4590,0.00,2.03,0.00,0.000,6,0.000,0.025,2578,2245,3377
$GC,4923,-0.96,-175.2,403.5,-6.8,308,4928,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,848,3376
$GC,4978,-0.96,-175.2,407.4,-7.1,309,4982,0.00,2.08,0.00,0.000,6,0.000,0.064,2578,2078,3376
$GC,5293,-0.96,-175.2,431.2,-7.7,317,5297,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3474,3374
$GC,5364,-0.96,-175.2,437.1,-8.1,318,5368,0.00,2.08,0.00,0.000,6,0.000,0.025,2578,2241,3373
$STATE,5538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5538,begin apogee
$GC,5543,-0.31,0.0,450.3,7.7,323,5688,0.68,0.00,142.18,0.879,6,0.048,0.000,2732,2241,2664
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5689,begin climb
$GC,5691,0.96,175.2,458.7,0.0,326,5848,1.17,2.53,145.23,0.855,4,0.035,0.067,3009,843,1946
$GC,6022,0.96,175.2,437.5,10.9,333,6026,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2078,1937
$GC,6358,0.96,175.2,408.0,7.9,342,6362,0.00,2.15,0.00,0.000,4,0.000,0.044,3009,845,1935
$GC,6452,0.96,175.2,401.3,7.4,344,6456,0.00,2.10,0.00,0.000,6,0.000,0.060,3009,2074,1932
$GC,6777,0.98,189.2,378.2,6.8,352,6793,0.00,2.47,10.62,0.760,4,0.000,0.044,3009,3481,1891
$GC,6831,0.98,189.2,374.0,8.4,353,6835,0.00,2.10,0.00,0.000,6,0.000,0.058,3009,2258,1891
$GC,7144,0.98,189.2,349.0,8.1,361,7148,0.00,2.42,0.00,0.000,4,0.000,0.043,3009,849,1888
$GC,7249,0.98,189.2,339.3,10.4,363,7253,0.00,2.08,0.00,0.000,6,0.000,0.028,3009,2086,1885
$GC,7597,0.98,189.2,305.8,9.2,372,7601,0.00,2.40,0.00,0.000,4,0.000,0.041,3009,3477,1885
$GC,7691,0.98,189.2,297.5,8.4,374,7695,0.00,2.08,0.00,0.000,6,0.000,0.026,3009,2255,1885
$GC,8012,1.01,213.1,275.5,6.5,390,8036,0.00,0.00,21.42,0.756,6,0.000,0.000,3009,2255,1795
$GC,8341,1.01,213.1,252.0,7.2,406,8345,0.00,2.12,0.00,0.000,4,0.000,0.041,3009,3482,1791
$GC,8396,1.01,213.1,248.0,7.8,408,8400,0.00,2.08,0.00,0.000,6,0.000,0.025,3009,2256,1791
$GC,8717,1.01,213.1,223.6,10.1,424,8722,0.00,2.42,0.00,0.000,4,0.000,0.040,3009,839,1789
$GC,8947,1.05,247.3,206.3,6.2,434,8982,0.00,2.08,30.17,0.701,6,0.000,0.062,3009,2096,1655
$GC,9306,1.05,247.3,184.2,7.5,463,9310,0.00,2.15,0.00,0.000,4,0.000,0.039,3008,843,1650
$GC,9372,1.05,247.3,178.5,9.1,468,9378,0.00,2.08,0.00,0.000,6,0.000,0.061,3009,2080,1648
$GC,9699,1.05,247.3,152.0,7.7,499,9703,0.00,2.35,0.00,0.000,4,0.000,0.053,3009,3473,1647
$GC,9731,1.05,247.3,149.1,8.3,501,9737,0.00,2.05,0.00,0.000,6,0.000,0.022,3009,2249,1648
$GC,10058,1.07,264.4,126.4,6.7,532,10090,0.00,2.47,17.40,0.555,4,0.000,0.036,3009,839,1584
$GC,10193,1.07,267.6,116.7,7.1,544,10197,0.00,2.05,0.00,0.000,6,0.000,0.059,3009,2095,1581
$GC,10524,1.18,351.5,97.1,4.9,575,10610,0.17,2.38,75.28,0.596,4,0.038,0.044,3068,3464,1230
$GC,10633,1.18,351.5,88.7,8.8,585,10636,0.00,2.03,0.00,0.000,6,0.000,0.021,3068,2244,1229
$GC,10965,1.18,351.5,62.0,8.1,616,10969,0.00,2.38,0.00,0.000,4,0.000,0.069,3068,843,1226
$GC,11071,1.18,351.5,53.1,8.4,625,11075,0.00,2.03,0.00,0.000,6,0.000,0.026,3068,2094,1222
$GC,11398,1.18,351.5,25.2,9.0,660,11405,0.00,2.15,0.00,0.000,4,0.000,0.072,3068,850,1223
$GC,11458,1.18,351.5,20.0,9.2,670,11464,0.00,1.95,0.00,0.000,6,0.000,0.019,3068,2081,1222
$GC,11577,1.18,351.5,8.2,10.7,691,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2086,1222
$STATE,11626,end climb,SURFACE_DEPTH_REACHED
$STATE,11627,begin surface coast
$FINISH,1.4,1.022397
$STATE,11656,end surface coast,CONTROL_FINISHED_OK
$STATE,11656,begin surface
$SM_CCo,11736,0.00,0.000,0,0,1220,354.21
$SM_GC,2.11,11.25,0.00,0.00,0.023,0.000,0.000,418,2086,1220,-10.82,0.20,354.21
$IRIDIUM_FIX,2059.45,-15801.19,071197,222257
$TT8_MAMPS,0.029146
$HUMID,1941
$INTERNAL_PRESSURE,8.67815
$TCM_TEMP,23.30
$XPDR_PINGS,718
$24V_AH,23.4,65.189
$10V_AH,10.2,37.378
$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,25.300,117.500,442.300,0.000,0.000,22.630,33.957,213.103,183.500,0.000,0.000,15.286,1287.353,8099.405,504.772,1743.985,488.180,33.359,1376.858,0.000,1716.997,0.000,29.257
$DEVICE_MAMPS,150.332,72.098,878.982,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.890,469.234,797.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,705
$CAP_FILE_SIZE,104955,13
$CFSIZE,260165632,245166080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,140808,053037,2107.221,-15800.971,26,1.3,26,9.8