version: 66.03
glider: 139
mission: 3
dive: 37
start: 7 14 108 7 8 59
data:
$ID,139
$MISSION,3
$DIVE,37
$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,-1271021.5
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,38
$R_STBD_OVSHOOT,68
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,070232,2108.824,-15753.947,54,1.2,54,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-69.4
$GPS2,070809,2108.825,-15753.964,13,1.2,13,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.068,0.166
$KALMAN_X,459.4,105.0,272.2,-2831.0,-327.8
$KALMAN_Y,3262.5,414.7,70.4,-18280.8,-786.3
$MHEAD_RNG_PITCHd_Wd,328.0,1759,-18.7,-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,17,begin dive
$GC,19,-1.26,-79.3,0.0,0.0,0,81,0.00,0.00,-60.15,0.000,6,0.000,0.000,432,2083,2989
$GC,84,-1.28,-90.9,3.5,-6.4,11,103,11.82,2.28,-0.80,0.000,4,0.158,0.038,2510,3465,3037
$GC,334,-1.20,-90.9,56.0,-14.5,41,339,0.10,2.28,0.00,0.000,6,0.100,0.021,2529,2070,3039
$GC,660,-1.20,-90.9,96.6,-11.3,71,664,0.00,2.33,0.00,0.000,4,0.000,0.044,2529,3460,3041
$GC,782,-1.23,-90.9,109.1,-9.3,81,789,0.00,2.28,0.00,0.000,6,0.000,0.021,2529,2080,3041
$GC,1109,-1.27,-90.9,139.5,-9.2,112,1113,0.00,2.30,0.00,0.000,4,0.000,0.067,2529,3456,3042
$GC,1182,-1.34,-90.9,146.5,-9.5,118,1187,0.12,2.25,0.00,0.000,6,0.067,0.020,2490,2073,3042
$GC,1506,-1.34,-90.9,184.4,-12.8,148,1510,0.00,2.35,0.00,0.000,4,0.000,0.037,2490,685,3043
$GC,1545,-1.34,-90.9,189.3,-12.1,151,1550,0.00,2.22,0.00,0.000,6,0.000,0.020,2490,2067,3043
$GC,1874,-1.34,-90.9,221.3,-10.5,172,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2073,3043
$GC,2183,-1.34,-90.9,249.7,-7.6,187,2187,0.00,2.35,0.00,0.000,4,0.000,0.035,2489,3468,3043
$GC,2290,-1.38,-90.9,259.0,-8.8,192,2294,0.00,2.28,0.00,0.000,6,0.000,0.023,2490,2083,3043
$GC,2616,-1.38,-90.9,284.8,-7.7,208,2620,0.00,2.38,0.00,0.000,4,0.000,0.039,2490,683,3041
$GC,2647,-1.38,-90.9,287.4,-8.3,209,2654,0.00,2.30,0.00,0.000,6,0.000,0.060,2490,2069,3042
$GC,2981,-1.38,-90.9,313.4,-8.1,222,2985,0.00,2.38,0.00,0.000,4,0.000,0.038,2490,3473,3040
$GC,3103,-1.42,-90.9,323.8,-8.1,224,3109,0.00,2.33,0.00,0.000,6,0.000,0.051,2490,2078,3039
$GC,3434,-1.42,-90.9,350.4,-8.2,233,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2077,3038
$GC,3759,-1.45,-90.9,378.8,-8.9,241,3763,0.00,2.40,0.00,0.000,4,0.000,0.041,2490,3476,3035
$GC,3819,-1.50,-90.9,384.2,-8.9,242,3824,0.00,2.33,0.00,0.000,6,0.000,0.028,2490,2082,3035
$GC,4162,-1.53,-90.9,411.8,-8.1,251,4166,0.12,2.40,0.00,0.000,4,0.058,0.041,2456,3476,3034
$GC,4216,-1.53,-90.9,417.0,-9.6,252,4220,0.00,2.38,0.00,0.000,6,0.000,0.029,2456,2078,3033
$GC,4529,-1.53,-90.9,447.1,-9.6,260,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2076,3030
$STATE,4568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4568,begin apogee
$GC,4572,-0.31,0.0,451.1,9.6,261,4651,1.30,0.00,74.57,0.884,6,0.137,0.000,2728,2076,2664
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4652,begin climb
$GC,4653,1.28,90.9,453.1,0.0,263,4732,0.55,0.00,76.07,0.861,6,0.084,0.000,2867,2075,2293
$GC,5055,1.71,166.1,446.7,2.6,273,5127,1.27,2.47,63.92,0.867,4,0.031,0.058,3170,3465,1986
$GC,5379,1.49,166.1,407.2,13.1,280,5384,0.25,2.38,0.00,0.000,6,0.107,0.038,3122,2086,1979
$GC,5721,1.37,166.1,368.9,11.3,289,5725,0.15,2.42,0.00,0.000,4,0.110,0.044,3091,3471,1974
$GC,5967,1.30,166.1,340.3,12.2,294,5971,0.00,2.38,0.00,0.000,6,0.000,0.032,3091,2076,1973
$GC,6303,1.25,166.1,302.0,11.7,303,6308,0.12,2.42,0.00,0.000,4,0.116,0.042,3069,3470,1970
$GC,6369,1.25,166.1,293.5,12.5,305,6373,0.00,2.38,0.00,0.000,6,0.000,0.031,3069,2073,1970
$GC,6696,1.25,166.1,259.7,9.1,321,6700,0.00,2.42,0.00,0.000,4,0.000,0.048,3069,3467,1967
$GC,6947,1.25,166.1,237.5,7.4,332,6952,0.00,2.38,0.00,0.000,6,0.000,0.038,3070,2077,1968
$GC,7268,1.25,166.1,213.3,7.9,348,7272,0.00,2.40,0.00,0.000,4,0.000,0.040,3069,3469,1966
$GC,7296,1.25,166.1,210.8,9.6,349,7300,0.00,2.33,0.00,0.000,6,0.000,0.028,3069,2076,1966
$GC,7617,1.27,184.8,186.9,6.0,373,7636,0.00,0.00,13.48,0.684,6,0.000,0.000,3069,2075,1910
$GC,7956,1.28,198.1,162.0,6.3,405,7978,0.00,2.50,12.45,0.651,4,0.000,0.072,3069,676,1854
$GC,8084,1.28,198.1,151.4,8.6,416,8090,0.00,2.35,0.00,0.000,6,0.000,0.057,3069,2081,1851
$GC,8410,1.33,198.1,127.4,7.2,447,8414,0.00,1.60,0.00,0.000,4,0.000,0.077,3069,3061,1851
$GC,8662,1.40,217.4,108.6,6.0,469,8685,0.10,1.65,17.80,0.609,6,0.041,0.023,3105,2066,1777
$GC,9003,1.40,217.4,81.1,7.8,501,9007,0.00,2.35,0.00,0.000,4,0.000,0.037,3105,682,1773
$GC,9087,1.40,217.4,74.4,8.0,508,9093,0.00,2.05,0.00,0.000,6,0.000,0.047,3105,1995,1771
$GC,9413,1.44,218.3,49.8,7.1,539,9417,0.00,2.50,0.00,0.000,4,0.000,0.063,3105,3482,1771
$GC,9670,1.49,226.3,30.9,6.7,561,9688,0.00,2.30,8.80,0.495,6,0.000,0.020,3105,2083,1740
$GC,10025,1.56,244.4,6.6,6.1,623,10049,0.12,2.35,17.08,0.501,4,0.053,0.035,3144,3477,1666
$STATE,10071,end climb,SURFACE_DEPTH_REACHED
$STATE,10071,begin surface coast
$FINISH,-0.2,1.007197
$STATE,10105,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10127,61.22,0.514,0,0,1358,320.12
$SM_GC,0.84,0.00,0.00,61.22,0.000,0.000,0.514,427,2079,1358,-10.89,0.00,320.12
$IRIDIUM_FIX,2059.45,-15750.89,081097,030305
$TT8_MAMPS,0.029146
$HUMID,1803
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,23.40
$XPDR_PINGS,642
$24V_AH,23.4,35.069
$10V_AH,10.2,20.360
$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,27.850,87.725,284.175,61.225,0.000,23.969,26.762,170.649,160.500,0.000,0.000,14.808,1172.496,6931.498,440.922,1583.636,389.004,33.357,1190.775,0.000,1587.410,0.000,0.471
$DEVICE_MAMPS,158.002,77.467,884.351,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.836,434.074,747.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31743,637
$CAP_FILE_SIZE,92363,12
$CFSIZE,260165632,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140708,095932,2109.552,-15754.626,6,1.6,6,9.8