version: 66.03
glider: 139
mission: 3
dive: 97
start: 7 23 108 7 40 17
data:
$ID,139
$MISSION,3
$DIVE,97
$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,-1272511.1
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,073208,2107.730,-15752.231,25,1.8,25,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.6
$GPS2,073927,2107.776,-15752.268,12,1.9,12,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.211,0.143
$KALMAN_X,-14818.5,459.3,-857.3,16146.0,1306.9
$KALMAN_Y,-15774.5,127.1,-69.5,-766.6,-733.2
$MHEAD_RNG_PITCHd_Wd,294.3,5239,-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,17,begin dive
$GC,19,-0.96,-175.2,0.0,0.0,0,76,0.00,0.00,-54.83,0.000,2,0.000,0.000,431,2057,2864
$GC,79,-0.96,-175.2,3.6,-6.0,10,109,12.00,2.40,-8.73,0.000,4,0.152,0.040,2574,3473,3382
$GC,355,-0.96,-175.2,48.8,-10.8,45,362,0.00,2.30,0.00,0.000,6,0.000,0.021,2574,2084,3384
$GC,680,-0.96,-175.2,81.3,-10.3,76,684,0.00,2.35,0.00,0.000,4,0.000,0.035,2574,684,3385
$GC,712,-0.96,-175.2,84.8,-10.3,78,719,0.00,2.28,0.00,0.000,6,0.000,0.052,2574,2083,3385
$GC,1038,-0.96,-175.2,119.1,-10.7,109,1042,0.00,1.88,0.00,0.000,4,0.000,0.064,2574,3243,3386
$GC,1060,-0.96,-175.2,121.4,-9.2,111,1064,0.00,1.90,0.00,0.000,6,0.000,0.021,2574,2071,3386
$GC,1391,-0.96,-175.2,153.8,-8.9,142,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2069,3387
$GC,1708,-0.96,-175.2,178.9,-7.8,172,1713,0.00,2.35,0.00,0.000,4,0.000,0.036,2574,677,3387
$GC,1748,-0.96,-175.2,182.1,-8.4,175,1752,0.00,2.25,0.00,0.000,6,0.000,0.019,2574,2076,3387
$GC,2070,-0.96,-175.2,206.3,-7.2,201,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3387
$GC,2379,-0.96,-175.2,228.4,-6.9,216,2383,0.00,2.35,0.00,0.000,4,0.000,0.037,2574,687,3387
$GC,2411,-0.96,-175.2,230.5,-6.9,217,2417,0.00,2.25,0.00,0.000,6,0.000,0.026,2574,2076,3387
$GC,2726,-0.96,-175.2,250.5,-7.2,233,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2081,3386
$GC,3036,-0.96,-175.2,271.0,-6.4,248,3040,0.00,2.38,0.00,0.000,4,0.000,0.045,2574,682,3386
$GC,3063,-0.96,-175.2,273.0,-6.9,249,3067,0.00,2.28,0.00,0.000,6,0.000,0.022,2574,2081,3386
$GC,3378,-0.96,-175.2,290.8,-5.3,264,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2085,3385
$GC,3685,-0.96,-175.2,313.9,-8.1,275,3689,0.00,2.40,0.00,0.000,4,0.000,0.040,2574,680,3383
$GC,3706,-0.96,-175.2,315.6,-7.9,275,3710,0.00,2.28,0.00,0.000,6,0.000,0.025,2574,2073,3383
$GC,4048,-0.96,-175.2,334.9,-5.5,284,4052,0.00,2.38,0.00,0.000,4,0.000,0.041,2574,3469,3381
$GC,4075,-0.96,-175.2,336.6,-6.5,284,4080,0.00,2.33,0.00,0.000,6,0.000,0.060,2574,2088,3380
$GC,4412,-0.96,-175.2,356.4,-5.7,293,4416,0.00,2.42,0.00,0.000,4,0.000,0.043,2574,675,3379
$GC,4450,-0.96,-175.2,358.5,-5.6,293,4456,0.00,2.30,0.00,0.000,6,0.000,0.027,2574,2074,3378
$GC,4781,-0.96,-175.2,376.3,-5.5,302,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2076,3376
$GC,5106,-0.96,-175.2,394.5,-5.6,310,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2078,3375
$GC,5431,-0.96,-175.2,413.1,-5.5,318,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2078,3373
$GC,5756,-0.96,-175.2,430.5,-5.6,326,5760,0.00,2.42,0.00,0.000,4,0.000,0.067,2574,676,3371
$GC,5794,-0.96,-175.2,432.5,-5.2,327,5799,0.00,2.35,0.00,0.000,6,0.000,0.029,2574,2086,3370
$STATE,6075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6075,begin apogee
$GC,6080,-0.31,0.0,451.1,7.1,334,6225,0.70,0.00,141.60,0.901,6,0.052,0.000,2732,2088,2664
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6228,0.96,175.2,458.5,0.0,337,6384,1.20,2.53,145.18,0.874,4,0.039,0.053,3009,677,1946
$GC,6529,0.96,175.2,441.6,10.2,344,6533,0.00,2.38,0.00,0.000,6,0.000,0.029,3008,2086,1936
$GC,6853,0.96,175.2,412.4,9.0,352,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2090,1935
$GC,7179,0.96,175.2,383.1,8.6,360,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2089,1933
$GC,7503,0.96,175.2,355.4,8.3,368,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2089,1932
$GC,7828,0.96,175.2,330.7,7.5,376,7832,0.00,2.45,0.00,0.000,4,0.000,0.054,3009,682,1930
$GC,7856,0.96,175.2,328.5,8.6,376,7861,0.00,2.35,0.00,0.000,6,0.000,0.029,3009,2089,1928
$GC,8187,0.96,175.4,304.9,7.1,384,8191,0.00,2.38,0.00,0.000,4,0.000,0.077,3009,3474,1928
$GC,8247,0.96,175.4,300.4,7.2,385,8252,0.00,2.35,0.00,0.000,6,0.000,0.029,3009,2080,1928
$GC,8565,0.97,183.8,279.1,6.9,400,8574,0.00,2.45,4.85,0.600,4,0.000,0.077,3009,678,1913
$GC,8647,0.97,183.8,272.5,8.1,404,8652,0.00,2.35,0.00,0.000,6,0.000,0.031,3009,2082,1911
$GC,8974,0.99,196.8,247.5,6.8,420,8996,0.00,2.45,12.75,0.732,4,0.000,0.041,3009,3467,1861
$GC,9068,0.99,196.8,239.2,9.3,424,9072,0.00,2.38,0.00,0.000,6,0.000,0.028,3009,2076,1861
$GC,9395,0.99,196.8,208.4,8.9,440,9399,0.00,2.40,0.00,0.000,4,0.000,0.043,3008,679,1858
$GC,9451,0.99,196.8,203.5,9.3,442,9457,0.00,2.33,0.00,0.000,6,0.000,0.025,3008,2094,1856
$GC,9775,1.06,259.6,183.7,5.4,471,9847,0.00,2.45,57.28,0.692,4,0.000,0.036,3009,3474,1604
$GC,9908,1.06,259.6,175.0,7.2,483,9914,0.00,2.35,0.00,0.000,6,0.000,0.058,3008,2076,1602
$GC,10233,1.06,259.6,149.2,8.3,514,10238,0.00,2.40,0.00,0.000,4,0.000,0.054,3008,679,1598
$GC,10391,1.06,259.6,137.0,7.8,527,10397,0.00,2.30,0.00,0.000,6,0.000,0.022,3009,2091,1594
$GC,10716,1.07,267.1,114.4,6.9,558,10729,0.00,2.50,6.28,0.519,4,0.000,0.038,3008,671,1574
$GC,10759,1.09,280.0,111.5,6.8,562,10782,0.10,2.33,13.15,0.589,6,0.054,0.054,3045,2093,1520
$GC,11099,1.09,280.0,85.6,7.6,594,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2096,1518
$GC,11417,1.09,280.0,58.1,9.0,624,11421,0.00,2.30,0.00,0.000,4,0.000,0.031,3045,3474,1518
$GC,11530,1.12,301.2,48.9,6.6,634,11555,0.00,2.30,19.35,0.556,6,0.000,0.021,3045,2063,1435
$GC,11881,1.12,301.2,23.4,7.5,674,11887,0.00,2.30,0.00,0.000,4,0.000,0.060,3044,686,1431
$GC,11938,1.14,318.7,19.3,6.7,684,11962,0.00,2.22,16.00,0.515,6,0.000,0.019,3044,2088,1364
$GC,12076,1.14,318.7,9.7,7.6,708,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2088,1362
$STATE,12159,end climb,SURFACE_DEPTH_REACHED
$STATE,12159,begin surface coast
$FINISH,0.4,1.022820
$STATE,12194,end surface coast,CONTROL_FINISHED_OK
$STATE,12194,begin surface
$SM_CCo,12274,0.00,0.000,0,0,1355,320.85
$SM_GC,0.87,11.25,0.00,0.00,0.031,0.000,0.000,430,2086,1355,-10.81,0.20,320.85
$IRIDIUM_FIX,2059.45,-15753.90,171097,040446
$TT8_MAMPS,0.029146
$HUMID,1876
$INTERNAL_PRESSURE,8.65862
$TCM_TEMP,22.80
$XPDR_PINGS,672
$24V_AH,23.3,43.628
$10V_AH,10.2,25.310
$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,25.250,98.050,416.425,0.000,0.000,31.374,29.483,258.753,168.000,0.000,0.000,15.179,1267.638,8847.232,489.513,1600.776,495.279,33.367,1290.420,0.000,1595.345,0.000,0.470
$DEVICE_MAMPS,151.866,77.467,901.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.350,476.281,812.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37965,729
$CAP_FILE_SIZE,98628,12
$CFSIZE,260165632,252735488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230708,110602,2108.161,-15753.242,36,2.0,36,9.8