version: 66.03
glider: 139
mission: 3
dive: 124
start: 7 27 108 7 40 36
data:
$ID,139
$MISSION,3
$DIVE,124
$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,-1273050.2
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,072215,2101.921,-15747.019,57,3.2,76,9.8
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.2
$GPS2,073947,2101.998,-15747.133,12,5.1,31,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.080,0.242
$KALMAN_X,-19313.8,83.9,151.6,28873.5,-1791.4
$KALMAN_Y,-32971.9,-200.3,-193.1,6190.2,-30.2
$MHEAD_RNG_PITCHd_Wd,331.8,19052,-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,-175.2,0.0,0.0,0,70,0.00,0.00,-48.85,0.000,2,0.000,0.000,428,2073,2751
$GC,73,-0.96,-175.2,3.2,-4.6,9,103,12.02,1.75,-11.65,0.000,4,0.150,0.085,2578,3147,3380
$GC,227,-0.96,-175.2,30.6,-12.1,35,233,0.00,1.75,0.00,0.000,6,0.000,0.021,2578,2081,3382
$GC,552,-0.96,-175.2,70.6,-11.4,66,556,0.00,2.30,0.00,0.000,4,0.000,0.053,2578,687,3381
$GC,625,-0.96,-175.2,77.2,-9.0,72,630,0.00,2.25,0.00,0.000,6,0.000,0.031,2578,2095,3382
$GC,951,-0.96,-175.2,102.4,-7.6,102,955,0.00,2.40,0.00,0.000,4,0.000,0.071,2578,677,3382
$GC,994,-0.96,-175.2,106.2,-8.8,105,1001,0.00,2.25,0.00,0.000,6,0.000,0.018,2578,2072,3383
$GC,1320,-0.96,-175.2,135.9,-8.6,136,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2076,3382
$GC,1637,-0.96,-175.2,164.5,-8.4,166,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2076,3383
$GC,1956,-0.96,-175.2,187.5,-6.7,196,1960,0.00,2.35,0.00,0.000,4,0.000,0.036,2578,683,3383
$GC,2007,-0.96,-175.2,191.0,-6.8,200,2011,0.00,2.25,0.00,0.000,6,0.000,0.019,2578,2083,3383
$GC,2326,-0.96,-175.2,212.7,-6.6,221,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3382
$GC,2635,-0.96,-175.2,233.7,-6.6,236,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3382
$GC,2945,-0.96,-175.2,259.4,-8.6,251,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3381
$GC,3254,-0.96,-175.2,282.0,-6.6,266,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2087,3380
$GC,3582,-0.96,-175.2,305.3,-6.4,280,3586,0.00,2.38,0.00,0.000,4,0.000,0.039,2578,690,3379
$GC,3632,-0.96,-175.2,308.4,-6.6,281,3636,0.00,2.25,0.00,0.000,6,0.000,0.047,2578,2069,3378
$GC,3950,-0.96,-175.2,321.0,-3.4,289,3954,0.00,2.38,0.00,0.000,4,0.000,0.038,2579,3470,3377
$GC,3983,-0.96,-175.2,322.1,-3.8,289,3989,0.00,2.30,0.00,0.000,6,0.000,0.025,2578,2080,3376
$GC,4314,-0.96,-175.2,336.8,-4.7,298,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3374
$GC,4639,-0.96,-175.2,354.7,-6.3,306,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2078,3373
$GC,4964,-0.96,-175.2,372.6,-4.7,314,4968,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,679,3371
$GC,5008,-0.96,-175.2,374.9,-5.2,315,5012,0.00,2.30,0.00,0.000,6,0.000,0.043,2578,2074,3371
$GC,5326,-0.96,-175.2,396.2,-7.3,323,5330,0.00,2.40,0.00,0.000,4,0.000,0.042,2578,3478,3369
$GC,5409,-0.96,-175.2,402.5,-7.8,325,5413,0.00,2.35,0.00,0.000,6,0.000,0.060,2579,2066,3368
$GC,5733,-0.96,-175.2,427.8,-8.1,333,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2064,3366
$GC,6058,-0.96,-175.2,447.9,-5.3,341,6062,0.00,2.38,0.00,0.000,4,0.000,0.044,2578,683,3364
$STATE,6099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6099,begin apogee
$GC,6106,-0.31,0.0,450.1,5.8,342,6250,0.65,0.00,140.23,0.887,6,0.052,0.000,2728,2082,2664
$STATE,6250,end apogee,CONTROL_FINISHED_OK
$STATE,6250,begin climb
$GC,6253,0.96,175.2,455.9,0.0,345,6407,1.25,2.53,145.10,0.861,4,0.104,0.074,3014,3478,1948
$GC,6502,0.96,175.2,441.6,11.2,351,6506,0.00,2.40,0.00,0.000,6,0.000,0.064,3014,2091,1944
$GC,6839,0.96,175.2,409.8,8.9,360,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2089,1937
$GC,7164,0.96,175.2,381.4,8.9,368,7168,0.00,2.42,0.00,0.000,4,0.000,0.044,3014,3477,1935
$GC,7235,0.96,175.2,374.9,9.1,369,7239,0.00,2.40,0.00,0.000,6,0.000,0.031,3013,2083,1935
$GC,7572,0.96,175.2,346.2,8.8,378,7576,0.00,2.47,0.00,0.000,4,0.000,0.048,3013,669,1932
$GC,7700,0.96,175.2,334.2,9.5,381,7705,0.00,2.38,0.00,0.000,6,0.000,0.028,3013,2084,1930
$GC,8024,0.96,175.2,306.2,8.6,389,8028,0.00,2.40,0.00,0.000,4,0.000,0.043,3013,3478,1930
$GC,8107,0.96,175.2,299.5,8.2,390,8113,0.00,2.38,0.00,0.000,6,0.000,0.029,3013,2072,1929
$GC,8422,0.96,175.2,275.6,7.8,406,8426,0.00,2.45,0.00,0.000,4,0.000,0.041,3013,3482,1928
$GC,8465,0.96,175.2,271.9,8.4,408,8470,0.00,2.40,0.00,0.000,6,0.000,0.061,3014,2076,1928
$GC,8792,0.98,190.7,247.2,6.7,424,8808,0.00,2.45,10.88,0.703,4,0.000,0.073,3013,3477,1885
$GC,8876,0.98,190.7,239.6,10.3,427,8880,0.00,2.35,0.00,0.000,6,0.000,0.028,3013,2080,1885
$GC,9202,1.05,249.2,220.7,5.5,443,9263,0.00,2.50,51.75,0.731,4,0.000,0.069,3013,3477,1647
$GC,9308,1.05,249.2,212.6,9.7,448,9312,0.00,2.38,0.00,0.000,6,0.000,0.042,3013,2072,1645
$GC,9634,1.05,249.2,183.9,9.6,472,9638,0.00,2.40,0.00,0.000,4,0.000,0.042,3013,679,1640
$GC,9745,1.05,249.2,172.1,11.0,481,9751,0.00,2.33,0.00,0.000,6,0.000,0.058,3013,2087,1636
$GC,10071,1.05,249.2,145.1,8.0,512,10075,0.00,2.38,0.00,0.000,4,0.000,0.057,3013,3480,1636
$GC,10114,1.05,249.2,141.3,8.6,515,10121,0.00,2.38,0.00,0.000,6,0.000,0.024,3013,2070,1636
$GC,10442,1.05,249.2,113.8,8.1,546,10446,0.00,2.40,0.00,0.000,4,0.000,0.073,3013,673,1636
$GC,10492,1.05,249.2,109.4,8.4,550,10497,0.00,2.33,0.00,0.000,6,0.000,0.058,3013,2093,1635
$GC,10817,1.05,249.2,84.0,7.2,580,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2098,1635
$GC,11135,1.08,274.8,63.5,6.4,610,11171,0.00,2.50,23.52,0.530,4,0.000,0.068,3013,677,1542
$GC,11216,1.09,281.1,58.0,7.0,617,11227,0.00,2.28,6.60,0.481,6,0.000,0.020,3013,2091,1518
$GC,11546,1.18,350.9,36.7,5.2,648,11613,0.15,2.47,60.53,0.548,4,0.042,0.037,3069,681,1232
$GC,11648,1.18,350.9,28.7,10.4,658,11654,0.00,2.25,0.00,0.000,6,0.000,0.024,3069,2075,1228
$GC,11767,1.22,390.0,18.1,6.1,679,11806,0.00,0.00,32.67,0.520,6,0.000,0.000,3069,2079,1073
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.6,1.023025
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,12014,0.00,0.000,0,0,1065,391.99
$SM_GC,1.14,11.38,0.00,0.00,0.032,0.000,0.000,428,2078,1065,-10.80,-0.03,391.99
$IRIDIUM_FIX,2052.52,-15749.62,211097,070749
$TT8_MAMPS,0.029146
$HUMID,1872
$INTERNAL_PRESSURE,8.63909
$TCM_TEMP,23.10
$XPDR_PINGS,695
$24V_AH,23.3,47.663
$10V_AH,10.2,27.521
$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,25.450,98.375,471.275,0.000,0.000,115.046,117.567,482.779,173.750,0.000,0.000,33.874,1239.112,8762.555,515.430,1628.652,906.940,33.365,1325.330,0.000,1598.793,0.000,0.470
$DEVICE_MAMPS,150.332,85.137,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.525,457.944,795.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34893,709
$CAP_FILE_SIZE,105109,8
$CFSIZE,260165632,251346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,270708,110202,2102.634,-15748.039,37,1.6,37,9.8