version: 66.03
glider: 139
mission: 3
dive: 287
start: 8 19 108 22 12 31
data:
$ID,139
$MISSION,3
$DIVE,287
$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,543.09418
$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,-1276714.2
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,205
$R_STBD_OVSHOOT,2015
$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
$GPS1,215638,2058.479,-15820.101,52,1.6,52,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-66.4
$GPS2,221214,2058.504,-15820.190,15,1.7,15,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT1
$TGT_LATLONG,2109.529,-15754.647
$TGT_RADIUS,1000.000
$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,55.4,48611,-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,-175.2,0.0,0.0,0,88,0.00,0.00,-65.05,0.000,2,0.000,0.000,428,1880,2610
$GC,91,-0.96,-175.2,3.2,-2.5,12,126,11.98,0.00,-15.75,0.000,4,0.150,0.000,2575,1880,3381
$GC,377,-0.96,-175.2,44.8,-12.5,53,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1881,3381
$GC,702,-0.96,-175.2,79.7,-9.7,84,706,0.00,1.20,0.00,0.000,4,0.000,0.033,2575,1160,3382
$GC,912,-0.96,-175.2,101.3,-10.6,102,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3382
$GC,1237,-0.96,-175.2,132.4,-8.7,133,1240,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1159,3383
$GC,1373,-0.96,-175.2,143.9,-9.1,145,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3383
$GC,1703,-0.96,-175.2,175.1,-9.9,176,1706,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1159,3383
$GC,1865,-0.96,-175.2,189.3,-6.6,190,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3383
$GC,2197,-0.96,-175.2,209.7,-7.1,215,2200,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1159,3383
$GC,2297,-0.96,-175.2,217.3,-6.6,219,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1159,3382
$GC,2619,-0.96,-175.2,236.3,-5.4,235,2622,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1159,3382
$GC,2731,-0.96,-175.2,243.0,-5.5,240,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3382
$GC,3064,-0.96,-175.2,263.4,-6.4,256,3067,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1159,3381
$GC,3102,-0.96,-175.2,266.0,-6.0,257,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3381
$GC,3418,-0.96,-175.2,285.8,-6.3,273,3422,0.00,1.10,0.00,0.000,4,0.000,0.024,2575,1863,3380
$GC,3675,-0.96,-175.2,302.9,-7.2,283,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1867,3379
$GC,4012,-0.96,-175.2,324.6,-6.3,292,4015,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1868,3377
$GC,4130,-0.96,-175.2,331.2,-5.0,294,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1868,3376
$GC,4472,-0.96,-175.2,347.9,-5.1,303,4475,0.00,1.20,0.00,0.000,4,0.000,0.038,2575,1162,3374
$GC,4594,-0.96,-175.2,356.3,-7.5,305,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1162,3374
$GC,4933,-0.96,-175.2,382.4,-7.9,314,4935,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1162,3371
$GC,4999,-0.96,-175.2,387.4,-6.8,315,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1162,3371
$GC,5347,-0.96,-175.2,407.7,-5.5,324,5350,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1162,3368
$GC,5386,-0.96,-175.2,409.8,-6.0,324,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1162,3368
$GC,5719,-0.96,-175.2,430.7,-6.7,333,5722,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1162,3365
$GC,5781,-0.96,-175.2,435.3,-7.1,334,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1162,3365
$STATE,6013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6013,begin apogee
$GC,6018,-0.31,0.0,452.1,7.3,340,6163,0.68,0.00,141.38,0.892,6,0.051,0.000,2728,1162,2664
$STATE,6163,end apogee,CONTROL_FINISHED_OK
$STATE,6163,begin climb
$GC,6166,0.96,175.2,460.2,0.0,343,6319,1.23,1.17,145.32,0.864,4,0.039,0.101,3009,1854,1949
$GC,6573,0.96,175.2,435.8,10.0,352,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1859,1940
$GC,6921,0.96,175.2,406.4,7.9,361,6924,0.00,1.20,0.00,0.000,4,0.000,0.042,3009,1169,1936
$GC,7178,0.96,175.2,387.0,8.3,366,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1169,1934
$GC,7514,0.96,175.2,357.5,8.6,375,7518,0.00,1.12,0.00,0.000,4,0.000,0.030,3010,1847,1931
$GC,7739,0.96,175.2,338.7,8.5,380,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1851,1931
$GC,8068,0.96,175.2,312.1,7.9,388,8072,0.00,1.17,0.00,0.000,4,0.000,0.041,3009,1173,1929
$GC,8326,0.96,175.2,288.5,9.3,396,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1173,1928
$GC,8647,0.96,175.2,262.4,8.2,412,8650,0.00,1.10,0.00,0.000,4,0.000,0.028,3009,1845,1927
$GC,8905,0.98,188.7,245.2,6.8,423,8916,0.00,0.00,9.05,0.680,6,0.000,0.000,3009,1851,1894
$GC,9226,0.98,190.4,221.2,7.1,439,9229,0.00,1.17,0.00,0.000,4,0.000,0.040,3009,1166,1892
$GC,9483,0.98,190.4,203.3,7.6,450,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1165,1890
$GC,9813,0.99,197.6,180.1,6.9,479,9825,0.00,1.15,8.65,0.620,4,0.000,0.025,3010,1837,1858
$GC,9966,1.00,207.5,169.8,6.9,492,9982,0.00,0.00,10.55,0.627,6,0.000,0.000,3010,1862,1817
$GC,10303,1.00,207.5,146.1,7.6,524,10306,0.00,0.00,0.00,0.000,4,0.000,0.000,3009,1862,1814
$GC,10438,1.03,229.7,137.1,6.5,536,10463,0.00,0.00,20.50,0.630,6,0.000,0.000,3009,1862,1726
$GC,10790,1.08,269.1,115.9,6.1,569,10833,0.00,1.20,34.83,0.617,4,0.000,0.036,3010,1169,1566
$GC,11017,1.08,269.1,99.3,7.4,589,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1169,1561
$GC,11342,1.09,279.7,76.5,6.9,620,11355,0.10,0.08,9.68,0.524,4,0.052,1.101,3047,1259,1523
$GC,11485,1.09,279.7,65.0,7.8,632,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1259,1521
$GC,11810,1.09,279.7,40.0,7.7,663,11814,0.00,0.12,0.00,0.000,4,0.000,0.061,3047,1159,1521
$GC,11889,1.09,279.7,34.3,7.2,670,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1158,1521
$GC,12230,1.11,293.7,9.5,6.8,725,12248,0.00,1.12,13.35,0.493,4,0.000,0.101,3047,1872,1466
$STATE,12332,end climb,SURFACE_DEPTH_REACHED
$STATE,12332,begin surface coast
$FINISH,1.4,1.011135
$STATE,12372,end surface coast,CONTROL_FINISHED_OK
$STATE,12372,begin surface
$SM_CCo,12392,151.95,0.514,0,0,449,543.09
$SM_GC,1.87,0.00,0.00,151.95,0.000,0.000,0.514,428,1874,449,-10.89,-14.87,543.09
$IRIDIUM_FIX,2047.91,-15822.63,131197,222207
$TT8_MAMPS,0.029146
$HUMID,1879
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,23.30
$XPDR_PINGS,818
$24V_AH,23.3,71.195
$10V_AH,10.2,40.699
$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,25.325,14.125,393.300,151.950,0.000,130.017,419.391,0.000,208.500,0.000,0.000,16.934,1387.242,8560.209,594.354,2140.216,776.167,0.000,1592.262,0.000,2097.651,0.000,29.246
$DEVICE_MAMPS,150.332,1101.412,892.021,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.255,492.853,859.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38012,750
$CAP_FILE_SIZE,102128,1
$CFSIZE,260165632,243138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200808,014238,2058.685,-15821.524,31,1.3,31,9.8