version: 66.03
glider: 139
mission: 3
dive: 288
start: 8 20 108 2 0 3
data:
$ID,139
$MISSION,3
$DIVE,288
$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,450
$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,-1276733.5
$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
$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
$GPS1,014238,2058.685,-15821.524,31,1.3,31,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-65.1
$GPS2,015945,2058.737,-15821.543,15,1.7,15,9.8
$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,56.9,50569,-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,-175.2,0.0,0.0,0,99,0.00,0.00,-75.97,0.000,2,0.000,0.000,427,1875,2568
$GC,102,-0.96,-175.2,3.2,-2.7,14,137,11.98,1.17,-17.20,0.000,4,0.149,0.056,2578,1156,3380
$GC,172,-0.96,-175.2,14.7,-12.5,26,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3380
$GC,293,-0.96,-175.2,29.2,-12.1,47,299,0.00,1.10,0.00,0.000,4,0.000,0.019,2578,1887,3380
$GC,388,-0.96,-175.2,41.4,-11.3,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1888,3380
$GC,713,-0.96,-175.2,75.4,-10.0,87,717,0.00,1.23,0.00,0.000,4,0.000,0.032,2578,1156,3381
$GC,949,-0.96,-175.2,93.4,-6.8,108,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3381
$GC,1279,-0.96,-175.2,119.2,-9.1,139,1282,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1155,3381
$GC,1414,-0.96,-175.2,131.8,-8.9,151,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3381
$GC,1745,-0.96,-175.2,160.2,-9.1,182,1748,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1155,3381
$GC,1869,-0.96,-175.2,171.4,-8.8,193,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3381
$GC,2200,-0.96,-175.2,194.4,-6.0,224,2203,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1155,3381
$GC,2448,-0.96,-175.2,210.7,-6.7,239,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3381
$GC,2780,-0.96,-175.2,233.1,-6.6,255,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1155,3380
$GC,3089,-0.96,-175.2,253.0,-6.6,270,3093,0.00,1.10,0.00,0.000,4,0.000,0.023,2578,1862,3379
$GC,3207,-0.96,-175.2,260.7,-6.9,275,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1867,3379
$GC,3534,-0.96,-175.2,283.0,-6.7,291,3538,0.00,1.20,0.00,0.000,4,0.000,0.037,2578,1159,3377
$GC,3602,-0.96,-175.2,287.9,-6.6,294,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3377
$GC,3934,-0.96,-175.2,307.6,-5.6,307,3937,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3374
$GC,3967,-0.96,-175.2,309.6,-5.7,307,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3374
$GC,4307,-0.96,-175.2,330.5,-6.6,316,4310,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3372
$GC,4345,-0.96,-175.2,333.5,-7.6,316,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3372
$GC,4677,-0.96,-175.2,356.8,-7.0,325,4679,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3369
$GC,4704,-0.96,-175.2,358.8,-7.1,325,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3369
$GC,5048,-0.96,-175.2,381.4,-6.5,334,5051,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3367
$GC,5120,-0.96,-175.2,386.1,-5.5,335,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3366
$GC,5463,-0.96,-175.2,406.7,-6.0,344,5466,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3364
$GC,5535,-0.96,-175.2,411.2,-5.7,345,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3364
$GC,5879,-0.96,-175.2,431.3,-6.5,354,5882,0.00,0.00,0.00,0.000,4,0.000,0.000,2578,1158,3362
$GC,5934,-0.96,-175.2,435.2,-6.8,355,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1158,3361
$STATE,6170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6170,begin apogee
$GC,6176,-0.31,0.0,451.1,6.7,361,6320,0.68,0.00,140.40,0.894,6,0.053,0.000,2729,1158,2664
$STATE,6320,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6323,0.96,175.2,458.5,0.0,364,6473,1.20,0.00,145.45,0.868,4,0.039,0.000,3008,1158,1948
$GC,6699,0.96,175.2,439.6,8.0,372,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1158,1938
$GC,7035,0.96,175.2,413.3,8.2,381,7039,0.00,1.15,0.00,0.000,4,0.000,0.031,3009,1847,1935
$GC,7119,0.96,175.2,406.8,7.8,382,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1852,1935
$GC,7450,0.96,175.2,378.9,8.5,391,7453,0.00,1.20,0.00,0.000,4,0.000,0.043,3008,1166,1933
$GC,7667,0.96,175.2,361.0,8.7,395,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1165,1930
$GC,7999,0.96,175.2,335.4,7.9,404,8002,0.00,1.12,0.00,0.000,4,0.000,0.030,3008,1845,1929
$GC,8256,0.98,188.6,316.7,6.8,409,8268,0.00,0.00,9.35,0.738,6,0.000,0.000,3008,1850,1895
$GC,8573,1.01,214.4,296.0,6.4,418,8602,0.00,1.23,24.30,0.788,4,0.000,0.044,3008,1166,1788
$GC,8856,1.01,214.4,272.9,9.1,430,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1165,1782
$GC,9171,1.01,214.4,246.9,8.2,446,9175,0.00,1.12,0.00,0.000,4,0.000,0.028,3009,1853,1780
$GC,9277,1.01,214.4,238.2,7.8,450,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1857,1780
$GC,9592,1.06,252.9,216.7,6.1,466,9634,0.00,1.25,33.53,0.728,4,0.000,0.040,3008,1163,1631
$GC,9826,1.06,252.9,198.9,8.4,477,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1162,1625
$GC,10156,1.06,252.9,172.8,7.3,508,10160,0.00,1.12,0.00,0.000,4,0.000,0.025,3008,1860,1623
$GC,10172,1.07,262.4,171.7,6.9,509,10183,0.00,0.00,8.60,0.607,6,0.000,0.000,3008,1862,1593
$GC,10502,1.09,278.3,150.1,6.7,540,10525,0.10,1.23,15.27,0.628,4,0.054,0.038,3043,1164,1529
$GC,10717,1.09,278.3,130.7,9.2,559,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1163,1525
$GC,11047,1.09,278.3,99.5,9.8,590,11051,0.00,1.10,0.00,0.000,4,0.000,0.023,3043,1869,1524
$GC,11082,1.09,278.3,96.1,9.5,593,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1870,1524
$GC,11412,1.09,278.3,68.8,7.5,624,11415,0.00,1.20,0.00,0.000,4,0.000,0.035,3043,1161,1524
$GC,11452,1.09,278.3,65.8,7.8,627,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1160,1524
$GC,11777,1.15,327.8,42.9,5.8,658,11824,0.00,1.12,43.10,0.551,4,0.000,0.090,3043,1876,1327
$GC,12079,1.15,327.8,21.2,8.5,696,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1881,1324
$GC,12198,1.15,327.8,10.7,8.9,717,12203,0.00,0.00,0.00,0.000,4,0.000,0.000,3043,1881,1323
$STATE,12280,end climb,SURFACE_DEPTH_REACHED
$STATE,12281,begin surface coast
$FINISH,1.3,1.010110
$STATE,12315,end surface coast,CONTROL_FINISHED_OK
$STATE,12315,begin surface
$SM_CCo,12337,76.35,0.514,0,0,828,450.13
$SM_GC,2.02,0.00,0.00,76.35,0.000,0.000,0.514,425,1880,828,-10.90,-14.70,450.13
$IRIDIUM_FIX,2052.52,-15819.63,141197,010107
$TT8_MAMPS,0.029146
$HUMID,1939
$INTERNAL_PRESSURE,8.64886
$TCM_TEMP,23.30
$XPDR_PINGS,769
$24V_AH,23.3,71.366
$10V_AH,10.2,40.790
$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,25.225,18.650,420.000,76.350,0.000,83.333,94.037,570.647,196.250,0.000,0.000,18.588,1339.479,8527.582,556.151,1996.806,998.881,0.000,1518.531,0.000,1962.061,0.000,29.243
$DEVICE_MAMPS,148.798,89.739,893.555,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.216,482.751,832.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38108,738
$CAP_FILE_SIZE,112881,3
$CFSIZE,260165632,243105792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200808,052807,2058.845,-15822.501,39,1.1,39,9.8