version: 66.03
glider: 139
mission: 3
dive: 289
start: 8 20 108 5 43 44
data:
$ID,139
$MISSION,3
$DIVE,289
$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,-1276749.6
$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
$GPS1,052807,2058.845,-15822.501,39,1.1,39,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.2
$GPS2,054327,2058.814,-15822.551,14,1.1,14,9.8
$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,57.8,52118,-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,-64.97,0.000,2,0.000,0.000,425,1880,2623
$GC,91,-0.96,-175.2,3.4,-3.4,12,121,12.05,0.00,-15.27,0.000,6,0.151,0.000,2576,1882,3382
$GC,234,-0.96,-175.2,27.9,-13.2,37,240,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1882,3384
$GC,493,-0.96,-175.2,60.0,-11.3,62,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1882,3383
$GC,824,-0.96,-175.2,90.7,-8.6,93,827,0.00,1.20,0.00,0.000,4,0.000,0.033,2576,1160,3384
$GC,1016,-0.96,-175.2,109.0,-10.0,110,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1160,3384
$GC,1347,-0.96,-175.2,140.7,-9.0,141,1350,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1160,3384
$GC,1493,-0.96,-175.2,153.5,-8.8,154,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1159,3384
$GC,1824,-0.96,-175.2,180.0,-7.9,185,1827,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1160,3384
$GC,1963,-0.96,-175.2,191.3,-7.8,197,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1159,3384
$GC,2293,-0.96,-175.2,216.1,-6.7,219,2296,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1159,3384
$GC,2372,-0.96,-175.2,221.1,-6.3,222,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1159,3384
$GC,2693,-0.96,-175.2,244.3,-8.1,238,2696,0.00,1.10,0.00,0.000,4,0.000,0.021,2576,1874,3384
$GC,2950,-0.96,-175.2,265.5,-7.5,249,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1877,3383
$GC,3272,-0.96,-175.2,286.6,-6.0,265,3275,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1878,3382
$GC,3529,-0.96,-175.2,302.1,-6.9,276,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1878,3381
$GC,3866,-0.96,-175.2,324.5,-6.2,285,3870,0.00,1.20,0.00,0.000,4,0.000,0.037,2576,1165,3380
$GC,4085,-0.96,-175.2,336.7,-4.6,289,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1164,3379
$GC,4416,-0.96,-175.2,355.8,-6.1,298,4419,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1165,3377
$GC,4466,-0.96,-175.2,359.1,-6.5,299,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1165,3376
$GC,4790,-0.96,-175.2,383.3,-7.6,307,4793,0.00,0.00,0.00,0.000,4,0.000,0.000,2575,1164,3375
$GC,4839,-0.96,-175.2,387.0,-7.2,308,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1165,3374
$GC,5164,-0.96,-175.2,408.9,-6.5,316,5167,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1164,3372
$GC,5220,-0.96,-175.2,412.7,-6.5,317,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1165,3372
$GC,5539,-0.96,-175.2,432.8,-6.2,325,5542,0.00,0.00,0.00,0.000,4,0.000,0.000,2576,1165,3370
$GC,5611,-0.96,-175.2,437.2,-6.0,326,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1165,3369
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5830,begin apogee
$GC,5835,-0.31,0.0,451.0,6.1,332,5980,0.68,0.00,141.75,0.885,6,0.054,0.000,2727,1164,2664
$STATE,5981,end apogee,CONTROL_FINISHED_OK
$STATE,5981,begin climb
$GC,5984,0.96,175.2,457.7,0.0,335,6137,1.23,1.12,145.18,0.861,4,0.041,0.037,3008,1849,1948
$GC,6389,0.96,175.2,437.4,9.2,344,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1855,1940
$GC,6737,0.96,175.2,405.2,9.0,353,6740,0.00,0.00,0.00,0.000,4,0.000,0.000,3007,1855,1937
$GC,6904,0.96,175.2,391.3,7.8,356,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1854,1935
$GC,7241,0.96,175.2,365.2,7.5,365,7244,0.00,0.00,0.00,0.000,4,0.000,0.000,3008,1855,1933
$GC,7274,0.97,180.5,362.8,7.0,365,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1855,1933
$GC,7610,0.97,180.5,338.3,7.6,374,7613,0.00,1.20,0.00,0.000,4,0.000,0.042,3008,1163,1931
$GC,7761,0.97,180.5,325.4,8.9,377,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1163,1929
$GC,8073,0.97,180.5,301.2,7.3,385,8077,0.00,1.12,0.00,0.000,4,0.000,0.029,3007,1850,1928
$GC,8331,0.97,180.5,282.9,7.2,395,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1855,1928
$GC,8653,0.97,180.5,257.7,7.8,411,8656,0.00,1.17,0.00,0.000,4,0.000,0.040,3008,1171,1927
$GC,8910,1.01,211.9,238.6,6.3,422,8942,0.00,0.00,28.70,0.746,6,0.000,0.000,3008,1170,1799
$GC,9252,1.03,229.2,215.1,6.7,439,9273,0.00,1.10,15.77,0.700,4,0.000,0.032,3008,1858,1728
$GC,9306,1.03,229.2,210.9,7.2,441,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1860,1727
$GC,9633,1.07,265.1,189.0,6.2,465,9669,0.00,1.25,32.55,0.691,4,0.000,0.038,3007,1161,1582
$GC,9877,1.07,265.1,170.0,8.4,486,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1160,1576
$GC,10202,1.07,265.1,144.5,7.4,517,10206,0.00,1.12,0.00,0.000,4,0.000,0.024,3008,1869,1574
$GC,10236,1.07,265.1,142.0,7.5,520,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1870,1574
$GC,10567,1.07,265.1,119.3,7.2,551,10570,0.00,1.20,0.00,0.000,4,0.000,0.035,3008,1164,1574
$GC,10713,1.07,265.1,108.0,8.1,564,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1163,1574
$GC,11044,1.07,265.1,83.1,7.3,595,11047,0.00,1.10,0.00,0.000,4,0.000,0.021,3008,1868,1574
$GC,11303,1.07,265.1,65.0,7.4,618,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1873,1574
$GC,11635,1.17,343.5,46.5,5.0,649,11710,0.15,1.23,66.68,0.551,4,0.041,0.034,3064,1162,1261
$GC,11851,1.17,343.5,27.0,9.9,671,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1161,1256
$GC,11970,1.17,343.5,16.6,9.9,692,11977,0.00,1.10,0.00,0.000,4,0.000,0.020,3064,1882,1255
$STATE,12116,end climb,SURFACE_DEPTH_REACHED
$STATE,12116,begin surface coast
$FINISH,1.4,1.020817
$STATE,12155,end surface coast,CONTROL_FINISHED_OK
$STATE,12156,begin surface
$SM_CCo,12176,121.38,0.512,0,0,449,543.09
$SM_GC,1.83,0.00,0.00,121.38,0.000,0.000,0.512,421,1881,449,-10.92,-14.67,543.09
$IRIDIUM_FIX,2052.52,-15824.77,141197,050522
$TT8_MAMPS,0.029146
$HUMID,1909
$INTERNAL_PRESSURE,8.61956
$TCM_TEMP,23.40
$XPDR_PINGS,782
$24V_AH,23.3,71.524
$10V_AH,10.2,40.880
$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,25.425,16.225,430.625,121.375,0.000,142.054,402.701,0.000,199.500,0.000,0.000,15.493,1337.199,8424.725,584.940,2088.318,763.386,0.000,1574.329,0.000,2049.450,0.000,29.250
$DEVICE_MAMPS,151.099,42.185,885.118,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.565,471.889,822.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37999,725
$CAP_FILE_SIZE,99848,1
$CFSIZE,260165632,243040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200808,090937,2058.508,-15824.034,23,1.2,23,9.8