version: 66.04
glider: 139
mission: 3
dive: 74
start: 2 14 109 4 46 54
data:
$ID,139
$MISSION,3
$DIVE,74
$D_SURF,6
$D_FLARE,3
$D_TGT,650
$D_ABORT,710
$D_NO_BLEED,90
$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,240
$T_MISSION,320
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,70
$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,400
$N_FILEKB,8
$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,1
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,20
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1320034.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2200
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,215343,2111.573,-15830.105,22,1.4,34,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.4
$GPS2,215343,2111.573,-15830.105,22,1.4,34,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2115.266,-15819.217
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,60.2,20000,-16.6,-9.028
$D_GRID,650
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.53,0.000,2,0.000,0.000,424,1869,2260
$GC,77,-1.22,-146.0,3.9,-8.5,10,102,11.77,0.00,-9.27,0.000,6,0.143,0.000,2591,1870,2798
$GC,298,-1.22,-146.0,52.7,-18.2,39,302,0.00,2.35,0.00,0.000,4,0.000,0.046,2591,503,2799
$GC,331,-1.22,-146.0,59.8,-21.0,41,338,0.00,2.25,0.00,0.000,6,0.000,0.020,2592,1913,2798
$GC,592,-1.22,-146.0,107.0,-17.8,66,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1917,2798
$GC,848,-1.22,-146.0,151.3,-16.2,90,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1917,2798
$GC,1102,-1.22,-146.0,189.4,-14.5,114,1106,0.00,2.42,0.00,0.000,4,0.000,0.044,2591,501,2798
$GC,1158,-1.22,-146.0,196.9,-12.7,118,1164,0.00,2.17,0.00,0.000,6,0.000,0.020,2592,1879,2797
$GC,1411,-1.22,-146.0,225.7,-11.2,132,1416,0.00,2.40,0.00,0.000,4,0.000,0.048,2591,492,2798
$GC,1478,-1.22,-146.0,234.4,-13.3,135,1482,0.00,2.25,0.00,0.000,6,0.000,0.021,2591,1885,2798
$GC,1805,-1.22,-146.0,279.0,-13.6,151,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1889,2797
$GC,2112,-1.22,-146.0,315.0,-10.7,163,2116,0.00,2.40,0.00,0.000,4,0.000,0.081,2591,500,2796
$GC,2139,-1.22,-146.0,318.2,-12.0,163,2143,0.00,2.28,0.00,0.000,6,0.000,0.025,2592,1898,2796
$GC,2476,-1.22,-146.0,350.6,-10.0,172,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1902,2794
$GC,2801,-1.22,-146.0,379.4,-8.2,180,2805,0.00,2.45,0.00,0.000,4,0.000,0.084,2591,497,2791
$GC,2857,-1.22,-146.0,384.4,-9.4,181,2861,0.00,2.30,0.00,0.000,6,0.000,0.028,2591,1894,2791
$GC,3175,-1.22,-146.0,416.8,-11.1,189,3179,0.00,2.45,0.00,0.000,4,0.000,0.053,2591,495,2789
$GC,3196,-1.22,-146.0,419.5,-12.0,189,3200,0.00,2.33,0.00,0.000,6,0.000,0.030,2591,1885,2789
$GC,3538,-1.22,-146.0,456.8,-10.5,198,3542,0.00,2.42,0.00,0.000,4,0.000,0.054,2591,495,2786
$GC,3560,-1.22,-146.0,459.1,-10.3,198,3564,0.00,2.33,0.00,0.000,6,0.000,0.031,2591,1893,2786
$GC,3908,-1.22,-146.0,495.2,-10.6,207,3912,0.00,2.40,0.00,0.000,4,0.000,0.045,2591,3293,2783
$GC,3929,-1.22,-146.0,497.5,-10.9,207,3933,0.00,2.38,0.00,0.000,6,0.000,0.037,2591,1900,2783
$GC,4271,-1.22,-146.0,534.0,-10.2,216,4275,0.00,2.50,0.00,0.000,4,0.000,0.059,2591,484,2781
$GC,4298,-1.22,-146.0,536.7,-10.0,216,4302,0.00,2.38,0.00,0.000,6,0.000,0.033,2591,1897,2780
$GC,4629,-1.22,-146.0,565.3,-8.6,224,4633,0.00,2.53,0.00,0.000,4,0.000,0.060,2591,479,2779
$GC,4684,-1.22,-146.0,570.5,-9.4,225,4688,0.00,2.38,0.00,0.000,6,0.000,0.033,2591,1888,2778
$GC,5002,-1.22,-146.0,599.4,-9.4,233,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1889,2776
$GC,5328,-1.22,-146.0,627.4,-8.1,241,5332,0.00,2.53,0.00,0.000,4,0.000,0.065,2591,484,2774
$GC,5354,-1.22,-146.0,629.8,-9.3,241,5359,0.00,2.38,0.00,0.000,6,0.000,0.035,2591,1886,2774
$STATE,5608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5608,begin apogee
$GC,5614,-0.31,0.0,650.5,8.0,248,5741,0.95,0.00,123.95,1.053,6,0.077,0.000,2792,1987,2200
$STATE,5742,end apogee,CONTROL_FINISHED_OK
$STATE,5742,begin climb
$GC,5744,1.22,146.0,656.0,0.0,251,5882,1.48,2.55,129.77,1.030,4,0.041,0.066,3126,3362,1603
$GC,5979,1.37,267.2,658.8,4.0,256,6091,0.15,2.47,105.12,1.019,6,0.055,0.045,3163,1969,1109
$GC,6398,1.37,267.2,603.3,15.2,267,6402,0.00,2.58,0.00,0.000,4,0.000,0.094,3163,551,1102
$GC,6413,1.37,267.2,600.7,15.3,267,6418,0.00,2.42,0.00,0.000,6,0.000,0.034,3163,1961,1101
$GC,6761,1.37,267.2,553.1,13.0,276,6766,0.00,2.50,0.00,0.000,4,0.000,0.051,3163,3375,1099
$GC,6794,1.37,267.2,548.9,12.2,276,6801,0.00,2.47,0.00,0.000,6,0.000,0.050,3164,1962,1100
$GC,7125,1.37,267.2,505.0,14.4,285,7129,0.00,2.53,0.00,0.000,4,0.000,0.091,3163,560,1099
$GC,7185,1.37,267.2,495.1,17.5,286,7189,0.00,2.42,0.00,0.000,6,0.000,0.035,3164,1974,1097
$GC,7533,1.37,267.2,446.0,13.6,295,7537,0.00,2.55,0.00,0.000,4,0.000,0.057,3163,556,1097
$GC,7549,1.37,267.2,443.5,13.8,295,7553,0.00,2.42,0.00,0.000,6,0.000,0.041,3164,1976,1096
$GC,7897,1.37,267.2,399.1,12.5,304,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1981,1096
$GC,8222,1.37,267.2,356.6,13.6,312,8226,0.00,2.53,0.00,0.000,4,0.000,0.064,3163,558,1095
$GC,8248,1.37,267.2,352.7,15.5,312,8252,0.00,2.40,0.00,0.000,6,0.000,0.033,3163,1974,1094
$GC,8591,1.37,267.2,307.9,12.1,321,8595,0.00,2.53,0.00,0.000,4,0.000,0.086,3164,552,1094
$GC,8606,1.37,267.2,306.0,11.4,321,8610,0.00,2.40,0.00,0.000,6,0.000,0.032,3164,1972,1094
$GC,8938,1.37,267.2,274.9,9.5,336,8942,0.00,2.50,0.00,0.000,4,0.000,0.053,3163,560,1094
$GC,9000,1.37,267.2,267.6,13.3,339,9004,0.00,2.38,0.00,0.000,6,0.000,0.031,3164,1975,1093
$GC,9327,1.37,267.2,232.4,10.9,355,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1980,1093
$GC,9636,1.37,267.2,196.5,10.6,371,9640,0.00,2.47,0.00,0.000,4,0.000,0.050,3163,557,1093
$GC,9776,1.38,281.7,181.7,8.4,383,9793,0.00,2.38,10.68,0.660,6,0.000,0.035,3164,1987,1050
$GC,10049,1.38,281.7,158.8,10.5,409,10054,0.00,2.50,0.00,0.000,4,0.000,0.047,3164,547,1050
$GC,10089,1.38,281.7,153.5,13.2,412,10093,0.00,2.35,0.00,0.000,6,0.000,0.026,3163,1972,1049
$GC,10350,1.38,281.7,124.6,10.6,436,10353,0.00,2.45,0.00,0.000,4,0.000,0.045,3164,546,1049
$GC,10474,1.41,301.9,111.3,8.2,447,10499,0.00,2.35,18.38,0.619,6,0.000,0.024,3164,1986,968
$GC,10760,1.41,301.9,82.1,10.1,474,10764,0.00,1.88,0.00,0.000,4,0.000,0.073,3164,3132,967
$GC,10817,1.41,302.4,77.1,9.0,479,10821,0.00,1.95,0.00,0.000,6,0.000,0.028,3164,1959,967
$GC,11084,1.41,302.4,51.4,10.0,504,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1959,967
$GC,11341,1.41,302.4,26.8,9.4,531,11347,0.00,2.38,0.00,0.000,4,0.000,0.044,3164,560,967
$GC,11494,1.41,302.4,10.7,12.0,558,11501,0.00,2.30,0.00,0.000,6,0.000,0.021,3164,1980,967
$STATE,11544,end climb,SURFACE_DEPTH_REACHED
$STATE,11544,begin surface coast
$FINISH,0.6,1.023554
$STATE,11619,end surface coast,CONTROL_FINISHED_OK
$STATE,11621,begin surface
$SM_CCo,11642,80.97,0.536,0,0,568,400.08
$SM_GC,1.08,0.00,0.00,80.97,0.000,0.000,0.536,429,1848,568,-11.18,-1.19,400.08
$IRIDIUM_FIX,2104.07,-15820.07,100598,222248
$TT8_MAMPS,0.029146
$HUMID,1630
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.3,12.650
$10V_AH,10.2,6.899
$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,Compass2
$DEVICE_SECS,26.250,115.200,387.900,80.975,0.000,24.920,28.247,245.120,4.250,0.000,0.000,1204.986,1069.631,8713.096,533.002,2522.653,485.013,0.000,1252.861,0.000,1319.670,0.000,0.540,0.000
$DEVICE_MAMPS,143.429,94.341,1053.091,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.218,269.403,480.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28553,580
$CAP_FILE_SIZE,93558,4
$CFSIZE,260165632,254853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,080337,2113.237,-15813.236,39,1.6,40,9.8