version: 66.04
glider: 139
mission: 3
dive: 75
start: 2 14 109 8 11 6
data:
$ID,139
$MISSION,3
$DIVE,75
$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,-1320058.1
$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,68
$R_STBD_OVSHOOT,60
$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
$GPS1,080337,2113.237,-15813.236,39,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.7
$GPS2,081049,2113.153,-15813.169,20,1.8,21,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2116.846,-15802.278
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.22,-146.0,0.0,0.0,0,77,0.00,0.00,-57.72,0.000,2,0.000,0.000,428,1848,2269
$GC,80,-1.22,-146.0,3.9,-8.0,10,107,11.82,2.45,-8.90,0.000,4,0.143,0.074,2588,3282,2798
$GC,180,-1.22,-146.0,30.2,-15.5,27,187,0.00,2.30,0.00,0.000,6,0.000,0.031,2588,1938,2800
$GC,441,-1.22,-146.0,78.0,-18.6,52,445,0.00,2.53,0.00,0.000,4,0.000,0.047,2587,474,2801
$GC,543,-1.22,-146.0,98.2,-16.7,61,547,0.00,2.25,0.00,0.000,6,0.000,0.020,2588,1889,2800
$GC,809,-1.22,-146.0,137.9,-12.7,86,813,0.00,2.42,0.00,0.000,4,0.000,0.044,2588,481,2801
$GC,830,-1.22,-146.0,141.3,-14.9,87,836,0.00,2.28,0.00,0.000,6,0.000,0.020,2588,1912,2801
$GC,1091,-1.22,-146.0,180.6,-14.4,112,1095,0.00,2.45,0.00,0.000,4,0.000,0.042,2588,485,2802
$GC,1135,-1.22,-146.0,187.0,-14.1,115,1141,0.00,2.25,0.00,0.000,6,0.000,0.020,2588,1888,2802
$GC,1392,-1.22,-146.0,218.6,-11.7,133,1396,0.00,2.42,0.00,0.000,4,0.000,0.061,2588,485,2802
$GC,1447,-1.22,-146.0,225.6,-12.3,135,1453,0.00,2.28,0.00,0.000,6,0.000,0.021,2588,1894,2803
$GC,1763,-1.22,-146.0,264.5,-11.6,151,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,2802
$GC,2072,-1.22,-146.0,296.1,-11.7,166,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,2801
$GC,2397,-1.22,-146.0,332.1,-9.7,175,2401,0.00,2.45,0.00,0.000,4,0.000,0.081,2588,487,2800
$GC,2429,-1.22,-146.0,335.7,-11.1,175,2436,0.00,2.30,0.00,0.000,6,0.000,0.025,2588,1893,2800
$GC,2760,-1.22,-146.0,375.5,-11.8,184,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1897,2799
$GC,3085,-1.22,-146.0,408.0,-9.7,192,3089,0.00,2.47,0.00,0.000,4,0.000,0.059,2588,484,2796
$GC,3145,-1.22,-146.0,414.7,-11.3,193,3149,0.00,2.33,0.00,0.000,6,0.000,0.028,2588,1886,2797
$GC,3458,-1.22,-146.0,444.4,-9.4,201,3462,0.00,2.38,0.00,0.000,4,0.000,0.041,2588,3289,2794
$GC,3499,-1.22,-146.0,448.3,-9.5,202,3504,0.00,2.38,0.00,0.000,6,0.000,0.035,2588,1888,2794
$GC,3823,-1.22,-146.0,481.5,-10.5,210,3827,0.00,2.28,0.00,0.000,4,0.000,0.079,2588,557,2792
$GC,3855,-1.22,-146.0,485.4,-12.0,210,3861,0.00,2.22,0.00,0.000,6,0.000,0.031,2588,1889,2792
$GC,4186,-1.22,-146.0,521.7,-10.6,219,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1894,2789
$GC,4511,-1.22,-146.0,549.1,-8.3,227,4516,0.00,2.42,0.00,0.000,4,0.000,0.048,2588,3292,2788
$GC,4539,-1.22,-146.0,551.5,-8.7,227,4543,0.00,2.40,0.00,0.000,6,0.000,0.040,2588,1893,2787
$GC,4870,-1.22,-146.0,577.0,-8.3,235,4874,0.00,2.53,0.00,0.000,4,0.000,0.087,2588,465,2786
$GC,4919,-1.22,-146.0,582.0,-10.3,236,4923,0.00,2.40,0.00,0.000,6,0.000,0.034,2588,1883,2785
$GC,5237,-1.22,-146.0,615.9,-11.1,244,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1884,2783
$GC,5563,-1.22,-146.0,647.4,-9.0,252,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1884,2781
$STATE,5601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5601,begin apogee
$GC,5607,-0.31,0.0,650.9,8.7,253,5736,0.98,0.00,125.45,1.048,6,0.075,0.000,2794,1984,2200
$STATE,5736,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5739,1.22,146.0,655.4,0.0,256,5877,1.45,2.65,129.93,1.027,4,0.040,0.093,3125,558,1602
$GC,5994,1.28,201.2,654.0,6.7,262,6049,0.00,2.42,48.28,1.004,6,0.000,0.037,3125,1960,1378
$GC,6357,1.28,201.2,620.7,10.0,271,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1960,1371
$GC,6682,1.30,212.6,589.8,8.6,279,6697,0.00,2.58,9.85,0.887,4,0.000,0.058,3125,3375,1333
$GC,6725,1.30,212.9,586.1,9.0,280,6729,0.00,2.47,0.00,0.000,6,0.000,0.043,3125,1970,1333
$GC,7042,1.30,212.9,557.1,9.6,288,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1970,1330
$GC,7367,1.30,212.9,521.2,11.4,296,7372,0.00,2.53,0.00,0.000,4,0.000,0.091,3125,560,1329
$GC,7389,1.30,212.9,518.6,12.6,296,7393,0.00,2.42,0.00,0.000,6,0.000,0.035,3125,1975,1328
$GC,7731,1.33,241.2,488.3,7.9,305,7765,0.12,2.58,26.33,0.940,4,0.058,0.051,3158,3374,1216
$GC,7821,1.33,241.2,478.6,11.9,307,7825,0.00,2.45,0.00,0.000,6,0.000,0.039,3158,1968,1215
$GC,8145,1.33,241.2,437.5,13.0,315,8149,0.00,2.47,0.00,0.000,4,0.000,0.044,3158,3383,1212
$GC,8195,1.33,241.2,430.9,12.8,316,8199,0.00,2.45,0.00,0.000,6,0.000,0.038,3158,1968,1212
$GC,8513,1.33,241.2,393.2,11.7,324,8518,0.00,2.45,0.00,0.000,4,0.000,0.043,3158,3375,1211
$GC,8557,1.33,241.2,387.6,12.9,325,8561,0.00,2.45,0.00,0.000,6,0.000,0.043,3157,1965,1211
$GC,8882,1.33,241.2,347.4,12.1,333,8886,0.00,2.50,0.00,0.000,4,0.000,0.057,3158,556,1210
$GC,8948,1.33,241.2,338.8,12.1,334,8952,0.00,2.42,0.00,0.000,6,0.000,0.032,3157,1982,1209
$GC,9290,1.33,241.2,300.3,11.3,343,9294,0.00,2.50,0.00,0.000,4,0.000,0.054,3158,560,1208
$GC,9317,1.33,241.2,296.8,12.9,343,9322,0.00,2.40,0.00,0.000,6,0.000,0.031,3157,1979,1208
$GC,9645,1.33,241.2,258.6,11.2,359,9648,0.00,2.40,0.00,0.000,4,0.000,0.044,3158,3371,1208
$GC,9716,1.33,241.2,250.4,11.2,362,9721,0.00,2.40,0.00,0.000,6,0.000,0.035,3157,1966,1208
$GC,10043,1.33,241.2,217.4,9.5,378,10047,0.00,2.42,0.00,0.000,4,0.000,0.039,3157,3377,1208
$GC,10126,1.33,241.2,209.0,10.1,381,10133,0.00,2.40,0.00,0.000,6,0.000,0.034,3158,1965,1208
$GC,10449,1.33,241.2,181.4,10.4,407,10452,0.00,2.47,0.00,0.000,4,0.000,0.051,3157,552,1208
$GC,10707,1.42,312.5,160.2,6.1,430,10774,0.00,2.38,60.28,0.701,6,0.000,0.027,3158,1990,925
$GC,11037,1.42,312.5,130.0,11.0,461,11041,0.00,2.50,0.00,0.000,4,0.000,0.048,3158,560,921
$GC,11103,1.42,312.5,121.8,13.5,466,11109,0.00,2.38,0.00,0.000,6,0.000,0.025,3158,1972,919
$GC,11364,1.42,312.5,94.7,9.4,491,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1978,919
$GC,11619,1.42,312.5,70.2,9.8,515,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1978,919
$GC,11874,1.42,312.5,45.4,9.8,539,11878,0.00,2.45,0.00,0.000,4,0.000,0.077,3158,559,919
$GC,11924,1.42,312.5,40.1,10.4,543,11928,0.00,2.33,0.00,0.000,6,0.000,0.021,3158,1989,919
$GC,12193,1.42,312.5,13.7,9.4,581,12200,0.00,2.47,0.00,0.000,4,0.000,0.058,3157,553,920
$STATE,12262,end climb,SURFACE_DEPTH_REACHED
$STATE,12262,begin surface coast
$FINISH,3.4,1.023669
$STATE,12279,end surface coast,CONTROL_FINISHED_OK
$STATE,12280,begin surface
$SM_CCo,12303,71.35,0.538,0,0,568,400.08
$SM_GC,1.14,0.00,0.00,71.35,0.000,0.000,0.538,425,1903,568,-11.20,0.37,400.08
$IRIDIUM_FIX,2106.38,-15817.07,110598,040426
$TT8_MAMPS,0.029146
$HUMID,1631
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,22.20
$XPDR_PINGS,16
$24V_AH,23.3,12.789
$10V_AH,10.2,6.963
$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,26.450,120.900,400.100,71.350,0.000,26.425,25.331,253.150,4.000,0.000,0.000,23.122,1112.512,9209.539,557.270,1430.181,488.188,0.000,1311.627,0.000,1403.767,0.000,0.541,0.000
$DEVICE_MAMPS,142.662,92.807,1047.722,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.994,263.692,471.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31707,596
$CAP_FILE_SIZE,97046,7
$CFSIZE,260165632,254799872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,113829,2113.741,-15811.617,9,2.4,29,9.8