version: 66.04
glider: 139
mission: 3
dive: 76
start: 2 14 109 11 46 33
data:
$ID,139
$MISSION,3
$DIVE,76
$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,-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,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,-1320105.4
$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,23
$R_STBD_OVSHOOT,49
$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
$GPS1,113829,2113.741,-15811.617,9,2.4,29,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.2
$GPS2,114616,2113.679,-15811.633,45,1.3,45,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,KAHE
$TGT_LATLONG,2120.600,-15816.400
$TGT_RADIUS,2000.000
$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,317.5,15230,-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,14,begin dive
$GC,17,-1.22,-146.0,0.0,0.0,0,77,0.00,0.00,-58.03,0.000,2,0.000,0.000,425,1901,2274
$GC,80,-1.22,-146.0,3.9,-8.4,10,107,11.95,2.38,-8.70,0.000,4,0.146,0.076,2589,3292,2799
$GC,191,-1.22,-146.0,31.5,-15.2,28,197,0.00,2.33,0.00,0.000,6,0.000,0.023,2589,1879,2800
$GC,452,-1.22,-146.0,79.5,-17.8,53,456,0.00,2.40,0.00,0.000,4,0.000,0.045,2589,484,2801
$GC,513,-1.22,-146.0,91.5,-19.2,58,517,0.00,2.28,0.00,0.000,6,0.000,0.020,2589,1902,2801
$GC,774,-1.22,-146.0,139.0,-16.1,82,778,0.00,2.25,0.00,0.000,4,0.000,0.028,2589,3280,2801
$GC,864,-1.22,-146.0,151.2,-12.8,90,868,0.00,2.30,0.00,0.000,6,0.000,0.027,2588,1892,2801
$GC,1126,-1.22,-146.0,185.6,-12.1,114,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1892,2802
$GC,1375,-1.22,-146.0,214.1,-11.2,132,1380,0.00,2.42,0.00,0.000,4,0.000,0.047,2589,481,2803
$GC,1408,-1.22,-146.0,218.4,-13.0,133,1414,0.00,2.28,0.00,0.000,6,0.000,0.022,2589,1891,2803
$GC,1724,-1.22,-146.0,260.0,-12.9,149,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1895,2803
$GC,2033,-1.22,-146.0,297.9,-11.6,164,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1895,2802
$GC,2338,-1.22,-146.0,331.6,-10.3,172,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1895,2801
$GC,2663,-1.22,-146.0,362.5,-9.4,180,2667,0.00,2.35,0.00,0.000,4,0.000,0.038,2589,3282,2799
$GC,2678,-1.22,-146.0,364.1,-9.3,180,2683,0.00,2.35,0.00,0.000,6,0.000,0.031,2589,1888,2799
$GC,3027,-1.22,-146.0,396.9,-9.5,189,3031,0.00,2.47,0.00,0.000,4,0.000,0.059,2588,477,2796
$GC,3098,-1.22,-146.0,404.4,-10.3,190,3103,0.00,2.33,0.00,0.000,6,0.000,0.030,2588,1879,2796
$GC,3435,-1.22,-146.0,438.2,-10.1,199,3439,0.00,2.40,0.00,0.000,4,0.000,0.042,2589,3289,2793
$GC,3479,-1.22,-146.0,442.6,-10.0,200,3483,0.00,2.40,0.00,0.000,6,0.000,0.035,2589,1881,2793
$GC,3804,-1.22,-146.0,475.6,-10.3,208,3808,0.00,2.47,0.00,0.000,4,0.000,0.091,2588,477,2791
$GC,3847,-1.22,-146.0,480.3,-10.5,209,3852,0.00,2.38,0.00,0.000,6,0.000,0.032,2589,1893,2791
$GC,4172,-1.22,-146.0,512.7,-10.1,217,4176,0.00,2.50,0.00,0.000,4,0.000,0.088,2588,485,2789
$GC,4211,-1.22,-146.0,516.8,-10.5,218,4215,0.00,2.38,0.00,0.000,6,0.000,0.033,2589,1900,2789
$GC,4534,-1.22,-146.0,550.5,-10.4,226,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1904,2787
$GC,4859,-1.22,-146.0,581.5,-9.5,234,4863,0.00,2.55,0.00,0.000,4,0.000,0.068,2589,481,2785
$GC,4886,-1.22,-146.0,584.3,-10.4,234,4890,0.00,2.40,0.00,0.000,6,0.000,0.035,2589,1897,2784
$GC,5217,-1.22,-146.0,614.4,-9.1,242,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1899,2783
$GC,5542,-1.22,-146.0,641.0,-8.0,250,5546,0.00,2.55,0.00,0.000,4,0.000,0.067,2588,486,2781
$GC,5563,-1.22,-146.0,642.8,-8.4,250,5567,0.00,2.40,0.00,0.000,6,0.000,0.036,2589,1893,2781
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5661,-0.31,0.0,650.3,8.2,253,5791,0.95,0.00,126.12,1.055,6,0.074,0.000,2790,1982,2200
$STATE,5792,end apogee,CONTROL_FINISHED_OK
$STATE,5792,begin climb
$GC,5794,1.22,146.0,655.1,0.0,256,5934,1.50,2.65,130.32,1.031,4,0.043,0.071,3128,564,1601
$GC,6110,1.30,217.6,652.1,6.1,263,6178,0.00,2.42,62.55,1.016,6,0.000,0.037,3128,1961,1312
$GC,6501,1.30,217.6,615.5,10.3,273,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1962,1303
$GC,6826,1.30,217.6,578.3,11.7,281,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1964,1302
$GC,7151,1.30,217.6,542.2,11.2,289,7155,0.00,2.53,0.00,0.000,4,0.000,0.053,3128,3387,1301
$GC,7166,1.30,217.6,540.4,10.9,289,7170,0.00,2.45,0.00,0.000,6,0.000,0.050,3128,1968,1301
$GC,7514,1.30,217.6,505.2,10.1,298,7519,0.00,2.50,0.00,0.000,4,0.000,0.046,3128,3388,1299
$GC,7632,1.30,217.6,493.4,9.9,300,7636,0.00,2.47,0.00,0.000,6,0.000,0.044,3128,1967,1299
$GC,7963,1.30,217.6,461.9,9.3,308,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1966,1298
$GC,8287,1.30,217.6,431.1,9.3,316,8291,0.00,2.47,0.00,0.000,4,0.000,0.045,3128,3388,1298
$GC,8320,1.30,217.7,428.1,9.0,316,8325,0.00,2.47,0.00,0.000,6,0.000,0.044,3128,1961,1298
$GC,8651,1.30,217.7,397.1,9.7,324,8655,0.00,2.47,0.00,0.000,4,0.000,0.044,3128,3379,1297
$GC,8691,1.30,217.7,393.1,10.4,325,8695,0.00,2.42,0.00,0.000,6,0.000,0.071,3128,1962,1297
$GC,9014,1.30,217.7,360.2,10.2,333,9019,0.00,2.50,0.00,0.000,4,0.000,0.058,3128,560,1296
$GC,9030,1.30,217.7,358.4,10.4,333,9035,0.00,2.42,0.00,0.000,6,0.000,0.034,3128,1987,1295
$GC,9372,1.30,217.7,325.5,9.7,342,9377,0.00,2.55,0.00,0.000,4,0.000,0.062,3128,563,1296
$GC,9461,1.30,217.7,315.3,12.1,344,9466,0.00,2.42,0.00,0.000,6,0.000,0.034,3128,1993,1295
$GC,9788,1.31,223.8,285.1,8.8,356,9793,0.00,2.40,0.00,0.000,4,0.000,0.047,3128,3382,1295
$GC,9907,1.32,228.3,274.6,8.8,361,9921,0.00,2.42,7.68,0.714,6,0.000,0.036,3128,1964,1269
$GC,10250,1.38,276.7,247.9,7.0,378,10301,0.15,2.55,43.80,0.795,4,0.051,0.040,3168,3377,1071
$GC,10328,1.38,276.7,240.3,10.9,381,10335,0.00,2.45,0.00,0.000,6,0.000,0.036,3168,1964,1070
$GC,10644,1.38,276.7,204.7,12.1,397,10649,0.00,2.47,0.00,0.000,4,0.000,0.054,3168,561,1066
$GC,10711,1.38,276.7,195.3,15.0,401,10717,0.00,2.40,0.00,0.000,6,0.000,0.030,3168,1982,1064
$GC,10973,1.38,276.7,164.6,10.2,426,10977,0.00,2.38,0.00,0.000,4,0.000,0.039,3168,3373,1064
$GC,11006,1.38,276.7,161.1,9.2,428,11013,0.00,2.38,0.00,0.000,6,0.000,0.031,3168,1966,1064
$GC,11267,1.38,276.7,138.5,9.2,453,11271,0.00,2.40,0.00,0.000,4,0.000,0.035,3168,3373,1064
$GC,11341,1.38,276.7,131.3,10.0,459,11347,0.00,2.38,0.00,0.000,6,0.000,0.031,3168,1970,1064
$GC,11602,1.49,367.7,114.2,5.3,484,11687,0.00,2.50,75.60,0.657,4,0.000,0.031,3168,3382,699
$GC,11732,1.49,367.7,102.5,12.4,496,11737,0.00,2.42,0.00,0.000,6,0.000,0.032,3168,1965,699
$GC,11994,1.49,367.7,71.8,12.3,520,11998,0.00,2.45,0.00,0.000,4,0.000,0.048,3168,557,697
$GC,12151,1.49,367.7,49.5,14.0,533,12158,0.00,2.33,0.00,0.000,6,0.000,0.053,3168,1984,695
$GC,12418,1.49,367.7,15.4,13.7,568,12424,0.00,2.47,0.00,0.000,4,0.000,0.051,3168,560,695
$STATE,12480,end climb,SURFACE_DEPTH_REACHED
$STATE,12480,begin surface coast
$FINISH,2.3,1.023628
$STATE,12503,end surface coast,CONTROL_FINISHED_OK
$STATE,12503,begin surface
$SM_CCo,12526,26.85,0.534,0,0,569,400.08
$SM_GC,1.55,0.00,0.00,26.85,0.000,0.000,0.534,423,1891,569,-11.21,0.06,400.08
$IRIDIUM_FIX,2104.07,-15814.92,110598,080813
$TT8_MAMPS,0.029146
$HUMID,1661
$INTERNAL_PRESSURE,9.45979
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.3,12.931
$10V_AH,10.2,7.027
$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,26.425,126.075,446.075,26.850,0.000,29.074,34.363,254.698,3.500,0.000,0.000,46.616,1097.232,9411.915,536.377,1456.779,510.366,0.000,1315.246,0.000,1404.071,0.000,0.538,0.000
$DEVICE_MAMPS,145.730,91.273,1055.392,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.306,253.401,438.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31577,583
$CAP_FILE_SIZE,98860,5
$CFSIZE,260165632,254746624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,152019,2114.261,-15812.190,233,1.2,235,9.8