version: 66.04
glider: 139
mission: 3
dive: 77
start: 2 14 109 15 38 35
data:
$ID,139
$MISSION,3
$DIVE,77
$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,-1320802.4
$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,40
$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
$GPS1,152019,2114.261,-15812.190,233,1.2,235,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.3
$GPS2,153816,2114.165,-15812.145,693,1.0,694,9.8
$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,318.6,13997,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.0,0.0,0.0,0,75,0.00,0.00,-57.80,0.000,2,0.000,0.000,423,1892,2260
$GC,78,-1.22,-146.0,3.7,-8.2,10,105,12.00,2.40,-9.00,0.000,4,0.149,0.048,2592,3298,2799
$GC,196,-1.22,-146.0,33.8,-15.5,28,200,0.00,2.38,0.00,0.000,6,0.000,0.029,2591,1881,2800
$GC,456,-1.22,-146.0,84.2,-19.0,52,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1880,2800
$GC,711,-1.22,-146.0,135.1,-22.1,76,715,0.00,2.40,0.00,0.000,4,0.000,0.046,2591,480,2800
$GC,750,-1.22,-146.0,143.1,-20.5,79,754,0.00,2.28,0.00,0.000,6,0.000,0.020,2591,1906,2800
$GC,1011,-1.22,-146.0,183.7,-12.3,103,1015,0.00,2.25,0.00,0.000,4,0.000,0.028,2591,3280,2801
$GC,1107,-1.22,-146.0,193.9,-10.1,111,1112,0.00,2.33,0.00,0.000,6,0.000,0.027,2591,1875,2801
$GC,1373,-1.22,-146.0,224.3,-11.9,126,1376,0.00,2.40,0.00,0.000,4,0.000,0.080,2591,481,2802
$GC,1422,-1.22,-146.0,230.8,-12.1,128,1426,0.00,2.28,0.00,0.000,6,0.000,0.021,2591,1888,2801
$GC,1749,-1.22,-146.0,270.5,-11.9,144,1753,0.00,2.33,0.00,0.000,4,0.000,0.033,2591,3283,2801
$GC,1782,-1.22,-146.0,274.5,-11.7,145,1786,0.00,2.33,0.00,0.000,6,0.000,0.029,2591,1890,2800
$GC,2121,-1.22,-146.0,315.7,-12.3,159,2125,0.00,2.42,0.00,0.000,4,0.000,0.049,2591,487,2800
$GC,2154,-1.22,-146.0,319.7,-11.9,159,2160,0.00,2.30,0.00,0.000,6,0.000,0.025,2591,1891,2799
$GC,2485,-1.22,-146.0,354.3,-10.0,168,2489,0.00,2.45,0.00,0.000,4,0.000,0.051,2591,488,2797
$GC,2506,-1.22,-146.0,356.5,-10.3,168,2510,0.00,2.33,0.00,0.000,6,0.000,0.028,2592,1901,2797
$GC,2848,-1.22,-146.0,391.5,-10.1,177,2853,0.00,2.50,0.00,0.000,4,0.000,0.086,2591,480,2794
$GC,2888,-1.22,-146.0,395.9,-11.7,178,2892,0.00,2.35,0.00,0.000,6,0.000,0.030,2591,1891,2794
$GC,3211,-1.22,-146.0,433.8,-12.1,186,3215,0.00,2.40,0.00,0.000,4,0.000,0.041,2591,3301,2792
$GC,3228,-1.22,-146.0,435.7,-11.9,186,3232,0.00,2.40,0.00,0.000,6,0.000,0.034,2591,1885,2792
$GC,3569,-1.22,-146.0,471.7,-10.3,195,3573,0.00,2.47,0.00,0.000,4,0.000,0.058,2591,480,2789
$GC,3612,-1.22,-146.0,476.6,-11.2,196,3616,0.00,2.38,0.00,0.000,6,0.000,0.032,2591,1895,2789
$GC,3937,-1.22,-146.0,512.8,-11.3,204,3941,0.00,2.42,0.00,0.000,4,0.000,0.047,2592,3302,2787
$GC,3970,-1.22,-146.0,516.6,-11.4,204,3976,0.00,2.42,0.00,0.000,6,0.000,0.071,2591,1895,2787
$GC,4300,-1.22,-146.0,553.7,-11.1,213,4305,0.00,2.53,0.00,0.000,4,0.000,0.086,2591,465,2784
$GC,4344,-1.22,-146.0,558.7,-11.5,214,4349,0.00,2.40,0.00,0.000,6,0.000,0.034,2591,1885,2783
$GC,4669,-1.22,-146.0,592.3,-10.1,222,4673,0.00,2.53,0.00,0.000,4,0.000,0.063,2591,479,2782
$GC,4685,-1.22,-146.0,594.1,-10.3,222,4689,0.00,2.40,0.00,0.000,6,0.000,0.035,2591,1895,2782
$GC,5027,-1.22,-146.0,628.9,-9.8,231,5031,0.00,2.55,0.00,0.000,4,0.000,0.065,2591,482,2780
$GC,5048,-1.22,-146.0,631.1,-9.9,231,5052,0.00,2.40,0.00,0.000,6,0.000,0.036,2591,1894,2779
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5272,-0.31,0.0,652.2,9.5,237,5401,0.95,0.00,125.43,1.054,6,0.078,0.000,2791,1977,2200
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5401,begin climb
$GC,5404,1.22,146.0,657.8,0.0,240,5543,1.50,2.62,130.18,1.032,4,0.040,0.066,3127,3366,1603
$GC,5795,1.30,211.6,648.7,6.3,249,5858,0.00,2.47,57.58,1.018,6,0.000,0.045,3127,1970,1337
$GC,6182,1.30,211.6,613.0,10.1,259,6186,0.00,2.50,0.00,0.000,4,0.000,0.049,3127,3376,1329
$GC,6203,1.30,211.6,610.7,10.3,259,6207,0.00,2.47,0.00,0.000,6,0.000,0.044,3127,1971,1328
$GC,6545,1.30,217.1,580.0,8.8,268,6554,0.00,2.50,4.45,0.678,4,0.000,0.048,3126,3369,1315
$GC,6590,1.30,217.1,575.8,9.7,269,6594,0.00,2.47,0.00,0.000,6,0.000,0.074,3127,1961,1314
$GC,6913,1.32,230.1,548.3,8.5,277,6932,0.00,2.62,13.50,0.928,4,0.000,0.094,3127,555,1260
$GC,6950,1.32,230.1,544.6,10.1,277,6956,0.00,2.45,0.00,0.000,6,0.000,0.035,3127,1970,1259
$GC,7281,1.32,230.1,512.8,9.6,286,7285,0.00,2.47,0.00,0.000,4,0.000,0.051,3127,3376,1257
$GC,7325,1.32,230.1,508.1,10.6,287,7329,0.00,2.45,0.00,0.000,6,0.000,0.040,3127,1966,1256
$GC,7642,1.32,230.1,477.2,9.5,295,7646,0.00,2.53,0.00,0.000,4,0.000,0.087,3127,556,1256
$GC,7665,1.32,230.1,474.9,10.3,295,7669,0.00,2.42,0.00,0.000,6,0.000,0.035,3127,1974,1255
$GC,8001,1.32,230.1,441.5,10.0,304,8005,0.00,2.45,0.00,0.000,4,0.000,0.049,3127,3378,1254
$GC,8027,1.32,230.1,438.7,10.0,304,8032,0.00,2.45,0.00,0.000,6,0.000,0.070,3127,1962,1254
$GC,8364,1.32,230.1,405.9,9.9,313,8368,0.00,2.45,0.00,0.000,4,0.000,0.043,3127,3374,1254
$GC,8407,1.32,230.1,401.4,11.0,314,8411,0.00,2.42,0.00,0.000,6,0.000,0.071,3127,1969,1254
$GC,8732,1.32,230.1,371.0,9.4,322,8736,0.00,2.50,0.00,0.000,4,0.000,0.062,3127,553,1254
$GC,8849,1.32,230.1,357.2,11.0,324,8853,0.00,2.42,0.00,0.000,6,0.000,0.033,3127,1981,1252
$GC,9186,1.36,260.3,328.2,7.8,333,9220,0.12,2.55,26.67,0.849,4,0.057,0.046,3161,3382,1137
$GC,9318,1.36,260.3,315.3,11.4,336,9322,0.00,2.45,0.00,0.000,6,0.000,0.037,3160,1962,1136
$GC,9643,1.36,260.3,276.7,12.6,348,9648,0.00,2.45,0.00,0.000,4,0.000,0.041,3161,3376,1134
$GC,9683,1.36,260.3,271.9,12.4,350,9687,0.00,2.42,0.00,0.000,6,0.000,0.036,3161,1965,1134
$GC,10008,1.36,260.3,235.4,9.7,366,10013,0.00,2.47,0.00,0.000,4,0.000,0.053,3161,558,1133
$GC,10052,1.36,260.3,230.9,10.4,368,10057,0.00,2.40,0.00,0.000,6,0.000,0.030,3161,1983,1132
$GC,10379,1.36,260.3,199.5,9.7,384,10383,0.00,2.50,0.00,0.000,4,0.000,0.050,3161,561,1132
$GC,10481,1.36,260.3,188.3,12.0,393,10485,0.00,2.35,0.00,0.000,6,0.000,0.028,3161,1975,1131
$GC,10747,1.39,286.0,164.8,8.0,418,10771,0.00,0.00,22.17,0.690,6,0.000,0.000,3161,1981,1034
$GC,11026,1.44,324.1,143.5,7.5,444,11068,0.00,2.60,33.45,0.666,4,0.000,0.047,3161,553,877
$GC,11080,1.44,324.1,138.4,9.8,449,11085,0.00,2.38,0.00,0.000,6,0.000,0.025,3161,1976,875
$GC,11341,1.44,324.1,108.8,11.8,473,11345,0.00,2.47,0.00,0.000,4,0.000,0.045,3161,553,874
$GC,11387,1.44,324.1,103.2,13.5,477,11391,0.00,2.35,0.00,0.000,6,0.000,0.023,3161,1985,873
$GC,11649,1.44,324.1,74.7,10.6,501,11653,0.00,2.30,0.00,0.000,4,0.000,0.067,3161,3365,873
$GC,11678,1.44,324.1,71.5,11.5,503,11682,0.00,2.35,0.00,0.000,6,0.000,0.028,3161,1959,873
$GC,11939,1.44,324.1,42.9,10.8,527,11943,0.00,2.40,0.00,0.000,4,0.000,0.045,3161,562,874
$GC,12050,1.44,324.1,29.7,12.0,536,12057,0.00,2.28,0.00,0.000,6,0.000,0.021,3161,1974,873
$STATE,12279,end climb,SURFACE_DEPTH_REACHED
$STATE,12279,begin surface coast
$FINISH,0.5,1.002785
$STATE,12366,end surface coast,CONTROL_FINISHED_OK
$STATE,12367,begin surface
$SM_CCo,12388,62.10,0.534,0,0,569,400.08
$SM_GC,1.20,0.00,0.00,62.10,0.000,0.000,0.534,423,1854,569,-11.21,-1.05,400.08
$IRIDIUM_FIX,2104.07,-15810.63,110598,111114
$TT8_MAMPS,0.029146
$HUMID,1622
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.50
$XPDR_PINGS,18
$24V_AH,23.3,13.070
$10V_AH,10.2,7.113
$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,26.350,150.700,413.425,62.100,0.000,29.438,32.906,214.545,4.500,0.000,0.000,696.364,1144.208,9169.049,565.301,2162.173,479.466,0.000,1363.850,0.000,1461.107,0.000,0.541,0.000
$DEVICE_MAMPS,148.798,94.341,1053.858,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.099,265.350,465.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,592
$CAP_FILE_SIZE,105202,6
$CFSIZE,260165632,254689280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,191505,2114.966,-15812.926,501,1.1,502,9.8