version: 66.04
glider: 139
mission: 3
dive: 78
start: 2 14 109 19 44 46
data:
$ID,139
$MISSION,3
$DIVE,78
$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,-1322007.8
$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,56
$R_STBD_OVSHOOT,48
$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
$GPS1,191505,2114.966,-15812.926,501,1.1,502,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.6
$GPS2,191505,2114.966,-15812.926,501,1.1,502,9.8
$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,320.3,12034,-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,11,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.62,0.000,2,0.000,0.000,422,1854,2252
$GC,77,-1.22,-146.0,3.4,-6.8,10,103,11.80,1.70,-9.52,0.000,4,0.143,0.087,2591,2889,2798
$GC,216,-1.22,-146.0,33.6,-15.0,32,220,0.00,1.60,0.00,0.000,6,0.000,0.028,2591,1909,2798
$GC,483,-1.22,-146.0,85.1,-17.1,57,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1909,2798
$GC,739,-1.22,-146.0,131.5,-17.3,81,744,0.00,2.42,0.00,0.000,4,0.000,0.044,2591,486,2798
$GC,772,-1.22,-146.0,138.9,-21.2,83,779,0.00,2.25,0.00,0.000,6,0.000,0.019,2591,1909,2798
$GC,1033,-1.22,-146.0,179.5,-13.7,108,1037,0.00,2.42,0.00,0.000,4,0.000,0.057,2591,484,2798
$GC,1122,-1.22,-146.0,191.0,-10.6,115,1128,0.00,2.22,0.00,0.000,6,0.000,0.020,2591,1883,2798
$GC,1378,-1.22,-146.0,218.9,-11.3,132,1382,0.00,2.40,0.00,0.000,4,0.000,0.077,2591,483,2798
$GC,1400,-1.22,-146.0,221.6,-12.5,133,1404,0.00,2.25,0.00,0.000,6,0.000,0.021,2591,1893,2798
$GC,1727,-1.22,-146.0,257.5,-10.8,149,1731,0.00,2.42,0.00,0.000,4,0.000,0.046,2591,485,2798
$GC,1766,-1.22,-146.0,262.1,-12.0,151,1770,0.00,2.25,0.00,0.000,6,0.000,0.023,2591,1881,2798
$GC,2092,-1.22,-146.0,299.7,-10.9,167,2096,0.00,2.35,0.00,0.000,4,0.000,0.034,2591,3292,2797
$GC,2141,-1.22,-146.0,305.3,-10.9,169,2145,0.00,2.38,0.00,0.000,6,0.000,0.031,2591,1896,2796
$GC,2465,-1.22,-146.0,342.3,-11.5,177,2469,0.00,2.45,0.00,0.000,4,0.000,0.052,2591,485,2794
$GC,2509,-1.22,-146.0,347.9,-12.5,178,2513,0.00,2.30,0.00,0.000,6,0.000,0.026,2590,1892,2793
$GC,2833,-1.22,-146.0,385.3,-11.9,186,2838,0.00,2.35,0.00,0.000,4,0.000,0.037,2591,3289,2792
$GC,2862,-1.22,-146.0,388.5,-11.5,186,2866,0.00,2.38,0.00,0.000,6,0.000,0.038,2591,1883,2791
$GC,3193,-1.22,-146.0,422.4,-9.5,194,3197,0.00,2.42,0.00,0.000,4,0.000,0.054,2591,483,2789
$GC,3242,-1.22,-146.0,427.1,-9.4,195,3247,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1896,2789
$GC,3567,-1.22,-146.0,455.4,-8.7,203,3571,0.00,2.50,0.00,0.000,4,0.000,0.054,2591,474,2786
$GC,3587,-1.22,-146.0,457.5,-9.6,203,3591,0.00,2.35,0.00,0.000,6,0.000,0.030,2591,1891,2786
$GC,3930,-1.22,-146.0,488.3,-8.9,212,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1895,2784
$GC,4255,-1.22,-146.0,515.3,-8.1,220,4260,0.00,2.50,0.00,0.000,4,0.000,0.057,2591,477,2782
$GC,4295,-1.22,-146.0,518.7,-8.9,221,4299,0.00,2.35,0.00,0.000,6,0.000,0.032,2591,1884,2781
$GC,4618,-1.22,-146.0,547.1,-9.1,229,4622,0.00,2.50,0.00,0.000,4,0.000,0.058,2591,477,2779
$GC,4662,-1.22,-146.0,551.6,-9.6,230,4666,0.00,2.38,0.00,0.000,6,0.000,0.033,2591,1887,2779
$GC,4986,-1.22,-146.0,583.5,-10.0,238,4990,0.00,2.45,0.00,0.000,4,0.000,0.051,2591,3298,2778
$GC,5013,-1.22,-146.0,586.2,-9.5,238,5018,0.00,2.42,0.00,0.000,6,0.000,0.041,2591,1889,2778
$GC,5351,-1.22,-146.0,615.0,-8.1,247,5355,0.00,2.53,0.00,0.000,4,0.000,0.098,2591,481,2775
$GC,5372,-1.22,-146.0,616.9,-8.4,247,5376,0.00,2.40,0.00,0.000,6,0.000,0.035,2591,1897,2775
$GC,5709,-1.22,-146.0,642.1,-7.2,256,5713,0.00,2.47,0.00,0.000,4,0.000,0.061,2591,3292,2773
$GC,5730,-1.22,-146.0,643.7,-6.5,256,5735,0.00,2.45,0.00,0.000,6,0.000,0.045,2591,1887,2772
$STATE,5821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5821,begin apogee
$GC,5827,-0.31,0.0,650.1,7.1,259,5954,0.95,0.00,123.47,1.045,6,0.077,0.000,2791,1992,2200
$STATE,5954,end apogee,CONTROL_FINISHED_OK
$STATE,5955,begin climb
$GC,5957,1.22,146.0,652.9,0.0,262,6095,1.50,2.67,130.23,1.021,4,0.041,0.064,3127,559,1602
$GC,6331,1.25,175.2,639.4,7.8,271,6361,0.00,2.40,25.05,0.977,6,0.000,0.035,3127,1956,1485
$GC,6687,1.29,202.4,611.1,7.9,279,6717,0.00,2.60,25.08,0.976,4,0.000,0.057,3128,3381,1373
$GC,6785,1.29,202.4,602.3,9.4,281,6789,0.00,2.50,0.00,0.000,6,0.000,0.042,3128,1961,1372
$GC,7132,1.29,202.4,567.3,9.9,290,7136,0.00,2.50,0.00,0.000,4,0.000,0.047,3127,3379,1369
$GC,7165,1.29,202.4,564.1,9.9,290,7171,0.00,2.47,0.00,0.000,6,0.000,0.041,3128,1960,1369
$GC,7498,1.30,210.5,534.4,8.7,299,7508,0.00,0.00,7.65,0.828,6,0.000,0.000,3128,1960,1341
$GC,7821,1.31,219.5,506.0,8.7,307,7836,0.00,2.55,9.25,0.854,4,0.000,0.061,3127,560,1304
$GC,7910,1.31,219.5,496.4,11.9,309,7914,0.00,2.42,0.00,0.000,6,0.000,0.035,3128,1973,1302
$GC,8233,1.31,219.5,462.0,10.5,317,8238,0.00,2.45,0.00,0.000,4,0.000,0.049,3127,3375,1301
$GC,8260,1.31,219.5,459.0,11.1,317,8264,0.00,2.45,0.00,0.000,6,0.000,0.072,3128,1964,1301
$GC,8597,1.31,219.5,426.7,9.3,326,8601,0.00,2.45,0.00,0.000,4,0.000,0.043,3128,3375,1300
$GC,8618,1.31,219.5,424.7,9.2,326,8622,0.00,2.42,0.00,0.000,6,0.000,0.038,3128,1964,1300
$GC,8961,1.34,250.1,396.2,7.8,335,8996,0.12,2.58,28.08,0.886,4,0.057,0.056,3161,566,1179
$GC,9035,1.34,250.1,387.5,13.1,336,9039,0.00,2.42,0.00,0.000,6,0.000,0.033,3161,1981,1177
$GC,9371,1.34,250.1,347.9,11.3,345,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1986,1175
$GC,9696,1.34,250.1,313.4,10.4,353,9700,0.00,2.53,0.00,0.000,4,0.000,0.053,3162,557,1174
$GC,9712,1.34,250.1,311.5,10.0,353,9716,0.00,2.42,0.00,0.000,6,0.000,0.031,3162,1972,1173
$GC,10043,1.34,250.1,276.4,10.3,366,10047,0.00,2.42,0.00,0.000,4,0.000,0.043,3161,3385,1173
$GC,10070,1.34,250.1,273.6,10.6,367,10074,0.00,2.42,0.00,0.000,6,0.000,0.035,3162,1964,1173
$GC,10391,1.34,250.1,239.6,11.3,383,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1964,1173
$GC,10700,1.34,250.1,208.6,10.8,398,10704,0.00,2.42,0.00,0.000,4,0.000,0.037,3162,3386,1173
$GC,10864,1.34,250.1,191.0,10.9,409,10869,0.00,2.42,0.00,0.000,6,0.000,0.032,3162,1957,1173
$GC,11129,1.37,267.8,165.2,8.3,433,11151,0.00,2.47,15.50,0.673,4,0.000,0.048,3161,555,1107
$GC,11175,1.38,277.3,161.2,8.6,437,11190,0.00,2.40,9.62,0.622,6,0.000,0.027,3161,1993,1068
$GC,11452,1.38,277.3,132.7,9.6,463,11456,0.00,2.33,0.00,0.000,4,0.000,0.036,3161,3365,1067
$GC,11473,1.38,277.3,130.6,9.8,464,11479,0.00,2.35,0.00,0.000,6,0.000,0.029,3162,1964,1066
$GC,11734,1.38,277.3,106.4,9.5,489,11739,0.00,2.42,0.00,0.000,4,0.000,0.079,3162,557,1066
$GC,11922,1.38,277.3,85.6,12.1,505,11928,0.00,2.33,0.00,0.000,6,0.000,0.024,3162,1974,1065
$GC,12183,1.41,306.7,61.4,7.8,530,12217,0.00,2.40,25.52,0.588,4,0.000,0.032,3161,3361,949
$GC,12336,1.42,308.3,48.4,9.0,543,12342,0.00,2.33,0.00,0.000,6,0.000,0.028,3162,1968,948
$GC,12602,1.42,308.3,22.7,9.5,574,12609,0.00,2.40,0.00,0.000,4,0.000,0.044,3162,560,948
$GC,12694,1.42,308.3,13.1,11.1,590,12700,0.00,2.30,0.00,0.000,6,0.000,0.021,3162,1989,946
$STATE,12783,end climb,SURFACE_DEPTH_REACHED
$STATE,12783,begin surface coast
$FINISH,0.5,1.015782
$STATE,12868,end surface coast,CONTROL_FINISHED_OK
$STATE,12868,begin surface
$SM_CCo,12890,76.57,0.538,0,0,569,400.08
$SM_GC,1.18,0.00,0.00,76.57,0.000,0.000,0.538,432,1856,569,-11.17,-0.96,400.08
$IRIDIUM_FIX,2106.38,-15811.92,110598,191941
$TT8_MAMPS,0.029146
$HUMID,1648
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,22.30
$XPDR_PINGS,14
$24V_AH,23.3,13.211
$10V_AH,10.2,7.223
$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,26.100,143.800,399.450,76.575,0.000,52.974,53.911,282.502,3.500,0.000,0.000,1204.695,1188.689,9645.001,567.024,2717.304,601.399,0.000,1383.015,0.000,1506.764,0.000,0.543,0.000
$DEVICE_MAMPS,143.429,98.176,1045.421,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.305,281.138,500.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31688,621
$CAP_FILE_SIZE,110066,2
$CFSIZE,260165632,254631936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140209,232222,2115.583,-15813.958,34,1.4,51,9.8