version: 66.04
glider: 139
mission: 3
dive: 79
start: 2 14 109 23 36 44
data:
$ID,139
$MISSION,3
$DIVE,79
$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,-1322023.1
$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,53
$R_STBD_OVSHOOT,51
$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
$GPS1,232222,2115.583,-15813.958,34,1.4,51,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.2
$GPS2,233626,2115.413,-15813.938,13,1.2,13,9.8
$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,326.4,10504,-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,13,begin dive
$GC,15,-1.22,-146.0,0.0,0.0,0,75,0.00,0.00,-57.70,0.000,2,0.000,0.000,431,1858,2250
$GC,78,-1.22,-146.0,3.5,-7.4,10,105,11.88,2.45,-9.30,0.000,4,0.146,0.040,2591,3289,2798
$GC,188,-1.22,-146.0,32.4,-16.8,28,195,0.00,2.30,0.00,0.000,6,0.000,0.028,2591,1909,2800
$GC,450,-1.22,-146.0,80.0,-18.3,53,453,0.00,2.28,0.00,0.000,4,0.000,0.040,2591,3283,2800
$GC,465,-1.22,-146.0,82.9,-16.9,54,472,0.00,2.38,0.00,0.000,6,0.000,0.034,2591,1883,2800
$GC,727,-1.22,-146.0,118.3,-14.2,79,731,0.00,2.40,0.00,0.000,4,0.000,0.046,2591,484,2800
$GC,833,-1.22,-146.0,134.1,-14.8,88,837,0.00,2.28,0.00,0.000,6,0.000,0.020,2591,1903,2801
$GC,1100,-1.22,-146.0,172.1,-15.1,113,1104,0.00,2.45,0.00,0.000,4,0.000,0.045,2591,482,2801
$GC,1128,-1.22,-146.0,176.2,-15.5,115,1132,0.00,2.28,0.00,0.000,6,0.000,0.021,2591,1900,2801
$GC,1387,-1.22,-146.0,209.5,-13.1,136,1391,0.00,2.45,0.00,0.000,4,0.000,0.068,2591,481,2801
$GC,1408,-1.22,-146.0,212.4,-12.7,137,1412,0.00,2.28,0.00,0.000,6,0.000,0.021,2591,1895,2801
$GC,1735,-1.22,-146.0,251.2,-10.9,153,1739,0.00,2.30,0.00,0.000,4,0.000,0.031,2591,3279,2801
$GC,1779,-1.22,-146.0,255.9,-9.7,155,1783,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1889,2801
$GC,2106,-1.22,-146.0,292.9,-11.9,171,2110,0.00,2.42,0.00,0.000,4,0.000,0.048,2591,484,2800
$GC,2229,-1.22,-146.0,308.9,-12.8,175,2233,0.00,2.28,0.00,0.000,6,0.000,0.025,2591,1880,2800
$GC,2566,-1.22,-146.0,350.1,-11.3,184,2570,0.00,2.38,0.00,0.000,4,0.000,0.036,2591,3292,2798
$GC,2621,-1.22,-146.0,355.5,-8.9,185,2625,0.00,2.38,0.00,0.000,6,0.000,0.066,2591,1883,2797
$GC,2968,-1.22,-146.0,388.8,-9.7,194,2972,0.00,2.45,0.00,0.000,4,0.000,0.053,2591,477,2795
$GC,3008,-1.22,-146.0,392.7,-10.0,195,3012,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1886,2795
$GC,3332,-1.22,-146.0,420.0,-8.0,203,3336,0.00,2.47,0.00,0.000,4,0.000,0.053,2591,479,2793
$GC,3364,-1.22,-146.0,422.7,-8.4,203,3370,0.00,2.35,0.00,0.000,6,0.000,0.030,2591,1895,2792
$GC,3695,-1.22,-146.0,449.3,-8.6,212,3699,0.00,2.38,0.00,0.000,4,0.000,0.041,2591,3289,2790
$GC,3734,-1.22,-146.0,453.1,-9.6,213,3739,0.00,2.38,0.00,0.000,6,0.000,0.036,2591,1893,2790
$GC,4058,-1.22,-146.0,489.0,-11.9,221,4063,0.00,2.47,0.00,0.000,4,0.000,0.073,2591,477,2788
$GC,4108,-1.22,-146.0,495.6,-12.4,222,4112,0.00,2.38,0.00,0.000,6,0.000,0.032,2591,1895,2787
$GC,4426,-1.22,-146.0,532.8,-11.2,230,4431,0.00,2.53,0.00,0.000,4,0.000,0.058,2591,474,2786
$GC,4459,-1.22,-146.0,536.3,-10.6,230,4466,0.00,2.38,0.00,0.000,6,0.000,0.032,2591,1888,2785
$GC,4791,-1.22,-146.0,566.4,-8.8,239,4795,0.00,2.45,0.00,0.000,4,0.000,0.051,2591,3295,2783
$GC,4812,-1.22,-146.0,568.4,-9.0,239,4816,0.00,2.38,0.00,0.000,6,0.000,0.073,2591,1892,2783
$GC,5154,-1.22,-146.0,596.7,-7.9,248,5158,0.00,2.53,0.00,0.000,4,0.000,0.065,2591,483,2781
$GC,5170,-1.22,-146.0,597.9,-7.3,248,5174,0.00,2.40,0.00,0.000,6,0.000,0.035,2591,1899,2781
$GC,5512,-1.22,-146.0,623.0,-7.3,257,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1899,2779
$GC,5837,-1.22,-146.0,646.4,-7.4,265,5841,0.00,2.58,0.00,0.000,4,0.000,0.069,2591,483,2778
$GC,5876,-1.22,-146.0,649.5,-8.2,266,5880,0.00,2.25,0.00,0.000,3,0.000,0.036,2591,1812,2778
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5887,-0.31,0.0,650.0,8.0,266,6015,0.93,0.00,124.88,1.049,6,0.077,0.000,2790,1971,2200
$STATE,6016,end apogee,CONTROL_FINISHED_OK
$STATE,6016,begin climb
$GC,6018,1.22,146.0,653.0,0.0,269,6156,1.50,2.60,129.88,1.028,4,0.043,0.062,3127,3374,1602
$GC,6349,1.24,164.7,642.5,8.3,276,6370,0.00,2.50,16.33,0.953,6,0.000,0.046,3127,1964,1528
$GC,6683,1.24,164.7,613.0,9.1,285,6687,0.00,2.53,0.00,0.000,4,0.000,0.050,3127,3385,1521
$GC,6722,1.24,164.7,609.2,9.6,286,6726,0.00,2.50,0.00,0.000,6,0.000,0.077,3127,1966,1521
$GC,7045,1.24,164.7,579.0,9.1,294,7049,0.00,2.50,0.00,0.000,4,0.000,0.049,3128,3376,1519
$GC,7190,1.26,184.3,566.8,8.2,297,7214,0.00,2.47,17.77,0.956,6,0.000,0.052,3127,1959,1447
$GC,7546,1.28,200.3,537.8,8.4,306,7567,0.00,2.55,15.32,0.933,4,0.000,0.045,3127,3382,1382
$GC,7616,1.28,200.3,531.4,9.1,307,7621,0.00,2.50,0.00,0.000,6,0.000,0.074,3127,1963,1382
$GC,7953,1.28,200.3,499.9,9.3,316,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1964,1379
$GC,8278,1.28,200.3,469.6,9.3,324,8282,0.00,2.47,0.00,0.000,4,0.000,0.046,3127,3377,1378
$GC,8338,1.28,200.3,464.1,9.4,325,8342,0.00,2.45,0.00,0.000,6,0.000,0.072,3127,1966,1377
$GC,8686,1.35,257.8,439.0,6.7,334,8741,0.12,0.00,51.58,0.930,6,0.059,0.000,3160,1967,1149
$GC,9055,1.35,257.8,400.6,11.2,343,9059,0.00,2.47,0.00,0.000,4,0.000,0.044,3159,3380,1143
$GC,9098,1.35,257.8,395.4,12.5,344,9102,0.00,2.45,0.00,0.000,6,0.000,0.038,3160,1969,1143
$GC,9422,1.35,257.8,356.8,12.3,352,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1968,1141
$GC,9747,1.35,257.8,317.3,12.0,360,9752,0.00,2.45,0.00,0.000,4,0.000,0.042,3160,3378,1140
$GC,9791,1.35,257.8,312.3,11.5,361,9796,0.00,2.45,0.00,0.000,6,0.000,0.070,3160,1964,1140
$GC,10119,1.35,257.8,278.6,10.1,374,10123,0.00,2.50,0.00,0.000,4,0.000,0.057,3160,558,1140
$GC,10151,1.35,257.8,275.0,10.7,375,10157,0.00,2.40,0.00,0.000,6,0.000,0.032,3160,1977,1139
$GC,10467,1.35,257.8,241.1,11.2,391,10471,0.00,2.53,0.00,0.000,4,0.000,0.054,3160,557,1139
$GC,10532,1.35,257.8,232.9,12.7,394,10537,0.00,2.40,0.00,0.000,6,0.000,0.031,3160,1979,1137
$GC,10860,1.38,281.5,201.8,8.0,410,10885,0.00,2.47,19.98,0.735,4,0.000,0.041,3159,3373,1051
$GC,11050,1.40,291.9,184.3,8.6,425,11066,0.00,2.42,10.38,0.669,6,0.000,0.035,3160,1958,1009
$GC,11323,1.40,291.9,158.3,9.7,450,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1958,1006
$GC,11576,1.40,291.9,134.0,9.2,474,11580,0.00,2.45,0.00,0.000,4,0.000,0.049,3160,553,1005
$GC,11616,1.40,291.9,129.8,10.9,477,11620,0.00,2.38,0.00,0.000,6,0.000,0.026,3160,1986,1004
$GC,11882,1.45,335.5,105.9,7.2,502,11926,0.00,2.55,37.53,0.641,4,0.000,0.045,3160,556,831
$GC,12055,1.47,354.0,93.1,8.3,517,12076,0.00,2.35,16.23,0.596,6,0.000,0.024,3160,1985,756
$GC,12338,1.47,354.0,67.3,11.8,544,12342,0.00,2.33,0.00,0.000,4,0.000,0.037,3160,3368,754
$GC,12359,1.47,354.0,64.5,11.9,545,12366,0.00,2.40,0.00,0.000,6,0.000,0.028,3160,1963,753
$GC,12621,1.50,373.3,36.3,8.2,570,12644,0.12,2.03,16.88,0.544,4,0.048,0.081,3197,759,678
$GC,12755,1.50,373.3,18.5,14.4,588,12761,0.00,1.98,0.00,0.000,6,0.000,0.021,3197,1987,676
$STATE,12839,end climb,SURFACE_DEPTH_REACHED
$STATE,12839,begin surface coast
$FINISH,0.5,0.999592
$STATE,12879,end surface coast,CONTROL_FINISHED_OK
$STATE,12879,begin surface
$SM_CCo,12901,23.23,0.525,0,0,568,400.08
$SM_GC,1.60,0.00,0.00,23.23,0.000,0.000,0.525,425,1855,568,-11.20,-0.99,400.08
$IRIDIUM_FIX,2108.69,-15814.06,110598,232304
$TT8_MAMPS,0.029146
$HUMID,1654
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.3,13.368
$10V_AH,10.2,7.294
$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,26.425,144.800,456.725,23.225,0.000,82.976,85.199,418.019,4.500,0.000,0.000,14.762,1174.291,9674.160,533.778,1570.949,804.062,0.000,1392.110,0.000,1543.381,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,81.302,1049.256,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.767,266.885,463.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31769,610
$CAP_FILE_SIZE,114385,7
$CFSIZE,260165632,254578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150209,031454,2116.313,-15814.966,126,1.7,127,9.8