version: 66.04
glider: 139
mission: 3
dive: 80
start: 2 15 109 3 29 50
data:
$ID,139
$MISSION,3
$DIVE,80
$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,-1322039.4
$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,51
$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
$GPS1,031454,2116.313,-15814.966,126,1.7,127,9.8
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.1
$GPS2,032932,2116.169,-15814.985,14,1.6,14,9.8
$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,333.6,8562,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.22,-146.0,0.0,0.0,0,75,0.00,0.00,-56.67,0.000,2,0.000,0.000,425,1855,2218
$GC,78,-1.22,-146.0,3.1,-6.2,10,110,11.95,2.42,-10.07,0.000,4,0.146,0.072,2588,3289,2798
$GC,188,-1.22,-146.0,31.1,-15.6,28,195,0.00,2.35,0.00,0.000,6,0.000,0.028,2588,1910,2799
$GC,449,-1.22,-146.0,80.5,-19.8,53,453,0.00,2.45,0.00,0.000,4,0.000,0.045,2588,482,2800
$GC,483,-1.22,-146.0,88.5,-23.9,56,487,0.00,2.28,0.00,0.000,6,0.000,0.020,2588,1899,2799
$GC,749,-1.22,-146.0,137.9,-14.6,81,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1903,2800
$GC,1005,-1.22,-146.0,174.3,-14.2,105,1009,0.00,2.42,0.00,0.000,4,0.000,0.077,2588,485,2800
$GC,1101,-1.22,-146.0,188.8,-13.7,113,1105,0.00,2.25,0.00,0.000,6,0.000,0.021,2588,1888,2801
$GC,1373,-1.22,-146.0,223.7,-12.9,130,1377,0.00,2.30,0.00,0.000,4,0.000,0.030,2588,3282,2801
$GC,1452,-1.22,-146.0,234.5,-14.2,133,1458,0.00,2.33,0.00,0.000,6,0.000,0.028,2588,1883,2801
$GC,1767,-1.22,-146.0,281.0,-12.8,149,1771,0.00,2.40,0.00,0.000,4,0.000,0.048,2587,486,2800
$GC,1833,-1.22,-146.0,289.5,-12.5,152,1837,0.00,2.28,0.00,0.000,6,0.000,0.024,2588,1886,2801
$GC,2176,-1.22,-146.0,330.6,-12.3,163,2181,0.00,2.45,0.00,0.000,4,0.000,0.081,2588,483,2799
$GC,2216,-1.22,-146.0,335.6,-12.4,164,2220,0.00,2.30,0.00,0.000,6,0.000,0.026,2588,1886,2799
$GC,2539,-1.22,-146.0,372.4,-11.2,172,2543,0.00,2.38,0.00,0.000,4,0.000,0.038,2588,3294,2797
$GC,2599,-1.22,-146.0,379.2,-10.6,173,2604,0.00,2.38,0.00,0.000,6,0.000,0.033,2588,1889,2796
$GC,2949,-1.22,-146.0,417.4,-10.6,182,2953,0.00,2.47,0.00,0.000,4,0.000,0.060,2588,477,2793
$GC,3026,-1.22,-146.0,426.0,-10.9,183,3032,0.00,2.35,0.00,0.000,6,0.000,0.030,2588,1888,2793
$GC,3357,-1.22,-146.0,459.8,-10.1,192,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1892,2790
$GC,3682,-1.22,-146.0,492.3,-9.9,200,3686,0.00,2.50,0.00,0.000,4,0.000,0.057,2588,476,2788
$GC,3697,-1.22,-146.0,493.9,-9.7,200,3701,0.00,2.38,0.00,0.000,6,0.000,0.032,2588,1897,2788
$GC,4045,-1.22,-146.0,525.5,-8.9,209,4050,0.00,2.53,0.00,0.000,4,0.000,0.090,2588,476,2786
$GC,4078,-1.22,-146.0,528.7,-9.8,209,4085,0.00,2.38,0.00,0.000,6,0.000,0.032,2588,1886,2785
$GC,4410,-1.22,-146.0,558.1,-8.8,218,4414,0.00,2.40,0.00,0.000,4,0.000,0.091,2587,509,2783
$GC,4442,-1.22,-146.0,561.2,-9.8,218,4449,0.00,2.33,0.00,0.000,6,0.000,0.034,2588,1888,2783
$GC,4774,-1.22,-146.0,590.3,-8.7,227,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1889,2781
$GC,5098,-1.22,-146.0,619.8,-9.4,235,5103,0.00,2.53,0.00,0.000,4,0.000,0.065,2587,487,2779
$GC,5138,-1.22,-146.0,623.6,-9.8,236,5142,0.00,2.38,0.00,0.000,6,0.000,0.036,2588,1887,2779
$STATE,5418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5418,begin apogee
$GC,5424,-0.31,0.0,650.3,9.3,243,5553,0.98,0.00,125.07,1.055,6,0.075,0.000,2794,1987,2200
$STATE,5553,end apogee,CONTROL_FINISHED_OK
$STATE,5553,begin climb
$GC,5556,1.22,146.0,655.7,0.0,246,5696,1.48,2.67,130.32,1.032,4,0.040,0.064,3128,558,1601
$GC,5832,1.27,188.9,653.1,7.3,252,5877,0.00,2.42,37.53,1.000,6,0.000,0.036,3128,1956,1429
$GC,6220,1.28,197.5,620.1,8.7,262,6234,0.00,2.62,8.02,0.852,4,0.000,0.059,3128,3378,1394
$GC,6291,1.28,197.5,613.5,9.2,263,6296,0.00,2.47,0.00,0.000,6,0.000,0.044,3128,1974,1393
$GC,6634,1.30,211.3,583.7,8.5,272,6653,0.00,2.58,13.52,0.937,4,0.000,0.048,3128,3379,1338
$GC,6692,1.30,211.3,578.5,9.1,273,6696,0.00,2.47,0.00,0.000,6,0.000,0.042,3128,1970,1337
$GC,7005,1.30,211.3,548.4,10.0,281,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1970,1335
$GC,7330,1.30,211.3,513.8,10.4,289,7335,0.00,2.55,0.00,0.000,4,0.000,0.091,3128,550,1333
$GC,7352,1.30,211.3,511.2,11.1,289,7356,0.00,2.45,0.00,0.000,6,0.000,0.035,3128,1979,1332
$GC,7689,1.30,211.3,478.8,9.4,298,7693,0.00,2.45,0.00,0.000,4,0.000,0.051,3128,3376,1331
$GC,7795,1.32,226.5,468.7,8.4,300,7816,0.00,2.45,14.12,0.900,6,0.000,0.072,3128,1959,1276
$GC,8141,1.34,242.9,439.4,8.3,309,8158,0.00,0.00,16.10,0.891,6,0.000,0.000,3128,1959,1209
$GC,8466,1.34,247.5,411.5,8.8,317,8477,0.10,2.50,5.55,0.706,4,0.063,0.076,3155,558,1189
$GC,8510,1.34,247.5,406.6,11.4,318,8514,0.00,2.42,0.00,0.000,6,0.000,0.034,3155,1974,1188
$GC,8828,1.34,247.5,374.5,10.2,326,8832,0.00,2.42,0.00,0.000,4,0.000,0.046,3156,3373,1187
$GC,8906,1.34,247.5,365.2,12.2,327,8912,0.00,2.42,0.00,0.000,6,0.000,0.037,3156,1968,1187
$GC,9237,1.34,247.5,325.4,12.1,336,9241,0.00,2.50,0.00,0.000,4,0.000,0.056,3155,554,1186
$GC,9270,1.34,247.5,321.0,13.0,336,9276,0.00,2.40,0.00,0.000,6,0.000,0.032,3156,1973,1185
$GC,9583,1.34,247.5,284.6,11.4,347,9587,0.00,2.47,0.00,0.000,4,0.000,0.084,3154,563,1185
$GC,9722,1.34,247.5,269.8,10.0,353,9726,0.00,2.38,0.00,0.000,6,0.000,0.031,3155,1975,1184
$GC,10043,1.38,278.3,242.3,7.8,369,10077,0.00,2.53,27.27,0.775,4,0.000,0.042,3156,3378,1065
$GC,10186,1.38,278.3,228.1,10.7,375,10190,0.00,2.42,0.00,0.000,6,0.000,0.034,3155,1962,1064
$GC,10504,1.38,278.3,192.5,10.1,393,10508,0.00,2.40,0.00,0.000,4,0.000,0.035,3155,3372,1062
$GC,10558,1.38,278.3,187.1,9.5,397,10565,0.00,2.40,0.00,0.000,6,0.000,0.031,3156,1961,1061
$GC,10820,1.38,278.3,162.5,9.2,422,10824,0.00,2.45,0.00,0.000,4,0.000,0.049,3156,554,1061
$GC,10984,1.38,278.3,146.2,10.6,436,10988,0.00,2.35,0.00,0.000,6,0.000,0.025,3156,1981,1059
$GC,11247,1.43,317.6,127.0,7.4,460,11282,0.00,0.00,33.75,0.647,6,0.000,0.000,3156,1986,905
$GC,11535,1.44,331.9,102.0,8.4,487,11553,0.00,0.00,13.50,0.584,6,0.000,0.000,3156,1986,845
$GC,11808,1.44,331.9,74.0,10.7,513,11812,0.00,2.47,0.00,0.000,4,0.000,0.044,3155,555,844
$GC,11904,1.44,331.9,62.2,11.7,521,11908,0.00,2.33,0.00,0.000,6,0.000,0.021,3155,1986,843
$GC,12165,1.44,331.9,36.2,10.0,545,12169,0.00,2.45,0.00,0.000,4,0.000,0.042,3155,561,843
$GC,12208,1.44,331.9,31.0,13.3,548,12215,0.00,2.30,0.00,0.000,6,0.000,0.021,3156,1968,843
$STATE,12442,end climb,SURFACE_DEPTH_REACHED
$STATE,12442,begin surface coast
$FINISH,0.5,1.023522
$STATE,12494,end surface coast,CONTROL_FINISHED_OK
$STATE,12494,begin surface
$SM_CCo,12515,55.95,0.529,0,0,569,400.08
$SM_GC,1.08,0.00,0.00,55.95,0.000,0.000,0.529,427,1864,569,-11.19,-0.74,400.08
$IRIDIUM_FIX,2106.38,-15812.77,120598,030347
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.60
$XPDR_PINGS,17
$24V_AH,23.3,13.525
$10V_AH,10.2,7.366
$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,26.175,126.275,424.775,55.950,0.000,81.107,95.565,442.810,4.250,0.000,0.000,15.615,1132.536,9423.447,565.107,1487.319,829.026,0.000,1358.720,0.000,1465.142,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,91.273,1054.625,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.358,263.691,466.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31652,598
$CAP_FILE_SIZE,105147,4
$CFSIZE,260165632,254529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150209,032932,2116.169,-15814.985,14,1.6,14,9.8