version: 66.04
glider: 139
mission: 3
dive: 81
start: 2 15 109 7 46 2
data:
$ID,139
$MISSION,3
$DIVE,81
$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,-1324447.9
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,032932,2116.169,-15814.985,14,1.6,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.2
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.22,-146.0,0.0,0.0,0,76,0.00,0.00,-57.42,0.000,2,0.000,0.000,425,1864,2265
$GC,79,-1.22,-146.0,3.6,-7.5,10,106,11.68,2.42,-9.20,0.000,4,0.140,0.041,2589,3288,2798
$GC,257,-1.22,-146.0,43.2,-16.5,34,263,0.00,2.33,0.00,0.000,6,0.000,0.028,2589,1906,2799
$GC,518,-1.22,-146.0,88.8,-17.4,59,522,0.00,2.42,0.00,0.000,4,0.000,0.044,2589,481,2798
$GC,539,-1.22,-146.0,92.9,-17.7,60,546,0.00,2.28,0.00,0.000,6,0.000,0.019,2589,1899,2798
$GC,800,-1.22,-146.0,139.1,-13.2,85,804,0.00,2.22,0.00,0.000,4,0.000,0.027,2589,3276,2798
$GC,850,-1.22,-146.0,144.8,-10.4,89,856,0.00,2.30,0.00,0.000,6,0.000,0.026,2589,1883,2798
$GC,1112,-1.22,-146.0,179.2,-13.8,114,1116,0.00,2.38,0.00,0.000,4,0.000,0.044,2589,484,2798
$GC,1186,-1.22,-146.0,191.2,-16.0,120,1190,0.00,2.22,0.00,0.000,6,0.000,0.020,2589,1883,2798
$GC,1451,-1.22,-146.0,229.7,-14.3,135,1455,0.00,2.30,0.00,0.000,4,0.000,0.029,2589,3286,2798
$GC,1478,-1.22,-146.0,233.7,-14.2,136,1482,0.00,2.33,0.00,0.000,6,0.000,0.028,2589,1882,2798
$GC,1799,-1.22,-146.0,269.6,-10.6,152,1803,0.00,2.33,0.00,0.000,4,0.000,0.028,2589,3287,2798
$GC,1877,-1.22,-146.0,278.0,-11.2,155,1881,0.00,2.33,0.00,0.000,6,0.000,0.028,2589,1886,2797
$GC,2197,-1.22,-146.0,310.5,-10.3,169,2201,0.00,2.42,0.00,0.000,4,0.000,0.048,2589,477,2797
$GC,2246,-1.22,-146.0,315.9,-10.6,170,2250,0.00,2.30,0.00,0.000,6,0.000,0.025,2589,1888,2796
$GC,2565,-1.22,-146.0,351.5,-11.4,178,2569,0.00,2.42,0.00,0.000,4,0.000,0.048,2589,487,2794
$GC,2608,-1.22,-146.0,356.5,-11.1,179,2613,0.00,2.30,0.00,0.000,6,0.000,0.026,2589,1889,2794
$GC,2933,-1.22,-146.0,392.5,-11.7,187,2937,0.00,2.33,0.00,0.000,4,0.000,0.060,2589,3286,2791
$GC,2982,-1.22,-146.0,398.6,-12.0,188,2986,0.00,2.35,0.00,0.000,6,0.000,0.032,2589,1891,2791
$GC,3301,-1.22,-146.0,435.2,-10.9,196,3305,0.00,2.47,0.00,0.000,4,0.000,0.087,2588,473,2788
$GC,3327,-1.22,-146.0,437.9,-10.7,196,3331,0.00,2.17,0.00,0.000,6,0.000,0.064,2589,1809,2788
$GC,3664,-1.22,-146.0,469.2,-9.4,205,3668,0.00,2.53,0.00,0.000,4,0.000,0.041,2589,3290,2786
$GC,3736,-1.22,-146.0,475.0,-7.2,206,3740,0.00,2.40,0.00,0.000,6,0.000,0.036,2589,1883,2785
$GC,4067,-1.22,-146.0,501.2,-7.9,214,4071,0.00,2.47,0.00,0.000,4,0.000,0.057,2589,480,2783
$GC,4106,-1.22,-146.0,504.4,-8.4,215,4110,0.00,2.35,0.00,0.000,6,0.000,0.031,2589,1881,2783
$GC,4430,-1.22,-146.0,528.2,-7.2,223,4434,0.00,2.42,0.00,0.000,4,0.000,0.084,2589,478,2780
$GC,4451,-1.22,-146.0,529.9,-7.6,223,4455,0.00,2.38,0.00,0.000,6,0.000,0.032,2589,1889,2780
$GC,4787,-1.22,-146.0,554.0,-7.8,232,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1894,2778
$GC,5112,-1.22,-146.0,581.2,-8.6,240,5116,0.00,2.50,0.00,0.000,4,0.000,0.060,2588,484,2776
$GC,5167,-1.22,-146.0,586.4,-8.9,241,5172,0.00,2.38,0.00,0.000,6,0.000,0.034,2589,1886,2776
$GC,5480,-1.22,-146.0,615.2,-9.5,249,5484,0.00,2.47,0.00,0.000,4,0.000,0.053,2589,3296,2774
$GC,5512,-1.22,-146.0,618.5,-9.6,249,5518,0.00,2.45,0.00,0.000,6,0.000,0.043,2589,1884,2774
$GC,5843,-1.22,-146.0,646.2,-7.9,258,5847,0.00,2.55,0.00,0.000,4,0.000,0.070,2588,474,2772
$GC,5882,-1.22,-146.0,649.5,-8.4,258,5888,0.00,2.42,0.00,0.000,6,0.000,0.037,2589,1892,2771
$STATE,5926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5926,begin apogee
$GC,5932,-0.31,0.0,653.2,8.2,260,6059,0.98,0.00,123.70,1.049,6,0.076,0.000,2793,1995,2200
$STATE,6060,end apogee,CONTROL_FINISHED_OK
$STATE,6060,begin climb
$GC,6063,1.22,146.0,656.7,0.0,263,6200,1.50,2.53,130.15,1.028,4,0.038,0.061,3134,3365,1603
$GC,6235,1.37,267.4,661.7,4.0,267,6347,0.10,2.47,105.30,1.015,6,0.064,0.044,3159,1968,1109
$GC,6654,1.37,267.4,611.4,13.3,278,6658,0.00,2.55,0.00,0.000,4,0.000,0.076,3159,556,1101
$GC,6686,1.37,267.4,606.4,14.9,278,6693,0.00,2.42,0.00,0.000,6,0.000,0.035,3159,1966,1100
$GC,7017,1.37,267.4,558.9,14.8,287,7021,0.00,2.55,0.00,0.000,4,0.000,0.059,3159,560,1099
$GC,7039,1.37,267.4,555.3,16.1,287,7043,0.00,2.42,0.00,0.000,6,0.000,0.035,3159,1979,1098
$GC,7380,1.37,267.4,504.0,14.7,296,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1985,1098
$GC,7705,1.37,267.4,460.9,12.7,304,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1985,1097
$GC,8030,1.37,267.4,421.1,12.7,312,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1985,1096
$GC,8355,1.37,267.4,381.3,12.4,320,8359,0.00,2.45,0.00,0.000,4,0.000,0.046,3159,3385,1095
$GC,8422,1.37,267.4,372.6,13.6,321,8426,0.00,2.42,0.00,0.000,6,0.000,0.036,3159,1966,1095
$GC,8763,1.37,267.4,328.3,12.6,330,8768,0.00,2.50,0.00,0.000,4,0.000,0.063,3159,557,1095
$GC,8785,1.37,267.4,325.4,13.3,330,8789,0.00,2.40,0.00,0.000,6,0.000,0.032,3159,1976,1093
$GC,9115,1.37,267.4,287.9,11.5,341,9119,0.00,2.42,0.00,0.000,4,0.000,0.044,3159,3380,1093
$GC,9192,1.37,267.4,279.6,10.1,344,9199,0.00,2.45,0.00,0.000,6,0.000,0.035,3159,1945,1094
$GC,9508,1.37,267.4,246.0,11.0,360,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1944,1094
$GC,9818,1.37,272.7,217.3,8.8,375,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1944,1093
$GC,10130,1.37,272.7,186.7,10.5,396,10134,0.00,2.45,0.00,0.000,4,0.000,0.035,3159,3379,1093
$GC,10306,1.37,272.7,168.6,9.5,411,10310,0.00,2.40,0.00,0.000,6,0.000,0.031,3159,1961,1094
$GC,10567,1.37,272.7,142.4,10.7,435,10571,0.00,2.40,0.00,0.000,4,0.000,0.048,3159,564,1093
$GC,10657,1.37,272.7,131.6,12.3,443,10661,0.00,2.35,0.00,0.000,6,0.000,0.025,3159,1991,1093
$GC,10919,1.37,272.7,102.6,10.6,467,10924,0.00,2.45,0.00,0.000,4,0.000,0.058,3159,564,1092
$GC,10949,1.37,272.7,99.7,10.4,469,10954,0.00,2.33,0.00,0.000,6,0.000,0.025,3159,1982,1093
$GC,11211,1.41,306.9,79.2,7.6,493,11248,0.00,2.53,31.77,0.607,4,0.000,0.044,3159,560,947
$GC,11304,1.41,306.9,70.3,11.1,501,11311,0.00,2.35,0.00,0.000,6,0.000,0.023,3159,1971,945
$GC,11567,1.41,307.5,45.2,9.0,526,11572,0.00,2.45,0.00,0.000,4,0.000,0.044,3159,556,945
$GC,11596,1.41,307.5,42.2,10.2,528,11600,0.00,2.33,0.00,0.000,6,0.000,0.022,3159,1978,943
$GC,11863,1.44,324.0,22.1,8.3,562,11887,0.00,2.38,15.15,0.527,4,0.000,0.030,3159,3365,878
$GC,11899,1.44,324.0,18.2,10.9,568,11906,0.00,2.33,0.00,0.000,6,0.000,0.025,3159,1968,878
$STATE,12011,end climb,SURFACE_DEPTH_REACHED
$STATE,12011,begin surface coast
$FINISH,0.6,1.015033
$STATE,12081,end surface coast,CONTROL_FINISHED_OK
$STATE,12081,begin surface
$SM_CCo,12102,62.75,0.535,0,0,569,400.08
$SM_GC,1.28,0.00,0.00,62.75,0.000,0.000,0.535,425,1869,569,-11.20,-0.57,400.08
$IRIDIUM_FIX,2108.69,-15814.06,120598,030341
$TT8_MAMPS,0.029146
$HUMID,1641
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,22.40
$XPDR_PINGS,218
$24V_AH,23.3,13.667
$10V_AH,10.2,7.488
$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,26.000,134.550,406.075,62.750,0.000,24.117,30.444,182.427,54.500,0.000,0.000,1203.263,1122.903,8982.978,563.191,2599.538,432.865,0.000,1318.303,0.000,1392.601,0.000,0.540,0.000
$DEVICE_MAMPS,140.361,86.671,1049.256,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.104,277.387,498.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31646,600
$CAP_FILE_SIZE,100318,6
$CFSIZE,260165632,254476288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150209,032932,2116.169,-15814.985,14,1.6,14,9.8