version: 66.04
glider: 139
mission: 3
dive: 82
start: 2 15 109 11 56 8
data:
$ID,139
$MISSION,3
$DIVE,82
$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,300
$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,-1326860.6
$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,40
$R_STBD_OVSHOOT,47
$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,1.16
$_SM_ANGLEo,-71.2
$GPS2,032932,2116.169,-15814.985,14,1.6,14,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2121.568,-15825.027
$TGT_RADIUS,1852.000
$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,290.2,20000,-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,14,-1.22,-146.0,0.0,0.0,0,74,0.00,0.00,-57.53,0.000,2,0.000,0.000,424,1868,2230
$GC,77,-1.22,-146.0,3.3,-6.4,10,109,11.75,2.40,-9.98,0.000,4,0.143,0.074,2588,489,2799
$GC,238,-1.22,-146.0,45.3,-20.6,32,243,0.00,2.25,0.00,0.000,6,0.000,0.019,2588,1902,2799
$GC,499,-1.22,-146.0,96.5,-20.6,56,503,0.00,2.40,0.00,0.000,4,0.000,0.043,2587,497,2799
$GC,526,-1.22,-146.0,100.7,-15.8,58,531,0.00,2.22,0.00,0.000,6,0.000,0.019,2588,1896,2799
$GC,789,-1.22,-146.0,140.1,-14.6,82,793,0.00,2.28,0.00,0.000,4,0.000,0.062,2588,3288,2799
$GC,810,-1.22,-146.0,143.9,-16.1,83,816,0.00,2.30,0.00,0.000,6,0.000,0.027,2588,1898,2799
$GC,1071,-1.22,-146.0,181.3,-13.8,108,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1897,2799
$GC,1323,-1.22,-146.0,213.0,-11.4,127,1327,0.00,2.42,0.00,0.000,4,0.000,0.046,2588,477,2799
$GC,1418,-1.22,-146.0,223.9,-9.7,131,1422,0.00,2.28,0.00,0.000,6,0.000,0.021,2588,1892,2799
$GC,1745,-1.22,-146.0,257.2,-9.5,147,1749,0.00,2.42,0.00,0.000,4,0.000,0.045,2588,488,2798
$GC,1771,-1.22,-146.0,260.0,-10.1,148,1775,0.00,2.28,0.00,0.000,6,0.000,0.023,2588,1894,2798
$GC,2092,-1.22,-146.0,294.6,-11.2,164,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1899,2796
$GC,2398,-1.22,-146.0,329.9,-11.7,173,2402,0.00,2.33,0.00,0.000,4,0.000,0.035,2588,3278,2794
$GC,2437,-1.22,-146.0,334.6,-12.0,174,2441,0.00,2.35,0.00,0.000,6,0.000,0.032,2588,1884,2794
$GC,2760,-1.22,-146.0,373.9,-11.7,182,2764,0.00,2.45,0.00,0.000,4,0.000,0.051,2588,480,2792
$GC,2792,-1.22,-146.0,377.7,-12.0,182,2799,0.00,2.33,0.00,0.000,6,0.000,0.028,2588,1884,2792
$GC,3123,-1.22,-146.0,409.9,-9.1,191,3128,0.00,2.47,0.00,0.000,4,0.000,0.052,2588,478,2789
$GC,3163,-1.22,-146.0,413.4,-8.7,192,3167,0.00,2.35,0.00,0.000,6,0.000,0.029,2588,1894,2789
$GC,3487,-1.22,-146.0,438.1,-7.6,200,3491,0.00,2.50,0.00,0.000,4,0.000,0.054,2588,480,2786
$GC,3526,-1.22,-146.0,441.5,-8.0,201,3531,0.00,2.35,0.00,0.000,6,0.000,0.031,2588,1888,2786
$GC,3851,-1.22,-146.0,467.9,-8.3,209,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1894,2784
$GC,4175,-1.22,-146.0,494.1,-8.0,217,4180,0.00,2.42,0.00,0.000,4,0.000,0.044,2588,3296,2781
$GC,4204,-1.22,-146.0,496.6,-8.8,217,4209,0.00,2.42,0.00,0.000,6,0.000,0.037,2588,1882,2781
$GC,4535,-1.22,-146.0,524.7,-8.7,225,4539,0.00,2.47,0.00,0.000,4,0.000,0.058,2588,477,2779
$GC,4573,-1.22,-146.0,528.5,-9.9,225,4580,0.00,2.40,0.00,0.000,6,0.000,0.033,2587,1897,2779
$GC,4905,-1.22,-146.0,562.1,-10.2,234,4909,0.00,2.53,0.00,0.000,4,0.000,0.059,2588,484,2777
$GC,4944,-1.22,-146.0,566.0,-10.2,235,4948,0.00,2.38,0.00,0.000,6,0.000,0.033,2588,1890,2777
$GC,5268,-1.22,-146.0,595.6,-8.9,243,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1895,2775
$GC,5592,-1.22,-146.0,625.3,-9.1,251,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1895,2774
$STATE,5874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5874,begin apogee
$GC,5880,-0.31,0.0,651.8,9.6,258,6007,0.98,0.00,123.97,1.060,6,0.074,0.000,2794,1981,2200
$STATE,6008,end apogee,CONTROL_FINISHED_OK
$STATE,6008,begin climb
$GC,6011,1.22,146.0,657.9,0.0,261,6149,1.48,2.67,130.30,1.036,4,0.041,0.074,3126,554,1603
$GC,6286,1.27,187.8,656.8,7.3,267,6329,0.00,2.45,36.55,1.006,6,0.000,0.036,3126,1964,1434
$GC,6672,1.28,194.3,625.2,8.8,277,6683,0.00,2.55,5.97,0.783,4,0.000,0.057,3126,3383,1408
$GC,6694,1.28,194.3,623.1,9.7,277,6698,0.00,2.50,0.00,0.000,6,0.000,0.043,3126,1967,1407
$GC,7036,1.28,194.3,591.0,9.7,286,7040,0.00,2.50,0.00,0.000,4,0.000,0.048,3126,3382,1404
$GC,7176,1.28,194.3,575.9,10.7,289,7180,0.00,2.47,0.00,0.000,6,0.000,0.041,3126,1961,1405
$GC,7495,1.28,200.0,545.8,8.8,297,7506,0.00,2.53,6.28,0.795,4,0.000,0.047,3126,3383,1383
$GC,7562,1.28,200.0,539.7,9.5,298,7566,0.00,2.47,0.00,0.000,6,0.000,0.040,3126,1957,1383
$GC,7903,1.28,200.0,507.8,9.9,307,7907,0.00,2.50,0.00,0.000,4,0.000,0.093,3126,560,1382
$GC,7953,1.28,200.0,502.3,10.5,308,7957,0.00,2.42,0.00,0.000,6,0.000,0.035,3126,1975,1380
$GC,8272,1.28,200.0,471.2,9.9,316,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1979,1380
$GC,8597,1.30,212.6,443.3,8.5,324,8615,0.00,2.55,12.07,0.874,4,0.000,0.050,3126,3378,1333
$GC,8689,1.32,228.5,435.4,8.4,326,8710,0.00,2.45,15.95,0.887,6,0.000,0.038,3126,1961,1268
$GC,9047,1.32,230.7,402.6,8.9,335,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1961,1264
$GC,9372,1.32,230.7,370.6,9.8,343,9376,0.00,2.47,0.00,0.000,4,0.000,0.043,3126,3384,1263
$GC,9387,1.32,230.7,369.0,10.1,343,9391,0.00,2.45,0.00,0.000,6,0.000,0.038,3126,1962,1263
$GC,9735,1.33,236.8,336.7,8.8,352,9750,0.10,2.53,8.15,0.760,4,0.062,0.065,3154,564,1233
$GC,9801,1.33,236.8,329.4,11.8,353,9805,0.00,2.42,0.00,0.000,6,0.000,0.033,3154,1983,1232
$GC,10143,1.33,240.6,297.9,8.9,362,10152,0.00,2.42,4.65,0.604,4,0.000,0.046,3154,3377,1218
$GC,10247,1.33,240.6,287.9,10.0,366,10254,0.00,2.40,0.00,0.000,6,0.000,0.035,3154,1971,1218
$GC,10563,1.33,240.6,258.6,9.5,382,10567,0.00,2.42,0.00,0.000,4,0.000,0.040,3154,3377,1218
$GC,10646,1.33,240.6,250.0,10.1,386,10651,0.00,2.40,0.00,0.000,6,0.000,0.035,3154,1968,1218
$GC,10973,1.33,240.6,217.9,10.2,402,10977,0.00,2.47,0.00,0.000,4,0.000,0.052,3154,554,1217
$GC,11016,1.33,240.6,213.1,10.6,404,11020,0.00,2.40,0.00,0.000,6,0.000,0.030,3154,1986,1217
$GC,11338,1.43,321.2,188.7,5.7,427,11416,0.00,2.62,70.43,0.734,4,0.000,0.050,3154,563,889
$GC,11461,1.43,321.2,175.4,14.3,438,11467,0.00,2.40,0.00,0.000,6,0.000,0.028,3154,1991,885
$GC,11722,1.43,321.2,144.9,11.7,463,11726,0.00,2.33,0.00,0.000,4,0.000,0.035,3155,3372,884
$GC,11756,1.43,321.2,140.7,11.6,466,11760,0.00,2.40,0.00,0.000,6,0.000,0.032,3154,1961,884
$GC,12022,1.43,321.2,114.8,9.0,491,12026,0.00,2.45,0.00,0.000,4,0.000,0.049,3154,553,883
$GC,12073,1.45,332.5,110.0,8.6,495,12088,0.00,2.35,9.90,0.590,6,0.000,0.025,3154,1983,843
$GC,12344,1.45,332.5,87.6,9.6,520,12348,0.00,2.47,0.00,0.000,4,0.000,0.046,3154,556,842
$GC,12383,1.45,332.5,83.0,12.6,523,12387,0.00,2.33,0.00,0.000,6,0.000,0.023,3154,1973,841
$GC,12644,1.45,332.5,54.2,10.1,547,12648,0.00,2.47,0.00,0.000,4,0.000,0.048,3154,549,841
$GC,12684,1.45,332.5,50.0,10.0,550,12688,0.00,2.33,0.00,0.000,6,0.000,0.022,3154,1973,841
$GC,12945,1.45,332.5,29.2,9.6,574,12952,0.00,2.42,0.00,0.000,4,0.000,0.043,3154,557,842
$GC,12969,1.45,332.5,26.4,11.0,578,12977,0.00,2.30,0.00,0.000,6,0.000,0.021,3154,1985,842
$STATE,13166,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,0.5,1.023576
$STATE,13229,end surface coast,CONTROL_FINISHED_OK
$STATE,13229,begin surface
$SM_CCo,13250,55.42,0.536,0,0,569,400.08
$SM_GC,1.06,0.00,0.00,55.42,0.000,0.000,0.536,429,1866,569,-11.18,-0.68,400.08
$IRIDIUM_FIX,2111.01,-15814.06,120598,070738
$TT8_MAMPS,0.029146
$HUMID,1635
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.30
$XPDR_PINGS,289
$24V_AH,23.3,13.814
$10V_AH,10.2,7.614
$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,25.950,140.650,424.225,55.425,0.000,28.281,26.787,222.115,72.250,0.000,0.000,1207.466,1182.488,9953.432,554.362,2717.694,474.439,0.000,1381.239,0.000,1502.884,0.000,0.540,0.000
$DEVICE_MAMPS,143.429,92.807,1059.994,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.538,282.231,485.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31632,624
$CAP_FILE_SIZE,108585,3
$CFSIZE,260165632,254418944
$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