version: 66.04
glider: 139
mission: 3
dive: 83
start: 2 15 109 16 25 19
data:
$ID,139
$MISSION,3
$DIVE,83
$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,-1329273.8
$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,40
$R_STBD_OVSHOOT,56
$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,1.06
$_SM_ANGLEo,-70.0
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.22,-146.0,0.0,0.0,0,80,0.00,0.00,-63.17,0.000,2,0.000,0.000,427,1866,2442
$GC,82,-1.22,-146.0,4.4,-9.3,11,108,11.70,2.38,-5.78,0.000,4,0.142,0.055,2589,500,2799
$GC,255,-1.22,-146.0,49.5,-20.3,33,259,0.00,2.22,0.00,0.000,6,0.000,0.019,2589,1902,2801
$GC,516,-1.22,-146.0,103.2,-20.8,57,520,0.00,2.42,0.00,0.000,4,0.000,0.057,2589,492,2800
$GC,559,-1.22,-146.0,113.1,-22.4,60,566,0.00,2.25,0.00,0.000,6,0.000,0.019,2589,1889,2800
$GC,821,-1.22,-146.0,158.1,-15.7,85,825,0.00,2.12,0.00,0.000,4,0.000,0.063,2589,3220,2800
$GC,859,-1.22,-146.0,164.0,-14.3,88,866,0.00,2.20,0.00,0.000,6,0.000,0.027,2589,1906,2800
$GC,1123,-1.22,-146.0,200.6,-14.1,113,1127,0.00,2.28,0.00,0.000,4,0.000,0.027,2589,3287,2800
$GC,1163,-1.22,-146.0,205.5,-11.1,115,1167,0.00,2.33,0.00,0.000,6,0.000,0.027,2589,1879,2800
$GC,1489,-1.22,-146.0,245.2,-11.7,131,1493,0.00,2.38,0.00,0.000,4,0.000,0.044,2589,484,2800
$GC,1544,-1.22,-146.0,252.2,-11.9,133,1551,0.00,2.25,0.00,0.000,6,0.000,0.021,2589,1885,2799
$GC,1860,-1.22,-146.0,285.2,-10.1,149,1864,0.00,2.42,0.00,0.000,4,0.000,0.056,2588,480,2798
$GC,1887,-1.22,-146.0,288.4,-11.4,150,1891,0.00,2.28,0.00,0.000,6,0.000,0.024,2589,1886,2799
$GC,2211,-1.22,-146.0,323.2,-11.2,161,2215,0.00,2.33,0.00,0.000,4,0.000,0.035,2589,3282,2797
$GC,2295,-1.22,-146.0,332.6,-11.3,163,2299,0.00,2.33,0.00,0.000,6,0.000,0.031,2589,1892,2796
$GC,2618,-1.22,-146.0,371.4,-12.0,171,2622,0.00,2.42,0.00,0.000,4,0.000,0.051,2589,484,2794
$GC,2689,-1.22,-146.0,380.2,-12.5,172,2693,0.00,2.30,0.00,0.000,6,0.000,0.027,2589,1885,2793
$GC,3032,-1.22,-146.0,420.4,-11.6,181,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1889,2790
$GC,3357,-1.22,-146.0,453.9,-10.0,189,3360,0.00,2.45,0.00,0.000,4,0.000,0.054,2589,480,2788
$GC,3378,-1.22,-146.0,456.0,-9.3,189,3382,0.00,2.35,0.00,0.000,6,0.000,0.030,2588,1895,2788
$GC,3726,-1.22,-146.0,489.2,-9.6,198,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1899,2786
$GC,4051,-1.22,-146.0,518.4,-8.8,206,4056,0.00,2.50,0.00,0.000,4,0.000,0.058,2589,483,2782
$GC,4079,-1.22,-146.0,521.0,-9.7,206,4083,0.00,2.35,0.00,0.000,6,0.000,0.032,2589,1886,2783
$GC,4416,-1.22,-146.0,549.7,-8.3,215,4420,0.00,2.42,0.00,0.000,4,0.000,0.049,2589,3290,2781
$GC,4432,-1.22,-146.0,551.1,-8.1,215,4436,0.00,2.40,0.00,0.000,6,0.000,0.048,2589,1893,2780
$GC,4773,-1.22,-146.0,580.0,-8.6,224,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1893,2778
$GC,5098,-1.22,-146.0,609.7,-9.5,232,5102,0.00,2.55,0.00,0.000,4,0.000,0.073,2589,476,2776
$GC,5130,-1.22,-146.0,613.2,-11.0,232,5137,0.00,2.40,0.00,0.000,6,0.000,0.036,2589,1888,2776
$GC,5461,-1.22,-146.0,647.3,-10.3,241,5466,0.00,2.55,0.00,0.000,4,0.000,0.073,2589,484,2774
$GC,5483,-1.22,-146.0,649.6,-10.2,241,5487,0.00,2.40,0.00,0.000,6,0.000,0.037,2589,1890,2774
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5498,-0.31,0.0,650.7,10.5,241,5626,0.93,0.00,124.50,1.053,6,0.076,0.000,2789,1982,2200
$STATE,5626,end apogee,CONTROL_FINISHED_OK
$STATE,5626,begin climb
$GC,5629,1.22,146.0,656.8,0.0,245,5768,1.52,2.70,130.50,1.032,4,0.041,0.093,3130,559,1602
$GC,5893,1.24,163.4,652.6,8.3,251,5913,0.00,2.45,15.05,0.946,6,0.000,0.038,3130,1969,1533
$GC,6239,1.24,163.4,620.4,9.6,259,6243,0.00,2.53,0.00,0.000,4,0.000,0.060,3130,3376,1526
$GC,6282,1.24,163.4,616.3,9.7,260,6286,0.00,2.47,0.00,0.000,6,0.000,0.043,3131,1968,1526
$GC,6607,1.29,208.8,591.3,7.2,268,6653,0.00,2.55,40.90,1.002,4,0.000,0.048,3130,3376,1347
$GC,6697,1.29,208.8,583.8,9.6,270,6701,0.00,2.50,0.00,0.000,6,0.000,0.049,3130,1961,1345
$GC,7016,1.29,208.8,552.5,10.2,278,7020,0.00,2.50,0.00,0.000,4,0.000,0.047,3130,3378,1341
$GC,7099,1.29,208.8,544.1,10.4,280,7104,0.00,2.47,0.00,0.000,6,0.000,0.051,3130,1963,1341
$GC,7423,1.29,208.8,512.6,9.7,288,7428,0.00,2.55,0.00,0.000,4,0.000,0.087,3131,552,1339
$GC,7445,1.29,208.8,510.3,10.3,288,7449,0.00,2.45,0.00,0.000,6,0.000,0.035,3130,1982,1337
$GC,7787,1.34,242.7,482.8,7.6,297,7819,0.00,0.00,30.02,0.949,6,0.000,0.000,3130,1986,1210
$GC,8112,1.34,242.7,454.5,9.1,305,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1986,1205
$GC,8437,1.34,242.7,421.0,10.3,313,8441,0.00,2.45,0.00,0.000,4,0.000,0.048,3130,3385,1204
$GC,8531,1.34,242.7,410.2,11.4,315,8535,0.00,2.45,0.00,0.000,6,0.000,0.038,3130,1961,1204
$GC,8851,1.34,242.7,375.5,10.9,323,8855,0.00,2.50,0.00,0.000,4,0.000,0.083,3130,557,1203
$GC,8947,1.34,242.7,363.2,12.9,325,8951,0.00,2.40,0.00,0.000,6,0.000,0.032,3130,1975,1201
$GC,9259,1.34,242.7,332.0,9.4,333,9263,0.00,2.53,0.00,0.000,4,0.000,0.054,3130,554,1200
$GC,9308,1.34,242.7,327.3,9.6,334,9312,0.00,2.40,0.00,0.000,6,0.000,0.032,3130,1973,1200
$GC,9627,1.35,252.7,300.1,8.6,342,9642,0.10,2.47,8.50,0.736,4,0.062,0.044,3159,3371,1170
$GC,9694,1.35,252.7,293.3,11.5,344,9698,0.00,2.42,0.00,0.000,6,0.000,0.035,3158,1959,1170
$GC,10019,1.35,252.7,260.1,10.2,360,10023,0.00,2.47,0.00,0.000,4,0.000,0.054,3159,554,1169
$GC,10051,1.35,252.7,256.9,10.4,361,10056,0.00,2.40,0.00,0.000,6,0.000,0.031,3159,1978,1167
$GC,10373,1.35,252.7,225.5,10.3,377,10377,0.00,2.50,0.00,0.000,4,0.000,0.051,3159,560,1167
$GC,10444,1.35,252.7,216.8,12.1,380,10449,0.00,2.40,0.00,0.000,6,0.000,0.030,3159,1974,1167
$GC,10770,1.37,274.3,189.1,8.1,402,10792,0.00,0.00,19.80,0.710,6,0.000,0.000,3159,1979,1081
$GC,11046,1.37,274.3,162.5,9.6,428,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1978,1078
$GC,11301,1.37,274.3,138.8,10.1,452,11305,0.00,2.38,0.00,0.000,4,0.000,0.037,3159,3378,1078
$GC,11441,1.37,274.3,125.9,9.3,464,11445,0.00,2.38,0.00,0.000,6,0.000,0.028,3159,1960,1078
$GC,11704,1.44,324.8,104.0,6.9,488,11757,0.00,2.53,43.35,0.628,4,0.000,0.045,3159,561,873
$GC,11803,1.44,324.8,94.6,10.8,497,11807,0.00,2.35,0.00,0.000,6,0.000,0.023,3159,1987,871
$GC,12064,1.44,324.8,68.1,9.7,521,12068,0.00,2.47,0.00,0.000,4,0.000,0.044,3159,561,871
$GC,12160,1.44,324.8,58.9,9.9,529,12164,0.00,2.30,0.00,0.000,6,0.000,0.021,3159,1975,870
$GC,12421,1.44,324.8,34.2,9.7,553,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1981,870
$GC,12687,1.44,324.8,7.5,9.3,597,12693,0.00,2.42,0.00,0.000,4,0.000,0.048,3159,562,871
$STATE,12703,end climb,SURFACE_DEPTH_REACHED
$STATE,12703,begin surface coast
$FINISH,4.0,1.023561
$STATE,12716,end surface coast,CONTROL_FINISHED_OK
$STATE,12716,begin surface
$SM_CCo,12740,61.55,0.535,0,0,568,400.08
$SM_GC,1.36,0.00,0.00,61.55,0.000,0.000,0.535,427,1916,568,-11.19,0.74,400.08
$IRIDIUM_FIX,2111.01,-15814.06,120598,111104
$TT8_MAMPS,0.029146
$HUMID,1630
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.00
$XPDR_PINGS,16
$24V_AH,23.3,13.952
$10V_AH,10.2,7.737
$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,26.250,135.025,412.625,61.550,0.000,29.228,25.639,223.917,4.000,0.000,0.000,1207.680,1149.279,9521.772,576.898,2662.604,470.630,0.000,1356.367,0.000,1453.034,0.000,0.540,0.000
$DEVICE_MAMPS,141.895,92.807,1053.091,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.430,269.140,463.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31815,602
$CAP_FILE_SIZE,104266,7
$CFSIZE,260165632,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150209,200008,2119.499,-15818.141,48,1.9,48,9.8