version: 66.04
glider: 139
mission: 3
dive: 84
start: 2 15 109 20 25 50
data:
$ID,139
$MISSION,3
$DIVE,84
$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,-1330477.6
$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,27
$R_STBD_OVSHOOT,70
$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
$GPS1,200008,2119.499,-15818.141,48,1.9,48,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.1
$GPS2,200008,2119.499,-15818.141,48,1.9,48,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,KAHE1
$TGT_LATLONG,2120.700,-15816.500
$TGT_RADIUS,900.000
$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,42.0,3600,-17.0,-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,13,begin dive
$GC,16,-1.23,-140.1,0.0,0.0,0,76,0.00,0.00,-57.83,0.000,2,0.000,0.000,426,1919,2255
$GC,79,-1.24,-146.0,3.4,-6.9,10,105,11.75,2.28,-9.43,0.000,4,0.144,0.039,2582,3266,2798
$GC,174,-1.24,-146.0,28.2,-17.7,26,180,0.00,2.30,0.00,0.000,6,0.000,0.031,2583,1884,2799
$GC,377,-1.24,-146.0,70.8,-21.0,46,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1884,2799
$GC,633,-1.24,-146.0,121.9,-20.4,70,637,0.00,2.40,0.00,0.000,4,0.000,0.078,2583,480,2799
$GC,718,-1.24,-146.0,139.0,-17.5,77,722,0.00,2.22,0.00,0.000,6,0.000,0.019,2583,1878,2799
$GC,979,-1.24,-146.0,177.9,-13.7,101,983,0.00,2.30,0.00,0.000,4,0.000,0.063,2583,3278,2799
$GC,1023,-1.24,-146.0,183.4,-11.1,104,1030,0.00,2.35,0.00,0.000,6,0.000,0.028,2583,1883,2799
$GC,1291,-1.24,-146.0,220.8,-14.5,123,1295,0.00,2.30,0.00,0.000,4,0.000,0.027,2583,3278,2799
$GC,1323,-1.24,-146.0,225.7,-14.3,124,1330,0.00,2.33,0.00,0.000,6,0.000,0.028,2583,1893,2800
$GC,1639,-1.24,-146.0,265.8,-11.2,140,1643,0.00,2.40,0.00,0.000,4,0.000,0.046,2583,486,2800
$GC,1727,-1.24,-146.0,276.3,-11.6,144,1732,0.00,2.28,0.00,0.000,6,0.000,0.022,2583,1894,2800
$GC,2052,-1.24,-146.0,313.7,-11.0,157,2056,0.00,2.33,0.00,0.000,4,0.000,0.034,2583,3287,2799
$GC,2102,-1.24,-146.0,319.1,-10.4,158,2106,0.00,2.35,0.00,0.000,6,0.000,0.030,2583,1885,2799
$GC,2421,-1.24,-146.0,348.5,-8.4,166,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1885,2797
$GC,2746,-1.24,-146.0,382.2,-11.1,174,2750,0.00,2.45,0.00,0.000,4,0.000,0.052,2583,478,2794
$GC,2795,-1.24,-146.0,388.0,-11.2,175,2799,0.00,2.33,0.00,0.000,6,0.000,0.028,2583,1889,2794
$GC,3113,-1.24,-146.0,422.4,-10.8,183,3117,0.00,2.38,0.00,0.000,4,0.000,0.040,2583,3290,2792
$GC,3131,-1.24,-146.0,424.1,-10.1,183,3135,0.00,2.38,0.00,0.000,6,0.000,0.034,2583,1887,2792
$GC,3472,-1.24,-146.0,455.1,-8.6,192,3477,0.00,2.47,0.00,0.000,4,0.000,0.089,2583,479,2789
$GC,3516,-1.24,-146.0,459.6,-9.9,193,3520,0.00,2.35,0.00,0.000,6,0.000,0.031,2583,1888,2788
$GC,3840,-1.24,-146.0,494.3,-11.3,201,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1893,2786
$GC,4166,-1.24,-146.0,529.3,-10.3,209,4169,0.00,2.47,0.00,0.000,4,0.000,0.058,2582,483,2783
$GC,4187,-1.24,-146.0,531.7,-10.5,209,4191,0.00,2.35,0.00,0.000,6,0.000,0.032,2583,1888,2783
$GC,4535,-1.24,-146.0,563.3,-9.1,218,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1892,2781
$GC,4860,-1.24,-146.0,599.7,-11.8,226,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1892,2779
$GC,5185,-1.24,-146.0,636.7,-11.1,234,5189,0.00,2.53,0.00,0.000,4,0.000,0.066,2582,486,2777
$GC,5223,-1.24,-146.0,641.1,-10.9,234,5229,0.00,2.38,0.00,0.000,6,0.000,0.036,2583,1883,2777
$STATE,5348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5355,-0.31,0.0,653.9,10.2,238,5482,1.00,0.00,124.43,1.047,6,0.076,0.000,2794,1984,2200
$STATE,5483,end apogee,CONTROL_FINISHED_OK
$STATE,5483,begin climb
$GC,5485,1.24,146.0,659.0,0.0,241,5625,1.50,2.65,129.93,1.025,4,0.041,0.094,3135,566,1602
$GC,5738,1.29,189.1,657.6,7.2,247,5783,0.00,2.42,37.65,0.993,6,0.000,0.037,3136,1964,1428
$GC,6108,1.30,196.2,625.6,8.7,256,6122,0.00,2.62,6.70,0.810,4,0.000,0.057,3136,3383,1399
$GC,6270,1.30,196.2,610.3,9.8,259,6274,0.00,2.47,0.00,0.000,6,0.000,0.044,3136,1975,1397
$GC,6606,1.30,198.8,580.6,8.9,268,6610,0.00,2.47,0.00,0.000,4,0.000,0.048,3136,3377,1395
$GC,6649,1.30,198.8,576.6,9.2,269,6654,0.00,2.47,0.00,0.000,6,0.000,0.051,3136,1962,1395
$GC,6973,1.30,198.8,545.6,9.9,277,6978,0.00,2.50,0.00,0.000,4,0.000,0.047,3136,3385,1393
$GC,7000,1.30,198.8,542.9,10.2,277,7004,0.00,2.47,0.00,0.000,6,0.000,0.048,3136,1963,1394
$GC,7338,1.32,212.5,512.5,8.4,286,7358,0.00,2.55,15.20,0.924,4,0.000,0.047,3135,3383,1332
$GC,7414,1.34,227.9,506.1,8.4,287,7434,0.00,2.47,15.27,0.910,6,0.000,0.074,3135,1971,1270
$GC,7742,1.35,239.8,478.3,8.5,296,7760,0.00,2.58,11.55,0.871,4,0.000,0.045,3136,3382,1221
$GC,7771,1.35,239.8,475.5,9.4,296,7775,0.00,2.47,0.00,0.000,6,0.000,0.039,3136,1968,1221
$GC,8108,1.35,239.8,443.2,10.2,305,8112,0.00,2.53,0.00,0.000,4,0.000,0.091,3135,557,1218
$GC,8123,1.35,239.8,441.3,11.2,305,8127,0.00,2.42,0.00,0.000,6,0.000,0.033,3136,1977,1218
$GC,8471,1.35,239.8,402.9,11.1,314,8475,0.00,2.45,0.00,0.000,4,0.000,0.048,3136,3379,1217
$GC,8538,1.35,239.8,395.1,11.7,315,8542,0.00,2.45,0.00,0.000,6,0.000,0.037,3136,1954,1217
$GC,8880,1.36,241.1,362.6,9.0,324,8884,0.00,2.47,0.00,0.000,4,0.000,0.067,3136,559,1216
$GC,8964,1.36,241.1,353.6,11.1,325,8970,0.00,2.40,0.00,0.000,6,0.000,0.050,3136,1972,1215
$GC,9295,1.37,253.5,322.6,8.5,334,9310,0.10,0.00,12.80,0.797,6,0.063,0.000,3164,1977,1166
$GC,9601,1.37,253.5,293.2,9.4,343,9605,0.00,2.42,0.00,0.000,4,0.000,0.044,3164,3376,1163
$GC,9673,1.37,253.5,285.8,10.5,346,9677,0.00,2.42,0.00,0.000,6,0.000,0.035,3164,1959,1163
$GC,9999,1.37,253.5,253.7,10.2,362,10003,0.00,2.45,0.00,0.000,4,0.000,0.054,3164,564,1163
$GC,10094,1.37,253.5,242.4,12.3,366,10098,0.00,2.38,0.00,0.000,6,0.000,0.030,3164,1977,1161
$GC,10421,1.37,253.5,206.5,10.0,382,10425,0.00,2.50,0.00,0.000,4,0.000,0.051,3164,554,1161
$GC,10492,1.37,253.5,198.7,11.2,385,10496,0.00,2.38,0.00,0.000,6,0.000,0.029,3164,1975,1160
$GC,10824,1.38,260.6,165.5,8.7,416,10837,0.00,2.45,6.95,0.601,4,0.000,0.038,3164,3376,1137
$GC,10916,1.38,260.6,156.4,9.2,424,10920,0.00,2.38,0.00,0.000,6,0.000,0.030,3164,1965,1136
$GC,11182,1.40,279.8,135.4,8.2,449,11205,0.00,2.50,17.92,0.650,4,0.000,0.033,3164,3382,1058
$GC,11252,1.40,279.8,128.9,11.2,455,11256,0.00,2.40,0.00,0.000,6,0.000,0.030,3164,1965,1058
$GC,11513,1.41,284.2,100.0,8.8,479,11524,0.00,2.38,5.22,0.489,4,0.000,0.031,3165,3375,1041
$GC,11547,1.41,284.2,96.7,9.1,482,11552,0.00,2.38,0.00,0.000,6,0.000,0.028,3164,1963,1041
$GC,11809,1.42,290.5,72.7,8.8,506,11822,0.00,2.50,7.20,0.518,4,0.000,0.044,3164,554,1014
$GC,11871,1.42,290.5,66.7,9.5,511,11878,0.00,2.38,0.00,0.000,6,0.000,0.022,3164,1982,1013
$GC,12133,1.42,290.5,43.7,9.8,536,12137,0.00,2.45,0.00,0.000,4,0.000,0.043,3164,563,1013
$GC,12182,1.42,290.5,38.4,10.5,540,12189,0.00,2.33,0.00,0.000,6,0.000,0.021,3164,1972,1012
$GC,12454,1.42,290.5,13.2,9.4,581,12460,0.00,2.30,0.00,0.000,4,0.000,0.031,3164,3364,1013
$GC,12501,1.42,290.5,8.5,9.7,589,12507,0.00,2.35,0.00,0.000,6,0.000,0.025,3164,1964,1013
$STATE,12528,end climb,SURFACE_DEPTH_REACHED
$STATE,12528,begin surface coast
$FINISH,0.4,1.000283
$STATE,12603,end surface coast,CONTROL_FINISHED_OK
$STATE,12603,begin surface
$SM_CCo,12625,89.93,0.535,0,0,568,400.08
$SM_GC,0.98,0.00,0.00,89.93,0.000,0.000,0.535,422,1864,568,-11.21,-0.71,400.08
$IRIDIUM_FIX,2111.01,-15819.22,120598,161614
$TT8_MAMPS,0.029146
$HUMID,1627
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.00
$XPDR_PINGS,15
$24V_AH,23.3,14.085
$10V_AH,10.2,7.832
$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,26.075,140.400,390.825,89.925,0.000,24.905,24.996,167.525,3.750,0.000,0.000,1203.237,1155.117,9400.514,572.690,2685.198,416.746,0.000,1376.039,0.000,1475.979,0.000,0.540,0.000
$DEVICE_MAMPS,144.196,93.574,1046.955,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.579,273.538,486.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31679,607
$CAP_FILE_SIZE,104456,3
$CFSIZE,260165632,254316544
$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