version: 66.04
glider: 139
mission: 3
dive: 86
start: 2 16 109 4 54 26
data:
$ID,139
$MISSION,3
$DIVE,86
$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,270
$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,-1335295.2
$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,62
$R_STBD_OVSHOOT,53
$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,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.6
$GPS2,200008,2119.499,-15818.141,48,1.9,48,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2119.499,-15829.733
$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,260.2,20000,-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,-57.38,0.000,2,0.000,0.000,423,1847,2258
$GC,77,-1.22,-146.0,3.8,-8.6,10,103,11.73,2.33,-9.20,0.000,4,0.150,0.053,2588,514,2798
$GC,250,-1.22,-146.0,47.0,-19.0,33,254,0.00,2.20,0.00,0.000,6,0.000,0.019,2589,1895,2800
$GC,511,-1.22,-146.0,98.2,-18.9,57,514,0.00,2.28,0.00,0.000,4,0.000,0.038,2589,3290,2798
$GC,538,-1.22,-146.0,103.0,-16.6,59,544,0.00,2.28,0.00,0.000,6,0.000,0.027,2588,1914,2799
$GC,800,-1.22,-146.0,145.6,-15.3,84,805,0.00,2.42,0.00,0.000,4,0.000,0.078,2588,487,2798
$GC,863,-1.22,-146.0,155.7,-15.1,89,867,0.00,2.25,0.00,0.000,6,0.000,0.019,2589,1905,2799
$GC,1124,-1.22,-146.0,192.2,-13.8,113,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1909,2799
$GC,1373,-1.22,-146.0,224.0,-13.0,128,1377,0.00,2.25,0.00,0.000,4,0.000,0.030,2588,3273,2798
$GC,1412,-1.22,-146.0,229.2,-12.7,130,1416,0.00,2.30,0.00,0.000,6,0.000,0.028,2588,1885,2798
$GC,1738,-1.22,-146.0,273.6,-14.3,146,1742,0.00,2.42,0.00,0.000,4,0.000,0.055,2588,474,2798
$GC,1804,-1.22,-146.0,282.8,-12.6,149,1808,0.00,2.28,0.00,0.000,6,0.000,0.023,2588,1885,2798
$GC,2128,-1.22,-146.0,318.6,-10.3,161,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1890,2797
$GC,2453,-1.22,-146.0,350.7,-9.9,169,2457,0.00,2.45,0.00,0.000,4,0.000,0.050,2588,477,2795
$GC,2503,-1.22,-146.0,356.6,-11.8,170,2507,0.00,2.30,0.00,0.000,6,0.000,0.026,2588,1883,2795
$GC,2821,-1.22,-146.0,388.3,-9.4,178,2825,0.00,2.38,0.00,0.000,4,0.000,0.038,2588,3294,2793
$GC,2848,-1.22,-146.0,390.8,-9.1,178,2853,0.00,2.40,0.00,0.000,6,0.000,0.033,2589,1889,2792
$GC,3185,-1.22,-146.0,423.0,-10.1,187,3189,0.00,2.45,0.00,0.000,4,0.000,0.054,2588,483,2790
$GC,3262,-1.22,-146.0,432.2,-11.8,188,3266,0.00,2.33,0.00,0.000,6,0.000,0.029,2588,1889,2789
$GC,3599,-1.22,-146.0,472.7,-12.4,197,3603,0.00,2.47,0.00,0.000,4,0.000,0.054,2588,483,2786
$GC,3642,-1.22,-146.0,478.5,-13.1,198,3646,0.00,2.35,0.00,0.000,6,0.000,0.031,2588,1897,2786
$GC,3967,-1.22,-146.0,517.0,-11.5,206,3971,0.00,2.50,0.00,0.000,4,0.000,0.056,2588,481,2783
$GC,3988,-1.22,-146.0,519.7,-11.6,206,3992,0.00,2.35,0.00,0.000,6,0.000,0.031,2589,1888,2783
$GC,4330,-1.22,-146.0,557.0,-10.8,215,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1893,2781
$GC,4656,-1.22,-146.0,586.7,-8.6,223,4660,0.00,2.50,0.00,0.000,4,0.000,0.068,2588,487,2779
$GC,4682,-1.22,-146.0,589.3,-9.7,223,4686,0.00,2.38,0.00,0.000,6,0.000,0.034,2589,1893,2778
$GC,5019,-1.22,-146.0,618.9,-8.8,232,5023,0.00,2.53,0.00,0.000,4,0.000,0.062,2588,483,2777
$GC,5046,-1.22,-146.0,621.6,-9.7,232,5051,0.00,2.40,0.00,0.000,6,0.000,0.035,2588,1899,2776
$GC,5378,-1.22,-146.0,646.8,-7.0,240,5382,0.00,2.55,0.00,0.000,4,0.000,0.091,2588,482,2774
$GC,5406,-1.22,-146.0,648.8,-7.3,240,5410,0.00,2.40,0.00,0.000,6,0.000,0.036,2589,1895,2774
$STATE,5455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5456,begin apogee
$GC,5461,-0.31,0.0,652.3,6.9,242,5589,0.95,0.00,124.00,1.047,6,0.076,0.000,2789,1985,2200
$STATE,5589,end apogee,CONTROL_FINISHED_OK
$STATE,5590,begin climb
$GC,5592,1.22,146.0,654.9,0.0,245,5730,1.52,2.65,130.32,1.022,4,0.041,0.079,3130,563,1603
$GC,5774,1.33,235.8,657.0,5.3,249,5862,0.00,2.42,78.30,1.009,6,0.000,0.037,3130,1959,1237
$GC,6187,1.33,235.8,615.0,10.6,260,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1959,1229
$GC,6511,1.33,235.8,581.6,10.2,268,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1962,1227
$GC,6836,1.33,235.8,549.0,9.8,276,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1963,1226
$GC,7161,1.33,235.8,517.1,10.2,284,7165,0.00,2.50,0.00,0.000,4,0.000,0.051,3130,3379,1225
$GC,7246,1.33,235.8,507.6,11.1,286,7250,0.00,2.45,0.00,0.000,6,0.000,0.045,3130,1974,1224
$GC,7575,1.33,235.8,473.6,10.0,294,7579,0.00,2.53,0.00,0.000,4,0.000,0.064,3130,560,1224
$GC,7641,1.33,235.8,465.9,11.9,295,7645,0.00,2.42,0.00,0.000,6,0.000,0.034,3130,1984,1222
$GC,7983,1.33,235.8,429.7,10.5,304,7987,0.00,2.55,0.00,0.000,4,0.000,0.087,3130,560,1222
$GC,8005,1.33,235.8,427.3,11.4,304,8009,0.00,2.40,0.00,0.000,6,0.000,0.034,3130,1971,1221
$GC,8347,1.33,235.8,392.7,10.0,313,8351,0.00,2.53,0.00,0.000,4,0.000,0.087,3130,558,1221
$GC,8390,1.33,235.8,387.6,12.0,314,8394,0.00,2.40,0.00,0.000,6,0.000,0.033,3130,1972,1220
$GC,8715,1.33,238.3,357.7,8.9,322,8719,0.00,2.45,0.00,0.000,4,0.000,0.047,3130,3384,1220
$GC,8786,1.33,238.3,350.9,9.7,323,8791,0.00,2.42,0.00,0.000,6,0.000,0.036,3130,1968,1220
$GC,9123,1.33,238.3,319.2,9.3,332,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1968,1220
$GC,9429,1.36,263.5,292.2,8.0,341,9458,0.12,2.55,22.67,0.803,4,0.055,0.054,3165,557,1124
$GC,9485,1.36,263.5,286.7,11.1,343,9492,0.00,2.42,0.00,0.000,6,0.000,0.031,3165,1983,1122
$GC,9801,1.36,263.5,254.8,11.2,359,9805,0.00,2.53,0.00,0.000,4,0.000,0.051,3165,553,1121
$GC,9863,1.36,263.5,246.8,12.8,362,9868,0.00,2.40,0.00,0.000,6,0.000,0.036,3165,1983,1120
$GC,10189,1.36,263.5,209.6,11.3,378,10194,0.00,2.38,0.00,0.000,4,0.000,0.039,3165,3379,1120
$GC,10233,1.36,263.5,204.8,11.5,380,10238,0.00,2.40,0.00,0.000,6,0.000,0.031,3165,1964,1120
$GC,10559,1.36,263.5,170.2,9.7,408,10563,0.00,2.38,0.00,0.000,4,0.000,0.033,3165,3371,1120
$GC,10655,1.36,263.5,160.3,9.6,416,10659,0.00,2.35,0.00,0.000,6,0.000,0.029,3165,1965,1119
$GC,10921,1.36,263.5,137.8,9.1,441,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1965,1119
$GC,11178,1.42,308.4,118.2,7.2,465,11223,0.00,2.53,38.42,0.641,4,0.000,0.046,3165,566,942
$GC,11414,1.42,308.4,91.4,11.8,486,11418,0.00,2.30,0.00,0.000,6,0.000,0.024,3165,1976,937
$GC,11680,1.45,335.7,69.1,7.9,511,11711,0.00,2.53,23.48,0.578,4,0.000,0.043,3165,565,830
$GC,11735,1.45,335.7,63.8,10.6,516,11739,0.00,2.33,0.00,0.000,6,0.000,0.021,3165,1983,829
$GC,11996,1.45,335.7,37.0,10.3,540,12000,0.00,2.45,0.00,0.000,4,0.000,0.052,3165,564,829
$GC,12041,1.45,335.7,31.2,12.6,544,12045,0.00,2.30,0.00,0.000,6,0.000,0.021,3165,1977,828
$STATE,12264,end climb,SURFACE_DEPTH_REACHED
$STATE,12264,begin surface coast
$FINISH,0.5,1.023592
$STATE,12337,end surface coast,CONTROL_FINISHED_OK
$STATE,12337,begin surface
$SM_CCo,12358,53.15,0.532,0,0,569,400.08
$SM_GC,1.11,0.00,0.00,53.15,0.000,0.000,0.532,426,1867,569,-11.19,-0.65,400.08
$IRIDIUM_FIX,2113.32,-15816.21,130598,000002
$TT8_MAMPS,0.029146
$HUMID,1643
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,22.50
$XPDR_PINGS,22
$24V_AH,23.4,14.358
$10V_AH,10.2,8.078
$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,26.150,125.550,417.200,53.150,0.000,30.483,45.565,207.099,5.500,0.000,0.000,1203.257,1117.755,9265.325,541.951,2598.596,476.003,0.000,1297.583,0.000,1391.400,0.000,0.541,0.000
$DEVICE_MAMPS,149.565,90.506,1046.955,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.498,266.044,470.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31721,595
$CAP_FILE_SIZE,99261,6
$CFSIZE,260165632,254214144
$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