version: 66.04
glider: 139
mission: 3
dive: 87
start: 2 16 109 9 40 31
data:
$ID,139
$MISSION,3
$DIVE,87
$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,-1338845.5
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,093119,2120.786,-15819.561,12,1.6,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.6
$GPS2,094015,2120.844,-15819.547,297,1.2,298,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,KAHE2
$TGT_LATLONG,2120.800,-15816.900
$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,81.2,4565,-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,15,-1.22,-146.0,0.0,0.0,0,75,0.00,0.00,-57.95,0.000,2,0.000,0.000,425,1868,2263
$GC,78,-1.22,-146.0,3.7,-6.9,10,105,11.73,2.40,-9.18,0.000,4,0.149,0.038,2590,3292,2798
$GC,235,-1.22,-146.0,36.3,-14.4,33,241,0.00,2.30,0.00,0.000,6,0.000,0.030,2590,1906,2799
$GC,495,-1.22,-146.0,86.0,-20.1,58,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1905,2799
$GC,750,-1.22,-146.0,128.4,-17.3,82,754,0.00,2.45,0.00,0.000,4,0.000,0.047,2590,475,2799
$GC,827,-1.22,-146.0,140.6,-12.4,88,834,0.00,2.30,0.00,0.000,6,0.000,0.019,2591,1896,2799
$GC,1089,-1.22,-146.0,176.5,-12.6,113,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1899,2799
$GC,1352,-1.22,-146.0,208.1,-12.6,135,1357,0.00,2.42,0.00,0.000,4,0.000,0.079,2590,483,2798
$GC,1392,-1.22,-146.0,213.3,-13.6,137,1396,0.00,2.28,0.00,0.000,6,0.000,0.021,2591,1907,2799
$GC,1718,-1.22,-146.0,252.2,-10.6,153,1722,0.00,2.28,0.00,0.000,4,0.000,0.031,2591,3286,2798
$GC,1745,-1.22,-146.0,254.8,-9.1,154,1749,0.00,2.33,0.00,0.000,6,0.000,0.028,2590,1885,2798
$GC,2066,-1.22,-146.0,285.3,-10.6,170,2071,0.00,2.42,0.00,0.000,4,0.000,0.048,2590,474,2797
$GC,2094,-1.22,-146.0,288.6,-12.3,171,2098,0.00,2.30,0.00,0.000,6,0.000,0.024,2590,1894,2797
$GC,2412,-1.22,-146.0,322.4,-10.6,182,2416,0.00,2.45,0.00,0.000,4,0.000,0.049,2590,481,2795
$GC,2440,-1.22,-146.0,326.0,-13.0,182,2444,0.00,2.30,0.00,0.000,6,0.000,0.025,2590,1894,2794
$GC,2771,-1.22,-146.0,363.2,-10.8,190,2775,0.00,2.45,0.00,0.000,4,0.000,0.051,2590,487,2792
$GC,2803,-1.22,-146.0,367.2,-12.4,190,2807,0.00,2.30,0.00,0.000,6,0.000,0.027,2590,1889,2792
$GC,3140,-1.22,-146.0,401.1,-9.5,199,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1894,2789
$GC,3465,-1.22,-146.0,432.5,-10.7,207,3469,0.00,2.47,0.00,0.000,4,0.000,0.087,2590,480,2787
$GC,3536,-1.22,-146.0,441.1,-12.1,208,3540,0.00,2.33,0.00,0.000,6,0.000,0.029,2590,1885,2786
$GC,3873,-1.22,-146.0,478.4,-11.0,217,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1889,2784
$GC,4198,-1.22,-146.0,511.3,-9.7,225,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1889,2782
$GC,4523,-1.22,-146.0,540.8,-9.3,233,4527,0.00,2.47,0.00,0.000,4,0.000,0.057,2590,483,2779
$GC,4583,-1.22,-146.0,547.3,-10.5,234,4587,0.00,2.35,0.00,0.000,6,0.000,0.032,2591,1886,2779
$GC,4897,-1.22,-146.0,574.7,-7.8,242,4901,0.00,2.50,0.00,0.000,4,0.000,0.059,2590,481,2778
$GC,4918,-1.22,-146.0,576.3,-7.2,242,4922,0.00,2.38,0.00,0.000,6,0.000,0.033,2590,1893,2777
$GC,5255,-1.22,-146.0,602.5,-8.3,251,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1895,2776
$GC,5580,-1.22,-146.0,633.4,-9.4,259,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1895,2773
$STATE,5780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5781,begin apogee
$GC,5787,-0.31,0.0,651.3,8.8,264,5914,0.95,0.00,123.75,1.050,6,0.074,0.000,2793,1983,2200
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5917,1.22,146.0,655.2,0.0,267,6055,1.48,2.65,130.05,1.027,4,0.041,0.093,3126,564,1602
$GC,6170,1.27,186.7,652.1,7.3,273,6212,0.00,2.42,35.58,0.995,6,0.000,0.036,3126,1959,1438
$GC,6536,1.27,191.8,620.1,8.8,282,6546,0.00,2.55,5.05,0.718,4,0.000,0.056,3126,3376,1416
$GC,6568,1.30,217.2,617.3,8.0,282,6598,0.00,2.47,24.33,0.976,6,0.000,0.051,3126,1968,1313
$GC,6941,1.30,217.2,579.7,10.7,292,6945,0.00,2.50,0.00,0.000,4,0.000,0.048,3126,3382,1307
$GC,7040,1.30,217.2,568.7,10.9,294,7045,0.00,2.47,0.00,0.000,6,0.000,0.073,3126,1970,1307
$GC,7354,1.31,221.8,539.9,8.8,302,7363,0.00,2.55,4.22,0.651,4,0.000,0.061,3126,559,1295
$GC,7386,1.31,221.8,536.8,9.9,302,7390,0.00,2.45,0.00,0.000,6,0.000,0.035,3126,1983,1294
$GC,7722,1.31,221.8,504.1,10.6,311,7727,0.00,2.55,0.00,0.000,4,0.000,0.057,3126,559,1293
$GC,7762,1.31,221.8,499.3,12.9,312,7766,0.00,2.42,0.00,0.000,6,0.000,0.035,3126,1976,1292
$GC,8085,1.31,221.8,462.8,10.8,320,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1981,1291
$GC,8410,1.31,221.8,431.1,10.0,328,8414,0.00,2.45,0.00,0.000,4,0.000,0.049,3126,3383,1290
$GC,8431,1.31,221.8,428.7,11.4,328,8435,0.00,2.42,0.00,0.000,6,0.000,0.069,3127,1959,1291
$GC,8773,1.31,221.8,394.2,9.7,337,8777,0.00,2.45,0.00,0.000,4,0.000,0.042,3126,3376,1290
$GC,8800,1.31,221.8,391.6,10.0,337,8804,0.00,2.42,0.00,0.000,6,0.000,0.070,3126,1968,1290
$GC,9137,1.33,236.7,361.5,8.4,346,9153,0.00,0.00,14.30,0.841,6,0.000,0.000,3126,1968,1234
$GC,9462,1.33,240.3,333.1,8.9,354,9469,0.10,0.00,4.25,0.586,6,0.061,0.000,3154,1968,1220
$GC,9787,1.33,240.3,301.3,9.8,362,9791,0.00,2.45,0.00,0.000,4,0.000,0.041,3155,3384,1219
$GC,9813,1.33,240.3,298.3,11.2,362,9817,0.00,2.42,0.00,0.000,6,0.000,0.035,3155,1969,1219
$GC,10135,1.33,240.3,262.5,10.5,378,10139,0.00,2.47,0.00,0.000,4,0.000,0.053,3155,559,1219
$GC,10223,1.33,240.3,252.4,11.6,382,10228,0.00,2.40,0.00,0.000,6,0.000,0.031,3154,1985,1217
$GC,10550,1.35,254.3,223.7,8.5,398,10572,0.00,2.45,13.73,0.737,4,0.000,0.042,3155,3368,1162
$GC,10624,1.35,254.3,217.4,9.1,401,10628,0.00,2.40,0.00,0.000,6,0.000,0.033,3155,1968,1162
$GC,10948,1.35,254.3,183.8,12.6,423,10952,0.00,2.40,0.00,0.000,4,0.000,0.036,3154,3372,1161
$GC,10980,1.35,254.3,179.4,13.1,425,10987,0.00,2.40,0.00,0.000,6,0.000,0.032,3154,1959,1160
$GC,11243,1.42,313.1,156.5,6.6,450,11300,0.00,2.53,51.05,0.709,4,0.000,0.050,3154,569,922
$GC,11330,1.42,313.1,149.2,10.3,458,11335,0.00,2.38,0.00,0.000,6,0.000,0.028,3154,1979,920
$GC,11591,1.42,313.1,120.7,12.1,482,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1983,918
$GC,11846,1.45,336.2,94.7,8.1,506,11871,0.00,2.55,19.90,0.622,4,0.000,0.046,3154,567,828
$GC,11901,1.45,336.2,89.0,11.5,511,11905,0.00,2.35,0.00,0.000,6,0.000,0.025,3155,1984,826
$GC,12167,1.45,336.2,60.4,9.9,536,12171,0.00,2.47,0.00,0.000,4,0.000,0.044,3154,559,825
$GC,12195,1.45,336.2,57.3,11.4,538,12199,0.00,2.33,0.00,0.000,6,0.000,0.023,3154,1979,824
$GC,12456,1.45,336.2,29.9,11.2,562,12462,0.00,2.45,0.00,0.000,4,0.000,0.044,3154,556,825
$GC,12480,1.45,336.2,26.8,12.5,566,12486,0.00,2.30,0.00,0.000,6,0.000,0.021,3155,1982,825
$STATE,12655,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,0.4,1.009367
$STATE,12717,end surface coast,CONTROL_FINISHED_OK
$STATE,12717,begin surface
$SM_CCo,12738,52.45,0.542,0,0,569,400.08
$SM_GC,1.25,0.00,0.00,52.45,0.000,0.000,0.542,428,1874,569,-11.18,-0.45,400.08
$IRIDIUM_FIX,2111.01,-15819.22,130598,090919
$TT8_MAMPS,0.029146
$HUMID,1676
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.4,14.510
$10V_AH,10.2,8.233
$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,25.950,121.325,426.200,52.450,0.000,0.000,0.000,0.000,5.250,0.000,0.000,299.886,1120.498,9667.596,543.787,1662.594,151.586,0.000,1289.381,0.000,1361.311,0.000,0.541,0.000
$DEVICE_MAMPS,148.798,92.807,1050.023,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.628,271.497,476.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,608
$CAP_FILE_SIZE,109167,5
$CFSIZE,260165632,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160209,131500,2121.004,-15817.895,39,1.4,39,9.8