version: 66.04
glider: 139
mission: 3
dive: 88
start: 2 16 109 13 26 51
data:
$ID,139
$MISSION,3
$DIVE,88
$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,-1338862.2
$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,32
$R_STBD_OVSHOOT,52
$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
$GPS1,131500,2121.004,-15817.895,39,1.4,39,9.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.6
$GPS2,132632,2120.999,-15817.889,14,1.4,14,9.8
$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,92.4,1743,-27.8,-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,11,begin dive
$GC,14,-1.80,-53.1,0.0,0.0,0,74,0.00,0.00,-57.80,0.000,2,0.000,0.000,428,1874,2257
$GC,77,-1.81,-62.4,3.7,-8.0,10,98,11.18,2.40,-3.55,0.000,4,0.144,0.039,2458,3284,2458
$GC,176,-1.81,-62.4,36.2,-26.1,25,182,0.00,2.38,0.00,0.000,6,0.000,0.030,2458,1894,2460
$GC,437,-1.81,-62.4,102.0,-26.0,50,441,0.00,2.30,0.00,0.000,4,0.000,0.028,2458,3280,2459
$GC,644,-1.81,-62.4,143.2,-18.6,68,648,0.00,2.33,0.00,0.000,6,0.000,0.026,2458,1880,2460
$GC,904,-1.81,-62.4,193.8,-16.5,92,908,0.00,2.33,0.00,0.000,4,0.000,0.028,2458,3284,2461
$GC,948,-1.81,-62.4,201.0,-15.2,95,952,0.00,2.33,0.00,0.000,6,0.000,0.028,2458,1889,2461
$GC,1275,-1.81,-62.4,254.5,-16.9,111,1279,0.00,2.33,0.00,0.000,4,0.000,0.029,2458,3286,2462
$GC,1510,-1.81,-62.4,294.6,-16.6,121,1517,0.00,2.35,0.00,0.000,6,0.000,0.030,2458,1885,2462
$GC,1842,-1.81,-62.4,348.4,-16.7,131,1846,0.00,2.35,0.00,0.000,4,0.000,0.033,2458,3283,2461
$GC,1953,-1.81,-62.4,366.1,-15.2,133,1957,0.00,2.35,0.00,0.000,6,0.000,0.032,2458,1887,2460
$GC,2295,-1.81,-62.4,420.3,-16.2,142,2299,0.00,2.35,0.00,0.000,4,0.000,0.036,2458,3275,2458
$GC,2367,-1.81,-62.4,431.3,-14.5,143,2371,0.00,2.35,0.00,0.000,6,0.000,0.035,2458,1892,2459
$GC,2704,-1.81,-62.4,472.9,-12.0,152,2708,0.00,2.35,0.00,0.000,4,0.000,0.038,2458,3273,2456
$GC,2938,-1.81,-62.4,503.6,-14.6,157,2942,0.00,2.38,0.00,0.000,6,0.000,0.038,2458,1885,2454
$GC,3251,-1.81,-62.4,547.9,-13.9,165,3255,0.00,2.40,0.00,0.000,4,0.000,0.042,2458,3279,2452
$GC,3324,-1.81,-62.4,557.8,-12.8,166,3328,0.00,2.38,0.00,0.000,6,0.000,0.061,2458,1886,2451
$GC,3654,-1.81,-62.4,604.0,-14.7,174,3658,0.00,2.42,0.00,0.000,4,0.000,0.048,2458,3276,2450
$GC,3852,-1.81,-62.4,633.8,-13.9,178,3856,0.00,2.42,0.00,0.000,6,0.000,0.044,2458,1883,2448
$STATE,3993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3993,begin apogee
$GC,3999,-0.31,0.0,654.7,14.5,182,4058,1.62,0.00,54.88,1.045,6,0.094,0.000,2789,1964,2200
$STATE,4059,end apogee,CONTROL_FINISHED_OK
$STATE,4059,begin climb
$GC,4061,1.81,62.4,656.7,0.0,183,4125,2.10,0.00,59.55,1.019,6,0.041,0.000,3264,1964,1945
$GC,4441,1.99,201.7,681.5,-6.8,193,4572,0.12,2.58,124.57,1.052,4,0.068,0.056,3295,3365,1376
$GC,4825,1.99,201.7,639.5,15.8,201,4831,0.00,2.47,0.00,0.000,6,0.000,0.046,3295,1969,1369
$GC,5155,1.99,201.7,589.4,14.9,210,5160,0.00,2.47,0.00,0.000,4,0.000,0.047,3295,3370,1366
$GC,5413,1.99,201.7,554.2,14.0,215,5419,0.00,2.45,0.00,0.000,6,0.000,0.041,3295,1964,1365
$GC,5744,1.99,201.7,507.7,14.2,224,5748,0.00,2.47,0.00,0.000,4,0.000,0.045,3295,3374,1362
$GC,6001,1.99,201.7,466.4,17.2,229,6008,0.00,2.45,0.00,0.000,6,0.000,0.039,3295,1961,1362
$GC,6333,1.99,201.7,417.0,14.2,238,6337,0.00,2.45,0.00,0.000,4,0.000,0.044,3295,3372,1360
$GC,6590,1.99,201.7,382.8,13.3,243,6594,0.00,2.42,0.00,0.000,6,0.000,0.043,3295,1969,1360
$GC,6927,1.99,201.7,339.4,12.8,252,6931,0.00,2.45,0.00,0.000,4,0.000,0.043,3296,3375,1359
$GC,7184,1.99,201.7,306.3,12.8,257,7190,0.00,2.42,0.00,0.000,6,0.000,0.036,3295,1958,1359
$GC,7499,1.99,201.7,272.7,11.4,271,7503,0.00,2.45,0.00,0.000,4,0.000,0.041,3295,3375,1358
$GC,7638,1.99,201.7,254.7,12.9,277,7642,0.00,2.40,0.00,0.000,6,0.000,0.035,3295,1969,1358
$GC,7953,1.99,201.7,221.1,9.7,292,7957,0.00,2.42,0.00,0.000,4,0.000,0.039,3295,3376,1358
$GC,8115,1.99,201.7,204.3,9.6,299,8120,0.00,2.40,0.00,0.000,6,0.000,0.033,3296,1964,1357
$GC,8446,1.99,202.8,174.0,8.9,328,8450,0.00,2.40,0.00,0.000,4,0.000,0.037,3296,3371,1357
$GC,8703,1.99,202.8,145.9,10.8,350,8710,0.00,2.40,0.00,0.000,6,0.000,0.031,3295,1964,1357
$GC,8965,2.00,214.0,122.7,7.8,375,8980,0.00,2.45,8.38,0.596,4,0.000,0.033,3295,3377,1326
$GC,9124,2.04,247.2,113.0,5.3,389,9159,0.00,2.38,29.67,0.650,6,0.000,0.029,3295,1958,1191
$GC,9422,2.04,247.2,85.0,12.9,417,9426,0.00,2.40,0.00,0.000,4,0.000,0.045,3295,565,1187
$GC,9578,2.06,260.0,70.1,7.6,430,9596,0.00,2.33,11.07,0.566,6,0.000,0.024,3295,1992,1139
$GC,9853,2.06,260.0,42.0,11.8,456,9857,0.00,2.30,0.00,0.000,4,0.000,0.032,3295,3362,1138
$GC,9915,2.06,260.0,34.2,12.0,461,9919,0.00,2.33,0.00,0.000,6,0.000,0.026,3296,1966,1138
$STATE,10163,end climb,SURFACE_DEPTH_REACHED
$STATE,10163,begin surface coast
$FINISH,0.5,1.023683
$STATE,10226,end surface coast,CONTROL_FINISHED_OK
$STATE,10227,begin surface
$SM_CCo,10249,113.93,0.543,0,0,569,400.08
$SM_GC,1.13,0.00,0.00,113.93,0.000,0.000,0.543,422,1868,569,-11.21,-0.59,400.08
$IRIDIUM_FIX,2115.63,-15816.21,130598,131307
$TT8_MAMPS,0.029146
$HUMID,1639
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.3,14.634
$10V_AH,10.2,8.299
$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,27.375,96.025,288.125,113.925,0.000,56.469,53.292,369.978,2.000,0.000,0.000,16.064,1039.159,7202.667,483.649,1635.533,683.790,0.000,1281.292,0.000,1610.546,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,61.360,1052.324,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.106,238.613,429.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25381,513
$CAP_FILE_SIZE,93877,1
$CFSIZE,260165632,254128128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160209,162108,2120.780,-15817.171,56,1.8,56,9.8