version: 66.04
glider: 139
mission: 3
dive: 89
start: 2 16 109 16 27 26
data:
$ID,139
$MISSION,3
$DIVE,89
$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,-1338876.9
$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,39
$R_STBD_OVSHOOT,48
$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
$GPS1,162108,2120.780,-15817.171,56,1.8,56,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.5
$GPS2,162707,2120.747,-15817.158,12,1.3,12,9.8
$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,67.7,454,-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,-57.40,0.000,2,0.000,0.000,422,1868,2230
$GC,77,-1.83,-71.3,3.5,-7.0,10,103,11.35,2.40,-4.65,0.000,4,0.150,0.066,2458,3286,2495
$GC,109,-1.83,-71.3,17.9,-39.6,15,116,0.00,2.30,0.00,0.000,6,0.000,0.026,2458,1900,2494
$GC,309,-1.83,-71.3,75.2,-29.8,37,313,0.00,1.67,0.00,0.000,4,0.000,0.067,2458,2956,2496
$GC,404,-1.83,-71.3,98.5,-21.5,45,410,0.00,1.80,0.00,0.000,6,0.000,0.028,2458,1891,2496
$GC,665,-1.83,-71.3,155.8,-21.9,70,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1890,2497
$GC,919,-1.83,-71.3,208.5,-18.9,92,923,0.00,2.33,0.00,0.000,4,0.000,0.028,2458,3293,2498
$GC,1007,-1.83,-71.3,223.3,-17.8,96,1012,0.00,2.35,0.00,0.000,6,0.000,0.028,2458,1885,2498
$GC,1334,-1.83,-71.3,279.5,-16.6,112,1338,0.00,2.35,0.00,0.000,4,0.000,0.029,2458,3295,2499
$GC,1422,-1.83,-71.3,293.5,-15.5,116,1426,0.00,2.38,0.00,0.000,6,0.000,0.030,2458,1881,2499
$GC,1765,-1.83,-71.3,348.1,-16.4,126,1770,0.00,2.38,0.00,0.000,4,0.000,0.032,2458,3292,2499
$GC,1946,-1.83,-71.3,377.6,-16.4,130,1950,0.00,2.38,0.00,0.000,6,0.000,0.033,2458,1888,2497
$GC,2264,-1.83,-71.3,426.6,-15.0,138,2268,0.00,2.38,0.00,0.000,4,0.000,0.035,2458,3287,2496
$GC,2318,-1.83,-71.3,435.9,-16.8,139,2322,0.00,2.38,0.00,0.000,6,0.000,0.069,2458,1891,2496
$GC,2631,-1.83,-71.3,485.8,-15.3,147,2635,0.00,2.38,0.00,0.000,4,0.000,0.038,2458,3282,2494
$GC,2675,-1.83,-71.3,492.0,-13.8,148,2679,0.00,2.38,0.00,0.000,6,0.000,0.036,2458,1892,2494
$GC,3000,-1.83,-71.3,536.2,-13.8,156,3004,0.00,2.38,0.00,0.000,4,0.000,0.041,2458,3275,2491
$GC,3122,-1.83,-71.3,553.2,-14.3,158,3128,0.00,2.38,0.00,0.000,6,0.000,0.040,2458,1892,2490
$GC,3453,-1.83,-71.3,602.6,-15.5,167,3457,0.00,2.42,0.00,0.000,4,0.000,0.047,2458,3282,2488
$GC,3649,-1.83,-71.3,629.5,-13.3,171,3654,0.00,2.42,0.00,0.000,6,0.000,0.045,2458,1890,2487
$STATE,3791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3792,begin apogee
$GC,3798,-0.31,0.0,650.2,14.5,175,3865,1.62,0.00,63.05,1.040,6,0.094,0.000,2789,1962,2200
$STATE,3865,end apogee,CONTROL_FINISHED_OK
$STATE,3865,begin climb
$GC,3868,1.83,71.3,652.3,0.0,176,3939,2.08,0.00,67.00,1.018,6,0.041,0.000,3269,1961,1909
$GC,4239,1.98,196.4,673.6,-5.2,186,4361,0.00,2.55,111.65,1.043,4,0.000,0.054,3269,3360,1398
$GC,4395,1.98,196.4,665.4,15.3,189,4400,0.00,2.50,0.00,0.000,6,0.000,0.047,3269,1959,1396
$GC,4726,1.98,196.4,614.1,15.2,197,4730,0.00,2.50,0.00,0.000,4,0.000,0.048,3269,3366,1389
$GC,4882,1.98,196.4,590.9,15.7,200,4886,0.00,2.47,0.00,0.000,6,0.000,0.076,3269,1958,1388
$GC,5224,1.98,196.4,543.6,14.0,209,5229,0.00,2.50,0.00,0.000,4,0.000,0.048,3269,3371,1386
$GC,5410,1.98,196.4,516.8,13.3,213,5415,0.00,2.45,0.00,0.000,6,0.000,0.058,3268,1964,1386
$GC,5723,1.98,196.4,476.3,12.7,221,5728,0.10,2.45,0.00,0.000,4,0.071,0.044,3294,3366,1384
$GC,5867,1.98,196.4,457.1,12.8,224,5872,0.00,2.42,0.00,0.000,6,0.000,0.072,3294,1967,1384
$GC,6181,1.98,196.4,416.3,13.4,232,6185,0.00,2.45,0.00,0.000,4,0.000,0.043,3294,3375,1383
$GC,6438,1.98,196.4,378.5,13.7,237,6444,0.00,2.42,0.00,0.000,6,0.000,0.038,3294,1968,1383
$GC,6769,1.98,196.4,340.0,11.8,246,6773,0.00,2.42,0.00,0.000,4,0.000,0.041,3294,3369,1381
$GC,6988,1.98,196.4,314.6,11.8,251,6992,0.00,2.40,0.00,0.000,6,0.000,0.068,3294,1972,1381
$GC,7314,1.98,196.4,276.0,11.6,263,7318,0.00,2.42,0.00,0.000,4,0.000,0.041,3294,3376,1380
$GC,7571,2.00,213.5,251.9,7.1,274,7590,0.00,2.40,12.95,0.751,6,0.000,0.035,3294,1958,1329
$GC,7907,2.00,213.5,217.7,11.8,291,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1957,1326
$GC,8219,2.00,213.5,191.7,11.1,310,8223,0.00,2.45,0.00,0.000,4,0.000,0.084,3294,560,1325
$GC,8363,2.00,213.5,173.9,11.2,322,8370,0.00,2.38,0.00,0.000,6,0.000,0.028,3294,1968,1324
$GC,8626,2.01,218.8,156.1,8.4,347,8637,0.00,2.40,5.43,0.544,4,0.000,0.037,3294,3379,1307
$GC,8744,2.01,222.8,144.7,8.6,357,8754,0.00,2.38,5.38,0.530,6,0.000,0.028,3294,1963,1290
$GC,9018,2.05,250.7,125.1,5.9,383,9051,0.00,2.47,25.55,0.644,4,0.000,0.045,3294,562,1175
$GC,9302,2.05,250.7,90.8,10.6,408,9309,0.00,2.35,0.00,0.000,6,0.000,0.023,3294,1983,1171
$GC,9564,2.05,257.3,68.8,8.3,433,9576,0.00,2.45,6.30,0.488,4,0.000,0.041,3294,561,1150
$GC,9615,2.05,257.3,63.2,10.8,437,9622,0.00,2.33,0.00,0.000,6,0.000,0.022,3294,1966,1149
$GC,9877,2.05,257.3,32.9,12.2,462,9880,0.00,1.95,0.00,0.000,4,0.000,0.064,3294,3176,1149
$GC,9903,2.05,257.3,29.4,13.2,464,9911,0.00,2.03,0.00,0.000,6,0.000,0.025,3294,1969,1149
$STATE,10118,end climb,SURFACE_DEPTH_REACHED
$STATE,10118,begin surface coast
$FINISH,0.5,1.011202
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10190,116.10,0.537,0,0,569,400.08
$SM_GC,1.17,0.00,0.00,116.10,0.000,0.000,0.537,426,1859,569,-11.19,-0.88,400.08
$IRIDIUM_FIX,2113.32,-15816.21,130598,131309
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.40
$XPDR_PINGS,11
$24V_AH,23.3,14.746
$10V_AH,10.2,8.359
$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,27.475,99.200,297.300,116.100,0.000,25.773,29.381,183.610,2.750,0.000,0.000,13.991,1016.550,7196.693,511.111,1519.353,413.523,0.000,1271.047,0.000,1497.486,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,84.370,1043.120,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.086,237.539,423.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25353,511
$CAP_FILE_SIZE,88775,3
$CFSIZE,260165632,254083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160209,192002,2121.000,-15815.822,11,1.9,11,9.8