version: 66.04
glider: 139
mission: 6
dive: 2
start: 3 20 109 21 22 42
data:
$ID,139
$MISSION,6
$DIVE,2
$D_SURF,6
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$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,40
$T_MISSION,50
$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,419.27499
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1350784.1
$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,63
$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
$GPS1,211849,2116.289,-15758.829,12,1.5,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.1
$GPS2,212237,2116.276,-15758.848,12,1.5,29,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$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,178.6,13622,-18.1,-10.000
$D_GRID,120
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.31,-146.0,0.0,0.0,0,77,0.00,0.00,-63.78,0.000,2,0.000,0.000,425,1889,2453
$GC,80,-1.31,-146.0,3.4,-7.1,11,104,11.43,2.38,-6.40,0.000,4,0.136,0.057,2569,497,2798
$GC,205,-1.31,-146.0,29.6,-15.8,34,211,0.00,2.25,0.00,0.000,6,0.000,0.060,2570,1883,2800
$GC,396,-1.31,-146.0,58.7,-15.4,53,400,0.00,2.20,0.00,0.000,4,0.000,0.048,2569,3256,2800
$GC,417,-1.31,-146.0,62.0,-15.6,55,421,0.00,2.25,0.00,0.000,6,0.000,0.028,2569,1891,2800
$GC,675,-1.31,-146.0,104.8,-15.6,80,679,0.00,2.30,0.00,0.000,4,0.000,0.026,2569,3282,2800
$GC,702,-1.31,-146.0,108.7,-15.0,82,708,0.00,2.33,0.00,0.000,6,0.000,0.029,2569,1893,2800
$STATE,788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,788,begin apogee
$GC,793,-0.31,0.0,121.0,12.5,91,912,1.02,0.00,115.90,0.593,6,0.068,0.000,2790,1989,2200
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,915,1.31,146.0,125.9,0.0,103,1042,1.52,2.25,118.72,0.583,4,0.041,0.028,3145,3344,1603
$GC,1282,1.51,306.0,126.8,2.7,137,1418,0.15,2.33,129.50,0.581,6,0.041,0.026,3189,1954,951
$GC,1672,1.51,306.0,79.1,14.5,175,1676,0.00,2.30,0.00,0.000,4,0.000,0.028,3188,3342,947
$GC,1698,1.51,306.0,75.2,15.2,177,1705,0.00,2.33,0.00,0.000,6,0.000,0.064,3188,1968,947
$GC,1952,1.51,306.0,39.0,14.3,202,1956,0.00,2.30,0.00,0.000,4,0.000,0.028,3189,3344,946
$GC,1973,1.51,306.0,36.0,15.0,204,1977,0.00,2.28,0.00,0.000,6,0.000,0.028,3188,1966,945
$STATE,2179,end climb,SURFACE_DEPTH_REACHED
$STATE,2179,begin surface coast
$FINISH,0.6,1.009839
$STATE,2221,end surface coast,CONTROL_FINISHED_OK
$STATE,2221,begin surface
$SM_CCo,2241,89.43,0.515,0,0,490,419.46
$SM_GC,1.49,0.00,0.00,89.43,0.000,0.000,0.515,426,1864,490,-11.20,-0.74,419.46
$IRIDIUM_FIX,2108.69,-15800.33,140698,212158
$TT8_MAMPS,0.054457
$HUMID,1692
$INTERNAL_PRESSURE,8.06325
$TCM_TEMP,22.50
$XPDR_PINGS,26
$24V_AH,23.6,15.692
$10V_AH,10.2,8.972
$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,25.925,27.675,364.125,89.425,0.000,0.000,0.000,0.000,6.500,0.000,0.000,31.047,0.000,1219.949,456.928,665.867,49.294,0.000,767.250,0.000,537.133,0.000,0.542,0.000
$DEVICE_MAMPS,135.759,65.195,592.891,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,160.982,173.992,324.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12858,247
$CAP_FILE_SIZE,46756,2
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,220222,2115.982,-15758.781,8,6.3,27,9.8