version: 66.04
glider: 139
mission: 6
dive: 5
start: 3 21 109 0 37 26
data:
$ID,139
$MISSION,6
$DIVE,5
$D_SURF,6
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,120
$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,-1350850.1
$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,29
$R_STBD_OVSHOOT,58
$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
$GPS1,003136,2115.164,-15758.637,34,1.5,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.0
$GPS2,003720,2115.170,-15758.652,12,1.8,12,9.8
$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,181.7,11661,-18.1,-10.000
$D_GRID,300
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.31,-146.0,0.0,0.0,0,77,0.00,0.00,-63.47,0.000,2,0.000,0.000,425,1918,2447
$GC,80,-1.31,-146.0,3.5,-7.4,11,104,11.65,2.45,-6.30,0.000,4,0.142,0.054,2567,487,2799
$GC,210,-1.31,-146.0,33.5,-17.2,34,214,0.00,2.28,0.00,0.000,6,0.000,0.021,2567,1901,2801
$GC,469,-1.31,-146.0,78.3,-17.9,59,473,0.00,2.45,0.00,0.000,4,0.000,0.058,2567,480,2801
$GC,495,-1.31,-146.0,83.4,-20.3,61,501,0.00,2.30,0.00,0.000,6,0.000,0.058,2567,1898,2801
$GC,748,-1.31,-146.0,127.5,-16.4,86,752,0.00,2.28,0.00,0.000,4,0.000,0.028,2567,3271,2802
$GC,807,-1.31,-146.0,136.0,-13.5,91,813,0.00,2.33,0.00,0.000,6,0.000,0.029,2567,1891,2802
$GC,1060,-1.31,-146.0,174.3,-14.0,116,1064,0.00,2.42,0.00,0.000,4,0.000,0.045,2567,482,2804
$GC,1108,-1.31,-146.0,181.3,-14.5,120,1115,0.00,2.28,0.00,0.000,6,0.000,0.021,2567,1883,2804
$GC,1370,-1.31,-146.0,217.3,-13.6,140,1373,0.00,2.40,0.00,0.000,4,0.000,0.046,2568,482,2804
$GC,1385,-1.31,-146.0,219.6,-14.0,140,1392,0.00,2.30,0.00,0.000,6,0.000,0.058,2567,1898,2804
$GC,1696,-1.31,-146.0,259.1,-12.3,156,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1902,2804
$GC,2002,-1.31,-146.0,293.6,-11.6,171,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1902,2804
$STATE,2060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2060,begin apogee
$GC,2065,-0.31,0.0,301.1,12.2,174,2188,1.05,0.00,120.82,0.736,6,0.067,0.000,2794,1979,2200
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2189,begin climb
$GC,2191,1.31,146.0,307.9,0.0,177,2321,1.50,2.40,122.18,0.728,4,0.030,0.038,3153,3341,1603
$GC,2460,1.41,225.3,307.3,6.4,183,2531,0.00,2.35,66.53,0.726,6,0.000,0.031,3153,1972,1281
$GC,2843,1.41,225.3,265.6,12.0,200,2847,0.00,2.38,0.00,0.000,4,0.000,0.038,3152,3341,1274
$GC,2864,1.41,225.3,263.0,12.4,201,2868,0.00,2.33,0.00,0.000,6,0.000,0.033,3153,1971,1274
$GC,3191,1.41,228.3,226.9,9.9,217,3194,0.00,2.35,0.00,0.000,4,0.000,0.038,3152,3352,1272
$GC,3255,1.44,251.1,221.1,9.0,220,3280,0.00,2.35,21.75,0.683,6,0.000,0.032,3153,1961,1176
$GC,3589,1.47,270.5,190.4,9.1,241,3611,0.12,2.53,17.05,0.656,4,0.067,0.050,3181,560,1097
$GC,3636,1.47,270.5,184.9,12.2,245,3643,0.00,2.35,0.00,0.000,6,0.000,0.028,3181,1955,1094
$GC,3890,1.47,270.5,155.5,11.0,270,3894,0.00,2.40,0.00,0.000,4,0.000,0.036,3181,3365,1093
$GC,3943,1.47,270.5,149.7,11.1,275,3947,0.00,2.38,0.00,0.000,6,0.000,0.031,3181,1971,1092
$GC,4202,1.47,270.5,122.1,10.5,300,4206,0.00,2.38,0.00,0.000,4,0.000,0.031,3181,3372,1091
$GC,4271,1.47,270.5,114.2,11.3,306,4278,0.00,2.38,0.00,0.000,6,0.000,0.028,3181,1963,1091
$GC,4525,1.47,270.5,88.3,10.3,331,4528,0.00,2.35,0.00,0.000,4,0.000,0.031,3181,3378,1091
$GC,4647,1.47,270.5,75.5,10.2,342,4654,0.00,2.35,0.00,0.000,6,0.000,0.028,3181,1973,1091
$GC,4901,1.47,270.5,47.5,12.6,367,4904,0.00,2.40,0.00,0.000,4,0.000,0.044,3181,558,1091
$GC,4927,1.47,270.5,44.2,13.0,369,4933,0.00,2.33,0.00,0.000,6,0.000,0.022,3180,1982,1090
$GC,5185,1.47,270.5,15.0,10.3,406,5191,0.00,2.40,0.00,0.000,4,0.000,0.042,3181,561,1090
$STATE,5258,end climb,SURFACE_DEPTH_REACHED
$STATE,5258,begin surface coast
$FINISH,1.3,1.023741
$STATE,5295,end surface coast,CONTROL_FINISHED_OK
$STATE,5295,begin surface
$SM_CCo,5316,119.82,0.535,0,0,490,419.46
$SM_GC,1.08,0.00,0.00,119.82,0.000,0.000,0.535,426,1904,490,-11.20,0.40,419.46
$IRIDIUM_FIX,2111.01,-15757.32,140698,232324
$TT8_MAMPS,0.055224
$HUMID,1768
$INTERNAL_PRESSURE,7.99489
$TCM_TEMP,22.20
$XPDR_PINGS,11
$24V_AH,23.5,15.988
$10V_AH,10.2,9.101
$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,26.075,66.100,348.325,119.825,0.000,23.726,27.338,193.341,2.750,0.000,0.000,14.761,0.000,3736.858,534.944,1126.180,364.622,0.000,1011.384,0.000,939.200,0.000,0.541,0.000
$DEVICE_MAMPS,141.895,91.273,735.553,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.882,301.778,473.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,427
$CAP_FILE_SIZE,58445,2
$CFSIZE,260165632,258072576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,020832,2114.544,-15758.346,8,1.4,8,9.8