version: 66.04
glider: 139
mission: 6
dive: 9
start: 3 21 109 8 44 52
data:
$ID,139
$MISSION,6
$DIVE,9
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,156
$T_MISSION,180
$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,350
$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,-1350954.4
$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,59
$R_STBD_OVSHOOT,51
$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
$GPS1,083846,2111.992,-15758.495,9,4.5,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.8
$GPS2,084446,2112.032,-15758.523,14,4.9,33,9.8
$SPEED_LIMITS,0.148,0.250
$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,194.6,6167,-15.8,-8.547
$D_GRID,400
$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,-1.17,-146.0,0.0,0.0,0,70,0.00,0.00,-52.55,0.000,6,0.000,0.000,430,1847,2096
$GC,73,-1.17,-146.0,3.0,-4.6,10,103,11.93,2.30,-13.57,0.000,4,0.144,0.057,2602,511,2797
$GC,193,-1.17,-146.0,25.0,-13.6,32,199,0.00,2.25,0.00,0.000,6,0.000,0.022,2602,1876,2799
$GC,386,-1.17,-146.0,52.4,-13.8,54,389,0.00,2.35,0.00,0.000,4,0.000,0.044,2602,517,2799
$GC,418,-1.17,-146.0,57.2,-15.5,57,421,0.00,2.28,0.00,0.000,6,0.000,0.021,2602,1928,2799
$GC,676,-1.17,-146.0,92.9,-12.8,82,680,0.00,2.47,0.00,0.000,4,0.000,0.045,2602,515,2800
$GC,708,-1.17,-146.0,96.9,-12.9,85,712,0.00,2.25,0.00,0.000,6,0.000,0.021,2602,1895,2801
$GC,966,-1.17,-146.0,127.0,-11.6,110,970,0.00,2.40,0.00,0.000,4,0.000,0.045,2601,518,2801
$GC,987,-1.17,-146.0,129.5,-12.6,112,991,0.00,2.22,0.00,0.000,6,0.000,0.021,2602,1894,2802
$GC,1247,-1.17,-146.0,161.0,-10.9,137,1250,0.00,2.38,0.00,0.000,4,0.000,0.044,2602,509,2802
$GC,1283,-1.17,-146.0,165.3,-11.3,140,1290,0.00,2.22,0.00,0.000,6,0.000,0.021,2602,1884,2802
$GC,1537,-1.17,-146.0,188.7,-9.4,165,1541,0.00,2.30,0.00,0.000,4,0.000,0.031,2602,3276,2802
$GC,1574,-1.17,-146.0,192.3,-9.0,168,1580,0.00,2.28,0.00,0.000,6,0.000,0.029,2602,1922,2802
$GC,1835,-1.17,-146.0,221.0,-11.5,185,1838,0.00,2.47,0.00,0.000,4,0.000,0.047,2602,480,2802
$GC,1877,-1.17,-146.0,226.0,-12.1,187,1881,0.00,2.28,0.00,0.000,6,0.000,0.023,2602,1888,2803
$GC,2204,-1.17,-146.0,255.8,-6.9,203,2207,0.00,2.42,0.00,0.000,4,0.000,0.048,2602,484,2803
$GC,2256,-1.17,-146.0,260.2,-8.2,205,2260,0.00,2.30,0.00,0.000,6,0.000,0.025,2601,1884,2803
$GC,2573,-1.17,-146.0,286.8,-9.3,221,2576,0.00,2.42,0.00,0.000,4,0.000,0.049,2602,481,2802
$GC,2587,-1.17,-146.0,288.3,-9.4,221,2594,0.00,2.33,0.00,0.000,6,0.000,0.026,2602,1888,2802
$GC,2897,-1.17,-146.0,314.7,-8.5,233,2900,0.00,2.35,0.00,0.000,4,0.000,0.037,2602,3293,2801
$GC,2918,-1.17,-146.0,316.5,-9.1,233,2922,0.00,2.38,0.00,0.000,6,0.000,0.032,2602,1894,2801
$GC,3262,-1.17,-146.0,346.8,-8.8,242,3266,0.00,2.47,0.00,0.000,4,0.000,0.054,2601,488,2799
$GC,3315,-1.17,-146.0,352.2,-10.4,243,3319,0.00,2.33,0.00,0.000,6,0.000,0.029,2601,1883,2799
$GC,3629,-1.17,-146.0,384.1,-10.1,251,3633,0.00,2.45,0.00,0.000,4,0.000,0.087,2601,486,2797
$GC,3655,-1.17,-146.0,386.7,-10.3,251,3659,0.00,2.35,0.00,0.000,6,0.000,0.031,2602,1888,2797
$STATE,3830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3830,begin apogee
$GC,3835,-0.31,0.0,403.6,9.5,256,3960,0.88,0.00,122.53,0.844,6,0.067,0.000,2791,1992,2200
$STATE,3961,end apogee,CONTROL_FINISHED_OK
$STATE,3961,begin climb
$GC,3963,1.17,146.0,409.5,0.0,259,4094,1.40,2.40,124.85,0.828,4,0.037,0.043,3115,3354,1602
$GC,4260,1.28,238.6,406.3,4.9,266,4345,0.08,2.40,78.55,0.823,6,0.047,0.035,3145,1975,1226
$GC,4655,1.28,238.6,364.7,11.8,276,4659,0.00,2.42,0.00,0.000,4,0.000,0.042,3145,3351,1219
$GC,4698,1.28,238.6,359.7,12.1,277,4702,0.00,2.42,0.00,0.000,6,0.000,0.037,3145,1966,1218
$GC,5023,1.28,238.6,319.1,12.7,285,5026,0.00,2.50,0.00,0.000,4,0.000,0.057,3144,558,1216
$GC,5043,1.28,238.6,316.1,14.5,285,5048,0.00,2.40,0.00,0.000,6,0.000,0.033,3145,1953,1215
$GC,5369,1.28,238.6,277.7,11.0,298,5373,0.00,2.45,0.00,0.000,4,0.000,0.044,3145,3373,1214
$GC,5412,1.28,238.6,272.9,10.9,300,5415,0.00,2.42,0.00,0.000,6,0.000,0.036,3145,1974,1214
$GC,5738,1.28,238.6,236.8,9.9,316,5741,0.00,2.50,0.00,0.000,4,0.000,0.054,3145,554,1213
$GC,5780,1.28,238.6,231.6,13.2,318,5784,0.00,2.42,0.00,0.000,6,0.000,0.031,3145,1978,1212
$GC,6107,1.28,238.6,198.4,9.2,334,6111,0.00,2.53,0.00,0.000,4,0.000,0.051,3145,561,1211
$GC,6133,1.28,238.6,195.8,10.2,336,6140,0.00,2.38,0.00,0.000,6,0.000,0.029,3145,1971,1210
$GC,6387,1.28,238.6,170.9,10.7,361,6390,0.00,2.38,0.00,0.000,4,0.000,0.039,3145,3371,1210
$GC,6451,1.28,238.6,164.3,10.3,367,6454,0.00,2.38,0.00,0.000,6,0.000,0.031,3145,1958,1210
$GC,6709,1.28,238.6,136.7,9.0,392,6713,0.00,2.45,0.00,0.000,4,0.000,0.048,3145,560,1210
$GC,6730,1.28,238.6,134.6,10.3,394,6734,0.00,2.35,0.00,0.000,6,0.000,0.026,3145,1971,1209
$GC,6989,1.33,282.4,111.3,6.8,419,7031,0.00,0.00,35.28,0.638,6,0.000,0.000,3145,1975,1047
$GC,7278,1.33,282.4,83.9,10.7,447,7282,0.00,2.38,0.00,0.000,4,0.000,0.077,3145,580,1044
$GC,7337,1.33,282.4,76.9,11.6,452,7341,0.00,2.30,0.00,0.000,6,0.000,0.025,3145,1982,1043
$GC,7590,1.35,297.8,51.9,7.9,476,7612,0.00,2.55,13.43,0.550,4,0.000,0.051,3145,558,985
$GC,7669,1.35,297.8,44.5,10.4,483,7676,0.00,2.35,0.00,0.000,6,0.000,0.023,3145,1968,983
$GC,7927,1.37,307.7,17.6,8.2,520,7946,0.00,2.50,9.95,0.501,4,0.000,0.048,3145,565,944
$GC,7999,1.37,307.7,8.8,12.5,533,8005,0.00,2.35,0.00,0.000,6,0.000,0.058,3145,1978,943
$STATE,8023,end climb,SURFACE_DEPTH_REACHED
$STATE,8023,begin surface coast
$FINISH,0.4,1.006457
$STATE,8082,end surface coast,CONTROL_FINISHED_OK
$STATE,8082,begin surface
$SM_CCo,8102,35.67,0.537,0,0,772,350.04
$SM_GC,1.29,0.00,0.00,35.67,0.000,0.000,0.537,431,1861,772,-11.17,-0.82,350.04
$IRIDIUM_FIX,2104.07,-15757.32,150698,060656
$TT8_MAMPS,0.055224
$HUMID,1783
$INTERNAL_PRESSURE,7.96559
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.5,16.431
$10V_AH,10.1,9.318
$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,25.950,109.775,384.575,35.675,0.000,28.024,25.965,183.297,3.500,0.000,0.000,36.625,0.000,6070.899,510.589,1507.777,388.568,0.000,1148.542,0.000,1239.363,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,86.671,844.467,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.615,364.389,553.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28522,549
$CAP_FILE_SIZE,80942,2
$CFSIZE,260165632,257896448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,110136,2111.120,-15759.128,45,1.3,45,9.8