version: 66.04
glider: 139
mission: 6
dive: 11
start: 3 21 109 13 44 21
data:
$ID,139
$MISSION,6
$DIVE,11
$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,-1351005.6
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,132932,2110.214,-15759.756,9,1.8,9,9.8
$_CALLS,3
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.0
$GPS2,134416,2110.293,-15759.902,32,2.0,33,9.8
$SPEED_LIMITS,0.148,0.250
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$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,255.1,101489,-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,-146.0,0.0,0.0,0,72,0.00,0.00,-58.17,0.000,2,0.000,0.000,425,1867,2613
$GC,74,-1.17,-146.0,4.1,-6.8,10,94,12.00,2.45,-2.97,0.000,4,0.146,0.042,2602,3291,2799
$GC,290,-1.17,-146.0,45.6,-13.1,39,294,0.00,2.33,0.00,0.000,6,0.000,0.028,2601,1899,2801
$GC,549,-1.17,-146.0,85.5,-14.7,64,553,0.00,2.45,0.00,0.000,4,0.000,0.044,2602,490,2801
$GC,597,-1.17,-146.0,93.2,-15.4,68,603,0.00,2.30,0.00,0.000,6,0.000,0.021,2602,1897,2802
$GC,850,-1.17,-146.0,130.7,-14.2,93,854,0.00,2.42,0.00,0.000,4,0.000,0.044,2602,487,2802
$GC,871,-1.17,-146.0,133.7,-14.3,95,875,0.00,2.28,0.00,0.000,6,0.000,0.021,2602,1902,2802
$GC,1130,-1.17,-146.0,166.4,-12.6,120,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1906,2803
$GC,1378,-1.17,-146.0,195.9,-10.6,144,1382,0.00,2.47,0.00,0.000,4,0.000,0.046,2601,463,2803
$GC,1426,-1.17,-146.0,201.7,-12.6,148,1430,0.00,2.33,0.00,0.000,6,0.000,0.021,2602,1887,2804
$GC,1747,-1.17,-146.0,240.8,-12.1,164,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1892,2804
$GC,2053,-1.17,-146.0,272.5,-9.8,179,2056,0.00,2.33,0.00,0.000,4,0.000,0.033,2602,3289,2804
$GC,2068,-1.17,-146.0,274.3,-10.4,179,2074,0.00,2.35,0.00,0.000,6,0.000,0.028,2602,1892,2804
$GC,2378,-1.17,-146.0,304.3,-9.2,194,2381,0.00,2.45,0.00,0.000,4,0.000,0.049,2601,487,2804
$GC,2420,-1.17,-146.0,308.7,-10.6,195,2424,0.00,2.30,0.00,0.000,6,0.000,0.025,2602,1883,2804
$GC,2745,-1.17,-146.0,342.3,-9.9,203,2749,0.00,2.45,0.00,0.000,4,0.000,0.050,2601,489,2803
$GC,2777,-1.17,-146.0,345.1,-9.3,203,2781,0.00,2.33,0.00,0.000,6,0.000,0.027,2601,1889,2803
$GC,3110,-1.17,-146.0,373.4,-9.3,212,3114,0.00,2.38,0.00,0.000,4,0.000,0.039,2602,3283,2802
$GC,3136,-1.17,-146.0,376.0,-10.6,212,3140,0.00,2.38,0.00,0.000,6,0.000,0.033,2602,1893,2801
$STATE,3392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3392,begin apogee
$GC,3397,-0.31,0.0,401.8,10.1,219,3523,0.88,0.00,123.05,0.833,6,0.067,0.000,2790,1984,2200
$STATE,3523,end apogee,CONTROL_FINISHED_OK
$STATE,3523,begin climb
$GC,3525,1.17,146.0,407.4,0.0,222,3654,1.40,0.00,125.00,0.816,6,0.035,0.000,3116,1984,1604
$GC,3969,1.24,202.4,394.3,6.3,233,4023,0.00,2.47,48.33,0.808,4,0.000,0.041,3115,3356,1374
$GC,4045,1.24,202.4,387.1,10.8,234,4051,0.00,2.42,0.00,0.000,6,0.000,0.035,3115,1972,1372
$GC,4373,1.25,216.3,357.4,8.0,243,4391,0.00,2.50,12.43,0.739,4,0.000,0.041,3116,3359,1317
$GC,4435,1.25,216.3,352.0,9.3,244,4439,0.00,2.42,0.00,0.000,6,0.000,0.035,3115,1971,1316
$GC,4779,1.25,216.3,315.5,10.6,253,4783,0.00,2.53,0.00,0.000,4,0.000,0.055,3116,561,1313
$GC,4854,1.25,216.3,307.6,9.9,254,4857,0.00,2.38,0.00,0.000,6,0.000,0.031,3115,1949,1311
$GC,5169,1.25,216.3,282.0,8.9,267,5172,0.00,2.47,0.00,0.000,4,0.000,0.053,3115,554,1310
$GC,5184,1.25,216.3,280.4,9.8,267,5190,0.00,2.40,0.00,0.000,6,0.000,0.031,3115,1964,1309
$GC,5495,1.28,239.4,254.4,7.6,283,5516,0.10,0.00,20.30,0.738,6,0.061,0.000,3145,1970,1223
$GC,5820,1.28,239.4,218.7,11.7,299,5823,0.00,2.47,0.00,0.000,4,0.000,0.051,3145,557,1218
$GC,5856,1.28,239.4,214.3,11.4,300,5863,0.00,2.40,0.00,0.000,6,0.000,0.028,3145,1975,1217
$GC,6170,1.28,239.4,184.9,8.9,324,6174,0.00,2.38,0.00,0.000,4,0.000,0.038,3145,3366,1217
$GC,6185,1.28,239.4,183.3,9.6,325,6192,0.00,2.40,0.00,0.000,6,0.000,0.031,3145,1963,1217
$GC,6439,1.28,239.4,160.5,9.9,350,6443,0.00,2.45,0.00,0.000,4,0.000,0.048,3145,563,1216
$GC,6545,1.28,239.4,148.2,10.8,360,6549,0.00,2.35,0.00,0.000,6,0.000,0.025,3145,1973,1215
$GC,6805,1.28,241.3,124.7,8.5,385,6808,0.00,2.35,0.00,0.000,4,0.000,0.034,3146,3382,1215
$GC,6868,1.28,241.8,119.7,8.5,391,6872,0.00,2.40,0.00,0.000,6,0.000,0.029,3145,1963,1214
$GC,7127,1.31,259.4,99.6,7.9,416,7149,0.00,2.42,17.15,0.594,4,0.000,0.044,3145,566,1141
$GC,7164,1.31,259.4,96.1,10.8,419,7170,0.00,2.35,0.00,0.000,6,0.000,0.023,3145,1971,1140
$GC,7418,1.31,259.4,69.2,10.5,444,7421,0.00,2.45,0.00,0.000,4,0.000,0.045,3146,554,1140
$GC,7439,1.31,259.4,66.7,11.9,446,7442,0.00,2.33,0.00,0.000,6,0.000,0.023,3146,1982,1139
$GC,7698,1.31,259.4,39.2,10.7,471,7701,0.00,2.42,0.00,0.000,4,0.000,0.042,3145,564,1139
$GC,7766,1.31,259.4,31.2,12.0,477,7773,0.00,2.30,0.00,0.000,6,0.000,0.022,3146,1962,1138
$STATE,8021,end climb,SURFACE_DEPTH_REACHED
$STATE,8021,begin surface coast
$FINISH,0.4,1.024000
$STATE,8080,end surface coast,CONTROL_FINISHED_OK
$STATE,8080,begin surface
$SM_CCo,8099,75.25,0.538,0,0,772,350.04
$SM_GC,1.26,0.00,0.00,75.25,0.000,0.000,0.538,430,1847,772,-11.18,-1.19,350.04
$IRIDIUM_FIX,2104.07,-15800.33,150698,131313
$TT8_MAMPS,0.056758
$HUMID,1755
$INTERNAL_PRESSURE,7.97536
$TCM_TEMP,22.20
$XPDR_PINGS,10
$24V_AH,23.4,16.670
$10V_AH,10.1,9.434
$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,26.025,91.275,346.250,75.250,0.000,88.727,104.924,428.510,2.500,0.000,0.000,35.571,0.000,6343.652,505.970,1408.012,780.350,0.000,1082.161,0.000,1154.446,0.000,0.540,0.000
$DEVICE_MAMPS,145.730,59.826,832.962,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.743,350.516,530.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,535
$CAP_FILE_SIZE,79272,0
$CFSIZE,260165632,257806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,160136,2110.379,-15801.341,39,1.0,39,9.8