version: 66.04
glider: 139
mission: 6
dive: 12
start: 3 21 109 16 9 7
data:
$ID,139
$MISSION,6
$DIVE,12
$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,-1351023
$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,65
$R_STBD_OVSHOOT,43
$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
$GPS1,160136,2110.379,-15801.341,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.3
$GPS2,160901,2110.405,-15801.405,9,1.1,14,9.8
$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,254.9,98921,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.17,-146.0,0.0,0.0,0,72,0.00,0.00,-58.03,0.000,2,0.000,0.000,429,1851,2612
$GC,74,-1.17,-146.0,4.0,-7.0,10,93,12.05,2.35,-3.05,0.000,4,0.147,0.054,2601,518,2800
$GC,217,-1.17,-146.0,37.7,-14.5,32,220,0.00,2.22,0.00,0.000,6,0.000,0.030,2601,1906,2802
$GC,470,-1.17,-146.0,73.8,-14.3,56,473,0.00,2.40,0.00,0.000,4,0.000,0.047,2601,519,2802
$GC,512,-1.17,-146.0,80.0,-14.8,60,516,0.00,2.25,0.00,0.000,6,0.000,0.021,2601,1903,2803
$GC,771,-1.17,-146.0,121.0,-15.2,85,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1908,2803
$GC,1019,-1.17,-146.0,154.9,-14.6,109,1023,0.00,2.38,0.00,0.000,4,0.000,0.044,2601,522,2804
$GC,1050,-1.17,-146.0,159.6,-15.1,112,1054,0.00,2.22,0.00,0.000,6,0.000,0.021,2601,1891,2805
$GC,1310,-1.17,-146.0,188.6,-9.4,137,1313,0.00,2.35,0.00,0.000,4,0.000,0.044,2601,520,2804
$GC,1368,-1.17,-146.0,194.1,-9.7,142,1374,0.00,2.22,0.00,0.000,6,0.000,0.021,2601,1888,2805
$GC,1618,-1.17,-146.0,222.6,-12.4,158,1622,0.00,2.35,0.00,0.000,4,0.000,0.045,2600,519,2805
$GC,1655,-1.17,-146.0,227.6,-13.9,159,1661,0.00,2.22,0.00,0.000,6,0.000,0.022,2601,1885,2805
$GC,1966,-1.17,-146.0,262.7,-10.4,175,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1890,2805
$GC,2271,-1.17,-146.0,293.6,-9.6,190,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1889,2805
$GC,2594,-1.17,-146.0,321.0,-8.6,200,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1890,2804
$GC,2917,-1.17,-146.0,349.2,-8.8,208,2921,0.00,2.40,0.00,0.000,4,0.000,0.051,2600,523,2804
$GC,2970,-1.17,-146.0,354.5,-10.2,209,2974,0.00,2.25,0.00,0.000,6,0.000,0.028,2601,1876,2803
$GC,3284,-1.17,-146.0,383.2,-8.9,217,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1880,2803
$STATE,3484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3484,begin apogee
$GC,3489,-0.31,0.0,401.0,9.0,222,3614,0.88,0.00,122.85,0.837,6,0.067,0.000,2790,1983,2200
$STATE,3614,end apogee,CONTROL_FINISHED_OK
$STATE,3615,begin climb
$GC,3617,1.17,146.0,406.5,0.0,225,3748,1.40,2.47,124.62,0.823,4,0.037,0.050,3113,605,1603
$GC,3775,1.30,253.4,409.9,4.3,229,3870,0.10,2.30,90.53,0.813,6,0.044,0.031,3145,1947,1167
$GC,4180,1.30,253.4,358.6,13.3,239,4184,0.00,2.42,0.00,0.000,4,0.000,0.054,3145,601,1159
$GC,4212,1.30,253.4,354.5,13.4,239,4216,0.00,2.35,0.00,0.000,6,0.000,0.032,3145,1966,1158
$GC,4545,1.30,253.4,310.8,13.4,248,4549,0.00,2.42,0.00,0.000,4,0.000,0.053,3145,605,1156
$GC,4555,1.30,253.4,309.3,14.4,248,4560,0.00,2.35,0.00,0.000,6,0.000,0.032,3145,1977,1156
$GC,4872,1.30,253.4,270.4,12.0,262,4876,0.00,2.47,0.00,0.000,4,0.000,0.053,3145,585,1154
$GC,4894,1.30,253.4,268.0,11.7,263,4897,0.00,2.33,0.00,0.000,6,0.000,0.031,3145,1969,1153
$GC,5220,1.30,253.4,233.4,11.0,279,5223,0.00,2.40,0.00,0.000,4,0.000,0.041,3145,3371,1152
$GC,5369,1.30,253.4,214.3,12.2,286,5373,0.00,2.33,0.00,0.000,6,0.000,0.032,3145,2013,1152
$GC,5688,1.30,253.4,181.4,9.9,310,5692,0.00,2.53,0.00,0.000,4,0.000,0.051,3145,562,1150
$GC,5768,1.30,253.4,172.4,11.2,317,5774,0.00,2.38,0.00,0.000,6,0.000,0.027,3145,1976,1149
$GC,6021,1.30,253.4,147.5,8.9,342,6025,0.00,2.47,0.00,0.000,4,0.000,0.048,3145,555,1149
$GC,6042,1.30,253.4,145.5,9.2,344,6046,0.00,2.35,0.00,0.000,6,0.000,0.026,3145,1968,1149
$GC,6301,1.30,253.4,121.6,10.3,369,6305,0.00,2.38,0.00,0.000,4,0.000,0.036,3145,3362,1149
$GC,6387,1.30,255.1,113.7,8.5,377,6390,0.00,2.33,0.00,0.000,6,0.000,0.028,3145,1964,1149
$GC,6645,1.30,255.1,87.0,11.4,402,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1964,1149
$GC,6894,1.31,259.7,63.7,8.4,426,6897,0.00,2.38,0.00,0.000,4,0.000,0.044,3145,565,1149
$GC,6952,1.31,259.7,58.0,10.0,431,6958,0.00,2.33,0.00,0.000,6,0.000,0.022,3145,1983,1149
$GC,7206,1.31,259.7,34.0,10.4,456,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1988,1148
$GC,7461,1.31,259.7,7.8,9.6,500,7467,0.00,2.45,0.00,0.000,4,0.000,0.042,3145,565,1149
$STATE,7475,end climb,SURFACE_DEPTH_REACHED
$STATE,7475,begin surface coast
$FINISH,5.0,1.023963
$STATE,7486,end surface coast,CONTROL_FINISHED_OK
$STATE,7486,begin surface
$SM_CCo,7507,77.18,0.540,0,0,773,350.04
$SM_GC,1.13,0.00,0.00,77.18,0.000,0.000,0.540,430,1908,773,-11.18,0.54,350.04
$IRIDIUM_FIX,2101.76,-15758.18,150698,131311
$TT8_MAMPS,0.054457
$HUMID,1740
$INTERNAL_PRESSURE,7.98513
$TCM_TEMP,22.20
$XPDR_PINGS,10
$24V_AH,23.4,16.780
$10V_AH,10.1,9.488
$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,26.375,75.375,338.000,77.175,0.000,27.330,29.120,284.884,2.500,0.000,0.000,16.724,0.000,5741.675,477.092,1313.660,476.901,0.000,1019.675,0.000,1094.764,0.000,0.541,0.000
$DEVICE_MAMPS,147.264,54.457,836.797,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.006,334.483,508.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25394,505
$CAP_FILE_SIZE,70493,1
$CFSIZE,260165632,257773568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,181636,2110.545,-15802.823,38,1.6,42,9.8