version: 66.04
glider: 139
mission: 6
dive: 13
start: 3 21 109 18 22 18
data:
$ID,139
$MISSION,6
$DIVE,13
$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,320
$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,-1351043.4
$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,29
$R_STBD_OVSHOOT,54
$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
$GPS1,181636,2110.545,-15802.823,38,1.6,42,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.0
$GPS2,182212,2110.561,-15802.884,14,2.0,17,9.8
$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,254.6,96405,-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,-58.22,0.000,2,0.000,0.000,430,1909,2615
$GC,74,-1.17,-146.0,4.0,-6.7,10,94,12.02,2.53,-3.03,0.000,4,0.149,0.054,2600,483,2800
$GC,242,-1.17,-146.0,42.1,-15.1,34,249,0.00,2.30,0.00,0.000,6,0.000,0.021,2600,1886,2802
$GC,496,-1.17,-146.0,79.0,-14.7,59,500,0.00,2.45,0.00,0.000,4,0.000,0.045,2600,488,2803
$GC,517,-1.17,-146.0,82.2,-15.4,61,521,0.00,2.28,0.00,0.000,6,0.000,0.054,2600,1906,2803
$GC,775,-1.17,-146.0,120.0,-16.0,86,779,0.00,2.47,0.00,0.000,4,0.000,0.044,2600,488,2803
$GC,812,-1.17,-146.0,126.1,-16.0,89,819,0.00,2.25,0.00,0.000,6,0.000,0.020,2600,1876,2804
$GC,1066,-1.17,-146.0,160.7,-13.6,114,1070,0.00,2.33,0.00,0.000,4,0.000,0.028,2600,3273,2804
$GC,1103,-1.17,-146.0,165.3,-11.9,117,1109,0.00,2.33,0.00,0.000,6,0.000,0.064,2600,1893,2805
$GC,1356,-1.17,-146.0,195.4,-10.8,142,1360,0.00,2.42,0.00,0.000,4,0.000,0.045,2600,488,2806
$GC,1399,-1.17,-146.0,200.2,-11.5,146,1403,0.00,2.28,0.00,0.000,6,0.000,0.021,2600,1887,2806
$GC,1725,-1.17,-146.0,233.0,-10.8,162,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1891,2805
$GC,2031,-1.17,-146.0,262.1,-9.2,177,2035,0.00,2.42,0.00,0.000,4,0.000,0.048,2600,483,2806
$GC,2062,-1.17,-146.0,265.2,-10.3,178,2069,0.00,2.30,0.00,0.000,6,0.000,0.024,2600,1883,2807
$GC,2372,-1.17,-146.0,291.2,-8.6,194,2376,0.00,2.38,0.00,0.000,4,0.000,0.035,2600,3285,2806
$GC,2425,-1.17,-146.0,296.0,-8.9,196,2429,0.00,2.35,0.00,0.000,6,0.000,0.030,2600,1895,2806
$GC,2759,-1.17,-146.0,328.5,-10.0,206,2763,0.00,2.45,0.00,0.000,4,0.000,0.081,2600,488,2805
$GC,2796,-1.17,-146.0,332.4,-10.9,206,2802,0.00,2.33,0.00,0.000,6,0.000,0.027,2600,1888,2805
$GC,3124,-1.17,-146.0,357.5,-6.4,215,3128,0.00,2.45,0.00,0.000,4,0.000,0.051,2600,481,2803
$GC,3150,-1.17,-146.0,359.2,-7.2,215,3154,0.00,2.35,0.00,0.000,6,0.000,0.029,2600,1887,2803
$GC,3489,-1.17,-146.0,380.7,-6.7,224,3493,0.00,2.45,0.00,0.000,4,0.000,0.053,2600,488,2801
$GC,3542,-1.17,-146.0,385.1,-8.6,225,3546,0.00,2.35,0.00,0.000,6,0.000,0.030,2600,1888,2802
$STATE,3733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3733,begin apogee
$GC,3738,-0.31,0.0,402.1,9.0,230,3864,0.90,0.00,123.10,0.846,6,0.071,0.000,2792,1993,2200
$STATE,3864,end apogee,CONTROL_FINISHED_OK
$STATE,3864,begin climb
$GC,3866,1.17,146.0,407.6,0.0,233,3998,1.40,2.40,125.00,0.829,4,0.035,0.044,3117,3350,1603
$GC,4078,1.23,196.6,407.7,6.6,238,4128,0.00,2.40,43.53,0.811,6,0.000,0.035,3117,1975,1398
$GC,4433,1.23,196.6,373.2,10.6,247,4437,0.00,2.53,0.00,0.000,4,0.000,0.056,3117,561,1389
$GC,4513,1.23,196.6,364.3,10.1,248,4519,0.00,2.40,0.00,0.000,6,0.000,0.033,3117,1952,1387
$GC,4841,1.23,199.8,334.8,8.4,257,4844,0.00,2.47,0.00,0.000,4,0.000,0.045,3117,3382,1385
$GC,4877,1.23,200.7,331.7,8.5,257,4884,0.00,2.45,0.00,0.000,6,0.000,0.037,3117,1977,1385
$GC,5206,1.23,200.7,303.8,9.3,266,5209,0.00,2.45,0.00,0.000,4,0.000,0.043,3117,3372,1384
$GC,5248,1.23,200.7,299.0,11.4,267,5252,0.00,2.42,0.00,0.000,6,0.000,0.036,3117,1973,1384
$GC,5575,1.24,206.0,268.9,8.3,283,5587,0.00,2.50,6.90,0.656,4,0.000,0.041,3117,3379,1359
$GC,5599,1.24,206.0,266.6,8.9,284,5603,0.00,2.45,0.00,0.000,6,0.000,0.035,3117,1971,1359
$GC,5920,1.25,214.8,236.3,8.2,300,5934,0.00,2.47,9.00,0.681,4,0.000,0.040,3117,3375,1324
$GC,5962,1.27,226.3,233.1,8.1,302,5978,0.00,2.42,11.88,0.698,6,0.000,0.034,3117,1975,1277
$GC,6283,1.27,226.3,202.9,9.2,317,6286,0.00,2.40,0.00,0.000,4,0.000,0.038,3117,3377,1272
$GC,6341,1.27,226.3,197.2,9.1,320,6347,0.00,2.42,0.00,0.000,6,0.000,0.033,3117,1968,1272
$GC,6595,1.29,248.4,177.0,7.7,345,6620,0.10,2.53,19.73,0.688,4,0.061,0.050,3147,564,1186
$GC,6674,1.29,248.4,168.8,12.0,352,6680,0.00,2.40,0.00,0.000,6,0.000,0.028,3148,1978,1184
$GC,6928,1.29,248.4,139.7,12.5,377,6932,0.00,2.47,0.00,0.000,4,0.000,0.048,3148,557,1183
$GC,6986,1.29,248.4,132.5,12.5,382,6990,0.00,2.38,0.00,0.000,6,0.000,0.026,3147,1972,1182
$GC,7245,1.29,248.4,106.6,8.8,407,7248,0.00,2.35,0.00,0.000,4,0.000,0.045,3148,3368,1181
$GC,7303,1.29,248.4,101.2,9.4,412,7310,0.00,2.38,0.00,0.000,6,0.000,0.028,3148,1971,1181
$GC,7557,1.31,261.6,81.9,8.0,437,7573,0.00,2.38,11.90,0.570,4,0.000,0.031,3148,3371,1132
$GC,7587,1.31,261.6,79.4,8.7,439,7594,0.00,2.38,0.00,0.000,6,0.000,0.027,3148,1973,1132
$GC,7841,1.31,261.6,55.9,10.0,464,7845,0.00,2.45,0.00,0.000,4,0.000,0.044,3148,543,1132
$GC,7873,1.31,261.6,52.7,10.1,467,7877,0.00,2.35,0.00,0.000,6,0.000,0.023,3148,1983,1131
$GC,8128,1.31,261.6,26.9,10.2,494,8134,0.00,2.42,0.00,0.000,4,0.000,0.043,3148,564,1131
$GC,8165,1.31,261.6,22.9,10.6,501,8171,0.00,2.33,0.00,0.000,6,0.000,0.022,3148,1974,1131
$STATE,8335,end climb,SURFACE_DEPTH_REACHED
$STATE,8336,begin surface coast
$FINISH,0.5,1.024015
$STATE,8441,end surface coast,CONTROL_FINISHED_OK
$STATE,8441,begin surface
$SM_CCo,8460,49.42,0.540,0,0,894,320.12
$SM_GC,1.13,0.00,0.00,49.42,0.000,0.000,0.540,427,1846,894,-11.19,-1.24,320.12
$IRIDIUM_FIX,2104.07,-15800.33,150698,161605
$TT8_MAMPS,0.055224
$HUMID,1755
$INTERNAL_PRESSURE,7.97536
$TCM_TEMP,22.10
$XPDR_PINGS,16
$24V_AH,23.4,16.881
$10V_AH,10.1,9.545
$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,26.175,110.725,351.025,49.425,0.000,27.242,27.496,177.804,4.000,0.000,0.000,19.800,0.000,6457.623,501.399,1483.794,385.720,0.000,1126.067,0.000,1232.253,0.000,0.539,0.000
$DEVICE_MAMPS,148.798,80.535,846.001,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.876,363.094,553.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28520,553
$CAP_FILE_SIZE,81227,4
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,204507,2110.873,-15804.680,33,2.0,38,9.8