version: 66.04
glider: 139
mission: 6
dive: 16
start: 3 22 109 2 34 18
data:
$ID,139
$MISSION,6
$DIVE,16
$D_SURF,6
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,235
$T_MISSION,250
$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,-1351166.4
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,022738,2111.447,-15809.557,62,1.3,62,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.7
$GPS2,023414,2111.479,-15809.553,34,1.2,34,9.8
$SPEED_LIMITS,0.147,0.250
$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,252.7,85151,-15.7,-8.511
$D_GRID,600
$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,-1.16,-146.0,0.0,0.0,0,66,0.00,0.00,-52.25,0.000,2,0.000,0.000,432,1901,2587
$GC,68,-1.16,-146.0,4.2,-8.8,9,88,12.12,2.40,-3.33,0.000,4,0.151,0.076,2601,3297,2800
$GC,253,-1.16,-146.0,42.2,-12.3,35,256,0.00,2.35,0.00,0.000,6,0.000,0.027,2601,1890,2802
$GC,511,-1.16,-146.0,80.2,-14.1,60,515,0.00,2.42,0.00,0.000,4,0.000,0.044,2601,477,2803
$GC,559,-1.16,-146.0,87.6,-15.1,64,565,0.00,2.33,0.00,0.000,6,0.000,0.020,2600,1897,2803
$GC,813,-1.16,-146.0,122.0,-13.3,89,816,0.00,2.30,0.00,0.000,4,0.000,0.028,2601,3294,2803
$GC,860,-1.16,-146.0,128.3,-12.6,93,866,0.00,2.38,0.00,0.000,6,0.000,0.064,2601,1894,2803
$GC,1113,-1.16,-146.0,161.2,-12.6,118,1118,0.00,2.33,0.00,0.000,4,0.000,0.028,2601,3278,2805
$GC,1134,-1.16,-146.0,163.9,-12.7,120,1138,0.00,2.33,0.00,0.000,6,0.000,0.026,2601,1893,2805
$GC,1394,-1.16,-146.0,192.8,-11.1,145,1397,0.00,2.42,0.00,0.000,4,0.000,0.044,2600,476,2806
$GC,1415,-1.16,-146.0,195.3,-12.2,147,1418,0.00,2.30,0.00,0.000,6,0.000,0.021,2600,1906,2806
$GC,1680,-1.16,-146.0,224.1,-9.9,162,1684,0.00,2.47,0.00,0.000,4,0.000,0.045,2600,487,2806
$GC,1706,-1.16,-146.0,227.0,-11.7,163,1710,0.00,2.30,0.00,0.000,6,0.000,0.022,2600,1890,2807
$GC,2027,-1.16,-146.0,264.1,-12.3,179,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1895,2807
$GC,2332,-1.16,-146.0,299.4,-11.3,194,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1895,2807
$GC,2635,-1.16,-146.0,327.6,-8.3,202,2639,0.00,2.45,0.00,0.000,4,0.000,0.049,2600,485,2806
$GC,2656,-1.16,-146.0,329.4,-8.9,202,2660,0.00,2.33,0.00,0.000,6,0.000,0.026,2601,1887,2806
$GC,3000,-1.16,-146.0,357.0,-8.3,211,3004,0.00,2.45,0.00,0.000,4,0.000,0.051,2600,482,2805
$GC,3015,-1.16,-146.0,358.4,-8.8,211,3019,0.00,2.33,0.00,0.000,6,0.000,0.028,2601,1882,2805
$GC,3325,-1.16,-146.0,384.7,-8.2,219,3329,0.00,2.47,0.00,0.000,4,0.000,0.053,2600,486,2804
$GC,3356,-1.16,-146.0,387.2,-8.2,219,3360,0.00,2.35,0.00,0.000,6,0.000,0.029,2600,1885,2803
$GC,3689,-1.16,-146.0,414.0,-8.5,228,3693,0.00,2.47,0.00,0.000,4,0.000,0.054,2600,491,2801
$GC,3726,-1.16,-146.0,417.4,-9.1,228,3733,0.00,2.35,0.00,0.000,6,0.000,0.031,2601,1884,2801
$GC,4055,-1.16,-146.0,444.9,-8.1,237,4058,0.00,2.40,0.00,0.000,4,0.000,0.044,2600,3290,2799
$GC,4097,-1.16,-146.0,448.2,-8.1,238,4101,0.00,2.42,0.00,0.000,6,0.000,0.037,2600,1890,2799
$GC,4422,-1.16,-146.0,472.7,-7.5,246,4425,0.00,2.50,0.00,0.000,4,0.000,0.058,2600,473,2797
$GC,4464,-1.16,-146.0,475.9,-8.1,247,4468,0.00,2.40,0.00,0.000,6,0.000,0.034,2601,1886,2797
$GC,4789,-1.16,-146.0,500.1,-7.6,255,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1890,2795
$GC,5112,-1.16,-146.0,526.2,-8.3,263,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1891,2793
$GC,5435,-1.16,-146.0,555.2,-9.0,271,5438,0.00,2.53,0.00,0.000,4,0.000,0.061,2601,484,2792
$GC,5482,-1.16,-146.0,559.6,-9.1,272,5486,0.00,2.40,0.00,0.000,6,0.000,0.035,2600,1887,2791
$GC,5802,-1.16,-146.0,583.2,-7.0,280,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1887,2790
$STATE,6082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6082,begin apogee
$GC,6087,-0.31,0.0,601.3,6.3,287,6216,0.90,0.00,126.03,1.018,6,0.075,0.000,2791,1993,2200
$STATE,6216,end apogee,CONTROL_FINISHED_OK
$STATE,6216,begin climb
$GC,6218,1.16,146.0,604.2,0.0,290,6354,1.42,2.53,128.85,0.992,4,0.044,0.060,3113,3365,1603
$GC,6386,1.20,173.1,602.5,7.5,294,6418,0.00,2.50,24.48,0.943,6,0.000,0.044,3113,1974,1493
$GC,6740,1.20,173.1,568.1,9.5,303,6743,0.00,2.47,0.00,0.000,4,0.000,0.051,3113,3360,1484
$GC,6771,1.20,173.1,565.0,10.2,303,6775,0.00,2.47,0.00,0.000,6,0.000,0.043,3113,1954,1484
$GC,7104,1.20,173.1,533.0,9.7,312,7108,0.00,2.55,0.00,0.000,4,0.000,0.064,3112,563,1481
$GC,7125,1.20,173.1,530.8,10.7,312,7129,0.00,2.42,0.00,0.000,6,0.000,0.037,3112,1950,1480
$GC,7469,1.20,173.1,497.6,9.7,321,7473,0.00,2.53,0.00,0.000,4,0.000,0.061,3113,554,1479
$GC,7490,1.20,173.1,495.4,9.8,321,7494,0.00,2.47,0.00,0.000,6,0.000,0.038,3112,1969,1478
$GC,7834,1.20,173.1,462.2,9.5,330,7838,0.00,2.50,0.00,0.000,4,0.000,0.052,3113,3374,1477
$GC,7914,1.20,173.1,454.5,9.7,331,7920,0.00,2.47,0.00,0.000,6,0.000,0.041,3113,1965,1477
$GC,8242,1.23,198.2,427.9,7.5,340,8267,0.00,2.53,21.00,0.902,4,0.000,0.047,3113,3377,1391
$GC,8283,1.25,217.2,425.0,7.8,341,8308,0.00,2.50,18.60,0.874,6,0.000,0.039,3113,1970,1313
$GC,8642,1.25,217.2,390.9,10.0,350,8646,0.00,2.47,0.00,0.000,4,0.000,0.045,3113,3382,1308
$GC,8668,1.25,217.2,388.3,10.8,350,8672,0.00,2.50,0.00,0.000,6,0.000,0.039,3112,1964,1308
$GC,9007,1.25,217.2,352.5,10.6,359,9011,0.00,2.50,0.00,0.000,4,0.000,0.058,3112,560,1306
$GC,9055,1.25,217.2,347.8,10.6,360,9058,0.00,2.45,0.00,0.000,6,0.000,0.035,3113,1975,1305
$GC,9374,1.29,247.6,322.2,7.3,368,9408,0.12,2.60,27.05,0.837,4,0.062,0.056,3146,554,1188
$GC,9462,1.29,247.6,312.6,12.8,370,9466,0.00,2.45,0.00,0.000,6,0.000,0.034,3146,1966,1186
$GC,9784,1.29,247.6,271.5,12.9,383,9787,0.00,2.53,0.00,0.000,4,0.000,0.055,3146,552,1184
$GC,9836,1.29,247.6,264.0,14.5,385,9840,0.00,2.45,0.00,0.000,6,0.000,0.032,3146,1975,1183
$GC,10152,1.29,247.6,226.8,10.4,401,10156,0.00,2.53,0.00,0.000,4,0.000,0.053,3146,556,1182
$GC,10173,1.29,247.6,224.3,12.0,402,10177,0.00,2.42,0.00,0.000,6,0.000,0.031,3146,1973,1181
$GC,10491,1.29,247.6,191.9,10.4,421,10495,0.00,2.50,0.00,0.000,4,0.000,0.051,3146,559,1181
$GC,10539,1.29,247.6,186.1,12.8,425,10542,0.00,2.38,0.00,0.000,6,0.000,0.029,3146,1975,1180
$GC,10797,1.29,247.6,157.5,10.2,450,10801,0.00,2.38,0.00,0.000,4,0.000,0.038,3146,3372,1180
$GC,10851,1.29,247.6,152.3,9.8,455,10855,0.00,2.40,0.00,0.000,6,0.000,0.031,3146,1968,1180
$GC,11109,1.31,267.6,131.9,7.7,480,11132,0.00,2.47,17.17,0.648,4,0.000,0.048,3146,562,1107
$GC,11157,1.31,267.6,127.5,10.3,484,11164,0.00,2.40,0.00,0.000,6,0.000,0.026,3146,1979,1104
$GC,11411,1.31,267.6,103.9,10.0,509,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1984,1104
$GC,11660,1.31,267.6,81.4,9.8,533,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1985,1104
$GC,11908,1.31,267.6,58.1,8.7,557,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1985,1104
$GC,12156,1.31,267.6,35.6,9.5,581,12159,0.00,2.45,0.00,0.000,4,0.000,0.043,3145,554,1104
$GC,12273,1.31,267.6,24.5,10.0,597,12280,0.00,2.35,0.00,0.000,6,0.000,0.021,3146,1985,1105
$STATE,12459,end climb,SURFACE_DEPTH_REACHED
$STATE,12459,begin surface coast
$FINISH,0.3,1.010432
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12543,44.30,0.542,0,0,894,320.12
$SM_GC,0.72,0.00,0.00,44.30,0.000,0.000,0.542,426,1851,894,-11.20,-1.10,320.12
$IRIDIUM_FIX,2104.07,-15807.62,150698,232338
$TT8_MAMPS,0.055224
$HUMID,1761
$INTERNAL_PRESSURE,7.95583
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.3,17.226
$10V_AH,10.1,9.725
$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,26.300,136.675,363.175,44.300,0.000,29.609,32.642,203.130,2.000,0.000,0.000,36.942,0.000,10226.330,509.296,1772.543,449.699,0.000,1251.784,0.000,1450.726,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,75.933,1017.809,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.682,366.784,533.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31772,644
$CAP_FILE_SIZE,100946,0
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,060531,2112.284,-15812.294,64,1.7,64,9.8