version: 66.04
glider: 139
mission: 6
dive: 17
start: 3 22 109 6 11 54
data:
$ID,139
$MISSION,6
$DIVE,17
$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,-1351183
$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,55
$R_STBD_OVSHOOT,48
$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
$GPS1,060531,2112.284,-15812.294,64,1.7,64,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.5
$GPS2,061150,2112.331,-15812.348,13,1.8,13,9.8
$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,251.1,80599,-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,-52.17,0.000,2,0.000,0.000,426,1852,2538
$GC,68,-1.16,-146.0,3.4,-5.7,9,93,12.07,2.45,-4.35,0.000,4,0.155,0.074,2601,3289,2802
$GC,222,-1.16,-146.0,35.8,-13.2,33,225,0.00,2.30,0.00,0.000,6,0.000,0.028,2601,1912,2803
$GC,474,-1.16,-146.0,72.1,-15.3,57,478,0.00,2.45,0.00,0.000,4,0.000,0.044,2601,485,2803
$GC,506,-1.16,-146.0,77.4,-17.7,60,510,0.00,2.30,0.00,0.000,6,0.000,0.021,2601,1890,2803
$GC,765,-1.16,-146.0,117.1,-14.7,85,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1896,2804
$GC,1013,-1.16,-146.0,152.4,-13.0,109,1017,0.00,2.33,0.00,0.000,4,0.000,0.030,2601,3276,2805
$GC,1056,-1.16,-146.0,157.0,-10.1,113,1059,0.00,2.33,0.00,0.000,6,0.000,0.028,2601,1880,2805
$GC,1314,-1.16,-146.0,186.6,-11.5,138,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1880,2806
$GC,1560,-1.16,-146.0,213.8,-11.1,156,1564,0.00,2.42,0.00,0.000,4,0.000,0.046,2601,487,2807
$GC,1624,-1.16,-146.0,221.0,-11.4,159,1628,0.00,2.28,0.00,0.000,6,0.000,0.022,2601,1894,2807
$GC,1951,-1.16,-146.0,255.1,-9.7,175,1954,0.00,2.45,0.00,0.000,4,0.000,0.047,2601,476,2807
$GC,1977,-1.16,-146.0,257.6,-9.9,176,1981,0.00,2.33,0.00,0.000,6,0.000,0.024,2601,1887,2807
$GC,2298,-1.16,-146.0,286.0,-8.9,192,2301,0.00,2.47,0.00,0.000,4,0.000,0.049,2601,484,2806
$GC,2324,-1.16,-146.0,288.7,-10.8,193,2328,0.00,2.33,0.00,0.000,6,0.000,0.025,2601,1888,2807
$GC,2643,-1.16,-146.0,322.8,-10.8,204,2647,0.00,2.45,0.00,0.000,4,0.000,0.050,2601,484,2805
$GC,2702,-1.16,-146.0,328.6,-10.1,205,2706,0.00,2.35,0.00,0.000,6,0.000,0.028,2601,1888,2806
$GC,3011,-1.16,-146.0,351.4,-6.7,213,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1893,2804
$GC,3334,-1.16,-146.0,377.7,-8.8,221,3337,0.00,2.47,0.00,0.000,4,0.000,0.054,2600,480,2802
$GC,3387,-1.16,-146.0,382.7,-9.5,222,3391,0.00,2.38,0.00,0.000,6,0.000,0.030,2601,1890,2802
$GC,3701,-1.16,-146.0,412.4,-9.7,230,3705,0.00,2.50,0.00,0.000,4,0.000,0.054,2601,490,2800
$GC,3727,-1.16,-146.0,415.1,-11.2,230,3731,0.00,2.38,0.00,0.000,6,0.000,0.031,2600,1894,2800
$GC,4066,-1.16,-146.0,448.2,-9.7,239,4070,0.00,2.50,0.00,0.000,4,0.000,0.057,2601,481,2797
$GC,4092,-1.16,-146.0,450.8,-10.6,239,4096,0.00,2.40,0.00,0.000,6,0.000,0.033,2601,1891,2798
$GC,4431,-1.16,-146.0,477.1,-7.0,248,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1895,2795
$GC,4754,-1.16,-146.0,498.8,-6.8,256,4757,0.00,2.50,0.00,0.000,4,0.000,0.059,2601,484,2794
$GC,4812,-1.16,-146.0,503.0,-7.7,257,4816,0.00,2.40,0.00,0.000,6,0.000,0.035,2600,1888,2794
$GC,5121,-1.16,-146.0,525.1,-7.4,265,5125,0.00,2.45,0.00,0.000,4,0.000,0.051,2601,3296,2792
$GC,5158,-1.16,-146.0,528.1,-7.8,265,5164,0.00,2.45,0.00,0.000,6,0.000,0.041,2601,1897,2791
$GC,5486,-1.16,-146.0,555.7,-8.8,274,5490,0.00,2.53,0.00,0.000,4,0.000,0.064,2601,474,2790
$GC,5517,-1.16,-146.0,558.6,-9.2,274,5522,0.00,2.42,0.00,0.000,6,0.000,0.036,2601,1885,2790
$GC,5851,-1.16,-146.0,585.3,-7.6,283,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1886,2788
$STATE,6091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6091,begin apogee
$GC,6096,-0.31,0.0,602.7,7.2,289,6224,0.90,0.00,126.22,1.025,6,0.076,0.000,2791,1990,2200
$STATE,6225,end apogee,CONTROL_FINISHED_OK
$STATE,6225,begin climb
$GC,6227,1.16,146.0,607.0,0.0,292,6363,1.42,2.53,129.15,1.000,4,0.045,0.059,3111,3364,1603
$GC,6417,1.20,178.5,606.1,7.2,296,6452,0.00,2.50,28.92,0.958,6,0.000,0.044,3111,1971,1471
$GC,6791,1.20,178.5,571.0,9.8,306,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1971,1462
$GC,7114,1.20,178.5,539.6,9.6,314,7118,0.00,2.50,0.00,0.000,4,0.000,0.049,3111,3361,1460
$GC,7183,1.20,178.5,533.0,9.6,315,7187,0.00,2.47,0.00,0.000,6,0.000,0.042,3111,1967,1460
$GC,7522,1.21,184.5,503.7,8.3,324,7531,0.00,2.53,4.55,0.670,4,0.000,0.050,3111,3361,1447
$GC,7580,1.23,199.6,498.7,7.9,325,7599,0.00,2.47,15.43,0.910,6,0.000,0.041,3111,1965,1386
$GC,7928,1.23,199.6,467.5,9.2,334,7932,0.00,2.53,0.00,0.000,4,0.000,0.062,3110,561,1382
$GC,8024,1.23,199.6,457.7,10.2,336,8028,0.00,2.42,0.00,0.000,6,0.000,0.037,3111,1952,1380
$GC,8338,1.23,199.6,428.4,9.4,344,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1956,1379
$GC,8661,1.23,199.6,398.0,9.4,352,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1956,1379
$GC,8984,1.23,199.6,368.7,9.0,360,8988,0.00,2.50,0.00,0.000,4,0.000,0.058,3110,563,1378
$GC,9032,1.23,199.6,363.7,10.9,361,9036,0.00,2.45,0.00,0.000,6,0.000,0.036,3110,1976,1377
$GC,9352,1.24,205.6,335.9,8.3,369,9358,0.00,0.00,5.62,0.684,6,0.000,0.000,3111,1981,1361
$GC,9674,1.24,205.6,306.8,9.3,377,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1981,1360
$GC,9979,1.24,205.6,277.5,8.8,390,9982,0.00,2.53,0.00,0.000,4,0.000,0.054,3111,556,1359
$GC,10005,1.24,205.6,275.2,9.2,391,10009,0.00,2.42,0.00,0.000,6,0.000,0.033,3111,1969,1358
$GC,10327,1.26,222.8,251.0,7.8,407,10348,0.10,2.47,16.50,0.766,4,0.067,0.046,3139,3373,1291
$GC,10486,1.26,222.8,235.5,9.1,414,10490,0.00,2.45,0.00,0.000,6,0.000,0.035,3139,1964,1290
$GC,10802,1.26,222.8,207.0,9.4,430,10806,0.00,2.50,0.00,0.000,4,0.000,0.052,3139,556,1288
$GC,10850,1.26,222.8,202.1,10.3,432,10854,0.00,2.40,0.00,0.000,6,0.000,0.029,3139,1969,1287
$GC,11167,1.26,222.8,172.2,8.9,461,11171,0.00,2.47,0.00,0.000,4,0.000,0.051,3139,559,1286
$GC,11241,1.26,222.8,164.6,9.3,468,11244,0.00,2.40,0.00,0.000,6,0.000,0.028,3139,1977,1286
$GC,11500,1.29,246.5,145.6,7.6,493,11526,0.00,2.53,21.88,0.675,4,0.000,0.048,3139,554,1193
$GC,11579,1.29,246.5,138.1,11.1,500,11583,0.00,2.40,0.00,0.000,6,0.000,0.027,3139,1971,1189
$GC,11838,1.33,278.7,114.1,7.3,525,11871,0.00,2.58,28.20,0.645,4,0.000,0.047,3139,561,1063
$GC,11940,1.33,278.7,105.4,9.6,534,11947,0.00,2.38,0.00,0.000,6,0.000,0.025,3139,1970,1059
$GC,12194,1.33,278.7,82.6,9.6,559,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1975,1059
$GC,12442,1.33,278.7,59.6,8.9,583,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1975,1059
$GC,12691,1.33,278.7,35.0,11.0,607,12694,0.00,2.45,0.00,0.000,4,0.000,0.045,3139,557,1059
$GC,12759,1.33,278.7,27.3,11.2,615,12765,0.00,2.35,0.00,0.000,6,0.000,0.022,3139,1978,1059
$GC,12957,1.33,278.7,9.2,10.9,652,12963,0.00,2.47,0.00,0.000,4,0.000,0.044,3139,560,1059
$STATE,12987,end climb,SURFACE_DEPTH_REACHED
$STATE,12987,begin surface coast
$FINISH,2.1,1.023759
$STATE,13014,end surface coast,CONTROL_FINISHED_OK
$STATE,13014,begin surface
$SM_CCo,13035,34.88,0.542,0,0,895,320.12
$SM_GC,1.68,0.00,0.00,34.88,0.000,0.000,0.542,428,1915,895,-11.19,0.71,320.12
$IRIDIUM_FIX,2104.07,-15810.63,160698,020221
$TT8_MAMPS,0.055224
$HUMID,1751
$INTERNAL_PRESSURE,7.95583
$TCM_TEMP,22.10
$XPDR_PINGS,9
$24V_AH,23.3,17.348
$10V_AH,10.1,9.791
$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,26.350,126.675,376.475,34.875,0.000,23.478,31.837,217.263,2.250,0.000,0.000,15.994,0.000,10650.282,500.616,1814.536,458.386,0.000,1263.295,0.000,1509.426,0.000,0.539,0.000
$DEVICE_MAMPS,154.934,74.399,1025.479,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.736,380.164,542.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34845,663
$CAP_FILE_SIZE,102022,0
$CFSIZE,260165632,257503232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,095106,2112.666,-15815.021,60,1.2,60,9.8