version: 66.04
glider: 139
mission: 6
dive: 49
start: 3 30 109 0 34 55
data:
$ID,139
$MISSION,6
$DIVE,49
$D_SURF,6
$D_FLARE,3
$D_TGT,950
$D_ABORT,1050
$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,400
$T_MISSION,420
$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,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,290
$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,0
$CAPMAXSIZE,25000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1351853.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2850
$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,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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
$GPS1,001545,2127.686,-15844.191,83,2.3,102,9.8
$_CALLS,4
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.1
$GPS2,003404,2127.626,-15844.435,11,2.9,30,9.8
$SPEED_LIMITS,0.137,0.233
$TGT_NAME,CENTRE1
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.220,0.076
$KALMAN_X,-22988.5,242.6,255.7,40081.2,-4030.7
$KALMAN_Y,6193.0,-142.6,629.2,-689.3,-78.2
$MHEAD_RNG_PITCHd_Wd,61.1,28587,-15.6,-7.917
$D_GRID,950
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.14,-131.4,0.0,0.0,0,65,0.00,0.00,-46.58,0.000,2,0.000,0.000,425,1868,2626
$GC,68,-1.14,-131.4,3.9,-6.7,8,88,11.98,2.33,-1.73,0.000,4,0.144,0.071,2595,3289,2738
$GC,177,-1.14,-131.4,31.6,-13.8,26,184,0.00,2.35,0.00,0.000,6,0.000,0.028,2595,1910,2740
$GC,439,-1.14,-131.4,71.2,-15.0,51,442,0.00,2.45,0.00,0.000,4,0.000,0.044,2595,486,2741
$GC,461,-1.14,-131.4,74.6,-14.9,53,466,0.00,2.28,0.00,0.000,6,0.000,0.020,2595,1903,2741
$GC,728,-1.14,-131.4,114.6,-13.7,78,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1908,2741
$GC,982,-1.14,-131.4,146.3,-11.3,102,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1908,2742
$GC,1237,-1.14,-131.4,175.3,-11.6,126,1242,0.00,2.42,0.00,0.000,4,0.000,0.058,2595,486,2743
$GC,1288,-1.14,-131.4,181.3,-11.7,130,1292,0.00,2.25,0.00,0.000,6,0.000,0.021,2595,1884,2744
$GC,1556,-1.14,-131.4,212.6,-12.1,150,1560,0.00,2.33,0.00,0.000,4,0.000,0.030,2595,3286,2744
$GC,1628,-1.14,-131.4,220.7,-10.9,153,1632,0.00,2.35,0.00,0.000,6,0.000,0.028,2595,1880,2744
$GC,1949,-1.14,-131.4,253.8,-9.9,169,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1880,2744
$GC,2258,-1.14,-131.4,282.3,-8.3,184,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1881,2744
$GC,2568,-1.14,-131.4,308.5,-8.7,197,2572,0.00,2.35,0.00,0.000,4,0.000,0.032,2595,3276,2742
$GC,2594,-1.14,-131.4,311.2,-9.3,197,2599,0.00,2.35,0.00,0.000,6,0.000,0.031,2595,1880,2742
$GC,2931,-1.14,-131.4,345.9,-10.7,206,2935,0.00,2.38,0.00,0.000,4,0.000,0.033,2595,3285,2741
$GC,2953,-1.14,-131.4,348.4,-11.1,206,2957,0.00,2.35,0.00,0.000,6,0.000,0.031,2595,1892,2741
$GC,3295,-1.14,-131.4,380.4,-8.5,215,3299,0.00,2.47,0.00,0.000,4,0.000,0.052,2595,474,2738
$GC,3335,-1.14,-131.4,383.5,-7.9,216,3339,0.00,2.33,0.00,0.000,6,0.000,0.028,2595,1881,2738
$GC,3659,-1.14,-131.4,405.6,-6.6,224,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1885,2736
$GC,3983,-1.14,-131.4,432.6,-8.9,232,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1885,2734
$GC,4308,-1.14,-131.4,462.0,-8.9,240,4312,0.00,2.45,0.00,0.000,4,0.000,0.054,2595,485,2732
$GC,4341,-1.14,-131.4,464.9,-9.1,240,4347,0.00,2.33,0.00,0.000,6,0.000,0.031,2595,1884,2732
$GC,4672,-1.14,-131.4,494.7,-9.1,249,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1888,2730
$GC,4997,-1.14,-131.4,525.9,-9.7,257,5001,0.00,2.47,0.00,0.000,4,0.000,0.058,2595,487,2728
$GC,5012,-1.14,-131.4,527.5,-9.9,257,5016,0.00,2.38,0.00,0.000,6,0.000,0.033,2595,1898,2727
$GC,5325,-1.14,-131.4,554.1,-8.1,265,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1902,2726
$GC,5650,-1.14,-131.4,579.4,-7.9,273,5654,0.00,2.53,0.00,0.000,4,0.000,0.061,2595,485,2724
$GC,5672,-1.14,-131.4,581.3,-8.7,273,5676,0.00,2.38,0.00,0.000,6,0.000,0.034,2595,1891,2724
$GC,6014,-1.14,-131.4,607.2,-7.1,282,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1893,2722
$GC,6339,-1.14,-131.4,627.5,-6.0,290,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1893,2720
$GC,6664,-1.14,-131.4,648.8,-7.0,298,6669,0.00,2.55,0.00,0.000,4,0.000,0.067,2595,477,2719
$GC,6704,-1.14,-131.4,651.9,-8.2,299,6708,0.00,2.40,0.00,0.000,6,0.000,0.036,2595,1887,2719
$GC,7027,-1.14,-131.4,677.9,-8.2,307,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1887,2717
$GC,7352,-1.14,-131.4,702.7,-7.3,315,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1887,2716
$GC,7677,-1.14,-131.4,725.8,-7.0,323,7681,0.00,2.55,0.00,0.000,4,0.000,0.068,2595,3299,2714
$GC,7704,-1.14,-131.4,727.6,-7.1,323,7708,0.00,2.50,0.00,0.000,6,0.000,0.058,2595,1899,2714
$GC,8040,-1.14,-131.4,748.0,-5.8,332,8045,0.00,2.65,0.00,0.000,4,0.000,0.088,2595,480,2713
$GC,8068,-1.14,-131.4,749.8,-6.4,332,8072,0.00,2.47,0.00,0.000,6,0.000,0.059,2595,1888,2713
$GC,8399,-1.14,-131.4,769.6,-6.2,340,8403,0.00,2.70,0.00,0.000,4,0.000,0.092,2595,473,2712
$GC,8438,-1.14,-131.4,772.3,-7.3,341,8443,0.00,2.53,0.00,0.000,6,0.000,0.054,2595,1898,2712
$GC,8762,-1.14,-131.4,791.5,-5.7,349,8766,0.00,2.75,0.00,0.000,4,0.000,0.099,2595,476,2711
$GC,8794,-1.14,-131.4,793.4,-6.1,349,8800,0.00,2.55,0.00,0.000,6,0.000,0.063,2595,1890,2711
$GC,9125,-1.14,-131.4,809.3,-4.7,358,9130,0.00,2.67,0.00,0.000,4,0.000,0.090,2595,3309,2709
$GC,9147,-1.14,-131.4,810.4,-4.6,358,9152,0.00,2.67,0.00,0.000,6,0.000,0.111,2595,1895,2710
$GC,9483,-1.14,-131.4,826.7,-5.1,367,9488,0.00,2.80,0.00,0.000,4,0.000,0.113,2595,476,2709
$GC,9523,-1.14,-131.4,829.2,-6.6,368,9528,0.00,2.62,0.00,0.000,6,0.000,0.074,2595,1896,2709
$GC,9847,-1.14,-131.4,850.6,-7.0,376,9851,0.00,2.75,0.00,0.000,4,0.000,0.107,2595,3301,2708
$GC,9868,-1.14,-131.4,852.2,-7.7,376,9872,0.00,2.75,0.00,0.000,6,0.000,0.127,2595,1892,2708
$GC,10204,-1.14,-131.4,878.7,-8.2,385,10208,0.00,2.92,0.00,0.000,4,0.000,0.134,2595,477,2707
$GC,10230,-1.14,-131.4,881.1,-9.2,385,10235,0.00,2.72,0.00,0.000,6,0.000,0.092,2595,1891,2707
$GC,10562,-1.14,-131.4,906.2,-7.5,393,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1891,2707
$GC,10887,-1.14,-131.4,929.5,-7.1,401,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1891,2707
$STATE,11209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11209,begin apogee
$GC,11215,-0.31,0.0,951.8,6.9,409,11335,0.88,0.00,116.88,1.296,6,0.077,0.000,2779,1988,2200
$STATE,11336,end apogee,CONTROL_FINISHED_OK
$STATE,11336,begin climb
$GC,11338,1.14,131.4,956.5,0.0,412,11470,1.42,3.20,123.35,1.269,4,0.047,0.151,3095,3406,1664
$GC,11483,1.26,228.9,957.1,4.0,415,11581,0.12,3.15,89.25,1.249,6,0.057,0.146,3125,1988,1265
$GC,11905,1.26,228.9,903.6,13.8,426,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1988,1257
$GC,12230,1.26,228.9,858.4,13.9,434,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1988,1254
$GC,12555,1.26,228.9,812.9,13.9,442,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1988,1253
$GC,12880,1.26,228.9,767.6,13.9,450,12884,0.00,2.70,0.00,0.000,4,0.000,0.087,3125,569,1252
$GC,12929,1.26,228.9,759.9,15.4,451,12933,0.00,2.55,0.00,0.000,6,0.000,0.049,3125,1999,1251
$GC,13247,1.26,228.9,712.8,15.1,459,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2000,1251
$GC,13572,1.26,228.9,666.8,13.8,467,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2002,1251
$GC,13897,1.26,228.9,622.0,13.9,475,13901,0.00,2.62,0.00,0.000,4,0.000,0.091,3125,560,1251
$GC,13947,1.26,228.9,614.5,15.3,476,13951,0.00,2.50,0.00,0.000,6,0.000,0.037,3126,2009,1249
$GC,14265,1.26,228.9,572.5,12.9,484,14270,0.00,2.62,0.00,0.000,4,0.000,0.091,3126,564,1249
$GC,14287,1.26,228.9,569.6,12.1,484,14291,0.00,2.47,0.00,0.000,6,0.000,0.036,3125,2002,1249
$GC,14629,1.26,228.9,529.1,11.7,493,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2006,1249
$GC,14954,1.26,228.9,490.5,11.5,501,14959,0.00,2.60,0.00,0.000,4,0.000,0.088,3125,562,1249
$GC,15009,1.26,228.9,483.1,13.3,502,15013,0.00,2.45,0.00,0.000,6,0.000,0.035,3125,1991,1247
$GC,15322,1.26,228.9,441.8,13.3,510,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1996,1248
$GC,15647,1.26,228.9,401.8,12.3,518,15651,0.00,2.55,0.00,0.000,4,0.000,0.057,3125,567,1248
$GC,15687,1.26,228.9,396.9,12.6,519,15691,0.00,2.42,0.00,0.000,6,0.000,0.035,3125,1994,1247
$GC,16010,1.26,228.9,358.9,11.5,527,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1999,1247
$GC,16335,1.26,228.9,320.5,11.9,535,16339,0.00,2.55,0.00,0.000,4,0.000,0.064,3125,551,1247
$GC,16401,1.26,228.9,311.6,13.0,536,16405,0.00,2.45,0.00,0.000,6,0.000,0.066,3125,1995,1247
$GC,16726,1.26,228.9,275.3,10.9,549,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2000,1247
$GC,17035,1.26,228.9,239.0,11.6,564,17039,0.00,2.40,0.00,0.000,4,0.000,0.075,3126,3393,1247
$GC,17079,1.26,228.9,233.7,12.1,566,17083,0.00,2.42,0.00,0.000,6,0.000,0.034,3126,1973,1247
$GC,17405,1.26,228.9,201.2,9.0,582,17409,0.00,2.45,0.00,0.000,4,0.000,0.038,3125,3397,1247
$GC,17444,1.26,228.9,197.6,9.5,584,17451,0.00,2.38,0.00,0.000,6,0.000,0.032,3126,1989,1247
$GC,17705,1.26,228.9,172.4,9.9,609,17709,0.00,2.45,0.00,0.000,4,0.000,0.051,3125,578,1247
$GC,17773,1.26,228.9,165.5,9.1,615,17777,0.00,2.38,0.00,0.000,6,0.000,0.028,3126,2005,1246
$GC,18039,1.26,228.9,139.1,10.8,640,18043,0.00,2.35,0.00,0.000,4,0.000,0.036,3126,3393,1246
$GC,18089,1.26,228.9,133.4,11.1,644,18093,0.00,2.38,0.00,0.000,6,0.000,0.030,3126,1985,1246
$GC,18350,1.26,231.4,111.1,7.8,668,18351,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1984,1246
$GC,18605,1.27,240.1,89.4,7.6,692,18619,0.00,2.42,7.62,0.560,4,0.000,0.032,3126,3386,1221
$GC,18641,1.27,240.1,86.5,8.0,695,18648,0.00,2.38,0.00,0.000,6,0.000,0.027,3126,1977,1221
$GC,18903,1.27,240.1,64.3,8.4,720,18907,0.00,2.40,0.00,0.000,4,0.000,0.031,3126,3401,1221
$GC,18926,1.27,240.1,62.3,8.7,722,18929,0.00,2.38,0.00,0.000,6,0.000,0.027,3126,1980,1221
$GC,19192,1.31,275.2,41.3,6.5,747,19226,0.00,0.00,31.83,0.591,6,0.000,0.000,3126,1980,1078
$GC,19485,1.31,275.2,17.8,9.3,786,19491,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1980,1074
$STATE,19598,end climb,SURFACE_DEPTH_REACHED
$STATE,19598,begin surface coast
$FINISH,0.5,1.020084
$STATE,19661,end surface coast,CONTROL_FINISHED_OK
$STATE,19661,begin surface
$SM_CCo,19682,12.82,0.526,0,0,1017,290.19
$SM_GC,1.38,0.00,0.00,12.82,0.000,0.000,0.526,421,1885,1017,-11.17,-0.14,290.19
$IRIDIUM_FIX,2120.26,-15845.45,240698,000046
$TT8_MAMPS,0.029146
$HUMID,1746
$INTERNAL_PRESSURE,7.99489
$TCM_TEMP,21.80
$XPDR_PINGS,18
$24V_AH,23.1,21.946
$10V_AH,10.1,12.441
$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,26.050,161.075,368.925,12.825,0.000,117.960,122.382,511.120,4.500,0.000,0.000,33.610,1508.888,15998.374,478.814,1774.534,1015.566,33.363,1414.146,0.000,1730.193,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,151.099,1296.230,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.866,400.285,540.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41267,817
$CAP_FILE_SIZE,135854,7
$CFSIZE,260165632,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300309,060830,2128.607,-15842.271,280,2.0,281,9.8