version: 66.04
glider: 139
mission: 6
dive: 100
start: 4 11 109 13 42 54
data:
$ID,139
$MISSION,6
$DIVE,100
$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,120
$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,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,0
$CAPMAXSIZE,25000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1353301.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,550
$ALTIM_PING_DELTA,50
$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
$GPS1,133636,2142.987,-15829.902,29,1.0,29,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.8
$GPS2,134202,2142.993,-15829.865,12,1.3,12,9.9
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CENTRE2
$TGT_LATLONG,2140.200,-15834.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.218,-0.033
$KALMAN_X,-25541.6,-573.0,-878.4,11815.7,12568.1
$KALMAN_Y,10032.7,-328.7,-679.6,-20518.2,5254.9
$MHEAD_RNG_PITCHd_Wd,251.6,9944,-16.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,70,0.00,0.00,-51.08,0.000,2,0.000,0.000,428,1860,2538
$GC,73,-1.18,-116.8,4.0,-7.2,9,93,11.93,2.40,-2.30,0.000,4,0.148,0.052,2584,495,2681
$GC,216,-1.18,-116.8,37.4,-15.5,30,222,0.00,2.28,0.00,0.000,6,0.000,0.021,2585,1913,2684
$GC,477,-1.18,-116.8,75.8,-14.0,55,481,0.00,2.25,0.00,0.000,4,0.000,0.025,2585,3285,2685
$GC,503,-1.18,-116.8,79.8,-14.5,57,510,0.00,2.33,0.00,0.000,6,0.000,0.028,2584,1913,2685
$GC,765,-1.18,-116.8,118.2,-14.8,82,769,0.00,2.45,0.00,0.000,4,0.000,0.072,2584,473,2686
$GC,781,-1.18,-116.8,120.7,-15.0,83,786,0.00,2.30,0.00,0.000,6,0.000,0.021,2585,1910,2686
$GC,1044,-1.18,-116.8,157.3,-13.1,107,1048,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,484,2687
$GC,1095,-1.18,-116.8,164.3,-13.5,111,1099,0.00,2.25,0.00,0.000,6,0.000,0.021,2585,1885,2687
$GC,1357,-1.18,-116.8,192.8,-10.2,135,1360,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,1890,2688
$GC,1515,-1.18,-116.8,210.0,-10.4,145,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1890,2689
$GC,1847,-1.18,-116.8,243.7,-10.4,161,1850,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,1890,2690
$GC,2104,-1.18,-116.8,273.8,-11.2,172,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1890,2690
$GC,2424,-1.18,-116.8,309.3,-10.8,186,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1890,2689
$GC,2749,-1.18,-116.8,338.9,-8.4,194,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1890,2688
$GC,3074,-1.18,-116.8,365.2,-8.4,202,3078,0.00,2.45,0.00,0.000,4,0.000,0.051,2584,486,2686
$GC,3123,-1.18,-116.8,370.1,-9.6,203,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,486,2686
$GC,3441,-1.18,-116.8,404.1,-11.1,211,3444,0.00,0.00,0.00,0.000,4,0.000,0.000,2584,486,2684
$GC,3558,-1.18,-116.8,417.8,-11.1,213,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,486,2684
$GC,3901,-1.18,-116.8,450.0,-8.4,222,3904,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,485,2682
$GC,3946,-1.18,-116.8,453.1,-6.6,223,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,485,2682
$GC,4276,-1.18,-116.8,476.3,-7.4,231,4279,0.00,0.00,0.00,0.000,4,0.000,0.000,2584,485,2679
$GC,4376,-1.18,-116.8,484.6,-8.1,233,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,485,2679
$GC,4694,-1.18,-116.8,511.1,-8.7,241,4697,0.00,0.00,0.00,0.000,4,0.000,0.000,2584,485,2677
$GC,4789,-1.18,-116.8,519.5,-8.8,243,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,485,2676
$GC,5113,-1.18,-116.8,547.5,-8.5,251,5116,0.00,0.00,0.00,0.000,4,0.000,0.000,2584,486,2675
$GC,5151,-1.18,-116.8,550.8,-8.1,251,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,485,2674
$GC,5482,-1.18,-116.8,577.2,-8.0,260,5485,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,485,2673
$GC,5520,-1.18,-116.8,580.5,-8.5,260,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,485,2672
$GC,5851,-1.18,-116.8,609.1,-8.8,269,5854,0.00,1.05,0.00,0.000,4,0.000,0.033,2585,1135,2670
$GC,6091,-1.18,-116.8,629.5,-8.9,274,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1136,2669
$GC,6405,-1.18,-116.8,652.6,-7.1,282,6409,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,1136,2668
$GC,6635,-1.18,-116.8,669.0,-7.7,287,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1136,2667
$GC,6959,-1.18,-116.8,692.6,-7.5,295,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1136,2665
$GC,7284,-1.18,-116.8,717.7,-7.9,303,7287,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,1136,2664
$GC,7541,-1.18,-116.8,737.7,-7.2,308,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1136,2663
$GC,7878,-1.18,-116.8,761.5,-6.8,317,7881,0.00,0.00,0.00,0.000,4,0.000,0.000,2585,1136,2662
$GC,7894,-1.18,-116.8,762.7,-7.1,317,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1136,2662
$GC,8208,-1.18,-116.8,784.7,-7.2,325,8211,0.00,0.00,0.00,0.000,4,0.000,0.000,2584,1136,2661
$GC,8465,-1.18,-116.8,803.4,-7.8,330,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1136,2660
$GC,8801,-1.18,-116.8,830.6,-8.3,339,8805,0.00,1.33,0.00,0.000,4,0.000,0.131,2584,495,2660
$GC,8817,-1.18,-116.8,832.0,-8.4,339,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,495,2660
$GC,9130,-1.18,-116.8,858.6,-8.6,347,9133,0.00,1.15,0.00,0.000,4,0.000,0.084,2584,1104,2659
$GC,9387,-1.18,-116.8,878.3,-8.0,352,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1104,2658
$GC,9724,-1.18,-116.8,903.6,-7.8,361,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1105,2657
$GC,10050,-1.18,-116.8,925.2,-6.6,369,10053,0.00,1.38,0.00,0.000,4,0.000,0.165,2584,494,2656
$GC,10225,-1.18,-116.8,938.3,-6.3,372,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,494,2656
$STATE,10391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10391,begin apogee
$GC,10396,-0.31,0.0,951.5,7.9,377,10507,0.95,0.00,107.15,1.305,6,0.081,0.000,2781,494,2200
$STATE,10507,end apogee,CONTROL_FINISHED_OK
$STATE,10507,begin climb
$GC,10510,1.18,116.8,954.0,0.0,379,10633,1.48,1.50,112.90,1.279,4,0.049,0.119,3107,1199,1722
$GC,10887,1.18,116.8,937.6,9.0,387,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1199,1712
$GC,11229,1.18,116.8,906.9,8.9,396,11233,0.00,1.33,0.00,0.000,4,0.000,0.144,3106,598,1708
$GC,11404,1.18,116.8,892.7,8.7,399,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,598,1706
$GC,11734,1.18,116.8,860.1,10.2,408,11737,0.00,0.00,0.00,0.000,4,0.000,0.000,3107,598,1705
$GC,11969,1.18,116.8,836.8,9.3,413,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,598,1704
$GC,12288,1.18,116.8,808.4,8.5,421,12290,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,598,1703
$GC,12545,1.18,116.8,787.3,8.4,426,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,598,1702
$GC,12881,1.18,116.8,758.7,8.6,435,12885,0.00,1.08,0.00,0.000,4,0.000,0.048,3106,1211,1701
$GC,12982,1.18,116.8,750.3,8.5,437,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1211,1701
$GC,13300,1.18,116.8,723.5,8.5,445,13304,0.00,1.17,0.00,0.000,4,0.000,0.075,3106,586,1700
$GC,13372,1.19,125.3,717.6,7.5,446,13380,0.00,0.00,4.57,0.797,6,0.000,0.000,3106,586,1689
$GC,13714,1.19,125.5,690.3,7.9,455,13717,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,585,1688
$GC,13973,1.20,134.2,671.2,7.5,460,13987,0.00,0.00,10.60,1.022,6,0.000,0.000,3107,585,1652
$GC,14313,1.20,134.7,644.5,7.9,469,14316,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,586,1649
$GC,14554,1.25,174.1,628.3,6.1,474,14595,0.00,0.00,38.85,1.089,6,0.000,0.000,3106,586,1490
$GC,14902,1.25,174.1,598.2,9.3,483,14905,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,585,1483
$GC,15092,1.25,174.1,578.8,10.7,487,15095,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,585,1482
$GC,15410,1.25,174.1,543.2,11.5,495,15413,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,585,1480
$GC,15607,1.25,174.1,521.2,9.9,499,15610,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,585,1480
$GC,15920,1.25,174.1,491.7,9.0,507,15923,0.00,0.00,0.00,0.000,4,0.000,0.000,3107,585,1479
$GC,16123,1.25,174.1,472.1,9.7,511,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,585,1479
$GC,16470,1.25,174.1,440.4,8.9,520,16473,0.00,0.00,0.00,0.000,4,0.000,0.000,3106,585,1479
$GC,16695,1.25,174.5,419.8,7.9,525,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,585,1478
$GC,17025,1.26,179.3,392.9,7.7,533,17033,0.00,0.00,4.45,0.652,4,0.000,0.000,3106,585,1468
$GC,17271,1.30,214.3,375.0,6.3,538,17307,0.10,0.00,33.78,0.907,6,0.061,0.000,3137,585,1326
$GC,17614,1.30,214.3,340.5,9.8,547,17617,0.00,0.00,0.00,0.000,4,0.000,0.000,3137,585,1320
$GC,17749,1.30,214.3,325.8,10.2,550,17752,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,585,1319
$GC,18080,1.30,214.3,287.8,12.7,560,18083,0.00,0.00,0.00,0.000,4,0.000,0.000,3137,585,1318
$GC,18253,1.30,214.3,266.3,12.5,567,18258,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,585,1318
$GC,18568,1.30,214.3,232.5,9.5,583,18572,0.00,1.08,0.00,0.000,4,0.000,0.033,3137,1238,1317
$GC,18618,1.30,214.3,227.4,10.1,585,18621,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1238,1317
$GC,18945,1.30,214.3,200.9,8.1,601,18949,0.00,1.15,0.00,0.000,4,0.000,0.052,3137,585,1317
$GC,18967,1.30,214.3,198.8,8.3,602,18970,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,585,1317
$GC,19234,1.30,214.3,176.1,9.0,627,19238,0.00,1.05,0.00,0.000,4,0.000,0.031,3137,1237,1317
$GC,19420,1.30,214.3,159.9,9.0,643,19425,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1237,1317
$GC,19682,1.30,214.3,137.6,8.7,668,19686,0.00,1.12,0.00,0.000,4,0.000,0.048,3137,586,1317
$GC,19784,1.30,214.3,127.8,9.6,677,19787,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,586,1316
$GC,20051,1.32,225.8,107.1,7.4,702,20066,0.00,1.08,9.95,0.597,4,0.000,0.026,3137,1247,1279
$GC,20130,1.32,225.8,100.8,8.3,709,20132,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1247,1278
$GC,20396,1.32,225.8,79.3,8.2,734,20399,0.00,1.15,0.00,0.000,4,0.000,0.047,3137,580,1278
$GC,20547,1.32,225.8,66.0,8.6,747,20552,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,580,1278
$GC,20808,1.32,225.8,45.4,8.0,772,20811,0.00,1.05,0.00,0.000,4,0.000,0.024,3137,1258,1278
$GC,20921,1.34,247.1,36.9,7.0,782,20944,0.00,0.00,20.27,0.571,6,0.000,0.000,3137,1258,1191
$GC,21208,1.34,247.1,12.3,8.2,826,21215,0.00,1.17,0.00,0.000,4,0.000,0.044,3137,574,1189
$STATE,21275,end climb,SURFACE_DEPTH_REACHED
$STATE,21275,begin surface coast
$FINISH,3.1,1.023750
$STATE,21310,end surface coast,CONTROL_FINISHED_OK
$STATE,21310,begin surface
$SM_CCo,21331,61.17,0.557,0,0,895,320.12
$SM_GC,1.04,0.00,0.00,61.17,0.000,0.000,0.557,432,570,895,-11.12,-37.32,320.12
$IRIDIUM_FIX,2138.81,-15827.43,060798,101004
$TT8_MAMPS,0.029146
$HUMID,1728
$INTERNAL_PRESSURE,8.00466
$TCM_TEMP,21.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,900.4,84.4
$24V_AH,23.1,29.893
$10V_AH,10.1,17.046
$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,26.400,39.975,342.525,61.175,0.000,24.518,35.343,151.265,4.500,0.000,0.000,13.998,1786.355,15984.299,482.973,2957.349,502.315,33.355,1924.534,0.000,2888.200,0.000,27.000,0.000
$DEVICE_MAMPS,148.031,164.905,1305.434,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.198,408.546,537.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44364,844
$CAP_FILE_SIZE,154237,1
$CFSIZE,260165632,251904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110409,194206,2142.317,-15831.154,119,1.7,120,9.9